SYSTEM AND METHOD FOR SERVO CONTROL OF NONLINEAR ELECTROMAGNETIC ACTUATORS

摘要

Servo control using ferromagnetic core material and electrical windings is based on monitoring of winding currents and voltages and inference of: magnetic flux, a force indication; and a magnetic gap, a position indication. The third order nonlinear servo control is split into nested control loops: a fast non-linear first order inner loop (1636) causing flux to track a target by varying a voltage output; and a slower almost linear second-order outer loop (1650, 1670, 1680) causing magnetic gap to track a target by controlling the flux target of the inner loop.