In order to guarantee the precision of the end effector of a wire-driven parallel robot support system (WDPRSS) used in a wind tunnel test, a force/position hybrid control is proposed based on the Hamilton-Jacobi Inequality (HJI) theorem and RBF neural network compensation. Through dynamic modeling analysis of the WDPRSS, the whole dynamic equation of the WDPRSS is established using the pose as the variable. The proposed force/position hybrid control is substituted into the dynamic equation to obtain the error closed-loop system. The stability analysis of the closed-loop system shows that the WDPRSS tends to be asymptotic stable. A MATLAB/SIMULINK simulation experiment of the WDPRSS is conducted. The simulation results show that the proposed force/position hybrid control strategy is correct and valid, and satisfies control accuracy requirement. And the designed force/position hybrid control and PD control are compared and analyzed. Finally, the effectiveness of the proposed control scheme is verified by prototype experiments.