Direct Adaptive Disturbance Observer Design for Rejecting the Narrow-Band Disturbance With Unknown Frequency in Hard Disk Drives

2009 ◽  
Author(s):  
Qixing Zheng ◽  
Masayoshi Tomizuka
Keyword(s):  
Disturbance Observer ◽  
Narrow Band ◽  
Hard Disk Drives ◽  
Hard Disk ◽  
Disk Drive ◽  
Observer Design ◽  
Disk Drives ◽  
Optimal Value ◽  
Band Pass ◽  
Servo Controller

This paper presents an adaptive add-on compensator to handle a single narrow-band disturbance with unknown frequency in hard disk drives (HDDs). A disturbance observer (DOB) loop with a narrow band pass Q filter is built around the baseline servo controller to reject the narrow-band disturbance. The frequency parameter of the Q filter is directly adapted to the optimal value in the sense of minimizing the track following track mis-registration (TMR). The performance of the proposed compensator is demonstrated by simulation on an open-source realistic hard disk drive system.

Unknown Multiple Narrow-Band Disturbance Rejection in Hard Disk Drives: An Adaptive Notch Filter and Perfect Disturbance Observer Approach

2010 ◽  
Author(s):  
Xu Chen ◽  
Masayoshi Tomizuka
Keyword(s):  
Disturbance Observer ◽  
Narrow Band ◽  
Hard Disk Drives ◽  
Notch Filter ◽  
Hard Disk ◽  
Disk Drive ◽  
Band Pass Filter ◽  
Pass Filter ◽  
Adaptive Notch Filter ◽  
Control Scheme

In this paper, an adaptive control scheme is developed to reject unknown multiple narrow-band disturbances in a hard disk drive. An adaptive notch filter is developed to efficiently estimate the frequencies of the disturbance. Based on the correctly estimated parameters, a disturbance observer with a newly designed multiple band-pass filter is constructed to achieve asymptotic perfect rejection of the disturbance. Evaluation of the control scheme is performed on a benchmark problem for HDD track following.

H∞ disturbance observer design for high precision track following in hard disk drives

2009 ◽  
Vol 3 (12) ◽  
pp. 1591-1598 ◽  
Author(s):  
C.K. Thum ◽  
C. Du ◽  
E.H. Ong ◽  
B.M. Chen ◽  
F.L. Lewis
Keyword(s):  
High Precision ◽  
Disturbance Observer ◽  
Hard Disk Drives ◽  
Hard Disk ◽  
Observer Design ◽  
Disk Drives

scholarly journals Design and Implementation of Dual-Stage Track-Following Control for Hard Disk Drives

2009 ◽  
Author(s):  
Jianbin Nie ◽  
Roberto Horowitz
Keyword(s):  
Hard Disk Drives ◽  
Servo System ◽  
Hard Disk ◽  
Disk Drive ◽  
Disk Drives ◽  
Outer Loop ◽  
Servo Systems ◽  
Design And Implementation ◽  
Integral Action ◽  
Dual Stage

This paper discusses the design and implementation of two track-following controllers for dual-stage hard disk drive servo systems. The first controller is designed by combining an outer loop sensitivity-decoupling (SD) controller with an inner loop disturbance observer (DOB). The second is designed by combining mixed H2/H∞ synthesis techniques with an add-on integral action. The designed controllers were implemented and evaluated on a disk drive with a PZT-actuated suspension-based dual-stage servo system. Position error signal (PES) for the servo system was obtained by measuring the slider displacement with an LDV and injecting a simulated track runout.

Flying Clearance Distribution With Thermo-Mechanical Actuation of Hard Disk Drive

2008 ◽  
Author(s):  
Sung-Chang Lee ◽  
George W. Tyndall ◽  
Mike Suk
Keyword(s):  
Environmental Change ◽  
Temperature Change ◽  
Temperature Sensitivity ◽  
Temperature Compensation ◽  
Hard Disk Drives ◽  
Hard Disk ◽  
Disk Drive ◽  
Disk Drives ◽  
Compensation Scheme ◽  
Mechanical Actuation

Flying clearance distribution with thermo-mechanical actuation is characterized. Especially, what factors contributing to variation of flying clearance are identified based on thermo-mechanical actuation profiles taken from burn-in process of hard disk drives and Gage R&R test of touch down repeatability. In addition, the effect of static temperature compensation scheme on flying clearance distribution is investigated and disadvantages of static adaptation to temperature change are identified. In order to avoid catastrophic early HDI failures due to poor static temperature compensation, we need to dynamically adjust flying clearance whenever environmental change is detected. Otherwise we need to utilize individual temperature sensitivity values of each flying head to adjust thermo-mechanical actuation amount accordingly with temperature change.

Narrowband Performance of Active Control on Flow-Induced Vibrations Inside Hard Disk Drives

2013 ◽  
Author(s):  
Hequn Min ◽  
Xiaoyang Huang ◽  
Qide Zhang ◽  
Xin Xia
Keyword(s):  
Active Control ◽  
Hard Disk Drives ◽  
Laser Doppler Vibrometer ◽  
Hard Disk ◽  
Disk Drive ◽  
Modal Testing ◽  
Disk Drives ◽  
Feedback Error ◽  
Flow Induced Vibrations ◽  
Narrow Bands

This paper presents an experimental study of digital narrowband active control on the flow-induced vibrations (FIV) on the head gimbals assembly (HGA) in a working hard disk drive (HDD). Firstly, the modal testing on the HDD was carried out, in which the disk modes were analyzed with a 1-D laser Doppler vibrometer (LDV) and the HGA vibration modes with a 3-D LDV. Secondly, a digital feedback control close-loop was implemented in experiments to suppress the FIV spectrum peaks on the HGA. In this close-loop, the HGA vibrations detected by the LDV were used as feedback error signals, then the signals was passed through a digital controller to generate feedback signals to drive a piezoelectric disk to actuate feedback acoustic pressure around the HGA. Active control experiments were conducted in narrow bands on five principal peaks in the HGA off-plate vibration spectrum, around 1256Hz, 1428Hz, 2141Hz, 2519Hz and 3469Hz, respectively. It is shown that distinct suppression of at least 10 dB can be achieved on all these HGA vibration peaks.

scholarly journals Optimal Disturbance Observer Design for High Tracking Performance in Motion Control Systems

Mathematics ◽  
2020 ◽  
Vol 8 (9) ◽  
pp. 1633
Author(s):  
Wonhee Kim ◽  
Sangmin Suh
Keyword(s):  
Disturbance Observer ◽  
Closed Loop ◽  
Inverse Dynamics ◽  
Hard Disk Drives ◽  
Observer Design ◽  
Disk Drives ◽  
Closed Loop Systems ◽  
Baseline Weight ◽  
The Stability ◽  
Target Plant

In this paper, a stability-driven optimal disturbance observer (DO) is proposed. The proposed method does not require any plant inverse dynamics to detect introduced disturbances or a stabilizing Q filter. It does not require additional compensators to resolve causality problems, due to the relative degree, or filters to solve instability problems of non-minimum phase plants. Using this method enables wideband and narrowband disturbances to be attenuated by simply multiplying the corresponding peak filters by the baseline weight function. Furthermore, the proposed DO guarantees the stability of closed-loop systems because the already designed outer-loop systems are considered as a target plant to be stabilized and because of the Lyapunov stability-based H∞ control. In the application example, it was confirmed that the proposed method is effective, and the position error signals were improved by 20.9% in commercial hard disk drives and 36.6% in optical image stabilization systems.

A Near Zero Skew Actuation Mechanism for Hard Disk Drives

2013 ◽  
Author(s):  
Zhimin He ◽  
Jianqiang Mou ◽  
Kheong Sann Chan ◽  
Suet Hoi Lam ◽  
Boon Long See ◽  
...  
Keyword(s):  
Hard Disk Drives ◽  
Hard Disk ◽  
Disk Drive ◽  
Outer Diameter ◽  
Disk Drives ◽  
Skew Angle ◽  
Link Mechanism ◽  
Tracking Direction ◽  
The Difference ◽  
Zero Skew

One of the issues in VCM rotary actuation in hard disk drives (HDDs) is the excessive sensitivity of the system to the skew angle. The rotation of the VCM from the inner diameter (ID) to the outer diameter (OD) of the disk results in an angle of skew between the read/write head and the track. The difference in skew angle, between the ID to the OD can be as large as 25 to 30 degrees in conventional 3.5″ and 2.5″ HDDs. A large skew angle affects the slider’s flying performance and off-track capability, causing an increase in side reading and writing, and thus reduces the achievable recording density. Large skewed actuation also complicates the position error signal calibration process in the hard disk drive servo loop. This paper presents a 4 link mechanism which can be designed to achieve near zero skew actuation in hard disk drives. The profiles of the arm, suspension, and links can be designed and optimized such that the skew angle is close to zero while the VCM actuator rotates from the ID to the OD. Study shows that the 4-link mechanism does not degrade the resonance performance along the tracking direction compared to a conventional actuator.

Pressure Fluctuations and Flow-Induced Vibration Measurements in a Hard Disk Drive under Different Rotation Speeds

2012 ◽  
Vol 197 ◽  
pp. 292-296 ◽  
Author(s):  
He Qun Min ◽  
Xiao Yang Huang ◽  
Qi De Zhang
Keyword(s):  
Pressure Fluctuation ◽  
Pressure Fluctuations ◽  
Hard Disk Drives ◽  
Experimental Studies ◽  
Laser Doppler Vibrometer ◽  
Hard Disk ◽  
Disk Drive ◽  
Disk Drives ◽  
Flow Induced Vibration ◽  
Causal Nexus

Flow-induced vibration (FIV) of a head gimbals assembly (HGA) in hard disk drives (HDDs) limits the positioning accuracy of magnetic head in the HGA for higher HDD magnetic recording density. The pressure fluctuations characterize turbulent fluctuations exciting the HGA off-track vibration (HGA-OTV). In this paper, experimental studies have been carried out to investigate the spectrum characteristics correspondence between pressure fluctuations around an HGA and the simultaneous HGA-OTV under different HDD rotation speeds. A practical and effective experimental setup has been implemented to enable the simultaneous measurements on both the pressure fluctuation and HGA-OTV signals, where pressure fluctuations are measured with a pressure transducer through a small hole on the HDD top cover and the direct HGA-OTV signals are detected through a laser Doppler vibrometer. Results under conditions of three different HDD rotation speeds of 7200, 9000, 10800 rpm have been investigated and compared. It is shown that the HGA off-track vibration spectra are highly associated with those of the pressure fluctuations in terms of principal peaks in four frequency bands around 1.8 kHz, 2.5-3.5 kHz, 7-7.5 kHz and 11.5-12.5 kHz. With increasing HDD rotation speed, it is shown that the spectrum magnitudes of both the pressure fluctuation and the HGA off-track vibration increase correspondingly, while the principal peak positions in spectra of either pressure fluctuation or the HGA off-track vibration always hold the line. This study demonstrates a causal nexus from the pressure fluctuation to the HGA off-track vibration and suggests the feasibility of controlling the HGA-OTV through suppression of pressure fluctuations around the HGA.

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