book

High-Speed Precision Motion Control

Name: High-Speed Precision Motion Control
ISBN: 9781439867273

by Takashi Yamaguchi, Mitsuo Hirata, Justin Khiang Pang

July 2017

Intermediate to advanced

324 pages

7h 15m

English

CRC Press

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Cover
Half Title
Title Page
Copyright Page
Table of Contents
List of Figures
List of Tables
Preface
About the Editors
List of Contributors

Nomenclature
1 Introduction
1.1 Concept of High-Speed Precision Motion Control1.2 Hard Disk Drives (HDDs)Bibliography
2 System Modeling and Identification
2.1 HDD Servo Systems2.1.1 Inside an HDD2.1.2 Generation of Servo Position Signal2.2 TMR Budget Design2.3 Modeling of HDD2.3.1 Introduction2.3.2 Plant Components2.3.3 Modeling of Mechanical Dynamics2.4 Modeling of Disturbances and PES2.4.1 Disturbances and PES2.4.2 Decomposition of Steady-State PES2.4.2.1 RRO and NRRO2.4.2.2 Frequency Spectrum of NRRO2.4.2.3 Decomposition of NRRO2.4.3 Decomposition of Transient ResponseBibliography
3 Basic Approach to High-Speed Precision Motion Control
3.1 Introduction to Mode Switching Control (MSC)3.2 Track-Seeking: Fast Access Servo Control3.2.1 Two-Degrees-of-Freedom (TDOF) Control3.2.1.1 Advantages of TDOF Control3.2.1.2 Structure of TDOF Control3.2.1.3 Zero-Phase Error Tracking Control (ZPETC)3.2.1.4 Reference Trajectory3.2.2 Access Servo Control Considering Saturation3.2.2.1 Basic Structure of Access Servo Control3.2.2.2 Reference Velocity Trajectory3.2.2.3 Proximate Time-Optimal Servomechanism (PTOS)3.3 Track-Settling: Initial Value Compensation (IVC)3.3.1 Concept of IVC3.3.1.1 Initialization of Controller State Variable3.3.1.2 Design of Mode Switching Condition3.3.2 IVC Design Method3.3.3 Optimal Design of Mode Switching Condition3.4 Track-Following: Single- and Multi-Rate Control3.4.1 Single-Rate Control3.4.1.1 Introduction3.4.1.2 Lead Compensator and PI Controller3.4.1.3 Notch Filter3.4.1.4 Observer State Feedback Control3.4.1.5 Pole Placement Technique3.4.1.6 Optimal Control Design3.4.2 Multi-Rate Control3.4.2.1 Introduction3.4.2.2 Problem Formulation3.4.2.3 Multi-RateObserver3.5 Episode: Development of IVC Design Method in IndustryBibliography
4 Ultra-Fast Motion Control
4.1 Vibration-Minimized Trajectory Design4.1.1 Introduction4.1.2 Final State Control (FSC) Theory4.1.3 Vibration Minimized Trajectory Design Based on Final State Control4.1.4 Application to Track-Seeking Control in HDDs4.2 Perfect Tracking Control (PTC)4.2.1 Introduction4.2.2 PTC Theory4.2.3 Vibration Suppression Using PTC4.2.3.1 With MPVT4.2.3.2 With Parallel Realization4.2.3.3 With Modified Controllable Canonical Realization4.2.4 Simulations and Experiments4.2.4.1 Simulations Using Nominal Model4.2.4.2 Experiments on HDDsBibliography
5 Ultra-Precise Position Control
5.1 Phase-Stable Design for High Servo Bandwidth5.1.1 Modeling of Controlled Object5.1.2 Controller Design Based on Vector Locus5.1.2.1 Relationship between Vector Locus and Sensitivity Transfer Function5.1.2.2 Vector Locus of Controlled Object5.1.3 Controller Design5.1.3.1 Case 1: Gain-Stable Design for All Mechanical Resonant Modes5.1.3.2 Case 2: Phase-Stable Design for Primary Mechanical Resonant Mode5.1.3.3 Case 3: Phase-Stable Design for All Mechanical Resonant Modes5.1.3.4 Comparison of Control Performances5.2 Robust Control Using H∞ Control Theory5.2.1 Introduction5.2.2 Mathematical Representation of Plant Uncertainties5.2.2.1 Multiplicative Uncertainty5.2.2.2 Additive Uncertainty5.2.3 Robust Stability Problem5.2.4 H∞ Control Theory5.2.5 Various H∞ Control Problems5.2.5.1 Sensitivity Minimization Problem5.2.5.2 Mixed Sensitivity Problem5.2.6 Application of H∞ Control to HDDs5.3 Multi-Rate H∞ Control5.3.1 Multi-Rate Discrete-Time H∞ Control5.3.2 Multi-Rate Sampled-Data H∞ Control5.4 Repetitive Control5.4.1 Introduction5.4.2 Repetitive Perfect Tracking Control (RPTC)5.4.2.1 Discrete-Time Plant Model with Multi-Rate Hold5.4.2.2 Design of PTC5.4.3 Design of RPTC5.4.4 Applications to RRO Rejection in HDDs5.4.5 Experiments on RPTC5.5 Acceleration Feedforward Control (AFC)5.5.1 Introduction5.5.2 Necessity for AFC5.5.3 Types of AFC5.5.3.1 Constant-Type AFC5.5.3.2 Filter-Type AFC5.5.3.3 Transfer Function-Type AFC5.5.3.4 Adaptive Identification-Type AFC5.5.4 Performance Evaluation for AFC5.5.5 Applications of AFC5.5.5.1 ApplicationtoVehicles5.5.5.2 Application to Industrial RobotsBibliography
6 Control Design for Consumer Electronics
6.1 Control System Design for Energy Efficiency6.1.1 Interlacing Controller6.1.2 Short-Track Seeking Using TDOF Control with IVC6.2 Controller Design for Low Acoustic Noise Seek6.2.1 Short-Span Seek Control for Low Acoustic Noise6.2.2 Long-Span Seek Control for Low Acoustic Noise6.3 Servo Control Design Based on SRS Analysis6.3.1 Seeking Noise6.3.2 Concept and Procedure of SRS Analysis6.3.3 Models for SRS Analysis6.3.4 Examples of SRS Analyses6.3.5 Acoustic Noise Reduction Based on SRS AnalysisBibliography
7 HDD Benchmark Problem
7.1 Public Release of the HDD Benchmark Problem7.2 PlantModel7.3 DisturbanceModel7.3.1 ForceDisturbance7.3.2 FlutterDisturbance7.3.3 RRO7.3.4 MeasurementNoise7.4 Overview of the HDD Benchmark Problem Version 37.5 Example of Controller Design7.5.1 Track-Following Control Problem7.5.2 Track-Seeking Control ProblemBibliography
Index

Overview

Written for researchers and postgraduate students in control engineering, as well as professionals in the hard disk drive industry, this book discusses high-precision and fast servo controls in hard disk drives (HDDs). The editors present a number of control algorithms that enable fast seeking and high precision positioning, and propose problems from commercial products, making the book valuable to researchers in HDDs. Each chapter is self-contained, and progresses from concept to technique, present application examples that can be used within automotive, aerospace, aeronautical, and manufacturing engineering. MATLAB/SIMULINK codes for benchmark problems are available for download, upon purchase.

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