COMPEL - The international journal for computation and mathematics

in electrical and electronic engineering

Modelling and position control of voltage forced electromechanical actuator
S#awomir St#pie# Andrzej Patecki
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S#awomir St#pie# Andrzej Patecki, (2006),"Modelling and position control of voltage forced
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electromechanical actuator", COMPEL - The international journal for computation and mathematics in
electrical and electronic engineering, Vol. 25 Iss 2 pp. 412 - 426
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COMPEL
25,2 Modelling and position control of
voltage forced electromechanical
actuator
412
Sawomir Stepien and Andrzej Patecki
Institute of Control and Systems Engineering, Poznan University of Technology,
Poznan, Poland
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Abstract
Purpose To present modelling and control technique of an electromagnetic actuator.
Design/methodology/approach A 3D modelling technique of voltage-forced electromechanical
actuator takes into account: motion, magnetic non-linearity and eddy current phenomena. Control
problem of closed loop system is described by coupled electro-magneto-mechanical equations and
non-linear PID controller equations.
Findings Presented methodology offers a powerful tool for analysis of control systems with
distributed parameters models and may contribute to the improvement of the electromechanical
performance of electrodynamic devices.
Originality/value As original contribution a position feedback control using conventional PID
controller is applied for iterative determining inverse dynamic problem, that is finding input voltage
for a given position of an actuator.
Keywords Finite element analysis, Electromagnetic fields, Electromagnetic induction, Feedback
Paper type Technical paper

Introduction
An electro-magneto-mechanical coupled system as voltage forced actuator is shown in
Figure 1. The forward dynamics problem consists of finding the current variations in
both coils with mechanical motion when a voltage excitation is applied on coils and
internal electrodynamic force acts on movable armature.
The system includes two springs located on either side of the armature. The springs
ensure a return of mobile armature to starting position after voltage separation.
Moreover, the actuator is non-linear and non-stationary. Magnetic linkage flux and
electrodynamic force are non-linear functions of mechanical motion and exciting
voltage. An armature is made from steal with non-linear B-H relationship. Therefore
magnetic permeability is a function changeable with time. The motion in two
directions of analysed system is possible because of usage of two electromagnets
(Hofmmann and Stefanopoulou, 2001).
In this paper is presented a method for motion simulation of voltage forced
electromechanical actuator. For solving the problem a following equations are considered:
.
electric circuit equations; and
COMPEL: The International Journal
for Computation and Mathematics in
dF1 t
Electrical and Electronic Engineering R1 i1 t u1 t
Vol. 25 No. 2, 2006
pp. 412-426
dt 1
q Emerald Group Publishing Limited dF2 t
0332-1649 R2 i2 t u2 t
DOI 10.1108/03321640610649087 dt
 .
mechanical motion equation: Voltage forced
d2 xt dxt
actuator
M 2
B Kxt Ft 2
dt dt

where R is a resistance, F magnetic linkage flux, M, B and K are the mass of moving 413
armature, damping coefficient and the stiffness of the spring, F represents
electromagnetic force and x armature displacement.
The problem is solved sequentially. Firstly is solved current variation in coils by
impedance calculations, electromagnetic field in terms of magnetic vector potential and
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electric scalar potential, electrodynamic force, and then mechanical motion equation to
get armature position and velocity.
Also simple feedback PID control with model estimator of the system is presented
for achieving desired position of armature. An estimator is used for position and
velocity estimation of movable armature and makes possible to choose stable PID
controller settings in closed loop system. The problem consist of finding voltage and
current variations on coils to obtain desired armature position, in other exemplify an
inverse dynamic problem.

Field-motion coupled model

Using the magnetic vector potential A and electric scalar potential V as
electromagnetic field variables, the electric field intensity E in conducting region
(VC) and magnetic flux density B in conducting and non-conducting region VC < VN
is defined as (Biro and Preis, 1989; Hameyer and Bellmans, 1999; Lowther, 2003;
Sykulski et al., 1995):
B 7 A in VC < VN 3

A
E2 2 7V v 7 A in VC 4
t
In this case, the boundary value problem in terms of potentials is expressed as follows:



1 A
7 7A s 7V 2 sv 7 A jt in VC < VN 5
m t

Figure 1.
Cross section of
electromechanical actuator


COMPEL A
27 s 7V 2 v 7 A 0 in VC 6
25,2 t
where m is a permeability, s represents conductivity, v represents velocity of movable
armature and j(t) current density of the thin coil. If voltage excitation is given, first the
equation (1) expressed in term of magnetic vector potential must be considered as
414 (Patecki and Racinowski, 1997; Nakata et al., 1988):
I
d
Atdl R1 i1 t u1 t
dt
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l1
I 7
d
Atdl R2 i2 t u2 t
dt
l2

For two-phase voltage forced system above equations are expressed by matrix of
dynamic impedances. Discrete form of equation (7) can be defined as below:
" #" # " #
Z 11 Z 12 i1 u1
8
Z 21 Z 22 i2 u2

where
I I
1 d 1 d
Z jj Rj A dl j ; Z jk A dl k 9
I j dt I j dt
lj lj

Global impedance matrix includes own impedances Zii and mutual impedance Z jk
Z kj : For I j 1 A j 1; 2 and for I kj 0 k 1; 2 are performed calculations for
matrix of impedance Z, next the current vector I in both coils are calculated from
formulation:
I Z 21 U 10
when a voltage vector U is known. Calculation of the force is performed using the
Maxwells stress tensor method. The force density is given by following formula:
f 7T 11
where T denotes modified Maxwells stress tensor (Demski and Szymanski, 1997)
proposed as follows:
2   3
1 2 1 2 2
B 2 m 0 H H H y B x H z B x
6 2m0 x 2 y z 7
6   7
6 1 2 1 2 2 7
T6 H x By 2 m0 B y 2 2 m 0 H x H z H z B y 7
6 7
6  7
4 1 2 1 2 2 5
H x Bz H y Bz 2m0 Bz 2 2 m0 H x H y

12
 Then total force is defined: Voltage forced
Z actuator
F f dV 13
V

Motion problem (Hameyer and Bellmans, 1999; Lai et al., 1992; Ren and Razek, 1994; 415
Kawase et al., 1994) is solved by sequentially coupled model with time step verification
according to the fixed grid distance in motion direction (Stepien and Patecki, 2003).
Choosing the displacement and velocity as state of mechanical motion, the equation (2)
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is solved by fourth order Runge-Kutta algorithm in state space form as a system of first
order differential equations:
" # 2 3" # 2 3
d x 0 1x 0
4 K B
5 4 1 5F 14
dt v 2M 2M v M

where x represents displacement and v represents velocity of movable armature used

in boundary value equations (5) and (6).

Solution of non-linearity problem

The most materials used in electrodynamic systems is non-linear. In presented case the
movable armature is made from steel. Obviously, the correction of magnetic
permeability should be considered in the field model (Neagoe and Ossart, 1994).
Therefore in presented technique the most popular and very effective Newton-Raphson
method is used (Fujiwara et al., 1992). The method works perfectly if the B-H
relationship is precisely approximated. Two layers neural network method with
Levenberg-Marquardt learning algorithm (Rumelhart et al., 1986; Vogl et al., 1988) is
used for approximation (Figure 2).
The feedforward network has one hidden layer of sigmoid neurons followed by an
output layer of linear neuron.

Figure 2.
Double layered neural
network
 COMPEL For tangent-sigmoid transfer function in hidden layer the B-H function can be suitable
25,2 expressed by formulation:


2
BH W2 2 1 b2 15
1 exp22W1 H b1

416 where W1, W2 weight vectors in hidden and output layer; b1, b2 bias vector in
hidden layer and bias scalar in output layer. The size of weights and biases depends on
number of neurons.
Having precisely approximated B-H curve and magnetic flux density B from
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7 A; the permeability correction can be easy obtained in each element of

discretisation. For calculated B the Newton-Raphson algorithm is used to find the
magnetic field intensity H and their relationship as dynamic permeability. Then
equation (5) is calculated together with permeability corrector (Neagoe and Ossart,
1994; Fujiwara et al., 1992).

PID feedback control

An armature position of the electrodynamic actuator is achieved by usage
of proportional-integral-derivative controller in closed loop system, shown in Figure 3.
In case of motion in left direction the right coil is forced by step voltage U0. The left
coil is controlled by voltage amplitude obtained from the controller. In case of motion in
right direction the situation is reversed.
Usage of PID controller introduces to model an addition equation described by
following transfer function defined in domain of complex variable s:


1 sT d
Gs kp 1 16
sT i 1 sT

where kp is a proportional gain, Ti integration time, Td differentiation time, and T

represents inertia of differential part of controller.

Figure 3.
Position control system
 Shown in Figure 3 control problem with PID ensures stable control process for finding Voltage forced
voltage course applied on left coil, in other voltage essential to get desired position of actuator
movable armature.

Kalman estimator
Presented device (Figure 1) can produce an oscillating motion of movable armature,
especially nearby the desired position. Then the control process can be unstable. 417
Therefore the Kalman estimator is used to stabilize the control process. Displacement
estimate x^ and velocity estimate v^ are determined from discrete transfer function
defined in complex z domain (Astrom and Wittenmark, 1971). Below is described only
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procedure for x^ determination, because the v^ is determined in the same way. The
transfer function is following:
^ 21
xz b^ 1 z 21 b^ 2 z 22
Gz 21 17
Uz 1 a^ 1 z 21 a^ 2 z 22
21

^ 21 is a discrete estimate of displacement and Uz 21 discrete left coil voltage of

where xz
an actuator. The transfer function (17) describes a simplified actuator model. The
numerator and denominator coefficients are variable in time and parameterized in vector:
h iT
Q^ a^ 1 a^ 2 b^ 1 b^ 2 18
and numerically determined accordingly to vector consisted of ith samples of
displacements and left coil voltages:
h i
gi 2xi 2xi21 ui ui21 : 19

Coefficients of transfer function (17) are determined using recursive last squares
parameters estimator, known as a Kalman filter for model parameters identification
(Astrom and Wittenmark, 1971; Bohlin, 1971). The algorithm is given below:
h i
g T 2xi 2xi21 ui ui21
^ i PTi21 g
K lg P i21 g
P i21 2P i21 g T g P i21
P i21 l1 l P i21 g 20
1i s i 2 g Q^ i21
T

^iQ
Q ^ i21 K
^ i 1i
^i
x^ i g T Q
Above algorithm needs non-zeros initials Q^ 0 ; P 0 . 0; where P 0 d I; d . 0; and I is an
identity matrix. Coefficient 0:9 , l , 1:0 can be chosen experimentally.
In this way a simplified model (17) of very complex distributed parameters model of
an electromechanical actuator with estimation of an armature displacement:

x^ i1 2a^ 1 xi 2 a^ 2 xi21 b^ 1 ui b^ 2 ui21 21

is suitably used to determine stable PID controller settings.
 COMPEL An iterative procedure
25,2 In the first step of calculation for given armature position x0, the error of actual and
assumed position e x0 2 x is obtained. Then voltage u applied on left coil is matched by
PID regulator by its following discrete state space approximation for ith iterative step:
2 1 3 " #2 1 3 " #
ui1 2 T1 0 ui 1
418 4 5 4 25 ei
2 ui
ui1 1 0 0
2 3 22
  u1
kp TT i kp TT d kp i
4 25 kp T T d
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ui1 TT i 2 T2 TT i ei
ui T

Determination of voltage ui 1 as control variable of the system shown in Figure 2 is

performed with time step Dt i using 4th order Runge-Kutta method. So, the left coil voltage
is unknown and the right coil voltage is constant U0.
For given voltage value from regulator, an iterative procedure includes calculation
of equation (8) in discrete form:
2 i 32 i1 3 2 i1 3
Z 11 Z i12 i1 b1
4 54 54 5 23
i i i1
Z 21 Z 22 i2 bi1
2

where own and mutual impedances are calculated as:

I
1
Z jj Rj ajj dl
Dt
lj
I 24
1
Z jk a jk dl; for j k
Dt
lj

and right side of equation (23) performs:

I  
1
bj uj t Dt 2 Rj ij t Dt a jj t Dt 2 awjj t dl 25
Dt
lj

In equations (24) and (25) exists vector potential a for one-ampere test. In the last
equation (24) is given potential a w which takes eddy current into consideration.
In second step the boundary equations (5) and (6) in integral form are solved by a finite
element method with linear shape functions of the potentials (Patecki and Racinowski,
1997). The solver includes permeability corrector required for B-H considering.
The global matrix system iterative procedure of the system becomes:
2  3 " # " #
D z i1 D
C Dt E r i1 Dt zi
4 i
5
i
26
FH GDt i y i1 Fz i
 In above equations z represents vector of unknown of magnetic vector potential A, y Voltage forced
represents vector of unknown electric scalar potential V and r is a vector of current
density j(t). Matrices C, D, E, F, G and H are obtained as result of discretisation of the
actuator
following formulations:
Z
 Z Z Z I
1 A A
7 7 A dV 2 sv7 AdV; s dV; s7V dV; s dS;
m t t 419
V V V V S

I I
s7V dS; 2 sv 7 AdS;
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S S

Next r as result of discretisation

Z
jtdV:
V

Obtained system of equation is non-symmetric. Matrix C is non-symmetric and

diagonally dominant, D is a diagonal matrix. Matrix G is symmetric. Coefficients of C,
D, E, F, G, H depends on materials description and type of discretisation. Included in
formulations (5) and (6) terms:
Z
sv7 AdV;
V

and
I
2 sv7 AdS
S

produces non-symmetric coefficients in global matrix structure. The magnetic vector

potential A and electric scalar potential V are calculated by step-by-step computation
process of equation system (25). For this type of computation the conjugate gradient
method with preconditioner called BiCG is worked up (Van der Sluis and Van der
Vorst, 1986; Gilbert and Nocedal, 1992).
Total force influencing on movable armature is obtained from equations (11) to (13)
as a combination of calculated potentials in equation (26). The method is widely
described in (Demski and Szymanski, 1997). Then is solving the discrete state space
equation of mechanical system to obtain velocity and displacement.
The differential equation (14) in discrete form:
" # 2 3" # 2 3
xi1 1 Dti xi 0
4 K B
5 4 Dti 5F i 27
vi1 2 M Dti 1 2 M Dt i vi M

is successively solved using 4th order Runge-Kutta algorithm with the time step Dti to
get the armature displacement x. The displacement is an input variable to the recursive
estimator (20) and used in control process.
 COMPEL Numerical experiment
25,2 In numerical experiment the position control of electromechanical actuator is
considered. Presented device includes armature made from steel (conductivity
s 6:6 106 S m21 ). The specific gravity of armature is equal to 2,400 kg m2 3,
substitute stiffness K 250 N m21 of springs, and damping coefficient B 5 Ns m21 :
Voltage excitation U 0 2V is applied on right coil with 480 turns and resistance
420 R 2V: The resistance and number of turns of left coil is the same as right but voltage
amplitude is controlled by PID regulator.
The problem consist of finding voltage course in left coil, currents in both coils for
given position x0 0 mm in the middle of coils distance from initial position x
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10 mm as shown in Figure 4.
To perform the control problem a stable controller settings should be found. It
seems to be difficult for presented actuator model which is described by 1,000 state
variables. Fortunately, it is possible by use of simplified model. On the basis of
simplified model as an approximation of very complex
electro-magneto-mechanical-coupled model of presented actuator, it is possible to
check estimated stability (eigenvalues placement on complex z surface) of presented
closed loop system (Figure 5). The use of this simplified model is very useful in PID
controller settings, where proportional gain is chosen as non-linear function of position
error and velocity. The non-linear PID controller settings are following: T 5 ms;
T d 0:5 ms; T i 1 ms and


1
kp 5; 000x0 2 x^ 1
1 exp2200v^

is matched as a function of control error and estimated armature velocity. The function
is shown in Figure 6.
There are examined two situations: when movable armature is made from linear
material (relative permeability m 5; 912) and when material of armature is defined
by B-H relationship. In case of linear permeability the armature is held very well in
desired position x0 0 mm as shown in Figure 7.
During simulation the voltage or current command needed to apply on coil of left
electromagnet for each proportional gain is obtained and shown in Figures 8 and 9.

Figure 4.
Mesh of 1/8 analysed
device
 Voltage forced
actuator

421
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Figure 5.
Approximated B-H curve
of steel

Figure 6.
The surface kp f e; v
 COMPEL
25,2

422
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Figure 7.
Calculated and estimated
position of movable
armature

Figure 8.
Voltage course on left coil
 Voltage forced
actuator

423
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Figure 9.
Current course in left coil

The same calculations concern the device with B-H relationship. Obtained armature
position, voltage current commands needed to adjust the non-stationary plant are as in
Figures 10-12.
On the base of considered simulations the problem of finding voltage or current
value for adjust the movable armature in desired position is solved. The results show
that dynamics of considered models are quite different. The non-linear B-H
relationship of actuator armature makes the control process more unstable then in
linear case. Also inertia of the system with magnetic saturation seems to be greater
then linear. In other, the linear permeability case needs lower voltage (or current) which
should be applied on left coil.

Conclusions
In this paper a non-stationary model of an electromechanical actuator is developed
using distributed parameters. Coupled electro-magneto-mechanical equations with
motion and non-linear PID controller considers voltage excitation problem for
armature position control. As original contribution, in this paper the control loop is
included in calculation system. The closed loop system is achieved by coupling
non-linear PID controller model to electromechanical model used as a plant in control
system.
Position feedback control that adjusts armature to desired position is obtained using
PID regulator with introducing non-linear proportional gain setting. Obtained results
indicate that applied controller is able to perform position control. The proportional
 COMPEL
25,2

424
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Figure 10.
Calculated and estimated
position of movable
armature

Figure 11.
Voltage course on left coil
 Voltage forced
actuator

425
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Figure 12.
Current course in left coil

gain during the adjustment is selected from surface of the control error and armature
velocity which ensures good stability within performance of the control task.
Presented methodology offers a powerful tool for such analysis of control systems
with distributed parameters models and may contribute to the improvement of the
electromechanical performance of electrodynamic devices.

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Corresponding author
Andrzej Patecki can be contacted at: Andrzej.Patecki@put.poznan.pl

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