Aiming at the complexity of the dynamic model of the EMA pitching mechanism and the feasibility of simplification, this paper discusses the influence of rocker and pushrod on the dynamic characteristics of the EMA pitching mechanism and effectively simplifies the dynamic model on the basis of ensuring the accuracy. Firstly, a simplified dynamic model is established based on Lagrange dynamic equation, equivalent inertia, and equivalent force arm. Then, in the pitch range, the inertia and force arm of the rocker and pushrod are converted into the inertia and force arm of the load respectively, and the dynamic error compensation model is established. Finally, based on the position closed-loop control model after PID optimal parameter setting, the simplified characteristics of the EMA pitching mechanism in this prototype are clarified. In this paper, the simplified model error compensation value solution method improves the accuracy of the simplified model by 92%. The simplified feasibility judgment method can effectively judge the simplified feasibility of the EMA pitching mechanism.
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