Advances in High-Performance Motion Control of Mechatronic Systems

5

Dual-Stage Systems and Control

C. K. Pang

National University of Singapore

F. Hong

A*STAR Data Storage Institute

M. Nagashima

Naval Postgraduate School

CONTENTS

5.1    Introduction

5.2    System Identification of Dual-Stage Actuators in HDDs

5.2.1    Primary Actuator: VCM

5.2.1.1    Continuous-Time Measurement

5.2.1.2    Discrete-Time Measurement

5.2.2    Secondary Actuator: PZT Active Suspension

5.2.2.1    Continuous-Time Measurement

5.2.2.2    Discrete-Time Measurement

5.3    Resonance Compensation Without Extraneous Sensors

5.3.1    Gain Stabilization

5.3.2    Inverse Compensation

5.3.3    Phase Stabilization

5.3.3.1    Using Mechanical Resonant Modes

5.3.3.2    Using LTI Peak Filters

5.3.3.3    Using LTV Peak Filters

5.3.4    Experimental ...