Electromagnetic actuator

Abstract

An actuator device is provided. The actuator device comprises a first electromagnet, which is switchable between a first ON state in which current flows in a first direction and a second ON state in which current flows in a second direction opposite to the first direction. The actuator device further comprises a second electromagnet, which is operable in the first ON state in which current flows. The actuator device further comprises a plunger that is movable between a first position and a second position. The actuator device is configured to hold the plunger in a first position based on the magnetic flux generated by the first and second electromagnets when the first and second electromagnets are in their respective first ON states. The actuator device further comprises a switching circuit for switching the first electromagnet from its first ON state to its second ON state in order to trigger the movement of the plunger from the first position to the second position. The switching time for switching the first electromagnet from its first ON state to its second ON state is shorter than the excitation time for exciting the second electromagnet from its OFF state to its first ON state.

Description

[Background technology]

[0001] An electromagnetic actuator converts electrical energy into mechanical energy in the form of plunger movement. A typical electromagnetic actuator comprises a movable plunger and a single solenoid coil that can selectively generate a magnetic field to attract the plunger toward the solenoid coil. The plunger is usually spring-driven and, when the solenoid coil is not generating a magnetic field, is biased to a nominal position away from the solenoid coil and held in this position. The plunger is typically actuated by generating a potential difference across the solenoid coil. This potential difference causes current to flow through the solenoid coil, resulting in the generation of a magnetic field that attracts the plunger from its nominal position to an endstop position toward the solenoid coil. When a potential difference is generated across the solenoid coil, current begins to flow through it and increases to a steady state at a rate dependent on an electrical time constant τ, which is directly proportional to the coil's inductance. Movement of the plunger from its nominal position begins when the current flowing through the solenoid coil reaches a sufficiently high level, allowing the resulting magnetic field to exert an attractive force on the plunger that exceeds the spring biasing force. Therefore, there is a delay between the time when a potential difference is first generated in the solenoid coil and the time when the plunger begins to move. This delay can be called the "trigger delay." Once the plunger begins to move, it takes a certain amount of time for it to move from its nominal position to its endstop position. This time can be called the "transition time." The total operating time required from the time the actuator is activated (i.e., from the time a potential difference is generated in the solenoid coil) until the plunger reaches its endstop position depends on the sum of the trigger delay and the transition time.

[0002] In some applications, an electromagnetic actuator having a relatively short actuation time may be particularly desirable. However, it can be particularly difficult to shorten the actuation time of known electromagnetic actuators as described above. For example, the transition time can depend on the (e.g., average) force acting on the plunger by the magnetic field of the solenoid coil while the plunger moves from the nominal position to the end stop position. This force can depend on the magnetic flux density generated by the solenoid coil, which can be increased, for example, by increasing the current flowing through the solenoid coil in the on state or by increasing, for example, the winding density of the solenoid coil. However, the current in the solenoid coil cannot be increased instantaneously. Rather, the rate at which the current can be increased in the solenoid coil is limited by its electrical time constant τ. Thus, to operate a given solenoid coil at a higher on-state current, it takes a longer time to fully energize the coil, i.e., until the current reaches such a high on-state value. As a result, increasing the nominal on-state current of the solenoid coil may have little effect on the force acting on the plunger while the plunger moves from the nominal position to the end stop position. This is because the movement of the plunger from the nominal position to the end stop position may start or, in some cases, complete before there is sufficient time for the solenoid coil to be fully energized, i.e., for its current to reach the nominal on-state value. Further, increasing the winding density of the solenoid (assuming, for example, a constant solenoid length) typically increases its inductance, and as a result, the electrical time constant τ also increases. This can lead to an increase in the trigger delay and may increase the time required to fully energize the coil, and thus may reduce the degree of coil excitation while the plunger moves from the nominal position to the end stop position.

[0003] Therefore, there remains a need for an electromagnetic actuator with improved actuation time.

Brief Description of the Drawings

[0004] The embodiments will be described in more detail below with reference to the attached drawings. [Figure 1] Figure 1 schematically shows an exemplary actuator. [Figure 2A] Figure 2A schematically shows the first and second magnetic circuits of the actuator shown in Figure 1. [Figure 2B] Figure 2B schematically shows the first and second magnetic circuits of the actuator shown in Figure 1. [Figure 3A] Figure 3A schematically shows an example of the state transition of the actuator shown in Figure 1. [Figure 3B] Figure 3B schematically shows an example of the state transition of the actuator shown in Figure 1. [Figure 3C] Figure 3C schematically shows an example of the state transition of the actuator shown in Figure 1. [Figure 3D] Figure 3D schematically shows an example of the state transition of the actuator shown in Figure 1. [Figure 4] Figure 4 shows a graph of various parameters in an example of the state transition of the actuator shown in Figure 1. [Figure 5] Figure 5 schematically shows an example of an electronically controlled valve. [Figure 6] Figure 6 schematically shows an exemplary fluid machine tool. [Figure 7] Figure 7 schematically shows the controller. [Figure 8] Figure 8 is a flowchart showing how to control the actuator. [Figure 9] Figure 9 is a flowchart showing how to operate the actuator. [Modes for carrying out the invention]

[0005] According to this disclosure, the actuator comprises a first electromagnet (e.g., for a trigger), a second electromagnet (e.g., for a primer), a plunger, and a switching circuit. The actuator may further comprise one or more magnetic conductors (e.g., which may be included in the respective magnetic circuits of one or both of the first and / or second electromagnets). The actuator may further comprise a biaser. The actuator may further comprise a housing which may house one or more of the actuator components or features disclosed herein, for example, the first electromagnet, the second electromagnet, the plunger, the switching circuit, the biaser, and one or more of the one or more magnetic conductors.

[0006] Figure 1 schematically shows a cross-section of an exemplary actuator 100, which comprises a first (e.g., solenoid) coil 110 constituting a first electromagnet (e.g., for triggering) made of electrically conductive wire, a second (e.g., solenoid) coil 120 constituting a second electromagnet (e.g., for primer) made of electrically conductive wire, a plunger 130, an actuator 135, a switching circuit 140, and one or more magnetic conductors 170. The specific configuration of the exemplary actuator 100 shown in Figure 1 is for illustrative purposes only and should be understood as not being limited thereto. For example, in some examples, the magnetic conductors 170 may be omitted.

[0007] The actuator 100 shown in Figure 1 may be symmetrical with respect to the axis 105. Figure 1 shows the right side of the cross-section with respect to the axis 105, and the left side of the cross-section of the actuator 100 may be a mirror image of the right side with respect to the axis 105.

[0008] The first electromagnet includes a first electrical terminal and a second electrical terminal, and these first and second electrical terminals may be electrically coupled via a first coil 110 having a first number of turns. The first electromagnet may be configured to operate selectively in one or more of the following states, for example, via a switching circuit 140. That is, a first ON state in which current flows through the first coil 110 of the first electromagnet in a first direction (for example, from the first electrical terminal of the first electromagnet to the second electrical terminal), a second ON state in which current flows through the first coil 110 of the first electromagnet in a second direction opposite to the first direction (for example, from the second electrical terminal of the first electromagnet to the first electrical terminal), a third ON state in which current flows through the first coil 110 of the first electromagnet in the first or second direction (for example, between the first and second electrical terminals of the first electromagnet), and an OFF state in which the current flowing through the first coil 110 of the first electromagnet is a low amount (for example, a lower amount than the amount in the ON state) or a negligible amount (for example, substantially zero). The first electromagnet may be switchable between any two of the first ON state, the second ON state, the third ON state, and the OFF state, for example via a switching circuit 140. The first coil 110 may also be arranged to surround the first portion of the shaft 105.

[0009] The third ON state of the first electromagnet may be the same as the first ON state or the second ON state of the first electromagnet, in which case the third ON state of the first electromagnet is (depending on the case) the same as the first ON state or the second ON state.

[0010] The second electromagnet includes a first electrical terminal and a second electrical terminal, which may be electrically coupled via a second coil 120 having a second number of turns. The second electromagnet may be configured to operate selectively in one or more of the following states, for example via a driver circuit (not shown): a first ON state in which current flows through the second coil 120 of the second electromagnet in a first direction (e.g., from the first electrical terminal to the second electrical terminal of the second electromagnet); and an OFF state in which the current flowing through the second coil 120 of the second electromagnet is low (e.g., lower than the amount in the ON state) or negligible (e.g., substantially zero). The second coil 120 may be positioned to surround a second portion of the shaft 105.

[0011] The plunger 130 of the actuator 100 is movable between a first (e.g., endstop) position 150 and a second (e.g., endstop) position 160. The plunger 130 may be movable between the first and second positions 150 and 160 along an axis (e.g., a linear axis). The first coil 110 of the first electromagnet and the second coil 120 of the second electromagnet may be spaced apart from each other with respect to the axis. The axis may be substantially parallel to the axis 105.

[0012] The actuating member 135 may be mechanically coupled to the plunger 130 (e.g., attached or integrally formed). As will be further described below with reference to Figure 5, the actuating member 135 may be mechanically coupled to, for example, a valve member of a valve equipped with an actuator 100, in which case the actuating member 135 may function as a valve stem for controlling the position of the valve member to open and close the valve.

[0013] Depending on the operating state of the first and second electromagnets, the plunger 130 may be held in a first (e.g., endstop) position 150, a second (e.g., endstop) position 160, or move between the first and second positions 150, 160. This is briefly described below with reference to Figure 1. A more detailed explanation is provided further below, for example, with reference to Figures 2 to 4.

[0014] When the plunger 130 is in the first position 150, the actuator 100 may be configured to hold the plunger 130 in this position by relying on the magnetic field generated by the operation of the first electromagnet in its first ON state (where, as described above, in the first ON state, current flows through the coil 110 of the first electromagnet in the first direction). While the plunger 130 is held in the first position 150 by relying on the magnetic field generated by the operation of the first electromagnet in its first ON state, the second electromagnet may be biased from the OFF state (for example, a state in which substantially no current flows through the coil 120 of the second electromagnet) to the first ON state in which current flows through the coil 120. The device is configured to hold the plunger 130 in the first position 150 when the first electromagnet is in its first ON state and the second electromagnet is in its first ON state. In other words, the magnetic field generated by the combination of the first electromagnet in its first ON state and the second electromagnet in its first ON state does not move the plunger 130 from the first position 150 to the second position 160. In fact, some of the magnetic flux components generated by the first and second electromagnets in their respective first ON states may combine positively with each other, resulting in the plunger 130 being held in the first position 150. Thus, the second electromagnet can be excited (to a desired level, for example) (e.g., "completely") while the plunger 130 remains in the first position 150.

[0015] After the second electromagnet is energized, the movement of the plunger 130 from the first position 150 to the second position 160 can be triggered by the switching circuit 140 switching the first electromagnet from its first on state to its second on state (for example, while the second electromagnet is kept in its first on state). In this second on state, the current flowing through the coil of the first electromagnet flows in a second direction opposite to the first direction. This switching induces a magnetic flux gradient across the entire plunger 130 (for example, when the total magnetic flux received by the first surface of the plunger 130 closest to the first position 150, the first surface 130a described later, is smaller than the total magnetic flux received by the second surface of the plunger 130 closest to the second position 160, the second surface 130b described later). This magnetic flux gradient causes a (for example, relatively high) force to act on the plunger 130, causing the plunger 130 to move away from the first position 150 towards the second position 160. For example, this magnetic flux gradient may be generated by the magnetic field generated by the first electromagnet operating in the second ON state at least partially canceling out a portion of the magnetic field generated by the second electromagnet in the vicinity of the first position 150. This at least partial cancellation of a portion of the magnetic field generated by the second electromagnet in the vicinity of the first position 150 can result in a larger magnetic flux gradient across the plunger 130 compared to, for example, the case where the second electromagnet is in its first ON state and the first electromagnet is in the OFF state. Therefore, instead of simply switching the first electromagnet from its first ON state to its OFF state, the system is configured to trigger an operation that moves the plunger 130 from the first position 150 to the second position 160 by switching it from the first ON state to the second ON state. This configuration allows for an advantageous increase in the force acting on the plunger 130 in the direction from the first position 150 to the second position 160, potentially leading to a reduction in operating time and improved accuracy of operating timing.

[0016] As the plunger 130 moves from the first position 150 to the second position 160, the magnetic flux gradient across the plunger 130 may increase, thus allowing it to accelerate.

[0017] According to the holding and trigger mechanism described above, it is possible to particularly shorten the operating time when the plunger 130 moves from the first position 150 to the second position 160, and more accurate operating timing can be realized.

[0018] When the plunger 130 is in the second position 160, the plunger 130 can be held in the second position 160 by a magnetic field generated by a combination in which the first electromagnet operates in its second on-state and the second electromagnet operates in its first on-state. After the plunger 130 reaches the second position 160, the first electromagnet can also be switched to an off state. In this case, the plunger 130 can be held in the second position 160 by the magnetic field generated by the second electromagnet. Alternatively, after the plunger 130 reaches the second position 160, the first electromagnet can also be switched to its third on-state. In this case, the plunger 130 can be held in the second position 160 in the presence of a magnetic field generated by a combination in which the first electromagnet operates in its third on-state and the second electromagnet operates in its first on-state.

[0019] The plunger 130 can be moved from the second position 160 to the first position 150 and returned to the first position 150 by a magnetic field generated by the first electromagnet operating in its third on-state exerting a sufficiently large attractive force on the plunger 130. Further or alternatively, the plunger 130 may be returned from the second position 160 to the first position 150 using a biaser such as a spring. The second electromagnet may be switched from its first on-state to an off state before the plunger 130 starts to move from the second position 160 towards the first position 150 (for example, to enable the magnetic field generated by the first electromagnet operating in its third on-state to move the plunger 130 from the second position to the first position).

[0020] The second electromagnet may be configured to store more energy in its magnetic field than the first electromagnet when each is in the first ON state. The first and second electromagnets can be configured in any suitable manner so that such greater energy storage is obtained in the second electromagnet. For example, the second electromagnet may be configured to have a higher ON-state current than the first electromagnet when each is in the first ON state, or the second electromagnet may have a larger inductance than the first electromagnet. The second electromagnet may be configured to have a higher ON-state current than the first electromagnet when each is in the first ON state, and to have a larger inductance than the first electromagnet. Due to the greater energy storage in the second electromagnet as described above, when the first and second electromagnets are each in the first ON state, the second electromagnet may be able to exert a greater attractive force on the plunger 130 than the first electromagnet with respect to a given distance to the plunger 130. For each of the first and second electromagnets, the attractive force that can be independently exerted on the plunger 130 may depend on the relative position of the plunger 130 with respect to the first position 150 and the second position 160. For example, the attractive force that the first electromagnet can exert on the plunger 130 may depend on the (e.g., shortest) distance between the plunger 130 and the first position 150, and the attractive force that the second electromagnet can exert on the plunger 130 may depend on the (e.g., shortest) distance between the plunger 130 and the second position 160. Therefore, when the first and second electromagnets are each in their first ON state, if the plunger 130 is in the first position 150, the plunger 130 can be held in the first position 150 because the (e.g., shortest) distance between the first position 150 and the plunger 130 is smaller than the (e.g., shortest) distance between the second position 160 and the plunger 130.

[0021] References to the "off state" of the first and second electromagnets may refer to a state in which the first and second electromagnets are completely switched off (e.g., a state in which there is substantially no current flowing through them), or may refer to a state in which they are not completely switched off and, for example, a relatively low level of current remains flowing (compared to their respective "on states").

[0022] The time required for the second electromagnet to transition from its off state to the first on state may be referred to as the "excitation time". The excitation time of the second electromagnet may correspond to the time required for the current flowing through the second electromagnet to increase from its value in the off state (e.g., substantially zero) or other predetermined initial value to the value in the first on state. The excitation time of the second electromagnet may depend, for example, on the electrical time constant of the second electromagnet (which may depend on the inductance of the second electromagnet). Further, the excitation time of the second electromagnet may also depend on the magnitude of the current flowing through coil 120 when the second electromagnet is in its first on state.

[0023] The first position 150 may be defined by a first (e.g., magnetic insulator) end stop (not shown), which may prevent the plunger 130 from being attracted to the first electromagnet, for example, by preventing the plunger 130 from moving beyond the first position 150 in the direction from the second position 160 to the first position 150. The second position 160 may be defined by a second (e.g., magnetic insulator) end stop (not shown), which may prevent the plunger 130 from being attracted to the second electromagnet, for example, by preventing the plunger 130 from moving beyond the second position 160 in the direction from the first position 150 to the second position 160.

[0024] As described above, the movement of the plunger 130 between the first position 150 and the second position 160 can be caused by a magnetic field generated by one or both of the first and / or second electromagnets. Therefore, the plunger 130 is configured such that a force acts on it in the presence of a magnetic field, for example, when a magnetic flux gradient exists across the plunger 130. The larger the magnetic flux gradient across the plunger 130, the greater the force acting on the plunger 130. The plunger 130 may contain a ferromagnetic material. As used herein, the term "ferromagnetic" refers to a material that has a sufficiently high magnetic transmittance so that the plunger 130 can move under the influence of a magnetic field generated by one or both of the first and second electromagnets. The plunger 130 may be made of a material containing iron, cobalt, nickel, or any combination thereof (for example, as a component of one or more alloys). For example, the plunger 130 may contain an iron-based alloy such as steel. Furthermore, the plunger 130 may include a permanent magnet that has a magnetic dipole moment and an associated magnetic field even in the absence of an external magnetic field. In the following description, unless otherwise specified, it is assumed that the plunger 130 contains a ferromagnetic material but does not contain a permanent magnet. However, as mentioned above, it should be understood that the plunger 130 may alternatively contain a permanent magnet.

[0025] As described above, the actuator 100 may be equipped with a biaser. If a biaser is provided, the biaser may be configured to return the plunger 130 to a predetermined reference position (e.g., a first position 150 or a second position 160) and to apply a biasing force to the plunger 130 to hold (e.g., maintain) it in the reference position when neither the first electromagnet nor the second electromagnet is generating its respective magnetic field, for example, when the actuator 100 is in the off state. For example, if the reference position corresponds to the second position 160, the biaser may be configured to apply a biasing force to the plunger 130 when the plunger 130 is in the first position 150. This biasing force acts in the direction from the first position 150 to the second position 160, thereby returning the plunger 130 to the second position 160 when neither the first electromagnet nor the second electromagnet is generating its respective magnetic field, for example, when the actuator 100 is in the off state. In such an example, when the plunger 130 is in the second position 160, the biaser may be configured to hold (e.g., maintain) the plunger 130 in the second position 160 when neither the first nor the second electromagnet is generating its respective magnetic field, for example, when the actuator 100 is in the off state. Alternatively, the reference position may correspond to the first position 150, in which case the biaser may be configured to apply a biasing force to the plunger 130 when it is in the second position 160. This biasing force acts in the direction from the second position 160 to the first position 150, returning the plunger 130 to the first position 150 when neither the first nor the second electromagnet is generating its respective magnetic field, for example, when the actuator 100 is in the off state. In such an example, if the plunger 130 is in the first position 150, the biaser may be configured to hold (e.g., maintain) the plunger 130 in the first position 150 when neither the first nor the second electromagnet is generating its respective magnetic field, for example, when the actuator 100 is in the off state.

[0026] The biaser may include a spring or any other suitable biaser. In examples where no biaser is provided, the plunger 130 can be biased to and held (e.g., maintained) in the reference position by generating a suitable magnetic field by one or both of the first and / or second electromagnets.

[0027] As described above, the switching circuit 140 can control each state of the first electromagnet. The switching circuit 140 can operate to induce each state of the first electromagnet in response to a control signal received from, for example, a controller (not shown), such as the controller 700 described later in relation to Figure 7. For example, the switching circuit 140 can operate to induce a first ON state of the first electromagnet in a first mode. The switching circuit 140 can operate to induce a second ON state of the first electromagnet in a second mode. The switching circuit 140 can operate to induce a third ON state of the first electromagnet in a third mode. The third ON state of the first electromagnet may be the same as the first ON state or the second ON state, in which case the third mode of the switching circuit will be the same as the first mode or the second mode (depending on the case), that is, there is no separate third mode in the switching circuit, and the third ON state (if it is the same as the first ON state or the second ON state) may be induced by operating the switching circuit 140 in the first mode or the second mode (depending on the case). The switching circuit 140 may be operable to induce the OFF state of the first electromagnet in the fourth mode. The modes of the switching circuit 140 (e.g., the first mode, second mode, third mode or fourth mode) may be activated in response to a control signal received from a controller (not shown), such as the controller 700 described in relation to Figure 7, for example.

[0028] In the first mode, the switching circuit 140 may be configured to selectively cause the current flowing through the first coil 110 of the first electromagnet to flow in a first direction (for example, by generating a first potential difference having a first polarity across the first and second electrical terminals of the first electromagnet, from the first electrical terminal to the second electrical terminal of the first electromagnet). This can induce a first ON state of the first electromagnet. As described above, the first ON state of the first electromagnet may refer to a state in which, when the second electromagnet is in its first ON state and the plunger 130 is in a first position 150, the magnitude of the current flowing in the first direction is at least sufficient to generate a magnetic flux gradient across the plunger 130, and as a result exert a net force on the plunger 130 sufficient to hold the plunger 130 in the first position 150.

[0029] In the second mode, the switching circuit 140 may be configured to selectively cause the current flowing through the first coil 110 of the first electromagnet to flow in a second direction opposite to the first direction (for example, from the second electrical terminal to the first electrical terminal by generating a second potential difference across the first and second electrical terminals of the first electromagnet, having a polarity opposite to the first polarity of the first potential difference). This can induce a second ON state of the first electromagnet. As described above, the second ON state of the first electromagnet may refer to a state in which, when the second electromagnet is in its first ON state and the plunger 130 is in the first position 150, the magnitude of the current flowing in the second direction is at least sufficient to change the magnetic flux gradient induced across the plunger 130 by the combination of the first and second electromagnets, thereby applying a net force to the plunger 130 that is sufficient to trigger the plunger 130 to move from the first position 150 to the second position 160, based on the magnetic flux generated by the first and second electromagnets.

[0030] In the third mode, the switching circuit 140 is configured to selectively generate a current flow through the first coil 110 (by generating a third potential difference between the first and second electrical terminals) and induce a third ON state of the first electromagnet. The third ON state of the first electromagnet may refer to a state of the first electromagnet in which, when the second electromagnet is OFF and the plunger 130 is at the second position 160, the magnitude of the current flowing through the first electromagnet is at least sufficient to generate a magnetic flux gradient across the plunger 130 that exerts a net force on the plunger 130 sufficient to move the plunger 130 from the second position 160 to the first position 150.

[0031] In the fourth mode, the switching circuit 140 may be configured to selectively (e.g., substantially) suppress the flow of current between the first electrical terminal and the second electrical terminal of the first electromagnet (for example, by generating a potential difference between the first electrical terminal and the second electrical terminal that is (e.g., substantially) zero) in order to induce an off state of the first electromagnet.

[0032] In each of the first, second, and third ON states, the specific magnitude of the current flowing through the first electromagnet may depend on the specific configuration of the actuator 100. One or more of the first, second, and third ON states may refer to each state of the first electromagnet in which the current flowing through the first electromagnet has reached, for example, a corresponding (e.g., substantially) steady state, i.e., a corresponding steady value or a portion (percentage) of that steady value.

[0033] The switching circuit 140 can be coupled to a power source (not shown), such as a voltage source, and may be operated to selectively couple the first and second electrical terminals of the first electromagnet to the power source, thereby generating a potential difference with selected polarity between the first and second electrical terminals of the first electromagnet. The switching circuit 140 may include any suitable circuit that can operate to selectively supply current to the first coil 110 (for example, in response to a control signal) and selectively reverse the direction of the current flowing through the first coil 110. The switching circuit 140 may comprise a so-called "H-bridge" or any other suitable type of switching circuit.

[0034] As described above, a driver circuit (not shown) may be provided to control the operating state of the second electromagnet. The actuator 100 may be equipped with a driver circuit. Alternatively, the driver circuit may be provided outside the actuator 100 and operably coupled to the second electromagnet.

[0035] A driver circuit (not shown) may be configured to induce a first ON state or OFF state of the second electromagnet (for example, in response to a control signal received from a controller (not shown), such as the controller 700 described in relation to Figure 7). For example, the driver circuit may be operable to induce a first ON state of the second electromagnet in a first mode. In the first mode, the driver circuit is configured to induce a first ON state of the second electromagnet by selectively causing a current flow through the second coil 120 of the second electromagnet (for example, by generating a potential difference between the first and second electrical terminals of the second electromagnet). As described above, the first ON state of the second electromagnet may refer to a state in which the direction and magnitude of the current flowing through the second electromagnet give a gradient of magnetic flux induced across the plunger 130 by the first and second electromagnets, which are in the first ON state, and exert a sufficient net force on the plunger 130 when the plunger 130 is in the first position 150, thereby holding the plunger in the first position 150. The first ON state of the second electromagnet may further refer to a state in which the direction and magnitude of the current flowing through the second electromagnet give a gradient of magnetic flux induced across the plunger 130 by the first electromagnet in the second ON state and the first electromagnet in the first ON state, and exert a sufficient net force on the plunger 130 when the plunger 130 is in the first position 150, thereby triggering the movement of the plunger 130 from the first position 150 to the second position 160.

[0036] Furthermore, the driver circuit may be operable to induce an off state of the second electromagnet in the second mode. In the second mode, the driver circuit may be configured to selectively (e.g., substantially) suppress the flow of current between the first and second electrical terminals of the second electromagnet (e.g., by generating a (e.g., substantially) zero potential difference between the first and second electrical terminals) in order to induce an off state of the second electromagnet.

[0037] The driver circuit's mode (for example, the first or second mode of the driver circuit) can be activated in response to a control signal received from a controller (not shown), such as the controller 700 described in relation to Figure 7.

[0038] The specific magnitude of the current flowing through the second electromagnet in the first ON state may depend on the specific configuration of the actuator 100. The first ON state of the second electromagnet may refer to a state in which the current flowing through the second electromagnet has reached a (substantially) steady state, such as the corresponding steady value or a fraction of the corresponding steady value.

[0039] The driver circuit can be coupled to a power source (not shown), such as a voltage source, and the driver circuit may be operable to selectively couple the first and second electrical terminals of the second electromagnet to the power source, thereby generating a potential difference between the first and second electrical terminals of the second electromagnet and inducing a first ON state of the second electromagnet. The driver circuit 140 may include any suitable circuit that can operate to selectively supply current to the second coil 120 in a first direction (for example, in response to a control signal).

[0040] The first electromagnet may comprise a first magnetic circuit including at least one of one or more magnetic conductors 170 (if provided). For example, a magnetic flux generated by the first electromagnet may be provided that influences the position of the plunger 130 via a path including at least one of the one or more magnetic conductors 170. For example, as will be described later, the first magnetic circuit of the first electromagnet may comprise a first coil 110, at least one of the one or more magnetic conductors 170, a plunger 130, and one or more gaps such as one or more air gaps (such as air gaps 155a to 155c described later).

[0041] Each of the one or more magnetic conductors 170 may be composed of any material having preferably high magnetic permeability. For example, each of the one or more magnetic conductors 170 may be composed of the respective material having a relative magnetic permeability greater than 1 (for example, at room temperature, e.g., 20°C). One, some, or each of the one or more magnetic conductors 170 may comprise the respective material having one of iron; cobalt; nickel, or any combination thereof (for example, as part of one or more alloys). For example, one, some, or each of the one or more magnetic conductors 170 may be composed of the respective iron-based alloys, such as steel.

[0042] In the examples shown in Figures 1-5, a single magnetic conductor 170 is provided, and a portion of it forms the magnetic circuits of the first and second electromagnets. However, it will be understood that multiple magnetic conductors may be provided instead to form each magnetic circuit. Furthermore, magnetic conductors may be omitted entirely (for example, the first and second electromagnets may be "air-core" electromagnets).

[0043] In the examples shown in Figures 1-5, the plunger 130 has a first (e.g., upper) surface 130a that engages with a first end stop when the plunger is in a first position 150, a second (e.g., lower) surface 130b that engages with a second end stop when the plunger is in a second position 160, and a third (e.g., side) surface 130c that extends between the first and second surfaces 130a,b.

[0044] In the examples shown in Figures 1 to 5, for example as shown in Figure 2A, the first electromagnet includes a first magnetic circuit comprising a first magnetic circuit path 210 and a second circuit magnet circuit path 220 in parallel with the first magnetic circuit path 210.

[0045] The first magnetic circuit path 210 is shown by a thick dashed line in Figure 2A and extends through a first portion of a magnetic conductor 170 that is magnetically coupleable to or coupled to the first coil 110 of the first electromagnet. That is, the first portion of the magnetic conductor 170 is configured to receive at least some magnetic flux from the first coil 110 when the first electromagnet is in the ON state (e.g., the first, second, or third ON state). The first portion of the magnetic conductor 170 has a first end 230a facing the first surface 130a of the plunger 130 and a second end 230b facing the third surface 130c of the plunger 130. The first magnetic circuit path 210 also extends through a first air gap 155a between the first end 230a of the first portion of the magnetic conductor 170 and the first surface 130a of the plunger 130, and through a second air gap 155b between the plunger 130 (e.g., at least a portion of the plunger 130) and the second end 230b of the first portion of the magnetic conductor 170 and the third surface 130c of the plunger 130. The first air gap 155a may extend axially in a direction (substantially) parallel to the axis of movement of the plunger 130 (e.g., substantially parallel to axis 105). The second air gap 155b may extend radially outward from the third surface 130c of the plunger 130. For example, the second air gap 155b may extend radially outward (for example substantially) perpendicular to (for example substantially) the axis of movement 105 of the plunger 130, forming a third surface 130c of the plunger 130. When the first electromagnet is ON (for example, in a first, second, or third ON state), the magnetic flux generated by the first electromagnet "flows" around the first magnetic circuit path 210, i.e., through the first portion of the magnetic conductor 170, across the first air gap 155a, (for example) through the plunger 130, and across the second air gap 155b. The magnitude of the generated magnetic flux depends on the reluctance of the first magnetic circuit path 210, which includes the respective reluctance components corresponding to the first air gap 155a, the plunger 130 (for example, at least a portion thereof), and the second air gap 155b.

[0046] The second magnetic circuit path 220, shown by a dashed line in Figure 2A, extends through a second portion of the magnetic conductor 170 that is magnetically coupleable to or coupled to the first coil 110 of the first electromagnet. That is, the second portion of the magnetic conductor 170 is configured to receive at least some magnetic flux from the first coil 110 when the first electromagnet is in the ON state (such as its first, second, or third ON state). The second portion of the magnetic conductor 170 includes a first end 230a facing the first surface 130a of the plunger 130. The second portion of the magnetic conductor 170 has a third end 230c facing the second surface 130b of the plunger 130. The second magnetic circuit path 220 also extends through the first air gap 155a between the first end 230a of the first portion of the magnetic conductor 170 and the first surface 130a of the plunger 130, and through the plunger 130 (e.g., at least a portion of the plunger 130) and the third air gap 155c between the third end 230c of the first portion of the magnetic conductor 170 and the second surface 130b of the plunger 130. The third air gap 155c may extend axially (e.g. substantially) in a direction parallel to the axis of movement of the plunger 130. As will be described later, when the first electromagnet is in the ON state (e.g., the first ON state or the second ON state), the magnetic flux generated by the first electromagnet "flows" around the second magnetic circuit path 220, that is, it flows through the second portion of the magnetic conductor 170, across the first air gap 155a, through (e.g.) the plunger 130, and across the third air gap 155c. The magnitude of the generated magnetic flux depends on the reluctance of the second magnetic circuit path, which includes the respective reluctance components corresponding to the first air gap 155a, the plunger 130 (e.g., at least a portion of the plunger 130), and the third air gap 155c.

[0047] For the sake of explanation, let us consider the case where the first electromagnet is separated from the second electromagnet (i.e., when no current flows through the second coil 120 of the second electromagnet). When current flows through the first coil 110 of the first electromagnet, a magnetomotive force is generated that corresponds to the magnitude of the current flowing through the first coil 110 and the first number of turns of the first coil 110. This magnetomotive force creates a "flow" of magnetic flux in the first and second magnetic circuit paths 210 and 220 of the first electromagnet, and the magnitude of this magnetic flux depends on the reluctance of the first and second magnetic circuit paths 210 and 220, respectively.

[0048] As can be seen from Figure 2A, the first air gap 155a is included in both the first and second magnetic circuit paths 210 and 220, while the third air gap 155c is included in the second magnetic circuit path 220 but not in the first magnetic circuit path 210. In other words, the sum of the magnetic flux "flow" in the first and second magnetic circuit paths 210 and 220 "flows" across the first air gap 155a, while the magnetic flux "flow" in the second magnetic circuit path 220 "flows" across the third air gap 155c. Therefore, the current flowing through the first coil 110 of the first electromagnet generates a magnetic flux in the first air gap 155a that is greater than the magnetic flux in the third air gap 155c. This magnetic flux creates a gradient of magnetic flux across the plunger 130, and this gradient generates a force acting on the plunger 130 in a direction extending from the second position 160 toward the first position 150.

[0049] As described above, both the first air gap 155a and the third air gap 155c are included in the second magnetic circuit path 220. Therefore, the reluctance of the second magnetic circuit path 220 may not depend substantially on the relative plunger position 130 between, for example, the first position 150 and the second position 160. This is because the combined air gap size of the first and third air gaps 155a and 155c may remain substantially constant during the movement of the plunger 130 between the first and second positions 150 and 160, and therefore the combined reluctance associated with the combination of the first and third air gaps 155a and 155c may remain substantially constant during the movement of the plunger 130 between the first and second positions 150 and 160.

[0050] In contrast to the second magnetic circuit path 220, the first magnetic circuit path 210 includes a first air gap 155a but does not include a third air gap 155c. Therefore, the reluctance of the first magnetic circuit may depend on the relative position of the plunger 130 between, for example, a first position 150 and a second position 160. In particular, the smaller the first air gap 155a between the first end 230a of the magnetic conductor 170 and the first (e.g., upper) surface 130a of the plunger 130, the lower the reluctance of the first magnetic circuit path 210 and the larger the magnetic flux across the first air gap 155a. Thus, for a given current flowing through the first coil 110 of the first electromagnet, the difference in magnetic flux between the first air gap 155a and the third air gap 155c (i.e., the gradient of the magnetic flux across the plunger 130) increases as the size of the first air gap 155a decreases. Therefore, the magnitude of the force acting on the plunger 130 in the direction extending from the second position 160 toward the first position 150 due to the current flowing through the first electromagnet increases as the size of the first air gap 155a decreases.

[0051] The second electromagnet comprises a second magnetic circuit having a third magnetic circuit path and a fourth circuit magnet circuit path in parallel with the third magnetic circuit path. The third magnetic circuit path 270 is shown by a thick dashed line in Figure 2B and extends through a third portion of a magnetic conductor 170 that is magnetically coupleable to or coupled to the second coil 120 of the second electromagnet. That is, the third portion of the magnetic conductor is configured to receive at least some magnetic flux from the second coil 120 when the second electromagnet is in an ON state (such as its first ON state). The third portion of the magnetic conductor 170 includes a second end 230b facing the third surface 130c of the plunger 130. The third portion of the magnetic conductor 170 also includes the third end 230c facing the second surface 130b of the plunger 130. The third magnetic circuit path 270 also extends through the second air gap 155b, the plunger 130 (e.g., at least a portion of the plunger 130), and the third air gap 155c. When the second electromagnet is in the ON state (e.g., its first ON state), the magnetic flux generated by the second electromagnet "flows" around the third magnetic circuit path 270, that is, through the third portion of the magnetic conductor 170, across the second air gap 155b, through the plunger 130 (e.g., at least a portion of the plunger 130), and across the third air gap 155c. The magnitude of the generated magnetic flux depends on the reluctance of the third magnetic circuit path 270, which includes the respective reluctance components corresponding to the second air gap 155b, the plunger 130 (e.g., at least a portion of the plunger 130), and the third air gap 155c.

[0052] The fourth magnetic circuit path 260 is shown by a dashed line in Figure 2B. The fourth magnetic circuit path 260 extends through a fourth portion of the magnetic conductor 170 that is magnetically coupleable to or coupled to the second coil 120 of the second electromagnet. That is, the fourth portion of the magnetic conductor 170 is configured to receive at least some magnetic flux from the second coil 120 of the second electromagnet when the second electromagnet is in the ON state (e.g., its first ON state). The fourth portion of the magnetic conductor 170 includes a first end 230a facing the first surface 130a of the plunger 130. The fourth portion of the magnetic conductor 170 also includes a third end 230c facing the second surface 130b of the plunger 130. The fourth magnetic circuit path 260 also extends through the first air gap 155a between the first end 230a of the first portion of the magnetic conductor 170 and the first surface 130a of the plunger 130, through the plunger 130 (e.g., at least a portion of the plunger 130), and through the third air gap 155c between the third end 230c of the first portion of the magnetic conductor 170 and the second surface 130b of the plunger 130. When the second electromagnet is in the ON state (e.g., the first ON state), the magnetic flux generated by the second electromagnet "flows" around the fourth magnetic circuit path 260, that is, through the fourth portion of the magnetic conductor 170, across the first air gap 155a, through the plunger 130 (e.g., a portion of the plunger 130), and across the third air gap 155c. The magnitude of the generated magnetic flux depends on the reluctance of the fourth magnetic circuit path 260, which includes the respective reluctance components corresponding to the first air gap 155a, the plunger 130 (e.g., at least a portion of the plunger 130), and the third air gap 155c.

[0053] For the sake of explanation, if we consider a second electromagnet independent of the first electromagnet (i.e., when no current flows through the first coil of the first electromagnet), when current flows through the second coil 120 of the second electromagnet, the resulting magnetic fluxes generated in the first and third air gaps 155a and 155c, respectively, create a force acting on the plunger 130 in a direction extending from the first position 150 to the second position 160. From the above explanation regarding the first electromagnet, it can be understood that the magnitude of this force increases as the size of the third air gap 155c decreases.

[0054] Therefore, considering the above description of Figures 2A and 2B, it can be understood that each of the first and second electromagnets is capable of independently exerting an attractive force on the plunger 130, and the magnitude of this attractive force depends on the position of the plunger 130 relative to the first position 150 or the second position 160.

[0055] As explained, the position of the plunger 130 may be controlled according to the operating states of the first and second electromagnets. Below, the operation of the actuator 100 will be described with respect to the sequence of the first to fourth states of the actuator 100, which are schematically shown in Figures 3A to 3D. Figure 4 corresponds to Figures 3A to 3D and graphically displays, with respect to time, the position of the plunger 130 (shown by the dotted line 422) relative to the first position 150 and the second position 160, the potential difference across the first coil 110 of the first electromagnet (shown by the solid line 424), the current passing through the first coil 110 of the first electromagnet (shown by the dashed line 426), the potential difference across the second coil 120 of the second electromagnet (shown by the dashed line 428), and the current passing through the second coil 120 of the second electromagnet (shown by the double dashed line 430).

[0056] In the following description, it is assumed that actuator 100 is equipped with a biaser. The biaser is configured to bias the plunger 130 so as to return it to the second position 160 or at least hold it in the second position 160 when the first and second electromagnets are each in their off state, i.e., when the second position 160 is the nominal position of actuator 100. However, it is understood that the biaser may alternatively be configured to bias the plunger to the first position 150. For example, the first position 150 may be the nominal position of actuator 100, or the biaser may be omitted entirely.

[0057] Figure 3A schematically shows the first state (e.g., the off state) of the actuator 100, where each of the first and second electromagnets is in its respective off state, and the plunger 130 is held in the second position 160 by a visor (not shown). This state is shown in period 410 in Figure 4.

[0058] When in the second position 160, the first electromagnet can be switched by the switching circuit 140 to generate a potential difference across the first coil 110 of the first electromagnet, thereby causing a current to flow through the first coil 110, and thus operating in a third ON state (in response to a control signal received from a controller, such as the controller 700 described in relation to Figure 7). The plunger 130 can be moved from the second position 160 to the first position 150, for example, in response to the magnetic field generated by the first electromagnet in the third ON state while the second electromagnet is kept in the OFF state. The second state of the actuator after this is schematically shown in Figure 3B. This state is also shown in the period 420 shown in Figure 4, which also shows the transient response of the current 426 increasing in the first coil 110 of the first electromagnet at a rate that depends on the electrical time constant of the first coil 110 in response to the generation of the potential difference described above.

[0059] In this state of actuator 100, the resulting self-sufficient "flow" in the magnetic circuit of the first electromagnet is schematically shown in Figure 3B by arrow 310. It should be understood that the magnetic flux arrow 310 is for illustrative purposes only and does not indicate, for example, a specific value of the magnitude of the magnetic flux. When the current flowing through the first coil increases to a sufficient magnitude, the magnetic flux flowing through the first air gap 155a relative to the magnetic flux flowing through the third air gap 155c creates a magnetic flux gradient across the plunger 130, generating a sufficient force acting on the plunger 130 (which acts in a direction extending away from the second position 160 towards the first position 150) to overcome the biasing force applied by the biaser and cause the plunger 130 to move from the second position 160 to the first position 150. Thus, Figure 3B shows that the plunger 130 is in the first position 150.

[0060] Figure 3C schematically shows the subsequent third state of actuator 100. Once positioned at the first position 150, plunger 130 may be held (e.g., maintained) in that position depending on the magnetic field generated by the first electromagnet in its first on state while the second electromagnet is excited from its off state to its first on state. Thus, the second electromagnet may be excited to its first on state (e.g., "completely") before the plunger 130 begins to move from the first position 150 to the second position 160. The second electromagnet is excited from the off state to the first on state (e.g., the initial on state is induced) by, for example, passing current through a driver circuit to the second coil 120 of the second electromagnet (in response to a control signal received from a controller, such as the controller 700 described in relation to Figure 7). This state is shown in period 430 in Figure 4, which also shows the transient response in the second coil 120 of the second electromagnet, where the current 430 increases at a rate dependent on the electrical time constant of the second coil 120. The excitation time of the second electromagnet (for example, the time required for the second electromagnet to be excited from the off state to the first on state; for example, the time required for the current flowing through the second electromagnet to increase from the off state value (e.g., substantially zero) to the first on state value) is indicated by arrow 415.

[0061] Figure 3C shows the components of the resulting magnetic flux "flow" in the magnetic circuits of the first and second electromagnets in this actuator state. The solid arrow 310 indicates the magnetic flux component generated by the first electromagnet, and the dashed arrow 320 indicates the magnetic flux component generated by the second electromagnet. In this actuator state, the net magnetic flux in the first and third air gaps 155a and 155c, respectively, corresponds to the sum of the magnetic flux components generated by the first and second electromagnets. In this actuator state, the magnetic flux components generated by the first and second electromagnets combine to hold (e.g., maintain or "latch") the plunger 130 in the first position 150. For example, the magnetic flux components may combine to result in a force acting on the plunger 130 that exceeds the biasing force, and the net force acting on the plunger 130 may hold the plunger 130 in the first position 150. For example, in this actuator state (for example, as a result of relatively low reluctance associated with the first air gap 155a due to the position of the plunger 130), the magnetic flux in the first air gap 155a may become greater than the magnetic flux in the third air gap 155c, generating a force acting on the plunger 130 that holds it in the first position 150. Thus, Figure 3C shows the plunger 130 in the first position 150.

[0062] When in the third state shown in Figure 3C, the actuator 100 may be configured to trigger the movement of the plunger 130 from the first position 150 to the second position 160 by switching the first electromagnet from its first ON state to its second ON state (for example, by the switching circuit 140) (for example, if the second electromagnet is excited to the first ON state), so that the direction of the current flowing through the first electromagnet is reversed and the polarity of the magnetic field generated by the first electromagnet is reversed compared to when it is operating in its first ON state. (For example, at least) the second electromagnet may be kept in the first ON state while the first electromagnet is switching from the first ON state to the second ON state, thereby causing the movement of the plunger 130 from the first position to the second position. For example, the actuator 100 may be configured to maintain the second electromagnet in its first ON state (e.g., substantially) while the first electromagnet switches from its first ON state to its second ON state, and to maintain the second electromagnet in its first ON state (e.g., substantially) while the plunger moves from the first position 150 to the second position 160.

[0063] Figure 3D schematically shows the subsequent fourth state of actuator 100. After the switching circuit 140 switches the first electromagnet from its first ON state to its second ON state (in response to a control signal received from a controller, such as the controller 700 described in relation to Figure 7), triggering the movement of the plunger 130 from the first position 150 to the second position 160, the plunger 130 moves to the second position 160. In contrast to simply switching the first electromagnet from its first ON state to its OFF state, as described herein, triggering the movement of the plunger 130 in this way can provide a particularly short operating time and more precise operating timing for the plunger moving from the first position 150 to the second position 160. Furthermore, as will be discussed later, this may be because the respective magnetic fields generated by the first electromagnet in the second ON state and the second electromagnet in the first ON state are combined to efficiently accelerate the plunger 130 from the first position 150 to the second position 160. For example, the combined magnetic field of the first electromagnet in its second ON state and the second electromagnet in its first ON state may allow the energy stored in the magnetic field of the second electromagnet to be utilized to provide (e.g., relatively) high actuation force, (e.g., relatively) shorter transit time and precise actuation time when moving the plunger 130 from the first position 150 to the second position 160.

[0064] This is also shown in period 440 in Figure 4, and it shows a transient response in which the current 426 in the first coil 110 changes direction at a rate dependent on the electrical time constant of the first electromagnet. The switching time for switching the first electromagnet from the first ON state to the second ON state (for example, the time required for the current flowing through the first electromagnet to change from the value of the first ON state to the value of the second ON state) is indicated by arrow 425. Looking at Figure 4, it can be seen that the switching time indicated by arrow 425 is shorter than the exemplary time for the second electromagnet indicated by arrow 415.

[0065] Therefore, the switching time for switching the first electromagnet from a first ON state to a second ON state is shorter than the excitation time for exciting the second electromagnet from an OFF state to a first ON state. Thus, the trigger mechanism for switching the first electromagnet from its first ON state to its second ON state can advantageously provide a trigger delay for actuator 100 that is separated from the excitation time for exciting the second electromagnet to its first ON state, while allowing the energy stored in the magnetic field of the second electromagnet in its first ON state to be used to move the plunger 130 from a first position 150 to a second position 160.

[0066] Furthermore, advantageously, the aforementioned holding and triggering mechanism of the actuator 100 allows the second electromagnet to be energized (e.g., "fully") to its first ON state before the movement of the plunger 130 from the first position 150 to the second position 160 is triggered, which may further reduce the transit time.

[0067] In an example where a biaser is present and configured to apply a biasing force to the plunger 130 acting away from a first position 150 towards a second position 160, the biaser may further enable a shortened transit time by increasing the net force on the plunger 130 acting toward the second position 160 during the plunger's movement from the first position 150 to the second position 160.

[0068] Figure 3D shows the components of the resulting magnetic flux "flow" in the magnetic circuits of the first and second electromagnets in this actuator state. The solid arrow 310 indicates the magnetic flux component generated by the first electromagnet, and the dashed arrow 320 indicates the magnetic flux component generated by the second electromagnet. From Figure 3D, it can be seen that when the first electromagnet is operating in its second ON state, the first electromagnet generates its own magnetic flux components that "flow" across the first and third air gaps 155a and 155c in the opposite direction to the magnetic flux components that "flow" across the first and third air gaps 155a and 155c by the second electromagnet in its first ON state. Advantageously, the flux component of the first air gap 155a generated by the first electromagnet in the second ON state at least partially cancels out the flux component of the first air gap 155a generated by the second electromagnet in the first ON state, and when the second electromagnet is in its first ON state and the first electromagnet is in its second ON state, the flux gradient generated over the plunger 130 may be greater than when the second electromagnet is in its first ON state and the first electromagnet is simply switched to the OFF state. Thus, switching the first electromagnet from the first ON state to the second ON state in the described manner, in contrast to simply switching the first electromagnet from the first ON state to the OFF state, for example, may advantageously allow for a reduction in operating time.

[0069] This can be understood as follows:

[0070] As can be understood from the explanation of the first electromagnet in Figure 2A, the magnetic flux component "flowing" through the first air gap 155a due to the first electromagnet operating in the second ON state is smaller than the magnetic flux component "flowing" through the second third air gap 155c due to the first electromagnet operating in the second ON state. In other words, when the second electromagnet is in the first ON state and the first electromagnet is in the second ON state, the magnetic flux component generated by the first electromagnet cancels out the magnetic flux component generated by the second electromagnet more effectively in the first air gap 155a compared to the third air gap 155c. Therefore, when the second electromagnet is operated in its first ON state and the first electromagnet is operated in its second ON state, a larger gradient of magnetic flux across the plunger 130 is generated compared to when the second electromagnet is operated alone in its first ON state (i.e., when the first electromagnet is operated in its OFF state and simultaneously).

[0071] As described above, the switching time for switching the first electromagnet from a first ON state to a second ON state may be shorter than the excitation time for exciting the second electromagnet from an OFF state to a first ON state. For example, the second electromagnet may be configured to store more energy in its magnetic field in its first ON state than the energy associated with (e.g., required) switching the first electromagnet from its first ON state to its second ON state. This may be based on the different inductances of the first and second electromagnets, or the magnitude of the current of the second electromagnet in the first ON state relative to the magnitude of the current of the first electromagnet in the first and second ON states, or the different inductances of the first and second electromagnets, or the magnitude of the current of the second electromagnet in the first ON state relative to the magnitude of the current of the first electromagnet in the first and second ON states. Advantageously, the time it takes for the plunger to move from the first position 150 to the second position 16 depends on the energy stored in the second electromagnet in its first ON state, while the trigger delay may depend on the switching time required to switch the first electromagnet from its first ON state to its second ON state (which may depend on the energy associated with, for example, the energy required to switch the first electromagnet from its first ON state to its second ON state). Thus, the actuator 100 is able to utilize the energy stored in the second electromagnet in its first ON state to accelerate the plunger 130 from the first position 150 to the second position 160, while enabling a trigger delay that depends on lower energy, allowing the first electromagnet to switch from its first ON state to its second ON state more quickly.

[0072] Furthermore, since the second electromagnet can be energized independently of the movement of the plunger 130, the actuator 100 can provide a more optimal operating force (for example, considering the specifications of the second electromagnet) by having the second electromagnet more energized (e.g., fully energized) before the movement of the plunger 130 is triggered.

[0073] When plunger 130 is in the second position 160 (for example, if it has been moved from the first position 150 to the second position 160 in the manner described above), plunger 130 may be returned to the first position 150 by the magnetic field generated by the first electromagnet, (if a biaser is present and configured to return plunger 130 to the first position 150) by the biaser, or by both, which pulls plunger 130 back to the first position 150. In the example where plunger 130 is moved from the second position 160 to the first position 150 in response to the magnetic field generated by the first electromagnet, the second electromagnet may be switched off (for example, by driving a circuit), and the first electromagnet may be switched on (for example, by the switching circuit 140), generating a magnetic field sufficient to pull plunger 130 from the second position 160 to the first position 150.

[0074] In examples where the plunger 130 is not composed of a permanent magnet, the plunger 130 may be attracted toward the first electromagnet in the third ON state, regardless of the polarity of the magnetic field it generates. Therefore, in the third ON state of the first electromagnet, a current may flow in either the first or second direction of the first electromagnet. The magnitude of the current in the third ON state may consist of any appropriate magnitude of current necessary to cause the plunger 130 to move from the second position 160 to the first position 150. The third ON state may correspond to the first ON state or the second ON state of the first electromagnet (for example, having the same current magnitude and direction). Alternatively, the third ON state may be different from the first and second ON states of the first electromagnet, respectively. For example, the magnitude of the current in the third ON state may be different from the magnitudes of the currents in the first and second ON states of the first electromagnet, respectively. In the example where the plunger 130 is equipped with a permanent magnet, the third ON state of the first electromagnet can consist of any appropriate polarity and current magnitude to cause the plunger to move from the second position 160 to the first position 150.

[0075] In an example where actuator 100 is configured to induce a third ON state of the first electromagnet, causing the plunger 130 to move from a second position 160 to a first position 150, the holding and triggering mechanism described above may cause the transit time for the plunger's movement from the first position 150 to the second position 160 to be shorter than the transmission time for the plunger's movement from the second position 160 to the first position 150.

[0076] Therefore, the actuator 100 can provide actively driven bidirectional movement of the plunger 130 (e.g., from a first position 150 to a second position 160, or vice versa) (e.g., by a first and / or second electromagnet). This is advantageous because it can provide more precise control of the action and greater flexibility compared to solutions that actively drive only one-way action and rely on passive action in the other direction due to a bias, such as a spring.

[0077] The characteristics of the actuator 100 are particularly desirable in a variety of applications, including, for example, applications in valves such as fluid valves for selectively supplying fluid to or receiving fluid from fluid machine tools, applications in automobiles such as electronic gear shifts, and applications in robots.

[0078] Figure 5 shows an example of an electronically controllable valve 500 comprising an actuator 100, a valve member 510 mechanically coupled to an actuating member 135 of the actuator 100, a fluid chamber 520, an inlet 530, and an outlet 540. The valve member 510 is configured to regulate the flow of fluid through the valve (for example, through the fluid chamber 520 between the inlet 530 and the outlet 540) depending on the position of the plunger 130 (for example, relative to first and second positions 150, 160 of the actuator 100). The electronically controllable valve 500 further comprises a housing (not shown) capable of housing one or more of the components or features of the electronically controllable valve 500 disclosed herein.

[0079] An inlet 530 (which may extend through the housing, if present) is operable to supply fluid to the fluid chamber 520 by a fluid coupling between the inlet 530 and the fluid chamber 520. The inlet 530 is fluidically coupled to or connected to a fluid source (such as a low-pressure or high-pressure fluid source) which is operable to supply fluid to the inlet port. An outlet 540 (which may extend through the housing, if present) is operable to receive fluid from the fluid chamber 520 by a fluid coupling between the outlet port 540 and the fluid chamber 520. The outlet port 540 is fluidically coupled to or connected to a fluid sink (such as a low-pressure or high-pressure fluid sink) which is operable to receive fluid from the outlet port 540.

[0080] The electronically controllable valve 500 may be configured to regulate the flow of fluid through the valve and to regulate the flow of fluid between the fluid source and the fluid sink. The fluid flow through the electronically controllable valve 500 depends on the position of the valve member 510 (for example, relative to the valve seat), the position of the actuator 135, and consequently, the position of the plunger 130 (for example, relative to the first and second positions 150, 160).

[0081] The valve 500 may have an open position that allows fluid to flow through the valve from the inlet 530 to the outlet 540. The valve 500 may also have a closed position that restricts or prevents fluid from flowing through the valve from the inlet 530 to the outlet 540. The open position of the valve 500 may correspond to the plunger 130 being in one of the first and second positions 150, 160, and the closed position of the valve 500 may correspond to the plunger 130 being in the other of the first and second positions 150, 160. For example, the open position of the valve 500 may correspond to the plunger 130 being in the first position 150 (e.g., the valve member is spaced apart from the valve seat), and the closed position of the valve 500 may correspond to the plunger 130 being in the second position 160 (e.g., the valve member is fitted in a sealed state to the valve seat).

[0082] By providing the actuator 100, the electronically controllable valve 500 can be switched from its open position to its closed position (or vice versa, depending on the correspondence between the first and second positions 150, 160 of the actuator 100 and the open and closed positions of the electronically controllable valve 500) with precise timing, especially in a very short time.

[0083] For example, if the open position of the valve corresponds to the plunger 130 being in a first position 150 and the closed position of the valve corresponds to the plunger 130 being in a second position 160, then a particularly short time for closing the valve 500 may be provided for a particularly short operating time for moving the plunger 130 from the first position 150 to the second position 160.

[0084] Furthermore, if the closed position of the valve corresponds to the plunger 130 being in a first position 150 and the open position of the valve corresponds to the plunger 130 being in a second position 160, then a particularly short time for opening the valve 500 may be provided for a particularly short operating time for moving the plunger 130 from the first position 150 to the second position 160.

[0085] Furthermore, the aforementioned particularly short time for opening and closing the valve 500 can also provide more precise timing control of the valve 500. For example, in opening and closing the valve 500, the movement of the valve member 510 may displace fluid (e.g., the fluid chamber 520 of the valve 500, or e.g., a fluid source or fluid sink). If the valve member 510 moves at high speed through the fluid to be displaced, the time required for the valve member 510 to move through the fluid may be more consistent and less variable. Thus, the relatively high-speed movement of the plunger 130 from the first position 150 to the second position 160 provided by the actuator 100 can make the timing of opening and closing the valve 500 more consistent and predictable.

[0086] The electronically controllable valve 500 may have any suitable type of valve configuration. For example, the electronically controllable valve 500 can be configured as a poppet valve. In this case, the actuator 135 is part of the valve stem of the poppet valve and causes movement of the valve member attached to the distal end of the valve stem. As another example, although not shown in Figure 5, the electronically controllable valve 500 may be configured as a spool valve. In this case, the actuator 135 is mechanically coupled to the spool of the spool valve and causes movement of the spool from an open position to a closed position, or vice versa.

[0087] The electronically controllable valve 500 described above can be used in fluid machine tools such as hydraulic or pneumatic pumps (also called compressors), hydraulic or pneumatic motors (also called expanders in this specification), or hydraulic or pneumatic fluid machine tools that can operate as a pump in a first operating mode and as a motor in a second operating mode. For example, the electronically controllable valve 500 may be a low-pressure valve configured to regulate the fluid flow between a low-pressure manifold and an operating chamber of a fluid machine tool, such as an operating chamber whose volume changes periodically. Alternatively, the electronically controllable valve 500 may be a high-pressure valve configured to regulate the fluid flow between a high-pressure manifold and an operating chamber of a fluid machine tool, such as an operating chamber whose volume changes periodically. A valve that regulates the fluid flow between a low-pressure manifold and an operating chamber is referred to herein as a low-pressure valve. A valve that regulates the fluid flow between a high-pressure manifold and an operating chamber is referred to herein as a high-pressure valve.

[0088] Figure 6 shows an example of a fluid machine tool 600. The fluid machine tool 600 comprises a working chamber 610 having an adjustable (e.g., periodically changing) volume and one or more electronically controllable valves 500. The fluid machine tool 600 may have several such working chambers. Each chamber can be selected (e.g., by a controller) to perform an active cycle to displace the volume of fluid or an idle cycle without net fluid displacement, allowing the net processing capacity of the machine to be dynamically adapted to demand. The fluid machine tool 600 may further comprise a fluid machine tool controller 615, or may be communicably connected to or connectable to the fluid machine tool controller 615.

[0089] The working chamber 610 can function (for example, selectively) as a (e.g., positive displacement) compressor (e.g., pump) capable of pressurizing the working fluid (e.g., gas or liquid) supplied thereto, or as a (e.g., positive displacement) expander (e.g., motor) capable of depressurizing the working fluid supplied thereto. The fluid being pressurized or depressurized may be (e.g., substantially) incompressible liquid (e.g., oil), or the pressurized fluid may be a gas. The fluid machine tool may be part of a heat pump system, including a pumped thermal energy storage system (PTES), such as the PTES system described in WO2021 / 069929A1, but is not limited thereto.

[0090] One or more electronically controllable valves 500 are configured to regulate the flow of working fluid into and out of the working chamber 610, for example, to facilitate the operation of the working chamber as a compressor or expander (for example, controlled by a controller).

[0091] The working chamber 610 is configured to have a volume that changes periodically when the fluid machine tool 600 is in use. For example, the fluid machine tool 600 may further include a rotatable shaft that, when rotated, periodically changes the adjustable volume of the working chamber 610 in a stepwise relationship with the rotation of the rotatable shaft, or it may be mechanically connectable to such a shaft. For example, as the rotatable shaft rotates 360 degrees, the adjustable volume of the working chamber 610 can change from a maximum volume to a minimum volume and back to the maximum volume (for example, by a mechanical linkage connecting the working chamber 610 to the rotatable shaft). For example, the working chamber 610 may include a cylinder and a piston mechanically coupled to the rotatable shaft (for example, by a cam attached to the rotatable shaft). The rotation of the shaft, by mechanical coupling, causes the piston to reciprocate within the cylinder, so that the volume of the working chamber 510 can change periodically in a stepwise relationship with the rotation of the rotatable shaft (for example, between a maximum volume when the piston is at "top dead center" and a minimum volume when the piston is at "bottom dead center").

[0092] The fluid machine tool 600 may include a high-pressure manifold 620 or be connectable to a high-pressure manifold 620. The high-pressure manifold 620 is connected, for example, to the high-pressure side of the working fluid circulation path. The fluid machine tool 600 may also include a high-pressure valve that can be operated to regulate the flow of working fluid between the work chamber 610 and the high-pressure manifold 620.

[0093] The fluid machine tool 600 may include a low-pressure manifold 630 or be connectable to a low-pressure manifold. The low-pressure manifold is connected, for example, to the low-pressure side of the working fluid circulation path. The fluid machine tool 600 may also include a low-pressure valve that can be operated to regulate the flow of working fluid between the work chamber 610 and the low-pressure manifold 630.

[0094] One or both of the high-pressure valve and the low-pressure valve may be equipped with or comprised of an electronically controllable valve 500. That is, one or more electronically controllable valves 500 of the fluid machine tool 600 may comprise one or both of the electronically controllable valve 500 configured to act as the high-pressure valve and the electronically controllable valve 500 configured to act as the low-pressure valve. In the example where only one of the high-pressure valve and the low-pressure valve (e.g., not the other) is comprised of an electronically controllable valve 500, the other of the high-pressure valve and the low-pressure valve can be comprised of any suitable alternative type of valve.

[0095] The controller can control the low-pressure and high-pressure valves in a stepwise relationship with the working chamber volume cycle to synchronize the opening and closing timing of the high-pressure and low-pressure valves and provide compressor or expander functionality. The controller may also control the timing of opening and closing the high-pressure and low-pressure valves in phase with the periodic fluctuations of the working chamber volume based on shaft position data (e.g., received from a shaft position sensor or a shaft position sensor communicably connected to the controller). When functioning as a compressor, the fluid working chamber 610 can selectively receive working fluid from a low-pressure manifold through the low-pressure valve, increase the pressure of the working fluid, and output the working fluid at the increased pressure to the high-pressure manifold through the high-pressure valve. When functioning as an expander, the fluid working chamber 610 can selectively receive working fluid from a high-pressure manifold through the high-pressure valve, decrease the pressure of the working fluid, and output the working fluid at the decreased pressure to the low-pressure manifold through the low-pressure valve.

[0096] During the compressor cycle, the low-pressure valve may be opened when the volume of the working chamber 610 is substantially at its minimum. As working fluid flows from the low-pressure manifold 630 into the working chamber 610, the volume of the working chamber 610 may increase. When the volume of the working chamber 610 is substantially at its maximum, the low-pressure valve may be closed. As the volume of the working chamber 610 begins to decrease, the pressure of the working fluid in the working chamber 610 may increase. When the pressure of the working fluid in the working chamber 610 becomes substantially equal to the pressure of the working fluid in the high-pressure manifold, the high-pressure valve may open, and the pressurized working fluid may be pushed out of the working chamber 610 through the high-pressure valve into the high-pressure manifold 620 as the volume of the working chamber 610 decreases to its minimum value. The high-pressure valve can be closed when the volume of the working chamber 610 decreases to its minimum value to prevent the pressurized working fluid pushed out of the working chamber 610 from returning to the working chamber 610.

[0097] As can be understood from the above perspective, the net displacement of the working fluid during the compressor cycle of a fluid machine tool 600 operating as a compressor, the degree to which the fluid is pressurized, and the volumetric efficiency of the compressor (e.g., the ratio of the volume of working fluid entering the working chamber 610 through the low-pressure valve during the compressor cycle to the volume of working fluid exiting the working chamber 610 through the high-pressure valve during the compressor cycle) depend on the timing of opening and closing the low-pressure and high-pressure valves with respect to the periodically changing volume of the working chamber 610. For example, the timing of closing the low-pressure valve during the compressor cycle affects the volume of fluid entering the working chamber 610 during the intake stroke of the compressor cycle, and consequently affects the net displacement of the working fluid during the compressor cycle, the degree of pressurization of that fluid during the subsequent exhaust stroke, and the volumetric efficiency of the compressor. As another example, the timing of closing the high-pressure valve during the compressor cycle affects the extent to which the fluid in the working chamber 610 is discharged from the working chamber 610 during the exhaust stroke. Deviating from closing the high-pressure valve when the volume of the working chamber 610 has decreased to its minimum at the end of the exhaust stroke can adversely affect the net displacement of the working fluid during the compressor cycle and the volumetric efficiency of the compressor. For example, if the high-pressure valve is closed before the volume of the working chamber 610 has decreased to its minimum during the exhaust stroke, a considerable amount of working fluid may be undesirably retained in the working chamber 610 at the end of the exhaust stroke, reducing the net displacement of the working fluid during the compressor cycle and potentially decreasing the volumetric efficiency of the compressor. As another example, if the high-pressure valve is closed after the volume of the working chamber 610 has decreased to its minimum at the end of the exhaust stroke, the high-pressure fluid discharged from the working chamber 610 during the exhaust stroke can return to the working chamber 610 during the subsequent intake stroke, effectively reducing the net displacement of the working fluid during the compressor cycle and potentially decreasing the volumetric efficiency of the compressor.

[0098] Therefore, it may be particularly advantageous to utilize an electronically controllable valve 500 in one or both of the low-pressure and high-pressure valves of a fluid machine tool operating as a compressor, and to configure the valve to close when the plunger 130 is in the second position 160. This is because the speed of valve closure is improved, as is the precision of the timing of valve closure. The electronically controllable valve 500 also enables faster operation of the fluid machine tool operating as a compressor because the valve can act more quickly (at least in one direction, e.g., from the first position 150 to the second position 160).

[0099] During the expander cycle, the high-pressure valve may be opened when the volume of the working chamber 610 is substantially at its minimum. To open the high-pressure valve, the pressure in the working chamber 610 must first be substantially equal to the pressure in the high-pressure manifold 620. Therefore, the low-pressure valve should be closed before the volume of the working chamber 610 reaches its minimum so that the remaining working fluid in the working chamber 610 is pressurized to at least the pressure of the high-pressure manifold 620. As working fluid flows from the high-pressure manifold 620 into the working chamber 610, the volume of the working chamber 610 may increase. Before the volume of the working chamber 610 reaches its maximum, the high-pressure valve may be closed, reducing the pressure of the working fluid in the working chamber 610, while the volume of the working chamber 610 continues to increase to its maximum. When the pressure of the working fluid in the working chamber 610 becomes substantially equal to the pressure of the working fluid in the low-pressure manifold 630, the low-pressure valve opens, and the depressurized working fluid may be pushed out of the working chamber 610 into the low-pressure manifold 630 through the low-pressure valve, reducing the volume of the working chamber to its minimum value.

[0100] As can be understood from the above, the net displacement of the working fluid during the expander cycle, and the degree to which the working fluid is depressurized, depends on the opening and closing timing of the high-pressure and low-pressure valves relative to the periodically changing volume of the working chamber 610. If the timing of valve closing does not match the hydraulic pressure of the high-pressure manifold, such a machine may fail. For example, if the low-pressure valve closes too late during the exhaust stroke in the expander cycle, and the remaining working fluid in the working chamber cannot be compressed to at least the pressure of the high-pressure manifold, the high-pressure valves of each working chamber will not open in preparation for drawing fluid from the high-pressure manifold in the subsequent expansion stroke. As a result, the expansion cycle becomes impossible, and the machine fails. In the second example, if the high-pressure valve closes too late during the expansion stroke of the expansion cycle, it prevents the working chamber from being sufficiently depressurized, which in turn prevents the low-pressure valve from opening again to discharge fluid from the working chamber, and consequently causes the fluid to be returned to the high-pressure manifold in the compression stroke.

[0101] Therefore, it may be particularly advantageous to utilize an electronically controllable valve 500 in one or both of the low-pressure and high-pressure valves of a fluid machine tool acting as a compressor, and to configure the valve to close when the plunger 130 is in the second position 160. This is because the speed of valve closure is improved, as is the precision of the valve closure timing.

[0102] Figure 7 schematically shows a controller 700 for controlling an actuator such as the actuator 100 described above. The controller 700 comprises a processing circuit 710. The controller 700 may further comprise a memory 720 that is communicably coupled to or coupled to the processing circuit 710. The processing circuit 710 comprises a general-purpose processing circuit or a special-purpose processing circuit. The functions of the processing circuit 710 described herein can be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. For example, the processing circuit 710 may be configured to provide the functions described herein by retrieving and executing computer program instructions stored in the memory 720. The memory 720 comprises any suitable memory, such as cache memory, random access memory (RAM), read-only memory (ROM), flash memory, magnetic disk, optical disk, or a combination thereof.

[0103] The processing circuit 710 may be configured to perform a method according to the method described later in relation to Figure 8. The processing circuit 710 can be configured to perform the method by controlling a switching circuit (such as the switching circuit 140 described above) and a driver circuit (such as the driver circuit described above). The processing circuit 710 may also be able to communicate with or be coupled to the switching circuit and the driver circuit (for example, by a wired electrical connection or a wireless connection).

[0104] The processing circuit 710 may be operable to induce a first ON state of the actuator's first electromagnet by causing a current flow in a first direction through the first electromagnet. The processing circuit 710 may also be operable to induce a first ON state by supplying a first control signal to a switching circuit, causing the switching circuit to invoke a first mode of the switching circuit that induces a first ON state of the first electromagnet. The first control signal may include, for example, one or more voltage pulses (e.g., each having a predetermined magnitude and, for example, a predetermined duration), one or more pulse-width modulated voltage signals (e.g., each having a predetermined magnitude,, for example, a predetermined duty cycle, for example, a predetermined duration), or any other suitable type of signal indicating a first mode of the switching circuit. In an example where the switching circuit is configured as an H-bridge, the control signal may include, or indicate, the respective (e.g., gate) voltages for driving the individual switches (e.g., transistors) of the H-bridge.

[0105] The processing circuit 710 may be operable to induce a first ON state of the actuator's second electromagnet by causing a current to flow through the second electromagnet. The processing circuit 710 may also be operable to induce the first ON state by supplying a second control signal to a driver circuit, causing the driver circuit to invoke a first mode of the driver circuit that induces the first ON state of the second electromagnet. The second control signal may include, for example, a voltage pulse (e.g., having a predetermined magnitude and duration), a pulse-width modulated voltage signal (e.g., having a predetermined magnitude, e.g., a predetermined duty cycle, e.g., a predetermined duration), or other suitable type of signal indicating the first mode of the driver circuit. The actuator 100 controlled by the control unit 700 may be configured to hold a plunger (such as the plunger 130 of the actuator 100 described above) in a first position (such as the first position 150 of the actuator 100 described above) when the first and second electromagnets are in their respective first ON states in accordance with the magnetic flux generated by the first and second electromagnets. This makes it possible to energize the second electromagnet (for example, completely) before triggering the plunger to move away from the first position, as described with respect to the actuator 100 above.

[0106] The processing circuit 710 may be operable to induce a second ON state of the first electromagnet by changing the direction of the current in the first electromagnet from a first direction to a second direction opposite to the first direction. The processing circuit 710 may also be operable to induce the second ON state of the first electromagnet by supplying a third control signal to the switching circuit, thereby causing the switching circuit to invoke a second mode of the switching circuit that induces the second ON state of the first electromagnet. The third control signal may include, for example, one or more voltage pulses (e.g., each having a predetermined magnitude and, for example, a predetermined duration), one or more pulse-width modulated voltage signals (e.g., each having a predetermined magnitude,, for example, a predetermined duty cycle, for example, a predetermined duration), or any other suitable type of signal indicating a second mode of the switching circuit. In an example where the switching circuit is configured as an H-bridge, the control signal may include, or indicate, the respective (e.g., gate) voltages for driving the individual switches (e.g., transistors) of the H-bridge. The processing circuit 710 is operable to maintain the first ON state of the second electromagnet (e.g., by a second control signal) (e.g., substantially) during the switching of the first electromagnet from its first ON state to its second ON state. The actuator controlled by the controller 700 may be configured to trigger the movement of a plunger from a first position to a second position (such as the second position 160 of the actuator 100 described above) in response to the first electromagnet switching from its first ON state to its second ON state. As described above in relation to the actuator 100, this trigger mechanism can advantageously allow for a short actuation time for the plunger from the first position to the second position.

[0107] When the plunger 130 is in the second position, the processing circuit 710 may be configured to maintain the first electromagnet in its second ON state, maintain the second electromagnet in its first ON state, and hold the plunger in the second position. When the plunger is in the second position, the processing circuit 710 may be configured to hold the plunger in the second position by maintaining the second electromagnet in its first ON state and switching the first electromagnet off (i.e., inducing its OFF state). When the plunger is in the second position, the processing circuit 710 may be configured to maintain the second electromagnet in its first ON state, induce a third ON state of the first electromagnet (which may correspond to the third ON state of the actuator 100 described above), and hold the plunger in the second position. The processing circuit 710 may be configured to maintain or induce either of the respective states of the first and second electromagnets according to any embodiment disclosed herein. For example, the processing circuit 710 may be operable to induce the third ON state of the first electromagnet by supplying a fourth control signal to the switching circuit, causing the switching circuit to invoke a third mode of the switching circuit that induces the third ON state of the first electromagnet.

[0108] The processing circuit 710 may also be configured to induce a third ON state of the first electromagnet in order to cause the plunger to move from a second position to a first position (i.e., return the plunger to the first position) when the first electromagnet is in its third ON state. The current flowing through the first electromagnet in the third ON state may be of any appropriate magnitude and direction to cause the plunger of the actuator controlled by the controller 700 (for example, when at least the second electromagnet is in its OFF state) to move from a second position to a first position. As described above, the processing circuit 710 is operable to induce a third ON state by supplying a fourth control signal to the switching circuit to invoke a third mode of the switching circuit. The fourth control signal may include, for example, one or more voltage pulses (e.g., each having a predetermined magnitude and, for example, a predetermined duration), one or more pulse-width modulated voltage signals (e.g., each having a predetermined magnitude,, for example, a predetermined duty cycle, for example, a predetermined duration), or any other appropriate type of signal indicating a third mode of the switching circuit. In an example where the switching circuit is composed of an H-bridge, the control signal may include, or indicate, the respective (e.g., gate) voltages for driving the individual switches (e.g., transistors) of the H-bridge.

[0109] The processing circuit 710 may also be configured to switch the second electromagnet to the off state in order to allow the plunger to move from the second position to the first position under the influence of the first electromagnet operating in a third on state. For example, the processing circuit 710 may be configured to supply a fifth control signal to the driver circuit to switch the second electromagnet to the off state. As discussed, the combination of the first electromagnet operating in its third on state and the second electromagnet in its off state can move the plunger 130 from the second position to the first position. The fifth control signal may include, for example, a voltage pulse (e.g., having a predetermined magnitude and a predetermined duration), a pulse-width modulated voltage signal (e.g., having a predetermined magnitude, e.g., a predetermined duty cycle, e.g., a predetermined duration), or other suitable types of signals indicating the second mode of the driver circuit.

[0110] Figure 8 is a flowchart 800 illustrating a method for controlling an actuator such as the actuator 100 described above. Method 800 can be implemented, for example, by the controller discussed in relation to Figure 1, the controller 700 discussed in relation to Figure 7, or any other suitable processing circuit or device. It should be understood that any of the techniques or features discussed herein can be combined in any combination with any of the techniques or features discussed below in relation to flowchart 800.

[0111] In block 810, current is passed through the actuator's first electromagnet in a first direction, thereby inducing a first ON state of the first electromagnet. The forward flow through the actuator's first electromagnet that induces the first ON state of the first electromagnet can be induced according to embodiments disclosed herein. For example, the flow of current through the first electromagnet to induce the first ON state of the first electromagnet is caused by supplying a first control signal to the actuator's switching circuit (such as the switching circuit 140 described above) so that the switching circuit invokes a first mode of the switching circuit that induces the first ON state of the first electromagnet. The control signal may include, for example, one or more voltage pulses (e.g., each having a predetermined magnitude and, for example, a predetermined duration), one or more pulse-width modulated voltage signals (e.g., each having a predetermined magnitude,, for example, a predetermined duty cycle, for example, a predetermined duration), or any other suitable type of signal indicating a first mode of the switching circuit. In an example where the switching circuit is composed of an H-bridge, the control signal may include, or indicate, the respective (e.g., gate) voltages for driving the individual switches (e.g., transistors) of the H-bridge.

[0112] In block 820, the flow of current through the second electromagnet of the actuator triggers the induction of the second electromagnet into a first ON state. The flow of current through the second electromagnet of the actuator that triggers the first ON state of the second electromagnet can be induced according to embodiments disclosed herein. An actuator controlled by method 800 may be configured to hold a plunger (such as the plunger 130 of actuator 100 described above) in a first position (such as the first position 150 of actuator 100 described above) when the first and second electromagnets are in their respective first ON states, depending on the magnetic flux generated by the first and second electromagnets. This may make it possible to energize the second electromagnet (e.g., fully) before a movement of the plunger away from the first position is triggered, as described with respect to actuator 100.

[0113] In block 830, the direction of current flow in the first electromagnet is changed from a first direction to a second direction opposite to the first direction in order to induce a second ON state of the first electromagnet. The direction of current flow can be changed to induce a second ON state of the first electromagnet according to any embodiment disclosed herein. The first ON state of the second electromagnet is maintained (e.g. substantially) (e.g. by a first control signal) while the first electromagnet switches from the first ON state to the second ON state (e.g., at least). The actuator controlled by method 800 may be configured to trigger the movement of a plunger from a first position to a second position (such as the second position 160 of the actuator 100 described above) in response to the first electromagnet switching from its first ON state to its second ON state when the second electromagnet is in its first ON state. As described above in relation to the actuator 100, this trigger mechanism can advantageously enable a short operating time for the plunger moving from the first position to the second position.

[0114] In block 840, when the plunger is in the second position, the first electromagnet is maintained in its second ON state, and the second electromagnet is maintained in its first ON state, allowing the plunger to be held in the second position. Alternatively, in block 840, when the plunger is in the second position, the second electromagnet may be maintained in its first ON state, and the first electromagnet may be switched OFF (i.e., its OFF state is induced) to hold the plunger in the second position. Alternatively, in block 840, when the plunger is in the second position, the second electromagnet may be maintained in its first ON state, and a third ON state of the first electromagnet (which may correspond to the third ON state of actuator 100 described above) may be induced, again holding the plunger in the second position.

[0115] In block 850, current can be passed through the first electromagnet of the actuator to induce a third ON state of the first electromagnet, thereby returning the plunger to the first position 150. The flow of current through the first electromagnet of the actuator to induce the third ON state of the first electromagnet can be induced according to any embodiment disclosed herein. The actuator controlled by method 800 may be configured to cause the plunger to move from the second position to the first position (i.e., return the plunger to the first position) when the first electromagnet is in its third ON state. The current flowing through the first electromagnet in the third ON state can be configured of any appropriate magnitude and direction to cause the plunger of the controller-controlled actuator to move from the second position to the first position. The second electromagnet may be induced to be OFF before, during, or after the induction of the third ON state of the first electromagnet. By turning off the second electromagnet when the first electromagnet is in the third ON state, the attractive force acting on the plunger from the first position to the second position is advantageously reduced, allowing the plunger to be returned more efficiently from the second position to the first position.

[0116] In method 800, each of the various states of the first and second electromagnets described above can be induced according to any embodiment disclosed herein.

[0117] Figure 9 shows a flowchart 900 of a method for operating an actuator such as actuator 100 described in relation to Figure 1. It should be understood that any of the techniques or features described herein can be combined in any combination with any of the techniques or features described below in relation to flowchart 900.

[0118] In block 910, the actuator's plunger (e.g., the plunger 130 of the actuator 100 described above) is held in a first position (e.g., the first position 150 of the actuator 100 described above) by inducing a magnetic flux by exciting the first electromagnet of the actuator (e.g., the first electromagnet of the actuator 100 described above) to a first ON state in which current flows in a first direction (e.g., the first ON state of the first electromagnet of the actuator 100 described above) and the second electromagnet (e.g., the second electromagnet of the actuator 100 described above) to a first ON state (e.g., the first ON state of the second electromagnet of the actuator 100 described above).

[0119] In block 920, the first electromagnet is switched from its first ON state to a second ON state (e.g., the second ON state of the first electromagnet of the actuator 100 described above), while the second electromagnet remains in its first ON state, triggering the movement of a plunger from a first position to a second position (e.g., the second position 160 of the actuator 100 described above), and current flows through the first electromagnet in a second direction opposite to the first direction in the second ON state. The first electromagnet can be switched from its first ON state to its second ON state according to any embodiment disclosed herein. The switching time for switching the first electromagnet from its first ON state to its second ON state is shorter than the energizing time for exciting the second electromagnet from its off state to its first ON state. Holding the plunger in a first position as described in relation to block 910 and triggering the movement of the plunger to a second position as described immediately above may provide a favorably shorter operating time for the plunger to move from the first position to the second position, as discussed herein.

[0120] In block 930, the plunger is held in a second position. For example, when the plunger is in the second position, the first electromagnet is maintained in a second ON state, and the second electromagnet is maintained in a first ON state, so that the plunger can be held in the second position according to any embodiment disclosed herein. Alternatively, when the plunger is in the second position, the second electromagnet is maintained in its first ON state, and the first electromagnet is switched OFF (i.e., its OFF state is induced) according to any embodiment disclosed herein, so that the plunger can be held in the second position. Alternatively, when the plunger is in the second position, the second electromagnet is maintained in its first ON state, and a third ON state of the first electromagnet (which may correspond to the third ON state of actuator 100 described above) is induced according to any embodiment disclosed herein, so that the plunger can be held in the second position.

[0121] In block 940, the first electromagnet is excited to a third ON state (for example, the third ON state of the first electromagnet of actuator 100 described above) to return the plunger from the second position to the first position. The first electromagnet may be excited to a third ON state according to any embodiment disclosed herein. Before, during, or after inducing the third ON state of the first electromagnet, the second electromagnet may be de-energized so that the plunger is returned (for example, efficiently) from the second position to the first position according to any embodiment disclosed herein.

[0122] The functions of the processing circuits described herein can be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. For example, a processing circuit may be configured to provide the functions described herein by retrieving and executing computer program instructions stored in memory. Memory may include any suitable memory, such as cache memory, random access memory (RAM), read-only memory (ROM), flash memory, magnetic disks, optical disks, or a combination thereof. Throughout this description and claims, the words “comprise” and “contain” and their variations mean “including but not limited to” and are not intended (and are not intended) to exclude other components, integers, or operations. Throughout this description and claims, singular forms include plural forms unless otherwise specified in the context. In particular, where the indefinite article is used, unless otherwise specified in the context, this specification is understood to intend both singular and plural forms. All features disclosed herein (including the appended claims, abstract, and drawings), and all elements of any method or process disclosed herein, can be combined in any combination, except for any combination in which at least part of such features and / or operations are mutually exclusive. Examples are not limited to the details of the examples described above.

[0123] This disclosure also extends to the following numbered embodiments.

[0124] Example 1 An actuator device, A first electromagnet that is switchable between a first ON state and a second ON state, wherein in the first ON state of the first electromagnet, a current flows through the first electromagnet in a first direction, and in the second ON state of the first electromagnet, a current flows through the first electromagnet in a second direction opposite to the first direction, A second electromagnet that is operable in a first ON state, wherein the first ON state of the second electromagnet is such that current flows through the second electromagnet, A plunger movable between a first position and a second position, wherein the actuator device is configured to hold the plunger in the first position when the first electromagnet and the second electromagnet are in their respective first ON state in accordance with the magnetic flux generated by the first electromagnet and the second electromagnet, A switching circuit that switches the first electromagnet from its first ON state to its second ON state, thereby triggering the movement of the plunger from the first position to the second position (for example, by changing the polarity of the magnetic flux generated by the first electromagnet), and Equipped with, The switching time for switching the first electromagnet from its first ON state to its second ON state is shorter than the excitation time for exciting the second electromagnet from its OFF state to its first ON state (for example, the second electromagnet may have a higher excitation time constant than the first electromagnet, and for example, the second electromagnet may have a higher inductance than the first electromagnet). Actuator device.

[0125] Example 2 A method for operating an actuator, By exciting the first electromagnet into a first ON state in which a current flows through the first electromagnet in a first direction, and by exciting the second electromagnet into a first ON state, a magnetic flux is induced, thereby holding the plunger in a first position. Switching the first electromagnet from a first ON state to a second ON state (for example, by changing the polarity of the magnetic flux generated by the first electromagnet) triggers the movement of the plunger from the first position to the second position, and in the second ON state, current flows through the first electromagnet in a second direction opposite to the first direction. Equipped with, The switching time for switching the first electromagnet from its first ON state to its second ON state is shorter than the excitation time for exciting the second electromagnet from its OFF state to its first ON state (for example, the second electromagnet may have a higher excitation time constant than the first electromagnet, and for example, the second electromagnet may have a higher inductance than the first electromagnet). method.

[0126] Example 3 The actuator device of Example 1 or the method of Example 2, The first electromagnet comprises a first coil, the second electromagnet comprises a second coil, the plunger is operable to move along an axis between the first and second positions, and the first and second coils are spaced apart with respect to the axis. Actuator device.

[0127] Example 4 The first electromagnet comprises a first coil, and the second electromagnet comprises a second coil, and the movement of the plunger from the first position to the second position includes the movement of the plunger away from the first coil and toward the second coil. An actuator device or method according to any one of Examples 1 to 3.

[0128] Example 5 For example, the actuator device is configured to maintain the second electromagnet in its first on state (for example, substantially) while the first electromagnet is switched (for example, by a switching circuit) from its first on state to its second on state to move the plunger from the first position to the second position, or the method comprises maintaining the second electromagnet in its first on state (for example, substantially), An actuator device or method according to any one of Examples 1 to 4.

[0129] Example 6 When the second electromagnet is in its first ON state and the magnetic field generated by the second electromagnet is such that the first electromagnet is switched from its first ON state to its second ON state, the actuator device is configured to move the plunger from the first position to the second position, or the method includes moving the plunger from the first position to the second position. An actuator device or method according to any one of Examples 1 to 5.

[0130] Example 7 The switching circuit is configured to induce a third ON state of the first electromagnet (for example, after the plunger has moved from the first position to the second position, for example, after the second electromagnet has been switched to the OFF state) and move the plunger from the second position to the first position (or the method comprises inducing a third ON state of the first electromagnet and moving the plunger from the second position to the first position), An actuator device or method according to any one of Examples 1 to 6.

[0131] Example 8 The first electromagnet comprises a first coil, and the second electromagnet comprises a second coil, and the movement of the plunger from the second position to the first position includes the movement of the plunger away from the second coil and toward the first coil. An actuator device or method according to any one of Examples 1 to 7.

[0132] Example 9 The actuator device is configured such that the transit time for the movement of the plunger from the first position to the second position is shorter than the transit time for the movement of the plunger from the second position to the first position (or wherein). An actuator device or method according to any of Examples 1 to 8.

[0133] Example 10 The actuator device further comprises a biaser arranged to apply a biasing force to the plunger when the plunger is in the first position, or the method comprises arranging a biaser configured to apply a biasing force to the plunger when the plunger is in the first position, wherein the biasing force acts in a direction extending away from the first position toward the second position. An actuator device or method according to any one of Examples 1 to 9.

[0134] Example 11 The biaser is equipped with a spring, or the biasing force is applied by the spring. The actuator device or method described in Example 10.

[0135] Example 12 The switching circuit includes an H-bridge, or the switching is performed by the H-bridge. An actuator device or method according to any one of Examples 1 to 11.

[0136] Example 13 The actuator device further comprises a controller configured to control a switching circuit that switches the first electromagnet between a first ON state and a second ON state, or the method comprises the controller controlling a switching circuit that switches the first electromagnet between a first ON state and a second ON state. An actuator device or method according to any one of Examples 1 to 12.

[0137] Example 14 The controller is further configured to selectively induce the third ON state of the first electromagnet, or the method comprises a controller that selectively induces the third ON state of the first electromagnet. The actuator device or method described in Example 13.

[0138] Example 15 An electronically controllable valve for regulating the flow of fluid through it, An actuator device according to any of Examples 1 and 3 to 14, A valve member coupled to the plunger of the actuator device and configured to adjust the flow of fluid through the valve according to the position of the plunger, Equipped with, Electronically controllable valve.

[0139] Example 16 The electronically controllable valve is configured to be open when the plunger is in the first position and closed when the plunger is in the second position, and the fluid can flow through the valve in the open state, and the fluid is restricted or prevented from flowing through the valve in the closed state. An electronically controllable valve as described in Example 15.

[0140] Example 17 An operating chamber configured to have a periodically changing volume, The electronically controllable valve described in Example 15 or 16 and Equipped with, The electronically controllable valve is configured to regulate the flow of working fluid into or out of the working chamber. Fluid machine tools.

[0141] Example 18 The controller further comprises one or more control signals to the switching circuit to control the electronically controllable valve, which adjusts the flow of working fluid into or out of the working chamber in a stepwise relationship with the cycle of the volume of the working chamber. A fluid machine tool as described in Example 17.

[0142] Example 19 The fluid machine tool is capable of operating as an expander, or the fluid machine tool is capable of operating as a compressor, or the fluid machine tool is capable of operating as an expander in a first operating mode and as a compressor in a second operating mode. A fluid machine tool as described in Example 17 or 18.

[0143] Example 20 The valve is configured to regulate the fluid flow between the high-pressure manifold and the work chamber. A fluid machine tool according to any one of Examples 17 to 19.

[0144] Example 21 The fluid machine tool according to Embodiment 20, wherein when the plunger is in the second position, the valve is closed to restrict or prevent the flow of fluid from the high-pressure manifold through the valve to the work chamber.

[0145] Example 22 The controller is configured to control the electronically controllable valve to suppress or prevent the flow of fluid to the working chamber via the valve during the intermediate portion of the working chamber volume cycle between the minimum volume of the working chamber and the maximum volume of the working chamber during the working chamber volume cycle. A fluid machine tool according to Example 21, which is dependent on Examples 18 and 19.

[0146] Example 23 The work chamber is defined by the inside of a cylinder and a piston configured to reciprocate within the cylinder between the top dead center and bottom dead center positions, thereby periodically changing the volume of the work chamber, and the controller controls the electronically controllable valve, The valve is configured to suppress or prevent the flow of the fluid into or out of the operating chamber through the valve at an intermediate position between the top dead center and the bottom dead center as the piston moves from the top dead center to the bottom dead center. A fluid machine tool according to Example 21, which is dependent on Examples 18 and 19.

[0147] Example 24 A device for controlling an actuator, By generating a current flow through the first electromagnet of the actuator in the first direction, the first ON state of the first electromagnet is induced. By generating a current flow through the second electromagnet of the actuator, the first ON state of the second electromagnet is induced. By changing the direction of the current in the first electromagnet from the first direction to a second direction opposite to the first direction, a second ON state of the first electromagnet is induced. Equipped with a processing circuit, device.

[0148] Example 25 A method for controlling an actuator, The first ON state of the first electromagnet is induced by generating a current flow in a first direction through the first electromagnet of the actuator, The first ON state of the second electromagnet is induced by generating a current flow through the second electromagnet of the actuator, By changing the direction in which the current flows through the first electromagnet from the first direction to a second direction opposite to the first direction, a second ON state of the first electromagnet is induced. Equipped with, method.

[0149] Example 26 The process circuit induces a second ON state of the first electromagnet by switching the first electromagnet from a first ON state to a second ON state, or the method induces a second ON state of the first electromagnet, and the process circuit maintains the second electromagnet in a first ON state, or the method maintains the second electromagnet in a first ON state, while the first electromagnet is being switched from its first ON state to its second ON state. The apparatus described in Example 24 or the method described in Example 25.

[0150] Example 27 The processing circuit induces a first ON state of the first electromagnet by controlling a switching circuit to generate a current flow in the first direction through the first electromagnet, or the method induces a first ON state of the first electromagnet. The apparatus or method described in any of Examples 24 to 26.

[0151] Example 28 The processing circuit induces a second ON state of the first electromagnet by controlling the switching circuit to switch the current flow through the first electromagnet from the first direction to the second direction, or the method includes inducing a second ON state of the first electromagnet. The apparatus or method described in any of Examples 24 to 27.

[0152] Example 29 The processing circuit induces a first ON state of the second electromagnet by controlling the driver circuit to generate a current flow through the second electromagnet, or the method includes inducing a first ON state of the second electromagnet. The apparatus or method described in any of Examples 24 to 28.

[0153] Example 30 A computer program product comprising computer program instructions that, when executed, cause a processing circuit to be executed according to the processing circuit of the device described in any of Examples 24, 26-29, or the method described in any of Examples 25, 26-29.

[0154] Example 31 The system includes executable instructions for causing a processing circuit to be executed according to the processing circuit of the device described in any of Examples 24, 26-29, or for causing the method described in any of Examples 25, 26-29 to be executed. One or more computer-readable media.

[0155] Example 32 An actuator device as described in any of Examples 1, 3 to 14, or An electronically controllable valve as described in Example 15 or 16, A fluid machine tool as described in any of Examples 17 to 23, or The apparatus of Example 32, and comprising equipment for controlling the actuator described in any of Examples 24, 26-29, The device for controlling the actuator is, An actuator device as described in any of Examples 1, 3 to 14, or An electronically controllable valve actuator device as described in Example 15 or 16, An actuator device for a fluid machine tool as described in any of Examples 17 to 23, or Actuator device of the equipment in Example 32 It is for controlling, device.

Claims

1. An actuator device, A first electromagnet that is switchable between a first ON state and a second ON state, wherein in the first ON state of the first electromagnet, a current flows through the first electromagnet in a first direction, and in the second ON state of the first electromagnet, a current flows through the first electromagnet in a second direction opposite to the first direction, A second electromagnet that is operable in a first ON state, wherein the first ON state of the second electromagnet is such that current flows through the second electromagnet, A plunger movable between a first position and a second position, wherein the actuator device is configured to hold the plunger in the first position when the first electromagnet and the second electromagnet are in their respective first ON state in accordance with the magnetic flux generated by the first electromagnet and the second electromagnet, A switching circuit that switches the first electromagnet from its first ON state to its second ON state, thereby triggering the movement of the plunger from the first position to the second position. Equipped with, The switching time for switching the first electromagnet from its first ON state to its second ON state is shorter than the excitation time for exciting the second electromagnet from its OFF state to its first ON state. Actuator device.

2. The first electromagnet comprises a first coil, the second electromagnet comprises a second coil, the plunger is operable to move along an axis between the first and second positions, and the first and second coils are spaced apart with respect to the axis. The actuator device according to claim 1.

3. The first electromagnet comprises a first coil, and the second electromagnet comprises a second coil, and the movement of the plunger from the first position to the second position includes the movement of the plunger away from the first coil and toward the second coil. The actuator device according to claim 1 or 2.

4. The actuator device is configured to maintain the second electromagnet in its first ON state while the first electromagnet is switched by the switching circuit from its first ON state to its second ON state, thereby moving the plunger from the first position to the second position. The actuator device according to any one of claims 1 to 3.

5. When the second electromagnet is in its first ON state, and the first electromagnet is switched from its first ON state to its second ON state in response to the magnetic field generated by the second electromagnet, the actuator device is configured to move the plunger from the first position to the second position. The actuator device according to any one of claims 1 to 4.

6. The switching circuit is configured to induce a third ON state of the first electromagnet and move the plunger from the second position to the first position. The actuator device according to any one of claims 1 to 5.

7. The first electromagnet comprises a first coil, and the second electromagnet comprises a second coil, and the movement of the plunger from the second position to the first position includes the movement of the plunger away from the second coil and toward the first coil. The actuator device according to claim 6.

8. The actuator device is configured such that the transit time for the plunger's movement from the first position to the second position is shorter than the transit time for the plunger's movement from the second position to the first position. The actuator device according to any one of claims 1 to 7.

9. The system further comprises a biaser arranged to apply a biasing force to the plunger when the plunger is in the first position, wherein the biasing force acts in a direction extending away from the first position toward the second position. The actuator device according to any one of claims 1 to 8.

10. An electronically controllable valve for regulating the flow of fluid through it, An actuator device according to any one of claims 1 to 9, A valve member coupled to the plunger of the actuator device and configured to adjust the flow of fluid through the valve according to the position of the plunger, Equipped with, Electronically controllable valve.

11. The electronically controllable valve is configured to be open when the plunger is in a first position and closed when the plunger is in a second position, and a fluid can flow through the valve in the open state, while the fluid is restricted or prevented from flowing through the valve in the closed state. The electronically controllable valve according to claim 10.

12. An operating chamber configured to have a periodically changing volume, The electronically controllable valve according to claim 14 or 15 Equipped with, The electronically controllable valve is configured to regulate the flow of working fluid into or out of the working chamber. Fluid machine tools.

13. The controller further comprises one or more control signals to the switching circuit, which control the electronically controllable valve that adjusts the flow of working fluid into or out of the working chamber in a stepwise relationship with the cycle of the volume of the working chamber. The fluid machine tool according to claim 12.

14. The fluid machine tool is capable of operating as an expander, or the fluid machine tool is capable of operating as a compressor, or the fluid machine tool is capable of operating as an expander in a first operating mode and as a compressor in a second operating mode. A fluid machine tool according to claim 12 or 13.

15. The valve is configured to regulate the flow of fluid between the high-pressure manifold and the working chamber. A fluid machine tool according to any one of claims 12 to 14.

16. When the plunger is in the second position, the valve is closed to restrict or prevent the flow of fluid from the high-pressure manifold through the valve to the work chamber. The fluid machine tool according to claim 15.

17. The controller is configured to control the electronically controllable valve to suppress or prevent the flow of fluid to the working chamber via the valve during the intermediate portion of the working chamber volume cycle between the minimum volume of the working chamber and the maximum volume of the working chamber during the working chamber volume cycle. A fluid machine tool according to any one of claims 13 to 16.

18. A method for operating an actuator, By exciting the first electromagnet into a first ON state in which a current flows through the first electromagnet in a first direction, and by exciting the second electromagnet into a first ON state, a magnetic flux is induced, thereby holding the plunger in a first position. Switching the first electromagnet from a first ON state to a second ON state triggers the movement of the plunger from the first position to the second position, and in the second ON state, current flows through the first electromagnet in a second direction opposite to the first direction. Equipped with, The switching time for switching the first electromagnet from its first ON state to its second ON state is shorter than the excitation time for exciting the second electromagnet from its OFF state to its first ON state. method.

19. While the first electromagnet is switched from its first ON state to its second ON state, thereby moving the plunger from the first position to the second position, the second electromagnet is kept in its first ON state. Furthermore, The method according to claim 18.

20. A device for controlling an actuator, By generating a current flow through the first electromagnet of the actuator in the first direction, the first ON state of the first electromagnet is induced. By generating a current flow through the second electromagnet of the actuator, the first ON state of the second electromagnet is induced. By changing the direction of the current in the first electromagnet from the first direction to a second direction opposite to the first direction, a second ON state of the first electromagnet is induced. Equipped with a processing circuit, device.

21. While the processing circuit switches the first electromagnet from its first ON state to its second ON state, the second electromagnet is positioned in its first ON state. The apparatus according to claim 20.

22. The processing circuit controls the switching circuit to generate a current flow in the first direction through the first electromagnet, thereby inducing the first electromagnet to an ON state. The apparatus according to claim 20 or 21.

23. The processing circuit controls the switching circuit to switch the current flow through the first electromagnet from the first direction to the second direction, thereby inducing the first electromagnet to a second ON state. The apparatus according to any one of claims 20 to 22.

24. A method for controlling an actuator, The first ON state of the first electromagnet is induced by generating a current flow in a first direction through the first electromagnet of the actuator, The first ON state of the second electromagnet is induced by generating a current flow through the second electromagnet of the actuator, By changing the direction in which the current flows through the first electromagnet from the first direction to a second direction opposite to the first direction, the second ON state of the first electromagnet is induced. Equipped with, method.

25. This includes maintaining the second electromagnet in its first ON state while switching the first electromagnet from its first ON state to its second ON state. The method according to claim 24.

26. When executed, the computer program instructions cause the processing circuit to be executed according to the processing circuit of the device described in any one of claims 20 to 23, or to be executed according to the method described in claim 24 or 25. Computer program products.

27. The device comprises executable instructions for causing a processing circuit to be executed according to the processing circuit of the device described in any one of claims 20 to 23, or for causing the method described in claim 24 or 25 to be executed. One or more computer-readable media.

28. A fluid-operated chamber with adjustable capacity, The electronically controllable valve according to claim 10 or 11 Equipped with, The electronically controllable valve is configured to control the flow of fluid into or out of the fluid working chamber. device.

29. An actuator device according to any one of claims 1 to 9, An electronically controllable valve according to claim 10 or 11, A fluid machine tool according to any one of claims 12 to 17, The apparatus according to claim 28, and The device comprises equipment for controlling the actuator according to any one of claims 20 to 23, The device for controlling the actuator is, An actuator device according to any one of claims 1 to 9, An electronically controllable valve actuator device according to claim 10 or 11, An actuator device for a fluid machine tool according to any one of claims 12 to 17, Actuator device of the equipment according to claim 28 It is for controlling, device.

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