In most of the existing researches on servo valve torque motor

the spring tube structure often is cylinder type

while the mathematical modeling and experimental research of gantry torque motor have not been found. In order to study the performance of the gantry torque motor with jet pipe servo valve

a precise mathematical model of each component of the torque motor is established

obtaining the theoretical calculation results of its static and dynamic characteristics

and the correctness of the mathematical model is verified by experiments. The results show that the static linearity and symmetry of the gantry torque motor are 3.599% and 2.648% respectively

the rise time of dynamic step response is 2.85 ms

and the amplitude frequency width and the phase frequency width are 124 Hz and 250 Hz respectively.