Linearization of a current-driven reluctance actuator with hysteresis compensation

• Published in: Mechatronics (Oxford) 2013-03, Vol.23 (2), p.163-171
• Main Authors: Katalenic, A., de Boeij, J., Butler, H., van den Bosch, P.P.J.
• Format: Article
• Language: English
• Subjects: Actuators; Compensators; Controllers; Hysteresis; Inverse; Linearization; Reluctance; Reproducibility; Variable reluctance actuators
• ISSN: 0957-4158; 1873-4006
• DOI: 10.1016/j.mechatronics.2013.01.004

► Hysteresis in current-driven E-core and C-core reluctance actuators is studied and modeled. ► Actuator models which neglect hysteresis have limited predictability. ► Predictability can be improved by using the parametric hysteresis inverse. ► The linearization error due to hysteresis is reduced by an order of magnitude. ► The proposed inverse model is intuitive, and easy to identify and implement. This paper investigates the influence of hysteresis present in the ferromagnetic core of a variable reluctance actuators on the force reproducibility. To reduce this influence and to boost reproducibility, a hysteretic inverse actuator model is derived and used to linearize a current-driven reluctance actuator. Furthermore, an identification procedure for identifying the parameters of the hysteresis model and the remaining actuator non-linearities is presented. Two actuators are experimentally tested with the proposed compensator and a linearization error smaller than 0.05% of the maximum force is achieved, which is an order of magnitude improvement over single-valued inverse compensators. A comparably small error is obtained for non-trivial, non-periodic inputs when higher order reversal curves of the actuator hysteresis have to be reproduced as well. The simple structure of the compensator allows a fast implementation in digital controllers.