The invention relates to the technical field of aircraft control, and discloses a control method of a
rotary actuator integrated with a gear vernier
encoder and related equipment, and the method comprises the steps: firstly obtaining a control instruction of a flight
control system to a
rudder arm, and synchronously collecting the single-circle angle values of a driving gear and a driven gear fed back by the gear vernier
encoder and the real-time current of a motor; then, the actual absolute position of the
rudder arm, the number of rotation turns of the motor and the actual rotation speed are calculated based on the angle value; then, a
position tracking error is generated by comparing the control instruction with the actual position of the
rudder arm, and the expected current is calculated according to the
position tracking error and the actual rotating speed of the motor; and finally, combining the position of the motor rotor, the expected current and the real-time current to generate a motor driving
signal. According to the invention, absolute position memory and full-closed-loop high-precision
servo control of the aircraft control surface
actuator under the condition of no standby battery are realized, and the
system has the advantages of compact structure, high reliability, good dynamic response and low cost.