Methods to control force in reluctance actuators based on flux related parameters

A haptic actuator comprising:

• a reluctance actuator including:
• a metallic plate;
• and
• an electromagnet positioned adjacent to the metallic plate;
• and
• control electronic components including:
• a correlator component;
• a driver component operably linked with the electromagnet;
• and
• an estimation component;
• wherein the control electronic components are operable to:
• receive a force trajectory;
• determine an input parameter for the driver component using the force trajectory with the correlator component;
• apply the input parameter to the driver component to cause an actuation of the reluctance actuator;
• monitor, by the estimation component, a voltage and a current in the reluctance actuator during the actuation;
• and
• update the correlator component based on the monitored voltage and the monitored current in the reluctance actuator during the actuation.

A method of control of a force applied by a reluctance actuator that includes an electromagnet and a flexible metallic plate, comprising:

• receiving an intended force output;
• obtaining from a correlator component, based on the intended force output and a stored value of an electrical parameter value of the reluctance actuator, an input parameter;
• receiving, at a feedback controller, the input parameter and a feedback value of the electrical parameter value of the reluctance actuator;
• applying, by the feedback controller, an input drive value to a driver component, the input drive value based on the input parameter and the feedback value of the electrical parameter value of the reluctance actuator;
• applying, by the driver component, an output drive value to the electromagnet to actuate the reluctance actuator;
• measuring a current in the reluctance actuator during the actuation;
• and
• using the measurement of the current in the reluctance actuator during the actuation to determine the feedback value of the electrical parameter value of the reluctance actuator.