GOALI: Nonlinear Control of Advanced Hard Disk Drives

PIS：Eduardo A.Misawa，俄克拉荷马州立大学机械和航空航天工程学院奥的斯基金会，希捷技术建议编号：9978748GOALI：高级硬盘驱动器的非线性控制项目摘要这个目标研究项目探索和开发非线性控制系统设计策略，将允许开发具有成本效益的高级硬盘驱动器，其密度超过每英寸100,000个磁道。目标是在存在热效应、冲击和振动的情况下，在磁道宽度的5%范围内实现定位精度和快速平均寻道时间，小于3ms。实现这些目标的能力对于磁盘驱动器行业满足未来十年的预期需求将是重要的。这一挑战需要硬件开发和创新的伺服控制策略的结合。新的控制设计技术将基于数字变结构控制和基于椭球的饱和控制算法相结合，并使用嵌入式控制实现。在合理的数学控制理论的支持下，设计技术将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的原型进行测试。实验将分两个阶段进行，均使用基于DSP的嵌入式控制：1)使用激光干涉仪逐点测量读/写头的实际位置；2)使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应用。结果将根据未来产品的设计规范进行评估。这项研究也将对高精度运动控制的伺服控制设计技术领域的新知识的发展产生强有力的影响。拟议的活动还将通过研究生参与研究和将高级研究成果带入课堂，对本科生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.