Abstract
Compared with the traditional servo valve controlled hydraulic actuator(SHA), the electromechanical actuator(EMA) has the advantages of simple structure and easy maintenance. Aiming at the load torque ripple caused by the parameter perturbation and the random change of the load in the dynamic control of the electromechanical actuator, the load torque observation method of the electromechanical actuator is carried out. According to the mathematical model of electromechanical actuator, the expression of load torque estimation is deduced, and an online estimation method is designed to observe load torque in operation process and improve torque ripple caused by parameter perturbation.
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