CPC B64C 13/503 (2013.01) [B64C 9/28 (2013.01); B64C 13/16 (2013.01)] | 19 Claims |
1. An actuator control system comprising:
(a) a plurality of electro-mechanical actuators for operating one or more end effectors;
(b) a plurality of position sensors associated with the plurality of electro-mechanical actuators, each of the plurality of position sensors providing an output indicating an actual position value; and
(c) a control system comprising:
(i) a plurality of EMA controllers, wherein each of the plurality of EMA controllers is associated with a corresponding electro-mechanical actuator, each of the plurality of EMA controllers receiving the actual position value of the one or more end effectors,
(ii) a synchronization controller, wherein the synchronization controller receives the actual position value from each of the EMA controllers and calculates a mean position value,
(iii) wherein the synchronization controller compares the actual position value of each of the one or more end effectors to the mean position value, the synchronization controller sending an output to each of the plurality of EMA controllers to adjust a speed command of the plurality of electro-mechanical actuators to match the mean position value.
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