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

IEEE Transactions on Control Systems Technology

Volumn 13, Issue 5, 2005, Pages 708-721

  Peng, Kemao ^a   Chen, Ben M ^a   Cheng, Guoyang ^a   Lee, Tong H ^a  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

Author keywords

Actuators; Friction; Hard disks; Identification; Modeling; Motion control; Nonlinearities; Servo systems

Indexed keywords

COMPUTER SIMULATION; CONTROL NONLINEARITIES; CONTROL SYSTEM SYNTHESIS; FEEDBACK CONTROL; FRICTION; HARD DISK STORAGE; IDENTIFICATION (CONTROL SYSTEMS); MATHEMATICAL MODELS; MICROACTUATORS; MOTION CONTROL; SERVOMECHANISMS; THREE TERM CONTROL SYSTEMS;

MICRO HARD DISK DRIVE SERVO SYSTEM; VOICE-COIL-MOTOR (VCM) ACTUATOR;

NONLINEAR CONTROL SYSTEMS;

EID: 26244452552     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2005.854321     Document Type: Article

References (28)

1. D. Abramovitch, F. Wang, and G. Franklin, "Disk drive pivot nonlinearity modeling part I: frequency domain," in Proc. Amer. Control Conf., Baltimore, MD. 1994, pp. 2600-2603.
2. B. Armstrong, D. Neevel, and T. Kusik, "New results in NPID control: tracking, integral control, friction compensation and experimental results," IEEE Trans. Contr. Syst. Technol., vol. 9, pp. 399-406, 2001.
3. C. Canudas de Wit and P. Lischinsky, "Adaptive friction compensation with partially known dynamic friction model," Int. J. Adapt. Control Signal Process., vol. 11, pp. 65-80, 1997.
4. C. Canudas de Wit, H. Olsson, K. J. Astrom, and P. Lischinsky, "A new model for control of systems with friction," IEEE Trans. Autom. Control, vol. 40, pp. 419-425, 1995.
5. C. Canudas de Wit, H. Olsson, K. J. Astrom, and P. Lischinsky, "Dynamic friction models and control design," in Proc. Amer. Control Conf., San Francisco, CA, 1993, pp. 1920-1926.
6. H. S. Chang, S. E. Baek, J. H. Park, and Y. K. Byun, "Modeling of pivot friction using relay function and estimation of its functional parameters," in Proc. Amer. Control Conf., San Francisco, CA. 1999, pp. 3784-3789.
7. B. M. Chen, T. H. Lee, and V. Venkataramanan, Hard Disk Drive Servo Systems. New York: Springer-Verlag, 2002.
8. B. M. Chen, T. H. Lee, K. Peng, and V. Venkataramanan, "Composite nonlinear feedback control: theory and an application," IEEE Trans. Autom. Control, vol. 48, no. 3, pp. 427-439, Mar. 2003.
9. B. M. Chen and D. Z. Zheng, "Simultaneous finite and infinite zero assignments of linear systems," Automatica, vol. 31, pp. 643-648, 1995.
10. P. R. Dahl, "Solid friction damping of mechanical vibrations," AIAA J., vol. 14, pp. 1675-1682, 1976.
11. D. Dammers, P. Binet, G. Pelz, and L. M. Vobkarper, "Motor modeling based on physical effect models," in Proc. IEEE Int. Workshop Behavioral Modeling and Simulation, Santa Rosa, CA, 2001, pp. 78-83.
12. A. Dubi, Monte Carlo Applications in Systems Engineering. New York: Wiley, 2000.
13. M. Evans and T. Swartz, Approximating Integrals via Monte Carlo and Deterministic Methods. Oxford, U.K.: Oxford Univ. Press, 2000.
14. P. Eykhoff, System Identification - Parameter and State Estimation. New York: Wiley, 1981.
15. G. F. Franklin, J. D. Powell, and M. L. Workman, Digital Control of Dynamic Systems. Reading, MA: Addison-Wesley, 1990.
16. S. S. Ge, T. H. Lee, and S. X. Ren, "Adaptive friction compensation of servomechanisms," Int. J. Syst. Sci., vol. 32, pp. 523-532, 2001.
17. J. Q. Gong, L. Guo, H. S. Lee, and B. Yao, "Modeling and cancellation of pivot nonlinearity in hard disk drives," IEEE Trans. Magn., vol. 38, pp. 3560-3565, 2002.
18. J. Ishikawa and M. Tomizuka, "A novel add-on compensator for cancellation of pivot nonlinearities in hard disk drives," IEEE Trans. Magn., vol. 34, pp. 1895-1897, 1998.
19. J. Ishikawa and M. Tomizuka, "Pivot friction compensation using an accelerometer and a disturbance observer for hard disk drives," IEEE/ASME Trans. Mechatronics, vol. 3, pp. 194-201, 1998.
20. Z. Lin, M. Pachter, and S. Banda, "Toward improvement of tracking performance - nonlinear feedback for linear system," Int. J. Control, vol. 70, pp. 1-11, 1998.
21. X. Liu and J. C. Liu, "Analysis and measurement of torque hysteresis of pivot bearing in hard disk drive applications," Tribology Int., vol. 32, pp. 125-130, 1999.
22. H. A. Maria and I. D. Abrahams, "Active control of friction-driven oscillations," J. Sound Vib., vol. 193, pp. 417-426, 1996.
23. G. A. Mikhailov, Parametric Estimates by the Monte Carlo Method. Utrecht, The Netherlands: V.S.P. International Science, 1999.
24. H. Olsson and K. J. Astrom, "Observer-based friction compensation," in Proc. 35th IEEE Conf. Decision and Control, Kobe, Japan, 1996, pp. 4345-4350.
25. H. Seraji, "Nonlinear and adaptive control of force and compliance in manipulators," Int. J. Robot. Res., vol. 17, pp. 467-484, 1998.
26. S. M. Shahruz and A. L. Schwartz, "Nonlinear PI compensators that achieve high performance," J. Dyn. Syst. Meas. Control, vol. 119, pp. 105-110, 1997.
27. F. Wang, D. Abramovitch, and G. Franklin, "A method for verifying measurements and models of linear and nonlinear systems," in Proc. Amer. Control Conf., San Francisco, CA, 1993, pp. 93-97.
28. F. Wang, T. Hurst, D. Abramovitch, and G. Franklin, "Disk drive pivot nonlinearity modeling part II: time domain," in Proc. Amer. Control Conf., Baltimore, MD, 1994, pp. 2604-2607.