摘要
针对影响硬盘驱动器(HDD)性能的2大主要因素—由硬盘驱动系统引起的干扰和磁头组件中挠性扁电缆引起的扭矩非线性干扰,提出HDD的磁头传动机构—音圈马达(VCM)的DOBC与H∞的复合控制方法。来自硬盘驱动系统的干扰可分为重复性干扰和非重复性干扰。其中的重复性干扰可以和挠性扁电缆引起的扭矩非线性干扰共同看成是VCM输入通道中的干扰,可由动态子系统生成,并用DOBC抵消。非重复性干扰可以和未建模动态、参数和结构的不确定性引起的建模误差、外部扰动共同看成是满足2范数有界的外干扰,并用H∞来抑制。通过将DOBC与H∞控制方法相结合,闭环系统在没有干扰信号时渐近稳定,在有干扰信号时满足H∞控制性能指标。通过IBM硬盘驱动器(DMDM-10340型)的仿真验证了该方法的有效性。
To the two dominant elements influencing the performance of the HDD, the disturbance from hard disk drive servo systems and torque nonlinearities induced by flex cable in head subassembly, a combined control scheme of disturbance-observer-based control （DOBC） and H∞ control for VCM is presented. The repeatable disturbances and the torque nonlinearities from flex cable can be both considered as disturbances in the VCM input channel, and can be generated by the exogenous system and rejected by DOBC. The nonrepeatable disturbances, the unmodeling dynamics, the model error caused by uncertainties of parametric and structural, and the external disturbances can be considered as lumped disturbances satisfying 2-norm bound and can be attenuated by H∞ control. The closed-loop system is asymptotically stable without disturbances and satisfy H∞ control performance with disturbances. The simulation for an IBM micro disk drive（ model DMDM-10340）shows the effectiveness of the proposed method.
出处
《控制工程》
CSCD
北大核心
2009年第3期314-317,共4页
Control Engineering of China
基金
中国博士后基金资助项目(20070420957)
国家自然科学基金资助项目(60474050)
关键词
硬盘驱动器
干扰抵消
干扰抑制
干扰观测器
H∞控制
hard disk drives
disturbance rejection
disturbance attenuation
disturbance observers
H∞ control
