Modeling and Control of an Electromagnetic Variable Valve Actuation System

A novel electromechanical valve actuation system comprised of a linear actuator, valve, and energy storing cam/spring mechanism is presented. The system dynamics are modeled using Lagrangian mechanics, and a minimum-energy point-to-point optimal control problem is solved to find an optimal trajectory and input. The optimal input is used as a feedforward component in a transition controller to move the valve between the open and closed positions. Between transitions, a simple linear controller stabilizes the valve in the open and closed positions. A high-order model capturing the distributed nature of valve springs is used to validate state constraints related to positive cam/follower forces and a nonslip condition on the cam/follower. Finally, a prototype system is fabricated and tested with promising results.