Method for setting a model for controlling an electromagnetic actuator, method for controlling an electromagnetic actuator, device and mechatronic system

摘要

A method for setting a model for controlling an electromagnetic actuator, the actuator having an electrical coil and an armature movable relative to the coil, has a step of reading in an electrical coil voltage (u) and an electrical coil current (i). The coil voltage (u) and the coil current (i) represent measured variables acquired by means of at least one acquisition device during a switching process of the actuator. The method also almost includes a step of generating a simulated coil current (isim), a simulated position (zsim) of the armature and a simulated speed (vsim) of the armature using the read-in coil voltage (u) by means of a mathematical actuator model. The method further comprises a step of generating an observed position (2) of the armature and an observed speed (v̂) of the armature using the read-in coil voltage (u) and the read-in coil current (i) by means of a non-linear observer model. In addition, the method comprises a step of minimizing a combination of a first error (ei) between the read coil current (i) and the simulated coil current (isim), a second error (êz) between the observed position (2) and the simulated position ( zsim) and a third error (êv) between the observed speed (v̂) and the simulated speed (vsim) in order to provide at least one updated parameter for setting the actuator model and the observer model.