In this paper we discuss the controller design of a PZT-actuated suspension dual-stage servo system in hard disk drives. The proposed control structure includes an active vibration damping control loop and a track-following control loop. The vibration damping control loop, which runs at a faster rate than the track-following control loop, utilizes a PZT element on a PZT-actuated suspension as a vibration sensor to damp the resonance modes of the voice coil motor (VCM) and the PZT actuator. The vibration damping controller is designed using Kalman filter based state feedback control techniques. A simple dual-stage track-following controller is designed, based on the damped actuator model, using the sensitivity function decoupling design method. Simulation and experimental results are presented to demonstrate the benefits of this control scheme in expanding servo control bandwidth and suppressing airflow excited structural vibrations.
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e-mail: horowitz@me.berkeley.edu
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September 2006
Technical Papers
Track-Following Control With Active Vibration Damping of a PZT-Actuated Suspension Dual-Stage Servo System
Yunfeng Li,
Yunfeng Li
Department of Mechanical Engineering,
University of California at Berkeley
, Berkeley, CA 94720-1740
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Federico Marcassa,
Federico Marcassa
Department of Information Engineering,
University of Padova
, PD, 35131, Italy
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Roberto Horowitz,
Roberto Horowitz
Department of Mechanical Engineering,
e-mail: horowitz@me.berkeley.edu
University of California at Berkeley
, Berkeley, CA 94720-1740
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Roberto Oboe,
Roberto Oboe
Department of Mechanical and Structural Engineering,
University of Trento
, 38050, Trento, Italy
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Robert Evans
Robert Evans
Hutchinson Technology Incorporated
, Hutchinson, MN 55350
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Yunfeng Li
Department of Mechanical Engineering,
University of California at Berkeley
, Berkeley, CA 94720-1740
Federico Marcassa
Department of Information Engineering,
University of Padova
, PD, 35131, Italy
Roberto Horowitz
Department of Mechanical Engineering,
University of California at Berkeley
, Berkeley, CA 94720-1740e-mail: horowitz@me.berkeley.edu
Roberto Oboe
Department of Mechanical and Structural Engineering,
University of Trento
, 38050, Trento, Italy
Robert Evans
Hutchinson Technology Incorporated
, Hutchinson, MN 55350J. Dyn. Sys., Meas., Control. Sep 2006, 128(3): 568-576 (9 pages)
Published Online: November 1, 2005
Article history
Received:
April 2, 2004
Revised:
November 1, 2005
Citation
Li, Y., Marcassa, F., Horowitz, R., Oboe, R., and Evans, R. (November 1, 2005). "Track-Following Control With Active Vibration Damping of a PZT-Actuated Suspension Dual-Stage Servo System." ASME. J. Dyn. Sys., Meas., Control. September 2006; 128(3): 568–576. https://doi.org/10.1115/1.2229257
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