Method for the control of electromagnetic actuators for the actuation of intake and exhaust valves in internal combustion engines

A method for the control of electromagnetic actuators for the actuation of intake and exhaust valves in internal combustion engines, in which an actuator (1, 45), connected to a control unit (10), is coupled to a respective valve (2, 46) and comprises a moving member (3, 47) actuated magnetically, by means of a net force (F), in order to control the movement of the valve (2, 46) between a closed position (ZSUP) and a position of maximum opening (ZINF) and an elastic member (7, 50) adapted to maintain the valve (2, 46) in a rest position, which method comprises the stages of:

• a) detecting an actual position (Z) and an actual velocity (V) of the valve (2, 46);
• b) determining a reference position (ZR) and a reference velocity (VR) of this valve (2, 46);
• c) determining, by a feedback control action, an objective force value (Fo) of this net force (F) to be exerted on the moving ferromagnetic member (3, 47) as a function of the reference position (ZR), the actual position (Z), the reference velocity (VR) and the actual velocity (V) in order to minimise differences between the actual position (Z) and the reference position (ZR) and between the actual velocity (V) and the reference velocity (VR), which method is characterised in that it comprises the stages of:
• d) estimating disturbing forces (ΔF) acting on the valve (2, 46),
• e) calculating an actual force (FE) as a function of the objective force value (Fo) and these disturbing forces (ΔF),
• f) implementing this actual force value (FE).