Design and modeling of a single nozzle-double pendulum electrical servo system

To meet the miniaturization and high power requirement of swinging nozzle servo system for ATACMS, a system of single nozzle with double swing arm was developed based on Electromechanical Actuator(EMA). The nozzle was propelled by two vertical linear EMA consisting of brushless DC motor and ball screw reducer, which can realize the high power density and high efficiency, and then the large output torque and precise control can also be obtained. According to the kinematics analysis and modeling of the system, the kinematic nonlinear characteristic and cross-linked interference of the two linear EMA were researched, their formation reason, distribution regularities with swing angle and the effect to angle position were analyzed, and the computing method of dual channel command was obtained, which can realize the precise control to the direction and angle of swing nozzle by both EMA cooperation working.