Dynamic Modeling and Control of an Electromechanical Control Actuation System

Abstract

Electromechanical actuators are widely used in miscellaneous applications in engineering such as aircrafts, missiles, etc. due to their momentary overdrive capability, long-term storability, and low quiescent power/low maintenance characteristics. This work focuses on electromechanical control actuation systems (CAS) that are composed of a brushless direct current motor, ball screw, and lever mechanism. In this type of CAS, nonlinearity and asymmetry occur due to the lever mechanism itself, saturation limits, Coulomb friction, backlash, and initial mounting position of lever mechanism. In this study, both nonlinear and linear mathematical models are obtained using governing equations of motion. By using the linear model, it is shown that employing a PI-controller for position and a P-controller for velocity will be sufficient to satisfy performance requirements in the inner-loop control of an electromechanical CAS. The unknown controller parameters and anti-windup coefficient are obtained by the Optimization Tools of MATLAB using nonlinear model. Results obtained from the nonlinear model and real-time unloaded and loaded tests on a prototype developed are compared to verify the nonlinear model.

Design and Analysis of an Active Disturbance Rejection Robust Adaptive Control System for Electromechanical Actuator

“…Distinctively, the mechanical actuation assembly is generally composed of mechanical components (such as a gearbox, lead screws, etc.) and a servo motor [20,21]. In general, EMAs are developed for flight control applications to drive a surface or an actuating component according to the control commands, as depicted schematically in Figure 1.…”

Rapid‐prototyping and hardware‐in‐the‐loop laboratory platform for development and testing of electro‐mechanical actuator controls

“…The outer speed loop is designed with considerations given to the inertia of the machine and the linkage of the actuator. Extensive discussion of the control design procedure considered here are beyond the scope of this paper, useful references for actuator control design can be found in [11, 16].…”

Modeling and Control Design of a Contact-Based, Electrostatically Actuated Rotating Sphere

“…Mathematical model order reduction can be applied to reduce the model complexity, thus simplifying the control design [14]. In contrast, the direct derivation of system-level models such as in [15] often yields a sufficient quality for basic analysis and control design purposes. For the presented micromirror, this requires modeling strategies for contact and friction dynamics.…”