Online Trajectory Generation for Nanoscale Servo Control

对于纳米级的伺服系统，如硬盘驱动器、光盘驱动器和电流扫描仪，设计一种不会激发机械共振模式的前馈输入是很重要的。在这项研究中，我们提出了用时间多项式来实时产生这种前馈输入的方法。将该方法应用于硬盘和Galvano扫描仪控制系统，验证了该方法的有效性。

For nanoscale servo system such as hard disk drives, optical disk drives, and galvano scanner, it is important to design a feedforward input that does not excite mechanical resonance modes. In this study, we proposed methods to generate such feedforward input in real-time by a polynomial in time. The effectiveness of the proposed method has been verified by applying the method to hard disk and galvano scanner control systems.