Control command modification to minimize saturation effects for controlled force application

摘要

A force generating apparatus for providing a force to a moving element based upon receipt of an electrical force signal includes a force applying element coupled to the moving element for applying the force to the moving element and an actuator coupled to the force applying element for actuation thereof in response to receiving the electrical force signal. The force generating apparatus further includes a controller for determining when the force apply element is in an apply mode, determining the elapsed time until reversion to a normal mode, determining when the elapsed time is greater than a predefined minimum, modifying the value of the electrical force signal sent to the actuator, and modifying a stored control parameter.