Nonlinear modeling of Pancake DC Limited Angle Torque Motor based on LuGre friction model

This paper addresses the physical modeling and identification of Torque Motor based mechatronic actuators used in the air path of the engine of a Drive-by-Wire automobile. The torque motor has non-linear torque characteristics with respect to the rotor position due to its mechanical construction. A study based on two Pancake DC Torque motors has been carried out with two motors of different stator construction. A physical model has been proposed and its parameters have been identified for the two motors. Special attention has been paid on modeling nonlinearities due to torque characteristics and friction. LuGre friction model has been used to incorporate friction nonlinearities. Comparison between simulation and experimental results shows the effectiveness of the proposed model.