Modular construction is crucial for the development of fourth-generation nuclear technology, particularly high-temperature gas-cooled reactors (HTGRs). Owing to its heavy weight, complex center of gravity, and sensitivity to dynamic disturbances during transport, the 643-t core module presents a major safety and accuracy challenge for roll-on/roll-off (Ro-Ro) transportation. Traditional static self-propelled modular transporter (SPMT) load-distribution algorithms are not adequate for the transportation of nuclear power modules because of dynamic response lag. Accordingly, a dynamic load adaptive balancing (DALEA) algorithm is proposed, integrating dynamic center-of-gravity prediction and hydraulic-suspension adaptation into a closed-loop control system. A 0.01 s sampling interval is used in the control model, while the co-simulation results show convergence within 0.08-0.09 s and a steady-state load-balance error within +/-2.5%. Using MATLAB/Simulink and ANSYS co-simulation platforms, DALEA, genetic algorithm (GA), static load allocation (SLA), and particle swarm optimization (PSO) were compared. Under uniform Ro-Ro operation, DALEA achieves a load-balancing error of 1.8%, corresponding to a 41.9% reduction relative to GA (3.1%), and reduces convergence time by 61.9% relative to GA (0.21 s to 0.08 s). The maximum platform deflection is 2.3 mm, the initial hydraulic-pressure deviation is 3.2% and then stabilizes within approximately 2.1%, the tire ground-pressure deviation is <=8%, and the total supported-load fluctuation is <=2.1%. Under the co-simulation conditions considered in this study, the 66-axis SPMT adaptive scheme indicates feasibility for 643-t module Ro-Ro transportation and provides a technical reference for modular HTGR transport.