System identification and uncertainty modeling of an electromechanical actuator

The electromechanical actuator (EMA) is of interest for applications which require easy control and high dynamics. This article deals with the analytical and uncertainties modeling, experimental identification, and model validation of a position control EMA and its “motor with harmonic drive” subsystem. They are identified and modeled as linear systems with parametric uncertainty using their experimental input–output data. The captured data, related to several working points under different conditions, were used for model estimation and validation purposes. Furthermore, the discrepancies between the linear model and the actual system, due to nonlinearities, were estimated as multiplicative uncertainty. The model is validated on the base of reproducing system behavior within acceptable bounds with minimum error. Validation results proved the derived model viability to be used for designing a robust EMA system to perform within acceptable bandwidth.

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