Fast seek control for flexible disk drive systems with back EMF and inductance
Fast seek control for flexible disk drive systems with back EMF and inductance
复制标题
具有反电动势和电感的软盘驱动系统的快速寻道控制
DOI：
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
L. Pao
中科院分区：
文献类型：
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作者：
C. La;L. Pao
本文推导了考虑反电动势和线圈电感影响的软盘驱动器成形时间最优伺服机构（STOS）控制器。为了消除由于不需要的柔性模式引起的振动，输入整形用于改变时间最优速度相平面轮廓，该轮廓将三阶非柔性动力学从静止移动到静止。由于时间最优控制的三阶非柔性动力学的封闭形式的解决方案是未知的，成形的时间最优速度相平面轮廓的数值推导。通过使用曲线拟合多项式来近似这些形状的时间最优速度相平面轮廓，我们得到了STOS控制的解析表达式。仿真结果表明，曲线拟合多项式给出了高精度和STOS控制产生近时间最优的性能，没有不必要的残余振动。
This paper derives shaped time-optimal servomechanism (STOS) controllers for flexible disk drive systems considering the effect of back electromotive force (back EMF) and coil inductance. To eliminate the vibration due to an unwanted flexible mode, input shaping is used to alter the time-optimal velocity phase-plane profile that moves the third-order non-flexible dynamics from rest to rest. Because the closed-form solution for the time-optimal control of the third-order non-flexible dynamics is not known, the shaped time-optimal velocity phase-plane profiles are derived numerically. By using a curve-fit polynomial to approximate these shaped time-optimal velocity phase-plane profiles, we obtain an analytical expression for the STOS control. Simulations show that the curve-fit polynomials give high accuracy and the STOS control yields near time-optimal performance without unwanted residual vibration.