Robust equalization of multi-lane electromechanical actuators: Comparative analysis of torque-summed and velocity-summed architectures

• The impact of force and lane equalisation in reducing disparities between mismatched multi-lane torque and velocity summed actuation system were assessed. • Simulation tests considered: − Three-phase brushless dc motors models to account for inherent torque ripples − Inertial and aerodynamic load models − Undetected drift in feedback transducers • These findings demonstrate the potential of equalization to enhance the robustness and stability of EMA systems, particularly in applications involving complex load scenarios and component mismatches. • It was found that: − Equalization effectively reduced torque disparities between mismatched motors in both architectures − The torques equalisation scheme resulted in acceptable output responses in nominal systems and in systems with dormant drift on feedback transducers − The lane equalisation scheme also resulted in acceptable output responses, except for systems with dormant drift on potentiometers, where stable outputs with notable steady state errors response were produced. The increasing demand for energy-efficient, low-emission aircraft has accelerated the transition toward all-electric aircraft (AEA), driving the need for highly reliable electromechanical actuators (EMAs) in flight-critical systems. A major challenge in multi-lane EMA configurations lies in torque and velocity disparities caused by component mismatches, sensor drift, and mechanical tolerances. These discrepancies can result in force-fight, increased mechanical stress, and reduced control accuracy, necessitating robust equalisation strategies. This study investigates force equalisation and lane equalisation in torque-summed and velocity-summed EMA architectures to mitigate lane-torque disparities ( Δ T ) and enhance system robustness. A four-lane redundant EMA system, originally designed to actuate the inboard aileron of the Sea Harrier aircraft, was modelled in MATLAB–Simulink with a proportional–integral–derivative (PID) controller and Monitoring–Voting–Averaging Devices (MVADs) for feedback processing. Three-phase motor models were included to capture torque-ripple effects, and simulations were conducted across a range of inertial and aerodynamic load conditions. The results show that force equalisation effectively reduces lane-torque disparities in torque-summed architectures, improving load sharing and resilience under tachometer and potentiometer drift. In contrast, the velocity-summed architecture is inherently torque-balanced (lane-torque disparity ΔT is approximately zero), so lane equalisation has limited effect on Δ T . A potentiometer bias appears as a steady tracking offset that equalisation alone does not remove. These findings highlight critical trade-offs between architectures and underscore the importance of advanced equalisation and adaptive control strategies to further optimise EMA performance in next-generation all-electric aircraft. Although framed by an aerospace EMA, the methods and conclusions are not domain specific. The closed-form equalisation laws, cross-monitoring, and analysis of sensor-bias mechanisms generalise to multi-lane system architectures in robotics, automotive drive-by-wire, industrial automation, wind-turbine blade-pitch control, marine actuation, and medical and assistive devices.