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Actuator self-heating limits the achievable force and can cause unwantedstructural deformations. This is especially apparent in quasi-static actuationsystems that require the actuator to maintain a stable position over anextended period. As a solution, we use the concept of a Tunable Magnet. Tunablemagnets rely on in-situ magnetization state tuning of AlNico to create aninfinitely adjustable magnetic flux. They consist of an AlNiCo low coercivitypermanent magnet together with a magnetizing coil. After tuning, the AlNiCoretains its magnetic field without further energy input, which eliminates thestatic heat dissipation. To enable implementation in actuation systems, theAlNiCo needs to be robustly tunable in the presence of a varying systemair-gap. We achieve this by implementing a magnetization state tuning method,based on a magnetic circuit model of the actuator, measured AlNiCo BH data andair-gap flux feedback control. The proposed tuning method consists of 2 mainsteps. The prediction step, during which the required magnet operating point isdetermined, and the demagnetization step, where a feedback controller drives ademagnetization current to approach this operating point. With this methodimplemented for an AlNiCo 5 tunable magnet in a reluctance actuatorconfiguration, we achieve tuning with a maximum error of 15.86 "mT" and aminimum precision of 0.67 "mT" over an air-gap range of 200 "{\mu}m". With thistuning accuracy, actuator heating during static periods is almost eliminated.Only a small bias current is needed to compensate for the tuning error.

Tunable Magnets: modeling and validation for dynamic and precision applications