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Aimed to the problems of speed loop instruction error, current shock and torque ripple during the dual-redundancy actuator process, a servo-control method is discussed in this paper. Firstly, the integral equilibrium is adopted to restrain the speed loop instruction error of sensors and two-channel controller calculating. Then the current shock generated by load disturbance and motor transition process is alleviated with current cut-off feedback. Finally, the temperature compensation is applied to neutralize the torque ripple caused by environment temperature and motor heat. The simulation result shows that the method can effectively assure the motor performing satisfactorily under different conditions.