GOALI: Nonlinear Control of Advanced Hard Disk Drives

项目名称：Eduardo A. Misawa，俄克拉荷马州立大学机械与航空航天工程学院goates Funches，希捷科技提案号：9978748 GOALIE：先进硬盘驱动器的非线性控制项目摘要：GOALIE研究项目探索和开发非线性控制系统设计策略，这将允许开发具有成本效益的密度超过100,000道/英寸的先进硬盘驱动器。目标是在存在热效应、冲击和振动的情况下，实现定位精度在轨道宽度的5%以内，平均寻道时间小于3毫秒。实现这些目标的能力对于磁盘驱动器行业在未来十年满足预期需求至关重要。这一挑战需要硬件开发和创新的伺服控制策略相结合。新的控制设计技术将基于数字变结构控制与基于椭球体的饱和控制算法相结合，并使用嵌入式控制实现。设计技术将由完善的数学控制理论支持，通过设计控制算法进行评估，并使用希捷提供的先进磁盘驱动器原型进行测试。实验将分两个阶段进行，均采用基于dsp的嵌入式控制：1)使用激光干涉仪通过点测量来测量读写头的实际位置；2)利用写入磁盘本身的位置信息。在这两种情况下，冲击、振动和热效应都将作为扰动。结果将根据未来产品的设计规格进行评估。该研究还将对高精度运动控制伺服控制设计技术领域的新知识发展产生强烈影响。拟议的活动还将通过研究生参与研究并将先进的研究成果带入课堂，对本科和研究生教育产生直接影响。

PIs: Eduardo A. Misawa, Oklahoma State University, School of Mechanical and Aerospace EngineeringOtis Funches, Seagate TechnologyProposal Number: 9978748GOALI: Nonlinear Control of Advanced Hard Disk DrivesProject AbstractThis GOALIE research project explores and develops nonlinear control system design strategies that will allow the development of cost effective advanced hard disk drives with densities exceeding 100,000 tracks per inch. The objective is to achieve positioning accuracy within 5% of track width and fast average seek times, less than 3 ms, in the presence of thermal effects, shock and vibration. The ability to achieve these goals will be important to the disk drive industry to meet the demands expected during the next decade.This challenge requires a combination of hardware developments and innovative servo-control strategies. Novel control design techniques will be based on digital variable structure control combined with ellipsoid-based saturation control algorithms and implementation using embedded control. The design techniques, supported by sound mathematical control theory, will be evaluated by designing control algorithms and tested using prototypes of advanced disk drives provided by Seagate. The experiments will be conducted in two phases, both using DSP-based embedded control: 1) using a laser interferometer to measure the actual position of the read/write head by point measurement; 2) using the position information written on the disk itself. In both cases, shock, vibration and thermal effects will be applied as disturbances. The results will be evaluated against the design specifications projected for future products. This research will also have strong impact on the development of new knowledge in the field of servo-control design techniques for high-precision motion control. Proposed activities will also have direct impact in the undergraduate and graduate education, through the involvement of graduate students in the research and by bringing the results of advanced research into the classroom.