| Citation: | SUN X Z，WU J，SHI L X，et al. Dynamic force equalization for dual redundancy electro-mechanical actuation system[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（4）：1208-1218 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0466
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Redundant electromechanical actuation systems are frequently utilized in flight control surface actuation systems as a result of advancements in more-electric/all-electric aircraft technology. However, a solution to the force fight brought on by actuator output asynchrony in active / active working mode is still pending. To solve this problem, a complete linear mathematical model of the system is established, the causes of dynamic force fight are analyzed, a dynamic force equalization control method based on the combined action of speed and acceleration feedforward compensation control and PID control based on force difference feedback is studied and proposed, and its equalization ability and robustness are verified. The dynamic force equalization is found to be robust against the disturbance of various system parameters and to be able to successfully minimize the dynamic force fight caused by friction, backlash, and command delay.
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