A Unified Control Scheme for Track Seeking and Following of a Hard Disk Drive Servo System

This paper proposes a new nonlinear time-varying unified control scheme (UCS) for track-seeking and track-following in hard disk drives (HDDs) so as to avoid problem of mode switching. The proposed control scheme utilizes the concept of the conventional composite nonlinear feedback (CNF) scheme to a...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2010-03, Vol.18 (2), p.294-306
Main Authors: Chin Kwan Thum, Chunling Du, Chen, B.M., Eng Hong Ong, Kim Piew Tan
Format: Article
Language:English
Subjects:
Adaptive control
Applied sciences
Computer science
control theory
systems
Control system synthesis
Control systems
Control theory. Systems
Disk drives
Disturbances
Electronics
Exact sciences and technology
Fault location
Feedback
Hard disk drives (HDDs)
Hard disks
Mathematical models
mechatronics
Miscellaneous
mode switching
Noise
Nonlinear control systems
Nonlinear feedback
nonlinear time-varying systems (NLTV)
Nonlinearity
Optimal control
Robust control
Robustness
servo systems
Servomechanisms
Storage and reproduction of information
Time varying systems
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Summary:This paper proposes a new nonlinear time-varying unified control scheme (UCS) for track-seeking and track-following in hard disk drives (HDDs) so as to avoid problem of mode switching. The proposed control scheme utilizes the concept of the conventional composite nonlinear feedback (CNF) scheme to achieve fast and smooth seeking. In order to be advantageous over the conventional CNF control, the UCS consists of both linear and nonlinear time-dependent components, which are independent of absolute seeking error. Simulation and implementation results show that, during track-seeking mode, the proposed scheme has a significantly better performance robustness against variations in seek length as compared to the conventional CNF control. For track-following, disturbance and noise models are involved in the problem formulation and sub-optimal H ¿ method is used to design the controller so as to achieve high head-positioning accuracy. It turns out that the unified controller removes 27.8% of the nonrepeatable disturbances and noise.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2009.2017513