| Summary: | This paper takes a multi-stage Electro-mechanical Actuator (EMA) as the research object, analyzes the lateral force of the multi-stage EMA in the vertical state, and the overall mathematical model of the multi-stage EMA system. Firstly, a permanent magnet synchronous motor module is built in JMAG according to the engineering requirements. Then, the electrical control part and mechanical transmission part of the multi-stage EMA are established in AMESim, and the ideal motor module in AMESim is replaced with the motor model designed by JMAG to construct the overall model of the multi-stage EMA. The dynamic simulation model of lateral force is established in ADAMS to accurately simulate the impact of wind load on EMA in the actual environment, and this model is introduced into AMESim instead of the lead screw and nut module in AMESim. The improved active disturbance rejection control (ADRC) is used to replace the speed loop and positional loop in the traditional three closed-loop control, and the whole system stability servo control of multi-stage EMA is co-simulated. Finally, the experiment of the designed control method is carried out by LabVIEW. The result of the experiment shows that the multi-stage EMA system can effectively suppress the lateral force under the active disturbance rejection control and ensure the stable operation of the multi-stage EMA system. In addition, the system built by the co-simulation method is closer to real working conditions than the traditional mathematical model. The control parameters in the simulation can be effectively transplanted to the actual system with only minor adjustment to meet the engineering requirements.
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