Model Predictive Control of Aero-Mechanical Actuators with Consideration of Gear Backlash and Friction Compensation

To address the issues of low positional accuracy and significant torque pulsation caused by gear backlash and nonlinear friction in the mechanical transmission mechanism of aeronautical flap electromechanical actuators, we propose a model predictive control method for flap electromechanical actuator considering gear backlash and friction compensation. Firstly, we model the gear backlash in the electromechanical actuator’s mechanical transmission mechanism and design a corresponding torque current compensation method using a simplified dead zone model. Secondly, the LuGre compensation friction model is introduced, and a friction torque current compensation method is developed to address the nonlinear friction torque generated during system operation. Finally, the proposed current compensation strategies are employed to mitigate the adverse effects of gear backlash and nonlinear friction on system control performance. The simulation results demonstrate that the proposed method enhances position tracking accuracy, reduces torque pulsation, and significantly improves the overall control performance of the system.