Hard Disk Drive Servo Systems

2nd Edition

Ben M. Chen, Tong H. Lee, Kemao Peng, National University of Singapore
V. Venkataramanan, Data Storage Institute, Singapore

Springer, New York, London, 2006 (¥ click on this link to order ¥)

Advances in Industrial Control Series, xviii/310 pages / ISBN 1-84628-304-3

From the Back Cover:

The 2nd edition of this monograph provides a systematic treatment of the design of modern hard disk drive servo systems updated with the latest research results to reflect recent improvements in spindle speed and bit density and other changes in this fast-moving field. In particular, it focuses on the applications of some newly developed results in control theory, i.e., robust and perfect tracking control and composite nonlinear feedback control which are suitable for track following and seeking respectively. Emphasis is placed on hard disk drive servo systems with single- or dual-stage actuation using a voice-coil-motor actuator enhanced in the latter case by the addition of a micro-actuator providing faster responses and therefore higher bandwidth in track following. Other issues such as modeling and compensation of nonlinearities and friction in microdrives, disturbance rejection and resonance compensation are also addressed. The techniques and applications involved include:

Hard Disk Drive Servo Systems will be of great value to practicing engineers in the hard disk and CD-ROM drive industries and to researchers in areas related to servo systems. The Linear Systems and CNF MATLAB toolkits used to develop many of the results in this book can be downloaded from Professor Chen's website.

Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Table of Contents 

 
 
  Notation  {xvii}
 
  Part I  Introduction and Background Material  {1}
 
   1. Introduction  {3}
      1.1 Introduction
      1.2 Historical Development
          1.2.1 Chronological List of HDD History
          1.2.2 Trends in Advances of HDD Systems
      1.3 Overview of HDD Servo Systems
          1.3.1 Mechanical Structure of an HDD
          1.3.2 Issues on Control System Design
      1.4 Implementation Setup
      1.5 Preview of Each Chapter
 
   2. System Modeling and Identification  {21}
      2.1 Introduction       
      2.2 Time-domain Methods       
          2.2.1 Impulse Response Analysis       
          2.2.2 Step Response Analysis       
      2.3 Frequency-domain Methods       
          2.3.1 Prediction Error Identification Approach       
          2.3.2 Least Square Estimation Method       
      2.4 Physical Effect Approach with Monte Carlo Estimations       
          2.4.1 Structural Analysis of Physical Effects       
          2.4.2 Monte Carlo Estimations       
          2.4.3 Verification and Validation       
 
   3. Linear Systems and Control  {37}
      3.1 Introduction       
      3.2 Structural Decomposition of Linear Systems       
          3.2.1 Interpretation       
          3.2.2 Properties       
      3.3 PID Control       
          3.3.1 Selection of Design Parameters       
          3.3.2 Sensitivity Functions       
      3.4 H2 Optimal Control       
          3.4.1 Continuous-time Systems       
          3.4.2 Discrete-time Systems       
      3.5 H∞ Control and Disturbance Decoupling       
          3.5.1 Continuous-time Systems       
          3.5.2 Discrete-time Systems       
      3.6 Robust and Perfect Tracking Control       
          3.6.1 Continuous-time Systems       
          3.6.2 Discrete-time Systems       
      3.7 Loop Transfer Recovery Technique       
          3.7.1 LTR at Input Point       
          3.7.2 LTR at Output Point       
 
   4. Classical Nonlinear Control  {95}
      4.1 Introduction       
      4.2 Time-optimal Control       
          4.2.1 Open-loop Bang-bang Control       
          4.2.2 Closed-loop Bang-bang Control       
      4.3 Proximate Time-optimal Servomechanism       
          4.3.1 Continuous-time Systems       
          4.3.2 Discrete-time Systems       
      4.4 Mode-switching Control       
          4.4.1 Continuous-time Systems       
          4.4.2 Discrete-time Systems       
 
   5. Composite Nonlinear Feedback Control  {119}
      5.1 Introduction       
      5.2 Continuous-time Systems       
          5.2.1 Systems without External Disturbances       
          5.2.2 Systems with External Disturbances       
          5.2.3 Selection of Nonlinear Feedback Parameters       
          5.2.4 An Illustrative Example       
      5.3 Discrete-time Systems       
          5.3.1 Systems without External Disturbances       
          5.3.2 Systems with External Disturbances       
          5.3.3 Selection of Nonlinear Feedback Parameters       
          5.3.4 An Illustrative Example       
      5.4 Can We Beat Time-optimal Control?       
      5.5 CNF Control Software Toolkit       
          5.5.1 Software Framework and User Guide       
          5.5.2 An Illustrative Example       
 
  Part II  HDD Servo Systems Design  {177}
 
   6. Track Following of a Single-stage Actuator  {179}
      6.1 Introduction       
      6.2 VCM Actuator Model       
      6.3 Track-following Controller Design       
      6.4 Simulation and Implementation Results       
          6.4.1 Track-following Test       
          6.4.2 Frequency-domain Test       
          6.4.3 Runout Disturbance Test       
          6.4.4 Position Error Signal Test       
 
   7. Track Seeking of a Single-stage Actuator  {201}
      7.1 Introduction       
      7.2 Track Seeking with PTOS Control       
      7.3 Track-seeking with MSC       
      7.4 Track Seeking with CNF Control       
      7.5 Simulation and Implementation Results       
          7.5.1 Track-seeking Test       
          7.5.2 Frequency-domain Test       
 
   8. Dual-stage Actuated Servo Systems  {217}
      8.1 Introduction       
      8.2 Modeling of a Dual-stage Actuator       
      8.3 Dual-stage Servo System Design       
      8.4 Simulation and Implementation Results       
          8.4.1 Track-following Test       
          8.4.2 Frequency-domain Test       
          8.4.3 Runout Disturbance Test       
          8.4.4 Position Error Signal Test       
 
   9. Modeling and Design of a Microdrive System  {243}
      9.1 Introduction       
      9.2 Modeling of the Microdrive Actuator       
          9.2.1 Structural Model of the VCM Actuator       
          9.2.2 Identification and Verification of Model Parameters       
      9.3 Microdrive Servo System Design       
      9.4 Simulation and Implementation Results       
          9.4.1 Track-following Test       
          9.4.2 Frequency-domain Test       
 
  10. Design of a Piezoelectric Actuator System  {269}
      10.1 Introduction       
      10.2 Linearization of Nonlinear Hysteretic Dynamics       
      10.3 Almost Disturbance Decoupling Controller Design       
      10.4 Final Controller and Simulation Results       
 
  11. A Benchmark Problem  {291}
 
      References  {297}
 
      Index  {307}
 

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