Chattering-Free Sliding-Mode Control for Electromechanical Actuator with Backlash Nonlinearity

Table 1

Parameters of the system.

Para	Description	Value	Unit
	Number of pole pairs	5	—
	Permanent magnet flux linkage	0.143	Wb
	Moment of inertia of PMSM		kg⋅m^2
	Viscous friction coefficient		N⋅m/rad/s
	Stator resistance	1.73	Ω
	Inductance	7	mH
	Rated torque	4.7	N⋅m
	Moment of inertia of flap	0.4	kg⋅m^2
	Friction coefficient of flaps	0.12	N⋅m/rad/s
	Gear reduction ratio	30	—
	DC link voltage	270	V
	Stiffness coefficient	160	N⋅m/rad/s
	Width of the backlash	0.04	rad