Abstract：Aiming at electro-mechanical actuators (EMA) in the actuator loop, a model of EMA based on a planetary roller screw mechanism (PRSM) is developed to investigate the effects of nonlinearities associated with structural stiffness, friction and clearance on dynamic characteristic in EMA systems. Anchorage compliance and transmission compliance connected to aerodynamic force are considered. The results presented in the AMESim show that the improvement of anchorage compliance has a more important influence on transient response than transmission compliance. The fluctuation of step response becomes more obvious with a bigger clearance in the PRSM. Besides, under a certain input command, the maximum output error of EMA is 1.8mm and the relative error is 1.2% with respect to the displacement response. The nonlinear model is proved to be an available one which provides the theoretical foundation to the further structure optimization and control of EMA.
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