Modeling and Control of a Dual Stage Actuator Hard Disk Drive

Boettcher, Uwe; Callafon, Raymond A. de; Talke, Frank E.

doi:10.1299/jamdsm.4.107

Cited by 17 publications

(7 citation statements)

References 34 publications

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“…In this section, a dynamic modelling of a VCM actuator is presented based on a detailed theoretical and experimental study of the frequency response identification of a HDD (Chen et al, 2006;Boettcher et al, 2010). Two different models are presented, one for high frequency and the second for low frequency.…”

Section: Dynamic Modelling Of the Systemmentioning

confidence: 99%

“…u is the control input and ( , ) F y y & is a nonlinear function representing bias forces due to pivot friction or the flex-cable. Based on the detailed modelling and frequency response identification at low frequencies conducted by Boettcher et al (2010), the nonlinear model of the VCM actuator, considered for our study, can be expressed by the following equations:…”

Section: Low-frequency Dynamicsmentioning

confidence: 99%

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Linear and nonlinear MPC for track following in the design of HDD servo systems

Taktak-Meziou

Chemori

Ghommam

et al. 2014

IJSCC

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This paper proposes to use the model predictive controllers (MPC) for servo control of hard-disk-drives (HDD). Nonlinear compensation of high-frequency dynamics is achieved using two control algorithms generated from model predictive control (MPC): classical linear MPC, and MPC technique with multiple coincidence points and a reference trajectory to ensure an exponential convergence towards the reference trajectory. At low-frequency, the resonance compensation is realised using nonlinear model predictive control (NMPC). This paper aims at applying the proposed predictive control solutions to resolve the track-following problem of the read/write (R/W) head of a HDD servo-system in different operating conditions. To the best authors' knowledge, these predictive methods and comparative study at low and high frequency regions have never been conducted before on HDDs. Different scenarios are analysed including nominal case, disturbance rejection, and robustness towards parameters change to show the effectiveness of the proposed control solutions in achieving a precise and fast R/W head positioning. Numerical simulation results of the overall scenarios are presented and compared with those of a proportional integral derivative (PID) controller.

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Section: Dynamic Modelling Of the Systemmentioning

confidence: 99%

Section: Low-frequency Dynamicsmentioning

confidence: 99%

Linear and nonlinear MPC for track following in the design of HDD servo systems

Taktak-Meziou

Chemori

Ghommam

et al. 2014

IJSCC

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“…Piezoelectric actuator has the excellent characteristics of positioning capability and response, compact size and good stiffness, which is an engineering application of smart materials. It is widely used for the micro electro mechanical systems and applications such as precise positioning microscope stages [1], micro machine control [2], [3], robotic systems [4], [5] and many other ultraprecision positioning control systems [6]. But the existence of the hysteresis in piezoelectric actuator causes the control difficulty and influence the control performance of systems, the positioning accuracy of systems could be greatly…”

Section: Introductionmentioning

confidence: 99%

Intelligent Rate-Dependent Hysteresis Control Compensator Design With Bouc-Wen Model Based on RMSO for Piezoelectric Actuator

2020

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Piezoelectric actuators (PAs) require high precision positioning for the applications of micro electrical mechanical systems, but it exhibits hysteresis nonlinearity which deteriorates positioning accuracy if no proper compensation is given. Hysteresis nonlinear modeling of PAs is a prime choice for hysteresis compensation. This paper proposes a novel intelligent positioning control algorithm based on Bouc-Wen (BW) model for the compensation of a bi-morph type piezoelectric actuator (PA) suffering ratedependent hysteresis. A region based mixed-species swarm optimization (RMSO) algorithm is proposed for BW modeling to capture the dynamic nonlinearity of a piezoelectric actuator which exhibits rate-dependent hysteresis. Results of numerical simulations have been disclosed to illustrate the performance enhancement of RMSO over classical algorithm while they are applied to the parameter fitting problem of BW model for experimentally acquired datasets. An model based adaptive Fuzzy neural network (Fuzzy-NN) controller of PA is utilized to compensate the hysteresis for the positioning tracking control. Experimental results also illustrate the good performance of the proposed RMSO-BW based control scheme for the hysteresis compensation control of the PA.

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“…Dual-stage actuation has been used in different positioning systems such as robotic manipulators [1], xy-stage positioners [2][3][4], and optical/hard disk drives [5][6][7]. The main motivation behind the use of double-stage mechanisms is their capability to overcome the limitations of single-stage actuation systems such as limited bandwidth or small actuation range, the so called 'stroke'.…”

Section: Introductionmentioning

confidence: 99%

Coordinated Control of a Dual-Stage Positioning System Using Constrained Model Predictive Control

Cairano

Konobrytskyi

Bortoff

2014

Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Sys

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Dual-stage positioning systems have been widely used in factory automation, robotic manipulators, high-density data storage systems, and manufacturing systems. Trajectory generation and control of dual-stage positioning systems is of great importance and is made complicated by the presence of physical and operational constraints. In this work, we describe how to generate feasible reference trajectories for a dual-stage positioning system consisting of a fine stage and a coarse stage, and how to use them in a model predictive control algorithm for which recursive feasibility is guaranteed. The reference generation algorithm is guaranteed to generate trajectories that satisfy all the constraints for the fine and coarse stages. We also describe a constrained model predictive control algorithm used to control the coarse stage. The simulation results of applying the developed methodology to track a pre-determined pattern is presented. ASME Proceedings -Advances in Motion ControlThis work may not be copied or reproduced in whole or in part for any commercial purpose. Permission to copy in whole or in part without payment of fee is granted for nonprofit educational and research purposes provided that all such whole or partial copies include the following: a notice that such copying is by permission of Mitsubishi Electric Research Laboratories, Inc.; an acknowledgment of the authors and individual contributions to the work; and all applicable portions of the copyright notice. Copying, reproduction, or republishing for any other purpose shall require a license with payment of fee to Mitsubishi Electric Research Laboratories, Inc. All rights reserved. ABSTRACTDual-stage positioning systems have been widely used in factory automation, robotic manipulators, high-density data storage systems, and manufacturing systems. Trajectory generation and control of dual-stage positioning systems is of great importance and is made complicated by the presence of physical and operational constraints. In this work, we describe how to generate feasible reference trajectories for a dual-stage positioning system consisting of a fine stage and a coarse stage, and how to use them in a model predictive control algorithm for which recursive feasibility is guaranteed. The reference generation algorithm is guaranteed to generate trajectories that satisfy all the constraints for the fine and coarse stages. We also describe a constrained model predictive control algorithm used to control the coarse stage. The results of applying the developed methodology to track a pre-determined pattern is presented.

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Modeling and Control of a Dual Stage Actuator Hard Disk Drive

Cited by 17 publications

References 34 publications

Linear and nonlinear MPC for track following in the design of HDD servo systems

Linear and nonlinear MPC for track following in the design of HDD servo systems

Intelligent Rate-Dependent Hysteresis Control Compensator Design With Bouc-Wen Model Based on RMSO for Piezoelectric Actuator

Coordinated Control of a Dual-Stage Positioning System Using Constrained Model Predictive Control

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