Optimal Power Matching Design for the Electromechanical Actuator Directly Driven by Switched Reluctance Motor Based on Load Characteristic Analysis
Long Yun1, Du Jinhua2, Wang Xuping1, Bai Yinru1, Yang Yugang1
1. College of Electrical and Power Engineering Taiyuan University of Technology Taiyuan 030024 China; 2. School of Electrical Engineering Xi’an Jiaotong University Xi’an 710049 China
Abstract：This paper presents an optimal power-matching design methodology for a switched-reluctance motor-based direct-drive electromechanical actuator (SRM-based EMA), intended for the steering vane system of a landing craft air cushion (LCAC) hovercraft. The SRM-based EMA offers distinct advantages for such demanding applications, including a rugged mechanical construction, the absence of permanent magnets, and a reduced risk of mechanical jamming, which significantly enhance its suitability for harsh operating environments. However, the practical implementation of the SRM-based EMA faces inherent challenges, including strong electromechanical coupling, pronounced nonlinearities, and significant torque ripple. This paper proposes a method to minimize redundant power and reduce the actuator's overall size and weight, without compromising its ability to meet stringent dynamic performance requirements. The load characteristics of the steering vane system are analyzed. First, the kinematic relationship between the angular displacement of the steering vane and the linear motion of the SRM-based EMA is established. Then the total load force, comprising aerodynamic, frictional, and inertial components, is derived. Assuming sinusoidal motion, the load characteristic curve is formulated and graphically represented as a tilted ellipse in the force-velocity plane. Subsequently, the ideal mechanical characteristic curve of the SRM-based EMA is determined using the tangency principle to fully envelope this load curve. This approach enables identification of the optimal power-matching point, thereby minimizing surplus power and improving system efficiency. Key mechanical and electrical parameters of the SRM-based EMA are systematically designed. Specifically, the pitch of the ball screw is determined through a careful trade-off between torque requirements and mechanical strength, ensuring both adequate load-driving capability and structural integrity. Meanwhile, the switched reluctance motor (SRM) is designed with an 8/6-pole configuration, selected to enhance fault tolerance and enable flexible commutation under diverse operating conditions. To bridge the gap between theoretical design and practical implementation, an iterative optimization process is introduced to align the SRM-based EMA's actual mechanical characteristics with the ideal performance curve. Thus, the real system performance fully envelops the required load characteristics under the practical constraint of magnetic saturation. A prototype of the SRM-based EMA is fabricated and tested under various operating conditions. The step response of the system exhibits a rise time of 0.82 s, a steady-state error of less than 1%, and no overshoot, indicating excellent dynamic tracking performance and system stability. Under a 3 Hz sinusoidal input, the frequency response shows an amplitude attenuation of less than 1.97 dB and a phase lag of less than 25.92°, thereby satisfying all specified dynamic performance requirements. The proposed optimal power-matching strategy reduces the SRM-based EMA's rated power to 940 W while maintaining full compliance with system load demands and performance specifications. This study offers an effective design strategy for developing compact, high-efficiency electromechanical actuation systems for aerospace and industrial automation.
龙云, 杜锦华, 王旭平, 白崟儒, 杨玉岗. 基于负载特性分析的磁阻式直驱机电作动器最佳功率匹配设计[J]. 电工技术学报, 2026, 41(20): 6930-6945.
Long Yun, Du Jinhua, Wang Xuping, Bai Yinru, Yang Yugang. Optimal Power Matching Design for the Electromechanical Actuator Directly Driven by Switched Reluctance Motor Based on Load Characteristic Analysis. Transactions of China Electrotechnical Society, 2026, 41(20): 6930-6945.
[1] 金波, 陈伟, 胡羲. 开关磁阻电机航空作动器模糊控制方法[J]. 兵工自动化, 2016, 35(3): 6-10. Jin Bo, Chen Wei, Hu Xi.Fuzzy control method of switched reluctance motor aviation actuator[J]. Ordnance Industry Automation, 2016, 35(3): 6-10. [2] Long Yun, Du Jinhua, Yang Kun, et al.Modelling of a direct-driven electromechanical actuation system based on the Lagrange-Maxwell equation[J]. IET Electric Power Applications, 2021, 15(11): 1438-1451. [3] 韩国强, 韩颖, 贾政, 等. 基于超局部模型的开关磁阻电机无模型预测电流控制方法[J]. 电工技术学报, 2025, 40(18): 5931-5944. Han Guoqiang, Han Ying, Jia Zheng, et al.Model-free predictive current control method for switched reluctance motor with ultralocal model[J]. Trans-actions of China Electrotechnical Society, 2025, 40(18): 5931-5944. [4] 王国平, 陈昊, 戚湧, 等. 轴向磁通模块化混合励磁开关磁阻电机及其绕组故障特性[J]. 电工技术学报, 2025, 40(4): 1090-1104. Wang Guoping, Chen Hao, Qi Yong, et al.Axial flux modular hybrid excitation switched reluctance motor and its winding fault characteristics[J]. Transactions of China Electrotechnical Society, 2025, 40(4): 1090-1104. [5] Long Yun, Du Jinhua.Adaptive position control strategy of SRM-based EMA system for precision position tracking[J]. IEEE Transactions on Trans-portation Electrification, 2023, 9(3): 4680-4691. [6] Han J, Zhou X, von Jouanne A, et al. Design of an SRM-based actuator for high-performance steering vane control on the landing craft air cushion (LCAC) hovercraft[C]//Conference Record of the 2004 IEEE Industry Applications Conference, 2004.39th IAS Annual Meeting, Seattle, WA, USA, 2004: 1598-1601. [7] 葛乐飞, 宋佳赫, 黄佳乐, 等. 基于电流误差补偿的开关磁阻电机振动抑制策略[J]. 电工技术学报, 2025, 40(17): 5434-5447. Ge Lefei, Song Jiahe, Huang Jiale, et al.Vibration suppression strategy for switched reluctance machine based on current error compensation[J]. Transactions of China Electrotechnical Society, 2025, 40(17): 5434-5447. [8] 付倩娆, 郭继轩, 宋佳赫, 等. 基于二维数据插值的开关磁阻电机转矩脉动抑制策略[J]. 电工技术学报, 2025, 40(24): 7949-7957. Fu Qianrao, Guo Jixuan, Song Jiahe, et al.Switched reluctance machine torque ripple suppression strategy based on 2D data interpolation[J]. Transactions of China Electrotechnical Society, 2025, 40(24): 7949-7957. [9] 龙云, 杜锦华, 布家宝, 等. 含实时电流补偿的开关磁阻式机电作动器自适应PI控制[J]. 西安交通大学学报, 2024, 58(2): 184-194. Long Yun, Du Jinhua, Bu Jiabao, et al.An adaptive PI controller with real-time current compensation for the electromechanical actuator driven by switched relu-ctance motor[J]. Journal of Xi’an Jiaotong University, 2024, 58(2): 184-194. [10] 肖前进. 谐波传动式电动舵机多级滑模控制及非线性补偿研究[D]. 长春: 中国科学院研究生院(长春光学精密机械与物理研究所), 2013. Xiao Qianjin.Study on multiple sliding mode control and nonlinear compensation for EMA with harmonic gear drive[D]. Changchun: Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, 2013. [11] Sofka J, Skormin V.Integrated approach to electro-mechanical design of a digitally controlled high precision actuator for aerospace applications[C]//2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Sym-posium on Intelligent Control, Munich, Germany, 2006: 261-265. [12] Siala H, Mhenni F, Choley J Y, et al.Toward a robust design of an aileron electromechanical actuator: sensitivity analysis and parametric tolerancing using a variational approach[J]. IEEE Systems Journal, 2020, 14(3): 3977-3986. [13] Long Yun, Du Jinhua, Su Zhaorui, et al.Design of gearless electromechanical actuation system for rudder control applications on the landing craft air cushion hovercraft[J]. IEEE Transactions on Industry Applications, 2024, 60(1): 486-497. [14] 张旭杰, 侯文. 高过载高响应小型双通道舵机的设计[J]. 微电机, 2023, 56(10): 13-19. Zhang Xujie, Hou Wen.Design of servo used for high overload highly responsive double-channel[J]. Micro-motors, 2023, 56(10): 13-19. [15] 孙鹏程, 贾少锋, 梁得亮, 等. 冗余电机拓扑与应用综述及发展展望[J]. 电工技术学报, 2025, 40(6): 1729-1745. Sun Pengcheng, Jia Shaofeng, Liang Deliang, et al.Overview and prospect of redundancy machines: topologies and applications[J]. Transactions of China Electrotechnical Society, 2025, 40(6): 1729-1745. [16] 陈立, 高小龙, 周育茹, 等. 电动舵机用永磁容错电机的设计研究[J]. 微特电机, 2018, 46(5): 48-51. Chen Li, Gao Xiaolong, Zhou Yuru, et al.Design and study of fault-tolerant permanent magnet motor for electromechanical actuator[J]. Small & Special Elec-trical Machines, 2018, 46(5): 48-51. [17] 梁晓峰, 刘美钧, 李霜, 等. 小型电动舵机用永磁无刷直流电机设计[J]. 电机技术, 2021(5): 10-13, 26. Liang Xiaofeng, Liu Meijun, Li Shuang, et al.Design on PM brushless DC motors used in the small electric actuators[J]. Electrical Machinery Technology, 2021(5): 10-13, 26. [18] 张文文, 王建伟, 侯文, 等. 电动舵机设计中直流电机选型新方法[J]. 自动化仪表, 2016, 37(9): 95-98. Zhang Wenwen, Wang Jianwei, Hou Wen, et al.New method of DC motor selection for the design of electric steering gear[J]. Process Automation Instru-mentation, 2016, 37(9): 95-98. [19] 葛明. RSSR空间连杆四轴联动电动舵机研究[D]. 长春: 中国科学院研究生院(长春光学精密机械与物理研究所), 2012. Ge Ming.Research on four simultaneous axes elec-tromechanical actuator with RSSR spatial linkages[D]. Changchun: Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, 2012. [20] 罗战强. 飞机双余度机电作动系统研究与实践[D]. 西安: 西安交通大学, 2014. Luo Zhanqiang.The study and practice on electrical dual-redundancy electromechanical actuation system[D]. Xi’an: Xi’an Jiaotong University, 2014. [21] 陈伯时. 电力拖动自动控制系统: 运动控制系统[M]. 4版. 北京: 机械工业出版社, 2019. [22] 吴建华. 开关磁阻电机设计与应用[M]. 1版. 北京:机械工业出版社, 2000.
2026, Vol. 41 
