Mathematical Model for a Novel Electromechanical Actuator based on Lagrange-Maxwell Equation

This paper proposes an improved mathematical model for a novel electromechanical actuator (EMA) based on Lagrange-Maxwell equation. This model avoids the analysis to complicated electromechanical coupling relationship of the novel EMA. It views the novel EMA as a whole and establishes its mathematical model from the viewpoint of energy. Moreover, the nonlinear factors of novel EMA can be reflected more accurately and comprehensively in this improved mathematical model. By adopting the triple closed loop control based on current chopping control (CCC), both the improved mathematical model and the conventional mathematical model are simulated. The simulation results indicate that the improved mathematical model can not only reflect the adverse effects of nonlinear factors, but also reflect the dynamic performance of novel EMA more precisely than the conventional one. In addition, the experiments are also made. The results of experiments verify the accuracy and superiority of improved mathematical model.