High-bandwidth controller design for dual-stage actuator system in hard disk drives

Yabui, Shota; Atsumi, Takenori

doi:10.1177/10775463211062337

Cited by 4 publications

(2 citation statements)

References 33 publications

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“…The gain margin and phase margin of the control system are satisfactory: 17.39 dB and 79.87 deg, respectively. Particularly, the maximum gain of S tp is less than 3 dB, indicating a sufficient stability margin [17].…”

Section: Experimental Systemmentioning

confidence: 98%

Adaptive Feedforward Cancellation for Precise Repetitive Motion in Coarse-Fine Control System

Yabui,

Murakami,

Atsumi

et al. 2024

IEEE Access

Self Cite

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This paper introduces a novel control scheme aimed at achieving precise repetitive motion within a dual-input-single-output (DISO) system consisting of two actuators. Repetitive motion stands as a crucial operation in various applications, particularly in manufacturing processes. Designing a control system capable of accurately tracking reference signals during repetitive motion is imperative for DISO systems. The proposed method employs adaptive feed-forward cancellation (AFC) to effectively compensate for position error signals related to the reference signal. The previous control scheme implements the AFC to entire control loop. In the control system, the same characteristic of AFC works for both actuators in the DISO control system. The same AFC output is working to both actuators. On the other hand, the proposed control scheme implements AFC to each actuator. The typical control system employs course-actuator and fine-actuator for precise motion control. The suitable AFC output is working to each actuator, namely course actuator and fine actuator. That is, the major contribution of proposed control scheme individually optimizes the AFC in the course-fine control system. This design approach significantly enhances the control performance of DISO systems, taking into account the distinctive characteristics and stroke limitations of the actuators. Experimental implementation of the proposed control system validated its efficacy, affirming its potential for improving control performance in DISO systems. INDEX TERMSDual-input-single-output (DISO) system, Repetitive Control, Adaptive feedforward cancellation, Loop shaping I. INTRODUCTION Control design methodologies play a pivotal role in achieving desirable dynamics in mechatronic systems [1]. In the pursuit of enhanced control performance, certain mechatronic systems incorporate dual actuator systems, including piezoelectric dual-stage tape [2], head positioning control systems for hard disk drives [3], servo systems for optical mechatronic applications [4], and wafer stage control systems in manufacturing [5]. These systems are characterized as dual-inputsingle-output (DISO) systems. One of the common functionalities in these mechanical systems involves repetitive motion, found in patterned movements, manufacturing processes, and various applications [6], [7]. In such scenarios, precise tracking of a reference signal during repetitive motion is crucial. Given that the reference signal exhibits periodic frequency components, minimizing periodic error signals becomes imperative for enhancing tracking performance. 18 This study centers on adaptive feed-forward cancellation 19 (AFC) to mitigate periodic error signals [8], [9]. Developed 20 to compensate for position error signals induced by periodic 21 disturbances, AFC's efficacy has been validated in previous 22 mechatronic system studies. To optimize its effectiveness, 23 a critical consideration involves the apt design of parame-24 ters within the adaptive algorithm. Various sophisticated de-25 sign methods for...

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Section: Experimental Systemmentioning

confidence: 98%

Adaptive Feedforward Cancellation for Precise Repetitive Motion in Coarse-Fine Control System

Yabui,

Murakami,

Atsumi

et al. 2024

IEEE Access

Self Cite

View full text Add to dashboard Cite

show abstract

“…In terms of control strategy design, the traditional double-loop PID control and its extended methods have been widely used in this kind of motion platform due to its advantages, e.g., no need for modeling, simple design, fewer control parameters and easy adjustment, etc., and it can generally help systems achieve the specified motion accuracy under no-disturbance working conditions [11][12][13]. The control strategies based on frequency-domain analysis could suppress various coupling vibrations by expanding the system bandwidth, which optimizes the dynamic characteristics of platforms [14][15][16]. Nowadays, various modern control strategies, such as predictive control, sliding mode control, internal model control and active disturbance rejection control, have also been gradually applied in such platforms to comprehensively improve both their dynamic performance and positioning accuracy from the angles of convex optimization, nonlinear feedforward and disturbance robustness enhancement [17][18][19][20].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Identification and Decoupling Sliding Mode Control of Macro-Micro Dual-Drive Motion Platform with Mechanical Backlash

Kang,

Zhang,

Huang

et al. 2023

Machines

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A macro–micro dual-drive motion platform is a class of key system utilized in ultra-precision instruments and equipment for realizing ultra-high-precision positioning, which relates to the fields of semiconductor manufacturing, ultra-precision testing and machining, etc. Aiming at the ultra-high-precision positioning control problem of macro–micro dual-drive systems containing mechanical backlash, this paper analyzes the combined effect of mechanical coupling and backlash, and proposes a macro–micro compound control strategy. Firstly, the system dynamic model, including mechanical coupling, is established, and a quasi-linear backlash model is also proposed. Secondly, based on the above model, a stepwise nonlinear identification method is proposed to obtain the backlash characteristic online, which is the basis of accurate backlash compensation. Then, for the macro–micro structure containing the backlash, a macro decoupling control method, combined with a micro adaptive integral sliding mode control method and backlash compensation, are designed coordinately to guarantee that the large-stroke macro–micro cooperative motion reaches micron-level accuracy. Moreover, the boundary of the positioning error is adjustable by tuning the controller parameters. Finally, both the simulation and experimental results demonstrate that the proposed identification method can estimate the time-varying backlash precisely in finite time, and the system positioning accuracy can achieve an average 20 μm with long stroke and backlash influence, which is much higher than that using the traditional method and provides theoretical guidance for high-precision positioning control of a class of dual-drive motion platform.

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Research trends in methods for controlling macro-micro motion platforms

Zhang

Jiang

et al. 2023

Nanotechnology and Precision Engineering

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With ongoing economic, scientific, and technological developments, the electronic devices used in daily lives are developing toward precision and miniaturization, and so the demand for high-precision manufacturing machinery is expanding. The most important piece of equipment in modern high-precision manufacturing is the macro-micro motion platform (M3P), which offers high speed, precision, and efficiency and has macro-micro motion coupling characteristics due to its mechanical design and composition of its driving components. Therefore, the design of the control system is crucial for the overall precision of the platform; conventional proportional–integral–derivative control cannot meet the system requirements, and so M3Ps are the subject of a growing range of modern control strategies. This paper begins by describing the development history of M3Ps, followed by their platform structure and motion control system components, and then in-depth assessments of the macro, micro, and macro-micro control systems. In addition to examining the advantages and disadvantages of current macro-micro motion control, recent technological breakthroughs are noted. Finally, based on existing problems, future directions for M3P control systems are given, and the present conclusions offer guidelines for future work on M3Ps.

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High-bandwidth controller design for dual-stage actuator system in hard disk drives

Cited by 4 publications

References 33 publications

Adaptive Feedforward Cancellation for Precise Repetitive Motion in Coarse-Fine Control System

Adaptive Feedforward Cancellation for Precise Repetitive Motion in Coarse-Fine Control System

Nonlinear Identification and Decoupling Sliding Mode Control of Macro-Micro Dual-Drive Motion Platform with Mechanical Backlash

Research trends in methods for controlling macro-micro motion platforms

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