ループ整形設計手法を用いた磁気ディスク装置のヘッド位置決め制御 : 機械力学,計測,自動制御

概要

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We applied H_∞ control theory to design a head-positioning servo system of a magnetic disk drive from the point of view of loop shaping. This H_∞ control theory, called "Loop Shaping Design Procedure (LSDP)", was used to shape the transfer function of this closed-loop system. And, to obtain a good transient response characteristics after it switches the servo system to following mode from seek mode, we applied initial value compensation (IVC) to the servo system. We also measured closed-loop frequency characteristics and track seek response experimentally, and these measurements show that LSDP can provide a good system design with adequately balanced robust stability and disturbance suppression characteristics. Moreover, IVC can produce good transient response characteristics with less overshoot after mode switching.
一般社団法人日本機械学会の論文
2001-05-25