System and method for servo control of nonlinear electromagnetic actuators
a nonlinear electromagnetic actuator and servo control technology, applied in electrical control, non-mechanical valves, magnetic bodies, etc., can solve the problems of failure mode of print wire solenoids, insufficient basis for a servo system generating large mechanical motions and correspondingly large changes, and eliminate closure impact and associated noise, the effect of reducing the number of servos
a nonlinear electromagnetic actuator and servo control technology, applied in electrical control, non-mechanical valves, magnetic bodies, etc., can solve the problems of failure mode of print wire solenoids, insufficient basis for a servo system generating large mechanical motions and correspondingly large changes, and eliminate closure impact and associated noise, the effect of reducing the number of servos
US20060171091A1Inactive Publication Date: 2006-08-03SEALE JOSEPH B +1
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[0152] We have discussed the achievement of linear servo control, whose outcome is to establish a roughly exponential decay of error, including simple exponential decay and ringing within a decaying exponential envelope. A real solenoid controller has built in slew rate limits that set boundaries to the region of linear behavior and, consequently, the range of applicability of linear control methods. Typically, the solenoid driver amplifier operates between voltage output limits that set the maximum rate at which solenoid current can be increased and decreased. In the most common two-state output controller, the “on” output state drives current toward a maximum while the “off” output state short-circuits the solenoid winding through a transistor, allowing the current to vary and, ultimately, decay, in passive response to resistance and changing magnetic gap. The momentum attained by the solenoid shuttle falls into two categories: mechanical and electromagnetic...
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Abstract
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 magnetic gap, a position indication. Third order nonlinear servo control is split into nested control loops: a fast nonlinear first-order inner loop causing flux to track a target by varying a voltage output; and a slower almost linear second-order outer loop causing magnetic gap to track a target by controlling the flux target of the inner loop. The inner loop uses efficient switching regulation, preferably based on controlled feedback instabilities, to control voltage output. The outer loop achieves damping and accurate convergence using proportional, time-integral, and time-derivative gain terms. The time-integral feedback may be based on measured and target solenoid drive currents, adjusting the magnetic gap for force balance at the target current. Incorporation of permanent magnet material permits the target current to be zero, achieving levitation with low power, including for a monorail deriving propulsion from the levitation magnets. Linear magnetic approximations lead to the simplest controller, but nonlinear analog computation in the log domain yields a better controller with relatively few parts. When servo-controlled solenoids provide actuation of a pump piston and valves, electronic LC resonance measurements determine liquid volume and gas bubble volume.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS [0001] The present application is a continuation of commonly assigned copending U.S. patent application Ser. No. 09 / 771,892, which was filed on Jan. 30, 2001, by Joseph B. Seale et al., for a SYSTEM AND METHOD FOR SERVO CONTROL OF NONLINEAR ELECTROMAGNETIC ACTUATORS, which is a divisional application of U.S. patent application Ser. No. 08 / 882,945, which was filed on Jun. 26, 1997, by Joseph B. Seale et al., for a SYSTEM AND METHOD FOR SERVO CONTROL OF NONLINEAR ELECTROMAGNETIC ACTUATORS now U.S. Pat. No. 6,208,497, which was issued on Mar. 27, 2001, and each of which is hereby expressly incorporated by reference.BACKGROUND OF THE INVENTION [0002] 1. Field of the Invention [0003] The present invention relates to systems and methods for controlling the movement of mechanical devices. More particularly, the present invention relates to the servo control of electromagnetic devices. Still more particularly, the present invention relates to the serv...
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Patent Timeline
03 Aug 2006
Publication
US20060171091A1
- IPC
- H01H47/00; B60L13/06; B60L13/10; F01L9/20; F02D13/02; F02D41/14; F02D41/20; H01F7/16; H01F7/18; H02K41/03; H02N15/00; H02P25/02; H02P25/06
- CPC
- F01L9/04; F01L2009/0405; F01L2009/0486; F02D13/0253; F02D41/1401; F02D41/20; F02D2041/001; F02D2041/1419
- Inventors
- SEALE, JOSEPH B.; BERGSTROM, GARY E.