“…18 By analyzing the operating principle of the loading servo motor and the generation mechanism of torque, a mathematical model of the loading system is obtained, as shown in Figure 2. 19 Where V in is the output voltage of the control system, K V is the equivalent amplification factor of the preamplifier, K P is the equivalent amplification factor of the driver, K s is the equivalent gain of the drive loop, R and L are the operating inductance and resistance of the servo motor, respectively, K is the torque coefficient of the motor, K e is the back electromotive force constant of the motor, J and D are the rotary inertia and friction coefficient of the motor, respectively, u f is the deflection angle of the motor output, u m is the deflection angle of the rudder, and T L is the actual output torque of the loading system.…”