A method for controlling an actuator to compensate for a non-linear output.

摘要

A method for controlling an actuator to compensate for a non-linear output of an actuator includes determining a desired command current for the actuator, where the command current causes a desired output force to be output by the actuator. The desired command current is correlated with an approximated point of a characterization curve of the actuator, where the characterization curve includes multiple points determined in a previously performed characterization of the actuator. The approximated point is determined between two successive points of the multiple points using a linear approximation, and a required command duty cycle is determined from the approximated point of characterization curve. A drive signal having the determined command duty cycle is applied to the actuator to cause the actuator to output the desired force.