Novel reference signal generation for two-degree-of-freedom controllers for hard disk drives

Hara, Susumu; Hara, T.; Li, Yi; Tomizuka, Masayoshi

doi:10.1109/3516.828591

Cited by 54 publications

(19 citation statements)

References 7 publications

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“…2-DOF control often means the combination of Feedforward controller and Feedback controller. 2-DOF structure improves the transient performance of control (Hara et al 2000.…”

Section: Introductionmentioning

confidence: 98%

“…If we treat a positioning control problem which consists of plural control modes, access mode (during motion) and following mode (after settling), it is difficult for NOR to reduce the influence of the uncertainty of a controlled object model and disturbances at the following mode (after settling). We often treat such a mode switching control problem, e.g., head positioning of hard disk drives (Hara et al 2000;Yamaguchi et al 1996). Taking the above-mentioned background into account, some improvement of the NOR technique is required.…”

Section: Introductionmentioning

confidence: 99%

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Unified design of time-varying gain type access control and integral type servo control by means of nonstationary optimal control method

Hara

2005

Microsyst Technol

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Servo control is one of the most important control techniques for motion control of mechanical structures. In order to suppress the stationary error between a reference trajectory and a servo system response, servo controllers often include the integral characteristic. For example, linear quadratic integral (LQI) optimal control is one of the standard selections for designing servo control systems. Nonstationary optimal regulator (NOR) is another motion control method, which produces superior vibrationless trajectories for the positioning control problems of vibration systems. This study discusses a unified design method of the timevarying gain type access control similar to NOR and the integral type servo control similar to LQI control by means of a frequency-shaped time-varying criterion function. This method realizes two high performance control modes and the smooth switching of the modes by the optimization of the single criterion function. The effectiveness of this method is verified by numerical calculations and experiments.

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“…2-DOF control often means the combination of Feedforward controller and Feedback controller. 2-DOF structure improves the transient performance of control (Hara et al 2000.…”

Section: Introductionmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

Unified design of time-varying gain type access control and integral type servo control by means of nonstationary optimal control method

Hara

2005

Microsyst Technol

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“…When the maximal speed is reached, the acceleration is set to zero. Hara et al [10] have adopted a similar approach to generate reference trajectories for hard disk drives. The acceleration, velocity, and position profiles of the sub-trajectory between two consecutive target points are shown in Fig.…”

Section: Reference Generationmentioning

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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“…6. These trajectories are often called as SMART (17) or Minimum Jerk Trajectories (18) in other control problems. If we apply the previous boundary conditions:…”

Section: Modementioning

confidence: 99%

“…(17). The use of "smooth" trajectories is also an important issue to avoid the fearfulness of operators around the machine.…”

Section: Modementioning

confidence: 99%

Mode Switching Control Method for Man-Machine Collaborated Robotic Systems (Switching from Power-Assist Mode to Automatic Positioning Mode)

Hara

2007

JAMDSM

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In the industrial world, not only autonomous machinery as industrial robots but also man-machine cooperative systems as power-assist systems have attracted special interest recently. Kondo, et al. proposed the scheme of Man-Machine Collaborated Systems (MMCSs) and its application to some assembling work. In MMCSs, efficient mode switching from human-oriented task to machine-oriented task is important. However, its issue has not been fully addressed yet. This study discusses a mode switching control method for MMCSs. Especially, we treat the switching from a power-assist mode (PAM) to an automatic positioning mode (APM) for a simple robotic system. To obtain a smooth switching, this study utilizes a two-degree-of-freedom control system structure which consists of an on-line impedance control simulator and an LQI servo controller. Some smooth reference generation for APM is also introduced. No input saturation and stopping appear at the switching in this method. The effectiveness of the method is verified experimentally.

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Novel reference signal generation for two-degree-of-freedom controllers for hard disk drives

Cited by 54 publications

References 7 publications

Unified design of time-varying gain type access control and integral type servo control by means of nonstationary optimal control method

Unified design of time-varying gain type access control and integral type servo control by means of nonstationary optimal control method

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

Mode Switching Control Method for Man-Machine Collaborated Robotic Systems (Switching from Power-Assist Mode to Automatic Positioning Mode)

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