Title :
Improvement of HDD tracking performance using nonlinear compensation and RPT control
Author :
Cheng, Guoyang ; Peng, Kemao ; Chen, Ben M. ; Lee, Tong H.
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore
Abstract :
Pivot bearing friction and flex cable nonlinearity are the two major torque nonlinearities which lead to performance degradation in hard disk drive (HDD) servo systems. Based on a comprehensive model of typical voice-coil-motor (VCM) actuator, which explicitly captures the characteristics of pivot bearing friction and flex cable nonlinearity, this paper presents a design of a parameterized controller for HDD servo systems using the robust and perfect tracking (RPT) technique combined with nonlinear torque compensation and integral enhancement. Simulation and experimental results show that the controller can achieve fast settling time and eliminate static errors in HDD track following task.
Keywords :
disc drives; friction; hard discs; servomechanisms; flex cable nonlinearity; hard disk drive servo system; nonlinear compensation; nonlinear torque compensation; parameterized controller; pivot bearing friction; robust and perfect tracking technique; torque nonlinearity; voice-coil-motor actuator; Control systems; Degradation; Friction; Hard disks; Linear feedback control systems; Nonlinear control systems; Robust control; Servomechanisms; Target tracking; Torque control;
Conference_Titel :
Control Conference, 2004. 5th Asian
Conference_Location :
Melbourne, Victoria, Australia
Print_ISBN :
0-7803-8873-9
