book

Advances in High-Performance Motion Control of Mechatronic Systems

by Takashi Yamaguchi, Mitsuo Hirata, Chee Khiang Pang

December 2017

Intermediate to advanced

337 pages

8h 3m

English

CRC Press

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Cover
Half Title
Title Page
Copyright Page
Dedication
Table of Contents
List of Figures
List of Tables
Preface
Editors’ Biographies

Contributors
1 Introduction to High-Performance Motion Control of Mecha-tronic Systems
1.1 Concept of Advances in High-Performance Motion Control of Mechatronic Systems1.1.1 Scope of Book1.1.2 Past Studies from High-Speed Precision Motion Control1.2 Hard Disk Drives (HDDs) as a Classic Example1.2.1 Mechanical Structure1.2.2 Modeling1.3 Brief History of HDD and Its Servo Control1.3.1 Growth in Areal Density1.3.2 Technological Development in Servo Control1.3.2.1 Application of Control Theories1.3.2.2 Improvement of Control StructureBibliography
2 Fast Motion Control Using TDOF Control Structure and Optimal Feedforward Input
2.1 TDOF Control Structure2.1.1 One-Degree-Of-Freedom Control System2.1.2 Two-Degrees-Of-Freedom Control System2.1.3 Implementation of Feedforward Input by TDOF Control Structure2.2 Optimum Feedforward Input Design2.2.1 Minimum Time Control2.2.2 Minimum Jerk Input2.2.3 Digital Implementation of Minimum Jerk Input2.2.4 Sampled-Data Polynomial Input2.3 Final-State Control2.3.1 Problem Formulation2.3.2 Minimum Jerk Input Design by FSC2.3.3 Vibration Minimized Input Design by FSC2.3.4 Final-State Control with Constraints2.4 Industrial Application: Hard Disk Drives2.4.1 HDD Benchmark Problem and the Plant Model2.4.2 FSC and FFSC Inputs Design2.5 Industrial Application: Galvano Scanner I2.5.1 Plant Model2.5.2 FSC and FFSC Inputs Design2.5.3 Simulation Results2.5.4 Experimental Results2.6 Industrial Application: Galvano Scanner II2.6.1 Voltage Saturation in Current Amplifier2.6.2 FSC Design Considering Voltage Saturation in Current Amplifier2.6.3 Application to Galvano Scanner Control ProblemBibliography
3 Transient Control Using Initial Value Compensation
3.1 Introduction3.1.1 Background3.1.2 Initial Value Compensation (IVC)3.2 Overview of Switching Control3.3 Design of IVC3.3.1 Design of Initial Values on Feedback Controller3.3.2 Design of Additional Input to Controller3.3.3 Design of Optimal Switching Condition3.4 Industrial Applications 1 (IVC for Mode Switching)3.4.1 HDD (Reduction of Acoustic Noise)3.4.2 Robot (Personal Mobility Robot)3.4.2.1 Introduction3.4.2.2 Mathematical Model3.4.2.3 Design of IVC3.4.2.4 Experimental Results3.4.3 Optical Disk Drive3.5 Industrial Applications 2 (IVC for reference switching)3.5.1 Galvano Mirror for Laser Drilling Machine3.5.1.1 Introduction3.5.1.2 Mathematical Model3.5.1.3 Design of IVC3.5.1.4 Experimental Results3.6 ConclusionBibliography
4 Precise Positioning Control in Sampled-Data Systems
4.1 Introduction4.2 Sensitivity and Complementary Sensitivity Transfer Functions in Sampled-Data Control Systems4.2.1 Relationship Between Continuous- and Discrete-Time Signals4.2.2 Sensitivity and Complementary Sensitivity Transfer Functions in Sampled-Data Control Systems4.2.3 Sampled-Data Control System Using a Multi-Rate Digital Filter4.3 Unobservable Oscillations in Sampled-Data Positioning Systems4.3.1 Relationship Between Oscillation Frequency and Unob-servable Magnitude of Oscillations4.3.1.1 Definition of Unobservable Magnitude of Oscillations4.3.1.2 Oscillations at the Sampling Frequency4.3.1.3 Oscillations at the Nyquist Frequency4.3.1.4 Oscillations at One-Third of the Sampling Frequency4.3.2 Unobservable Magnitudes of Oscillations with Damping4.3.2.1 Definition of Unobservable Magnitudes of Oscillations with Damping4.3.2.2 Example of Unobservable Magnitudes for Oscillations with Damping4.3.2.3 Index of Unobservable Magnitudes4.4 Residual Vibrations in Sampled-Data Positioning Control Systems4.4.1 Residual Vibration Analysis Based on SRS Analysis4.4.1.1 SRS Analysis4.4.1.2 SRS Analysis Using Half-Sine Wave4.4.1.3 SRS Analysis Using Polynomial Wave4.4.1.4 Comparison between SRS and DFT4.5 Hard Disk Drive Example4.5.1 Head-Positioning Control System4.5.1.1 Controlled Object4.5.2 Sensitivity and Complementary Sensitivity Transfer Functions4.5.2.1 Design of Control System4.5.2.2 Simulation and Experiment4.5.3 Unobservable Oscillations4.5.4 Residual Vibrations4.5.4.1 Feedback Control System4.5.4.2 Feedforward Control System4.5.4.3 SRS Analysis4.5.4.4 Simulation and Experimental ResultsBibliography
5 Dual-Stage Systems and Control
5.1 Introduction5.2 System Identification of Dual-Stage Actuators in HDDs5.2.1 Primary Actuator: VCM5.2.1.1 Continuous-Time Measurement5.2.1.2 Discrete-Time Measurement5.2.2 Secondary Actuator: PZT Active Suspension5.2.2.1 Continuous-Time Measurement5.2.2.2 Discrete-Time Measurement5.3 Resonance Compensation Without Extraneous Sensors5.3.1 Gain Stabilization5.3.2 Inverse Compensation5.3.3 Phase Stabilization5.3.3.1 Using Mechanical Resonant Modes5.3.3.2 Using LTI Peak Filters5.3.3.3 Using LTV Peak Filters5.3.4 Experimental Verifications5.4 Resonance Compensation With Extraneous Sensors5.4.1 Active Damping5.4.2 Self-Sensing Actuation (SSA)5.4.2.1 Direct-Driven SSA (DDSSA)5.4.2.2 Indirect-Driven SSA (IDSSA)5.4.3 Model-Based Design5.4.4 Non-Model-Based Design5.5 Dual-Stage Controller Design5.5.1 Control Structure5.5.1.1 Parallel5.5.1.2 Coupled Master-Slave (CMS)5.5.1.3 Decoupled Master-Slave (DMS)5.5.2 Design Example5.5.2.1 Primary Actuator Controller: VCM Loop5.5.2.2 Secondary Actuator Controller: PZT Active Suspension Loop5.5.3 Simulation Results5.6 ConclusionBibliography
6 Concluding Remarks from Editors
6.1 Transferring Technologies to Other Industries (T. Yamaguchi)6.1.1 What is High-Speed Precision Motion Control?6.1.2 Sensing and Closing the Loop: Shifting Resource Power to a Right Field6.1.3 Control Structure: Generating New Design Parameters6.1.4 Modeling: Necessity of Precise Disturbance Modeling6.1.5 Summary6.2 What Can We Do when the Positioning Accuracy Reaches a Limit? (M. Hirata)6.2.1 Motivation6.2.2 Support Vector Machine6.2.3 Application to the Head-Positioning Control Problem in HDDs6.2.3.1 Approach6.2.3.2 Plant Model6.2.3.3 Training the Discriminant Function6.2.3.4 Validation6.2.4 Summary6.3 Control Constraints and Specifications (C. K. Pang)6.3.1 Constraints and Limitations6.3.1.1 Anti-Resonant Zeros6.3.1.2 Resonant Poles6.3.1.3 Sensitivity Transfer Function6.3.1.4 Limitations on Positioning Accuracy6.3.2 Bode’s Integral Theorem6.3.2.1 Continuous Bode’s Integral Theorem6.3.2.2 Discrete Bode’s Integral Theorem6.3.3 SummaryBibliography
Index

Overview

To keep pace in the competitive consumer electronics industry, companies need to continuously improve servo evaluation and position control of mechatronic systems. This book explores advanced motion control techniques, particularly control systems design for ultra-fast and ultra-precise positioning of mechanical actuators in mechatronic systems. The book describes each method in detail, from theoretical aspects to examples of actual industry applications such as hard disk drives, galvano scanners, and personal mobility robots, and more. It also identifies directions for the next generation of high-performance mechatronics.

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