Springer,
New York, London, 2002 (¥ PDF ¥)
Advances in Industrial Control Series, xix/273 pages
/ ISBN 1-85233-500-9
From the Back Cover:
This
monograph provides a systematic treatment of the design of modern hard disk
drive servo systems. 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 disturbance rejection and resonance
compensation are also addressed. The techniques and applications involved
include:
- time-
and frequency domain methods for system identification;
- linear
system tools;
- linear
control techniques (PID, H2,
H∞,
and robust and perfect tracking control, and loop transfer recovery);
- nonlinear
control techniques (time-optimal, proximate time-optimal and composite
nonlinear feedback control);
- complete
single- and dual-stage hard disk drive servo systems;
- track-following
control of voice-coil-motor and dual actuators;
- design
of piezoelectric actuator systems.
Hard
Disk Drive Servo Systems
should be of great value to practising engineers in the hard disk and CD-ROM
drive industries and to researchers in areas related to servo systems.
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
1 Introduction and Preview {1} 1.1 Introduction
1.2 Mechanical Structure of Hard Disk Drives
1.3 Historical Development of Hard Disk Drives
1.3.1 Chronological List of Developments in HDDs
1.3.2 Trends in the Development of HDD Systems
1.4 Implementation Setup
1.5 Preview of Each Chapter
1.6 Nomenclature
2 System Identification Techniques {15} 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
3 Linear System Tools {29} 3.1 Introduction
3.2 Jordan Canonical Forms
3.2.1 Jordan Canonical Form
3.2.2 Real Jordan Canonical Form
3.3 Structural Decompositions of Matrix Pairs
3.3.1 Controllability Structural Decomposition
3.3.2 Block Diagonal Control Canonical Form
3.4 Structural Decomposition of Linear Systems
3.5 Bilinear Transformations
3.5.1 Continuous to Discrete
3.5.2 Discrete to Continuous
4 Linear Control Techniques {57} 4.1 Introduction
4.2 PID Control
4.3 H2 Optimal Control
4.3.1 Continuous-time Systems
4.3.2 Discrete-time Systems
4.4 H∞ Control and Disturbance Decoupling
4.4.1 Continuous-time Systems
4.4.2 Discrete-time Systems
4.5 Robust and Perfect Tracking Control
4.5.1 Continuous-time Systems
4.5.2 Discrete-time Systems
4.6 Loop Transfer Recovery Technique
4.6.1 LTR at Input Point
4.6.2 LTR at Output Point
5 Nonlinear Control Techniques {121} 5.1 Introduction
5.2 Time Optimal Control
5.2.1 Open-loop Bang-bang Control
5.2.2 Closed-loop Bang-bang Control
5.3 Proximate Time-Optimal Servomechanism
5.3.1 Continuous-time Systems
5.3.2 Discrete-time Systems
5.4 Mode Switching Control
5.4.1 Stability Analysis and Mode Switching Conditions
5.5 Composite Nonlinear Feedback Control
5.5.1 Continuous-time Systems
5.5.2 Discrete-time Systems
5.5.3 Tuning of Nonlinear Feedback Gains
5.6 Can We Beat Time Optimal Control?
6 Track Following of a Single-stage Actuator {169} 6.1 Introduction
6.2 VCM Actuator Model
6.3 Track Following Controller Design
6.4 Implementation Results
6.4.1 Track Following Test
6.4.2 Position Error Signal Test
7 Single-stage Actuated Servo Systems {183} 7.1 Introduction
7.2 Servo System with PTOS Control
7.3 Servo System with Mode Switching Control
7.4 Servo System with CNF Control
7.5 Simulation and Implementation Results
7.5.1 Track Seeking and Following Test
7.5.2 Runout Disturbance Test
7.5.3 Position Error Signal Test
8 Design of a Piezoelectric Actuator System {203} 8.1 Introduction
8.2 Linearization of Nonlinear Hysteretic Dynamics
8.3 Almost Disturbance Decoupling Controller Design
8.4 Final Controller and Simulation Results
9 Dual-stage Actuated Servo Systems {225} 9.1 Introduction
9.2 Modeling of Dual-stage Actuator
9.3 Dual-stage Servo System Design
9.4 Simulation and Implementation Results
9.4.1 Track Seeking and Following Test
9.4.2 Runout Disturbance Test
9.4.3 Position Error Signal Test
9.5 Discussion
10 Resonance and Disturbance Rejection {251} 10.1 Introduction
10.2 Disturbance Rejection
10.2.1 Repeatable Runout
10.2.2 Nonrepeatable Runout
10.3 Resonance Compensation
References {259}
Index {271}
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