Modeling of Electro Mechanical Actuator with Inner Loop controller

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 04 Issue: 10 | Oct -2017 www.irjet.net p-ISSN: 2395-0072
© 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 469
Modeling of Electro Mechanical Actuator with Inner Loop controller
Patchigalla Vinay1 , P Mallikarjuna Rao2
1PG scholar, Dept.of EEE, Andhra Universit(A),Visakhapatnam ,India
2Professor, Dept.of EEE, Andhra University(A), Visakhapatnam, India
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Abstract: Electromechanical actuators are used in place of conventional hydraulic actuators extensively in the control of
flight surfaces in aerospace applications. the control design of these EMA’s is challenging due to the non-linearity’s like dead
zone making the system less stable and more vulnerable to disturbances and noise thereby affecting the maneuverability and
performance of system. So to deal with these uncertainties this paper presents the design of EMA system and a high gain inner
loop velocity control of driving motor and inner loop compensation for the differential velocity between the motor and the
aileron. The proposed methods have been proven by use of simulation and the results indicate considerable increase in
bandwidth and improvement in time response of system.
Key words: Electromechanical actuator, Surface actuation system , Backlash, Dead zone, Inner loop control.
INTRODUCTION
Over the recent years aerospace industry has been determined to use high efficient electrical motors in aircraft
design. For flight surface control PBW (power by wire) could be implemented by using electro hydrostatic actuation(EHA)
or electromechanical actuation(EMA) systems[1,2]. As the name suggests electromechanical systems are devices that
convert electrical energy into mechanical movement and sometimes vice versa. An important consideration in flight
surface control is the frequency response of the actuator, high bandwidth which gives faster response. Backlash and static
friction play a major role in the gain and phase margin characteristics of EMA systems[3].
Backlash is an non linearity that limits the speed performance and impediment to position control as well. Backlash results
in free play in gearing mechanisms together with static friction lead to dead zone[4]. Even a small magnitude of dead zone
is an important limiting factor in position control zone introduces a phase lag that reduces the band width, gain and phase
margins. The objective of the paper is to improve band width by using inner loop controller and the results are compared
with conventional control strategies.
ELECTRO MECHANICAL ACTUATION SYSTEM
Fig.1 EMA block diagram
EMA actuation system would consist of control system, brushless electric motor using permanent earth magnets, velocity
sensor of the motor, ball screw gear and mechanical linkage and a load.

The input to the control system is desired positional signal that is required for aero actuator shown in fig 1 The output of
error detection control system is input voltage to the electric motor Position and velocity and are the feedback signals
from the motor as opposed to load that is the flight surface.
The electric motor used in the EMA is high performance brushless electric motor using permanent earth magnets. The
advantages of brushless motor over brushed motor are high power to weight ratio high speed and electronic control.
Back lash is an important non linearity that can significantly affect the performance of geared electro mechanical systems.
The load considered in the case study is aero surface.
MATHEMATICAL MODELLING
CONTROLLER
Fig . 2 controller Block diagram
The conversion factor convK used for relating the demanded position of the aileron to the input voltage
(1)
The amplifier is assumed in order to have linear characteristic and modeled as pure gain.
The projected load position is then used in the compensator equation as follows
( )
̇
(2)
Block diagram of the control system is provided in fig 2.
ELECTRIC MOTOR
Fig. 3 Block diagram of electric motor
The transfer function of the dc electric motor can be described by the first order transfer function, over all block diagram
of electric motor is shown in fig 3.
⁄
⁄
=
⁄
(3)
Where and are the motors electrical time constant and gain
Torque generated by the motor is given by
(4)

Torque exerted on the load is
̇ ̇ (5)
The transfer function of the mechanical part of the motor is
=
⁄
⁄
= (6)
The overall transfer functions after neglecting the saturation effects
(7)
BACK LASH MODEL
Backlash is modeled purely as free play in gears combined with their mechanical compliances as the output shaft torque is
modeled as linear function of the relative displacement between the input and output shafts ⁄ , preceded
by a dead zone is shown in fig 4[5].
Torque is a function of both and ̇ conventional model in this regard is specified by
{
̇
̇
} (8)
The backlash model implies transfer function
(9)
Preceded by dead zone
An equivalent gain can be obtained by using describing function are
* ( ) ) √ (10)
Where m is a non zero slope and is equal to 1
Fig. 4 Block diagram of black lash model
LOAD MODEL
Fig. 5Block diagram for load model
A very simplified load model is assumed for load such that
̈ ̇ (11)
Load transfer function is

(12)
(13)
The implementation of unity feedback and closed loop transfer is given by
(14)
controller motor 1/N 1/s Backla
sh
model
load
Velocity
loop
1/s
S
1/N
dist
Desire
positn Obtained
positn
Fig.6 Block diagram for conventional controller
The overall transfer function and EMA with conventional controller is represented below
EMA WITH CONVENTIONAL CONTROLLER
The complete block diagram with a conventional controller is illustrated neglecting the saturation effects the overall open
loop transfer function of the block diagram is shown in fig. 6
Equation 13 represents the open loop transfer function from desired position to the load position and equation 14
represents the closed unity feedback of the EMA system.fig.6[6,7] represents the EMA system with conventional controller.
The overall input and output relation is
(15)
Where is the transfer function relating the desired and actual aileron position, disturbance torques at
motor and load position
= (16)
(17)
(18)
Furthermore sensitivity to dead zone is given by
(19)
Where den(s) is
)+ (20)

EMA CONTROL STRATEGY USING INNER LOOP FEED BACK:
The two forms of inner loop feedback that would reduce the back lash and static friction on the system performance are
1. High gain inner loop control of motor speed:
Static friction occurs both at the motor and more prominently at load and with gearing system.[7,8] Static
friction is associated with molecular bonding between moving surfaces and persists itself when the load is
stationary or moving slowly. Due to static friction until and unless the motor exceeds the required torque to
overcome friction the load would not move. So due to the addition of inner loop gain as shown in fig 8 the
effect of friction is significantly reduced.
2. Inner loop feedback control for Backlash Compensation:
Due to the gap in the gearing mechanism, the driving gear motion is in limited range without causing motion
in load even in rest or when direction changes [9]. so to overcome this backlash we use the differential
position and velocity so as to reduce the sensitivity of EMA.
The overall block diagram of the EMA system with the inner loop control strategies is shown fig 7
The simplified block diagram [10] of EMA control is shown in the fig 7
The open loop transfer function of the EMA system can be obtained in eq.21.
(21)
Where is inner loop segment transfer function
(22)
For then
And is effective dead zone gain after compensation
( )
(23)
To improve the gain and phase characteristics of the system as well as its gain by combining the positive differential
feedback with negative differential position feed back
(24)
The coupling term combined with feedback signal after reduced by the conditions of equation(25)can be obtained by
(25)
Where stabilizing effect will be achieved by using derivative feedback such that
(26)
The overall input output relationship of the EMA assuming unity feedback of the aileron position is
(27)
Where is the closed loop transfer function and is obtained by
(28)
Where and are the transfer functions relating the disturbance torques

Controller
selftuning
motor 1/N 1/s Backla
sh
model
load
Velocity
loop
S
1/N
dist
Desire
positn Obtained
positn
G inner
Fig .7 Block diagram for inner loop control
(29)
= (30)
Furthermore sensitivity to the position to the dead zone is
(31)
The frequency response characteristics of the transfer function is a factor in design of EMA
CASE STUDY
In this section the EMA system that has been used is specified and its performance is analyzed under conventional control
strategy and inner loop control strategy with following configurations
Table 1 Backlash parameters
Characteristic Symbol value Unit
Backlash contact
angle
Α 0.003 In.
Spring constant 114,350 lb/in.
Damping factor 0 lb s/in.
Gear ratio N 100 rad/in.
Table 2 Load parameters
Characteristic Symbol Value Unit
Load inertia M 0.2588 lb m
Load viscous friction 5 lb s/in
Load spring constant 1000 lb/in
Table 3 Amplifier parameters
Characteristic Symbol Value Unit
Amplifier gain 1 N/A
Conversion
factor( ⁄
9.1 V/in.
Conversion
factor( ⁄ )
139 rad/s in.

Conversion
factor( ⁄ )
0.0687 V-s/rad
Amplifier saturation ±55 V
Maximum gear
displacement
±6 in.
Fig 8 simplified block diagram of inner loop controller
Table 1 shows the back lash parameters of the given EMA system, Table 2 shows the load parameter of the given EMA
system Table 3 shows the amplifier parameters of the EMA system and Table 4 shows the motor parameters of the given
EMA system.
Table 4 Motor parameters
Characteristic symbol value unit
Rotor inertia 0.0000024 lb .
Saturation
current
15 A
Torque
constant
0.07 in.lb/A
Viscous friction 0.000127
in.lb
s/rad
Back emf
constant
0.07
V-
s/rad
Winding
inductance
0.003 Ω
Electrical time
constant
0.0023 s
Mechanical
time constant
0.018 s
Torque
element for
static friction
0 in .lb
Maximum
speed
800 rpm

EMA SYSTEM RESULTS WITH CONVENTIONAL CONTROLLER
FREQUENCY RESPONSE ANALYSIS
A gain margin of -9db and phase margin of 44deg can be achieved with a proportional gain of adding velocity
feed back of improves the time response of the system.Differential inner loop gains are specified as =40 and
.
Fig. 8 Frequency response analysis for conventional controller
The simulated load position of the EMA system using conventional controller is show in fig 9.
Fig . 9 step response to load position for conventional controller
The gain and phase plots of the transfer function with the disturbance input and the sensitivity with respect to the free
play are shown in fig 10 and fig 11.
Fig . 10 Frequency response analysis for disturbances

Fig .11 sensitivity of the conventional controller
EMA SYSTEM RESULTS WITH INNER LOOP CONTROLLER
FREQUENCY RESPONSE ANALYSIS
Self-tuning PID controller is used in the inner loop controller[10] .differential inner loop feedback gains are specified as
=120 and 0.The gain and phase margin of the closed loop transfer function are 5db and 90deg
for and plot shown in fig 12.
Fig .12 Frequency response analysis for inner loop control
The simulated load position of the EMA system using inner loop controller is shown in fig 13
Fig .13 Step response to load position for inner loop controller

The gain and phase plots of the transfer function with the disturbance input and the sensitivity with respect to the free
play are shown in fig 14 and fig 15.
Fig . 14 Frequency response analysis for disturbances.
Fig.15 Sensitivity of the inner loop transfer function
CONCLUSION
In this paper the design of electromechanical actuation system is discussed and the limitation of performance due to dead
zone non linearity has been reduced due to proposed inner loop controller design and has been implemented in various
case studies and simulated in MATLAB/SIMULINK environment. From the results the system has shown considerable
improvement both in time domain and frequency domain in terms of rising time, bandwidth, and crossover frequency of
the modular actuator system.
REFRENCES
[1] Saeid Habibi, Jeff Roach, Greg Luecke..,2008, “Inner loop control for Electro mechanical(EMA) flight surface Actuation
systems” J. Dynamic systems, Measurement and control sep 2008 vol.130
[2] Nordin, M., and Gutman, p., 2002, “controlling mechanical system with Back a Survey,”Automatica,38,pp.1633-1649.
[3] Habibi S R.., and singh G.2000 “Derivation of design requirements for optimization of high performance Hydrostatic
actuation systems” Int. J. Fluid power 1(2) pp 11-29.
[4] Nordin , M.., Galic, J.., Gutman, p.., 1997, “New Models for Back lash and gear play” Int . J . Adapt control signal
process..,11,pp 49-63.

[5] Kolk W.R.., and Lerman, R., 1992, Nonlinear System Dynamics, Van Nostrand Reinhold, New York.
[6] Andreas Wilde.., Peter schiender.., Wellinton Presot.., p.2006 “Modeling of Electro Mechanical Actuators” IEEE
conference on computer aided control system design oct 2006.
[7] Joshi,S.. and Kelkar, A..,1998, “Inner loop control of supersonic Aircraft in the presence of Aeroelastic Modes” IEEE
trans. control system technology..,6(6),pp. 345-354.
[8] M.Mozzoleni.., Y.Maccarana.., F.Prevedi.., G.pispola.., M.Nardi.., F.Perni and S.Tori P.2017 “Development of a reliable
electro mechanical actuator for primary control surfaces in small aircrafts” IEEE conference on advanced intelligent
Mechatronics 2017.
[9] Fu Jian..,Jean Charles Mare.., Fu Yongling p.2017.., “Modelling and simulation of flight control electro mechanical
actuators with special focus on model architecting, multidisciplinary effects and power flows” Chinese journal of
aeronautics 2017:47-65
[10] Gang Tao..,Peter V kokotovic..,p.1993 “Adaptive control system with Backlash” Automatica Vol.29 pp.323-335..

Modeling of Electro Mechanical Actuator with Inner Loop controller

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