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Electromechanical models are crucial in the design and control of motors andactuators. Modeling, identification, drive, and current control loop of alimited-rotation actuator with magnetic restoration is presented. New nonlinearand linearized electromechanical models are developed for the design of thedrive as well as small and large signal controls of the actuator. To attain ahigher accuracy and an efficient design, and the eddy-currents in thelaminations and magnet are modeled. This involves analytically solving 1-D and2-D diffusion equations, leading to the derivation of a lumped-element circuitfor system-level analyses, such as control system design. Additionally, thestudy analyzes and incorporates the impact of pre-sliding friction. Theactuator is prototyped, and the paper delves into the identification of themodel, presenting a procedure for parameter extraction. A close agreement isobserved between the results obtained from the model, finite element analysis,and experimental results. The superiority of the proposed model over previousapproaches is highlighted. Part II of the paper is dedicated to the drivecircuit, the current control, as well as linear and nonlinear position controlsystem designs.

An Actuator with Magnetic Restoration, Part I: Electromechanical Model and Identification