Precise modeling and high-precision control techniques for positioning system of information storage device in a nanometer area

本研究的目的是在2003年召开的信息设备探索性研究资助项目（项目编号14655157）的基础上，开发精确建模和高精度控制技术。研究结果如下：1)了解了目前机头总成系统位置误差产生的原因。综合结果表明，与其他干扰相比，可重复跳动是最有效的位置误差处理方法。2)提出了采用差分迭代法对高频区多共振的机头总成系统进行精确建模的方法。3)提出了不考虑圆盘旋转影响的力扰动精确建模技术。在建模过程中，在洁净室中使用了由头部组件和音圈电机组成的原型系统。4)采用“基于逆频率动力学的抑制补偿器”和“混合基数算法”提出了hdd可重复跳动抑制控制器。实验结果表明，该方法对标准偏差的抑制比未采用该方法的方法要小90%以上。5)提出了模式切换控制的初值补偿优化方法。结果表明，在寻路模式和跟随模式之间的切换是非常有效的。6)研究了“基于逆频率动力学的抑制补偿器”在系统波动和扰动变化下的鲁棒性。结果表明，在扰动变化的情况下，对机头总成的变化具有较好的效果。

The aims of this research are development of the precise modeling and high-precision control technique based on the Grand-in-Aid for Exploratory Research that held on 2003 (Project No. 14655157) for information device. The result of this research is expressed as follow :1)Comprehend the cause of the position error at the present head assembly system. The results of the comprehension show that the repeatable run-out is the most effectiveness of the position error than the other disturbances.2)Proposed the precise modeling technique using Differential Iteration method of the head assembly system that has many resonances in high frequency region.3)Proposed the precise modeling technique of the force disturbance without the effect of the disk rotation. In the process of the modeling, the prototype system, witch consist of the head assembly and voice coil motor, was used in the clean room.4)Proposed the rejection controller of repeatable run-out in HDDs using "Rejection Compensator Based on Inverse Frequency Dynamics" and "Mixed-Radix Algorithm". The experimental results are shown that the suppression of the standard deviation of the proposed method is over 90% less than that of without proposed method.5)Proposed the optimization method of initial value compensation for mode switching control. The result is very effectiveness for the mode switching between seeking mode and following mode.6)Investigation about the robustness of the "Rejection Compensator Based on Inverse Frequency Dynamics" under fluctuation of the plant system and variation caused by disturbances. The results have very effectiveness when the head assembly was changed under the disturbance was variable.