Motor modeling based on physical effect models

Dammers, Dirk; Binet, P.; Pelz, Georg; Vosskamper, L.M.

doi:10.1109/bmas.2001.962501

Cited by 13 publications

(7 citation statements)

References 1 publication

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“…The friction torque in the pivot bearing can be characterized as (9) where is the external force, , , and are the related friction coefficients as defined in (1), is the radius of the pivot to its center, and (10) is the normal force, which consists of the centrifugal force of the rotor and the diametrical force, . Furthermore, is a constant dependent on the mass distribution of the rotor, and (11) is the force along the radius of the pivot bearing produced in the coil by the permanent magnet. The friction torque between the pivot bearing and the support plane can be characterized as (12) where is the external force, , , and are the related friction coefficients as defined in (1), and (13) is the normal force resulted from a static balance torque of the rotor, .…”

Section: A Structural Model Of the Vcm Actuatormentioning

confidence: 99%

“…We first adopt the physical effect analysis of [11] to determine the structures of nonlinearities in the VCM actuator. It is to analyze the effects between the components of the actuator, such as the stator, rotor and support plane as well as the VCM driver.…”

Section: A Structural Model Of the Vcm Actuatormentioning

confidence: 99%

“…Another issue is that there is generally no analytical solution for nonlinear differential equations, which causes trouble in identifying the model parameters. In the first part of this paper, we utilize the physical effect approach of [11] to determine the structures of nonlinearities and friction associated with the VCM actuator in a typical HDD servo system. This will be done by carefully examining and analyzing physical effects that occur in or between electromechanical parts.…”

Section: Introductionmentioning

confidence: 99%

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Modeling and compensation of nonlinearities and friction in a micro hard disk drive servo system with nonlinear feedback control

Peng

Chen

Cheng

et al. 2005

IEEE Trans. Contr. Syst. Technol.

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Friction and nonlinearities result in large residual errors and deteriorate the performance of head positioning of hard disk drive (HDD) servo systems and other mechanical servo systems. Thus, it is highly desirable to characterize the behaviors of nonlinearities and friction in the servo systems. This paper presents a fairly comprehensive modeling and compensation of friction and nonlinearities of a typical voice-coil-motor (VCM) actuator used in commercial HDDs, and the design of an HDD servo system using an enhanced nonlinear control technique. Our contributions are two-fold: We will first obtain a complete model of the VCM actuator including friction and nonlinear characteristics through a careful examination of the configuration and structure of the actual system and through a thorough analysis of its physical effects together with its time-domain and frequency-domain responses. We will then proceed to design a servo system for the hard drive using an enhanced composite nonlinear feedback (CNF) control technique with a simple friction and nonlinearity compensation scheme. The enhanced CNF technique has a feature of removing the uncompensated portion of friction and nonlinearities without sacrificing the overall tracking performance. Simulation and experimental results for both the modeling and the servo design show that our approach is very effective and successful. In particular, our experimental results show that the enhanced CNF control has outperformed the conventional proportional-integral-derivative (PID) control in settling time by 76%. We believe that this approach can be adopted to solve other servomechanism problems.

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Section: A Structural Model Of the Vcm Actuatormentioning

confidence: 99%

Section: A Structural Model Of the Vcm Actuatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modeling and compensation of nonlinearities and friction in a micro hard disk drive servo system with nonlinear feedback control

Peng

Chen

Cheng

et al. 2005

IEEE Trans. Contr. Syst. Technol.

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“…Voßkämper et al [2000] presents a technique known as physical-effect modeling wherein the different components of a mechanical device are modeled separately in an HDL and are combined to model the entire device. Dammers et al [2001] uses this technique to model the spindle motor (SPM) and voice-coil motor (VCM) of a hard disk.…”

Section: Related Workmentioning

confidence: 99%

Thermal issues in disk drive design

Gurumurthi

Sivasubramaniam

2006

ACM Trans. Storage

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The importance of pushing the performance envelope of disk drives continues to grow in the enterprise storage market. One of the most fundamental factors impacting disk drive design is heat dissipation, since it directly affects drive reliability. Until now, drive manufacturers have continued to meet the 40% annual growth target of the internal data-rates (IDR) by increasing RPMs and shrinking platter sizes, both of which have counteracting effects on the heat dissipation within a drive. In this article, we shall show that we are getting to a point where it is going to be very difficult to stay on this roadmap. We first present detailed models that capture the close relationships between capacity, performance, and thermal characteristics over time. Using these models, we quantify the drop-off in IDR growth rates over the next decade if we are to adhere to the thermal design envelope. We motivate the need for continued improvements in IDR by showing that the response times of real workloads can be improved by 30-60% with a 10K increase in the RPM for disks used in their respective storage systems. We then present two dynamic thermal management (DTM) techniques that can be used to buy back some of this IDR loss. The first DTM technique exploits the thermal slack between what the drive was intended to support and the currently lower operating temperature to ramp up the RPM. The second DTM technique assumes that the drive is only designed for average case operation and dynamically throttles its activities to remain within the thermal envelope.

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“…The Physical Effect Modeling approach [38] captures the physical phenomena that occur within and between electromechanical devices using equations that capture electrical, mechanical, and electromechanical phenomena. This technique has been used to model the SPM and VCM [5] of a hard disk. The disk drive models that we present in Section 4 are equivalent to the physical effect approach.…”

Section: Related Workmentioning

confidence: 99%

Sensitivity-Based Optimization of Disk Architecture

Sankar

Zhang

Gurumurthi

et al. 2009

IEEE Trans. Comput.

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Abstract-Many applications, especially those that run on servers, are I/O intensive and therefore require high-performance storage systems. These high-end storage systems consume a large amount of power, the bulk of which is due to the disk drives. Optimizing disk architectures is a design-time, as well as a run-time, issue, and requires performance and power trade-offs. A hard disk designer needs to balance between the disk rotational speed (rotations per minute, RPM), platter sizes, and the number of platters. The RPM and platter sizes affect performance, and all three have an impact on power. A data center manager might have specific energy budgets within which she has to extract as much performance as possible. Applications themselves may have specific optimization requirements. Therefore, there are different figures of merit, such as performance and energy, and a large space of design and runtime "knobs" that can be used to optimize disk drive behavior. Given such a large space, it is desirable to have a systematic methodology to optimally set these knobs to satisfy the figures of merit as efficiently as possible. In this paper, we present the Sensitivity-based Optimization methodology for Disk Architectures (SODA), which leverages results previously obtained in digital circuit design optimization scenarios. Using detailed models of the electromechanical behavior of disk drives, and a suite of realistic workloads, we show how SODA can aid in design and runtime optimization of disk drive architectures.

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Motor modeling based on physical effect models

Cited by 13 publications

References 1 publication

Modeling and compensation of nonlinearities and friction in a micro hard disk drive servo system with nonlinear feedback control

Modeling and compensation of nonlinearities and friction in a micro hard disk drive servo system with nonlinear feedback control

Thermal issues in disk drive design

Sensitivity-Based Optimization of Disk Architecture

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