  A novel hybrid dynamical model for single-coil, short-stroke reluctance
actuators is presented in this paper. The model, which is partially based on
the principles of magnetic equivalent circuits, includes the magnetic phenomena
of hysteresis and saturation by means of the generalized Preisach model. In
addition, the eddy currents induced in the iron core are also considered, and
the flux fringing effect in the air is incorporated by using results from
finite element simulations. An explicit solution of the dynamics without need
of inverting the Preisach model is derived, and the hybrid automaton that
results from combining the electromagnetic and motion equations is presented
and discussed. Finally, an identification method to determine the model
parameters is proposed and experimentally illustrated on a real actuator. The
results are presented and the advantages of our modeling method are emphasized.
