磁気ディスク装置のマルチレートサンプル値制御に関する一考察(機械力学,計測,自動制御)

概要

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This paper proposes a head-positioning controller design for hard disk drives using multirate sampled-data H^∞ control theory. Two types of upsampling-by-2 controllers have been derived by solving a mixed sensitivity problem, one is with exogenous inputs at the plant input side (Type A) and the other is with those at the plant output side (Type B). The controlled plant used here has a mechanical resonance at a higher frequency than the Nyquist frequency of a sampling frequency of the controlled output. As a result, it has been confirmed that Type A controllers are robust against aliasing of the resonance and that Type B controllers, which have the same features as conventional digital controllers using analog notch (band-eliminated) filters, attains a wider control bandwidth than that of Type A. Although the control system is affected by the resonance aliasing, a Type B controller has achieved higher positioning accuracy than that of Type A in a benchmark simulation of a hard disk drive with dual-stage servo mechanism.
社団法人日本機械学会の論文
2007-05-25