Linearized pull-pull electromagnetic actuators, systems, and methods
View Patent ↗Electromagnetic actuators are provided, which generate bidirectional linear force output without magnetic bias from current or permanent magnets. Systems and methods based on the electromagnetic actuators are also provided.
1. A force linearization and control system, comprising:
a crossover controller receiving commanded output force as input and producing top and bottom gap force commands;
top and bottom squaring circuits receiving inputs from the respective top and bottom magnetic flux sensors and producing calculated top and bottom force estimates;
top and bottom gap force controllers receiving calculated top and bottom gap force estimates from the respective top and bottom squaring circuits and receiving top or bottom gap force commands from the crossover controller and producing top and bottom current commands; and
an amplifier receiving top and bottom current commands from the top and bottom gap force controllers and producing corresponding electrical currents in the respective top and bottom electrical coils.
2. A method for producing bidirectional linear force output from an electromagnetic actuator without magnetic bias from current or permanent magnets, comprising:
providing an electrodynamic actuator with top and bottom magnetic flux sensors positioned to measure magnetic flux crossing respective top and bottom axial air gaps;
squaring the measured magnetic flux from the top and bottom magnetic flux sensors and multiplying by a proportionality constant to obtain an estimate of force produced across the top and bottom axial air gaps;
calculating top and bottom axial air gap force commands according to a crossover algorithm; and
controlling current through top and bottom electrical coils, causing the estimated axial force produced across the top and bottom axial air gaps to be equal to the top and bottom axial air gap force commands.
3. The method of claim 2 , the crossover algorithm comprising:
defining a transition force level, Fc, for a commanded output force;
calculating top and bottom axial air gap force commands such that the sum of the top and bottom axial air gap forces is equal to the commanded output force.
4. The method of claim 3 , wherein the sum of the top and bottom axial air gap forces is subject to the following rules:
a) commanded output force more positive than Fc is produced only by the top axial air gap;
b) commanded output force more negative than −Fc is produced only by the bottom axial air gap;
c) rate of change of the axial air gap force command is equal to rate of change of the commanded output force at transition force level Fc; and
d) rate of change of the axial air gap force command is zero when a sum of top and bottom axial air gap force commands is zero.
5. The method of claim 3 , wherein the sum of the top and bottom axial air gap forces is subject to the following rules:
a) commanded output force more positive than Fc is produced by the top axial air gap;
b) commanded output force more negative than −Fc is produced by the bottom axial air gap;
c) rate of change of the axial air gap force command is equal to rate of change of the commanded output force at transition force level Fc; and
d) rate of change of the axial air gap force command is zero when a sum of top and bottom axial air gap force commands is zero.