Systems, methods, and apparatus for controlling actuator drive current using bi-directional hysteresis control

A system for controlling drive current comprising:

• a controller;
• an actuator;
• a power amplifier operatively connected to the actuator and the controller, the power amplifier configured to receive a reference signal from the controller, generate a drive signal based at least in part on the reference signal, and supply the drive signal to the actuator, wherein the reference signal includes a PWM signal;
• a first feedback circuit operatively connected to the actuator and the controller, the first feedback circuit configured to obtain a first feedback signal based at least in part on a drive current and generate a first conditioned feedback signal based at least in part on the first feedback signal;
• a second feedback circuit operatively connected to the actuator and the controller, the second feedback circuit configured to obtain a second feedback signal based at least in part on a position of the actuator drive and generate a second conditioned feedback signal based at least in part on the first feedback signal;
• and
• wherein the controller is configured to
• manipulate the PWM signal based on the first conditioned feedback signal and the second conditioned feedback signal.

An apparatus for controlling actuator drive current comprising:

• a power amplifier operatively connected to an actuator and a controller, the power amplifier configured to receive a reference signal from the controller, generate a drive signal based at least in part on the reference signal, and supply the drive signal to the actuator, wherein the reference signal includes a PWM signal;
• a first feedback circuit operatively connected to the actuator and the controller, the first feedback circuit configured to obtain a first feedback signal based at least in part on a drive current and generate a first conditioned feedback signal based at least in part on the first feedback signal;
• a second feedback circuit operatively connected to the actuator and the controller, the second feedback circuit configured to obtain a second feedback signal based at least in part on a position of the actuator drive and generate a second conditioned feedback signal based at least in part on the first feedback signal;
• and
• wherein the controller is configured to
• manipulate the PWM signal based on the first conditioned feedback signal and the second conditioned feedback signal.