International Journal of Adaptive Control and Signal Processing
This paper deals with the hard disk drive (HDD) servo problems. A novel discrete time-optimal control solution is proposed in a two-degree-of-freedom (2DOF) structure, employing both the feedback and feedforward controllers. The time-optimal feedback controller, derived from a simple, double integral plant model, shows remarkable robustness and disturbance rejection in the presence of resonant modes, measurement noises and position and torque disturbances. It eliminates the needs for two separate controllers for track-seeking and track-following operations. The proposed feedforward controller in this 2DOF structure proves to be quite beneficial in reducing the seek time. It also allows the feedback controller to be tuned more aggressively, which helps to improve the quality of track following. The proposed control scheme offers a novel basic control structure for HDD servo, upon which numerous further improvements can be made. It is successfully tested in simulation on an industrial 13.0-kTPI HDD.
Hu, Shaohua and Gao, Zhiqiang, "A Two-Degree-Of-Freedom Time-Optimal Solution for Hard Disk Drive Servo Problems" (2008). Electrical Engineering & Computer Science Faculty Publications. 47.
Hu, S., , & Gao, Z. (2008). A two-degree-of-freedom time-optimal solution for hard disk drive servo problems. International Journal of Adaptive Control and Signal Processing, 22(4), 388 - 401. doi:10.1002/acs.993
This is the accepted version of the following article: Hu, S., , & Gao, Z. (2008). A two-degree-of-freedom time-optimal solution for hard disk drive servo problems. International Journal of Adaptive Control and Signal Processing, 22(4), 388 - 401. doi:10.1002/acs.993, which has been published in final form at http://onlinelibrary.wiley.com/doi/10.1002/acs.993/abstract