Abstract: Aiming at the low force density and the lack for lack of self-holding ability at the end of conventional moving-coil electromagnetic linear actuators, a novel compound electromagnetic linear actuator was proposed. According to the structural characteristics, the mathematical model was established; also the cooperative drive mode with high driving capability and the single drive mode with low energy consumption were analyzed. Combining the inverse system and the feed-forward + PI feedback algorithm, the multi-mode coordinated controller of the compound electromagnetic linear actuator was designed. A simulation model was established by MATLAB/Simulink, and a prototype test platform was built. The effectiveness of the coordinated control method was verified through simulation and experiments. The results show that the actuator has good dynamic characteristics under different driving modes, and the displacement control errors are less than ±0.02 mm. The self-holding force of actuator is as 229.3 N. In the cooperative driving mode, the driving force may reach 574.9 N, and the turn-on transition time is as 4.8 ms; the turn-on transition time under the single drive is as 6.9 ms.

Key words: compound electromagnetic linear actuator, internal combustion engine, multi-mode coordinated control, inverse system

摘要： 针对常规动圈式电磁直线执行器存在的力密度不高、缺乏端部无源自保持能力等不足，提出了一种新型复合式电磁直线执行器。根据其结构特点建立数学理论模型，分析了具有高驱动能力的协同驱动模式和具有低能耗特点的单独驱动模式，结合逆系统与前馈+PI反馈算法设计了多模式协调控制器。利用MATLAB/Simulink建立仿真模型，并搭建了样机试验平台，通过仿真与试验验证了协调控制方法的有效性。结果表明：不同驱动模式下执行器动态特性良好，位移控制误差小于±0.02 mm，具备端部无源自保持力229.3 N；协同驱动模式下驱动力可达574.9 N，开启过渡时间为4.8 ms，单独驱动下开启过渡时间为6.9 ms。

关键词: 复合式电磁直线执行器, 内燃机, 多模式协调控制, 逆系统