Modeling and cancellation of pivot nonlinearity in hard disk drive

In this paper, the modeling issue of the pivot nonlinearity in a typical hard disk drive is considered. Viscous friction, Coulomb friction and hysteresis effects are taken into account. Based on the proposed model, a nonlinear compensator is designed to make the compensated system to behave like a double integrator regardless of the magnitude of the input current. Extensive experiments are then carried out in both time domain and frequency domain to show the effects of pivot nonlinearity and the effectiveness of the proposed compensator.

[1]  Shuzhi Sam Ge,et al.  Adaptive Neural Network Control of Robotic Manipulators , 1999, World Scientific Series in Robotics and Intelligent Systems.

[2]  Marios M. Polycarpou,et al.  High-order neural network structures for identification of dynamical systems , 1995, IEEE Trans. Neural Networks.

[3]  Terril Hurst,et al.  The PES Pareto method: uncovering the strata of position error signals in disk drives , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[4]  Tong Heng Lee,et al.  Design and implementation of a hard disk drive servo system using robust and perfect tracking approach , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[5]  Daniel Y. Abramovitch,et al.  Disk drive pivot nonlinearity modeling. I. Frequency domain , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[6]  K. Chew.  Control system challenges to high track density magnetic disk storage , 1996 .

[7]  Terril Hurst,et al.  Disk drive pivot nonlinearity modeling. II. Time domain , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[8]  D. Abramovitch,et al.  Disk Drive Pivot Nonlinearity Modeling Part I : Frequency Domain , 1994 .

[9]  J.H. Park,et al.  Pivot Nonlinearity In Disk Drive Rotary Actuator Measurement And Modeling , 1997, 1997 IEEE International Magnetics Conference (INTERMAG'97).

[10]  David P. Magee.  Optimal filtering to improve performance in hard disk drives: simulation results , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[11]  Sang-Eun Baek,et al.  Modeling of pivot friction using relay function and estimation of its frictional parameters , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[12]  Terril Hurst,et al.  Decomposition of baseline noise sources in hard disk position error signals using the PES Pareto method , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[13]  Robert M. Sanner,et al.  Gaussian Networks for Direct Adaptive Control , 1991, 1991 American Control Conference.

[14]  Masayoshi Tomizuka,et al.  Rejection of disk drive vibration and shock disturbances with a disturbance observer , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[15]  Terril Hurst,et al.  of the PES Pareto Method for Decomposing Baseline Noise Sources in Hard Disk Position Error Signals , 1998 .

[16]  Bin Yao,et al.  Modeling and cancellation of pivot nonlinearity in hard disk drives , 2002 .

[17]  Ho Seong Lee,et al.  Open-Loop Compensation of Repeatable Runouts in Discrete-Track Magnetic Disks , 1996 .

[18]  Carlos Canudas de Wit,et al.  A survey of models, analysis tools and compensation methods for the control of machines with friction , 1994, Autom..

[19]  S. Weerasooriya,et al.  Disk drive pivot nonlinearity modeling and compensation through fuzzy logic , 1998 .

[20]  Xiong Liu,et al.  Analysis and measurement of torque hysteresis of pivot bearing in hard disk drive applications , 1999 .

[21]  Feei Wang.  Disk Drive Pivot Nonlinearity Modeling Part II : Time Domain , 1994 .

[22]  Terril Hurst,et al.  Measurements for the PES Pareto method of identifying contributors to disk drive servo system errors , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[23]  Y. Yamaguchi,et al.  Air flow around magnetic-head-slider suspension and its effect on slider flying-height fluctuation , 1990, International Conference on Magnetics.

[24]  Ben M. Chen,et al.  Discrete-time LQG/LTR dual-stage controller design and implementation for high track density HDDs , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[25]  Seungchul Lim.  FINITE ELEMENT ANALYSIS OF FLEXURAL VIBRATIONS IN HARD DISK DRIVE SPINDLE SYSTEMS , 2000 .

[26]  Tianhong Yan,et al.  Experimental modeling and compensation of pivot nonlinearity in hard disk drives , 2003 .

[27]  Guoxiao Guo,et al.  Optimal multirate control design for hard disk drive servo systems , 1998 .

[28]  Madan M. Gupta,et al.  Neuro-Control Systems: Theory and Applications , 1993 .

[29]  A. A. Renshaw,et al.  Aerodynamically Excited Vibration Of A Rotating Disk , 1994 .

[30]  P. Dahl.  Solid Friction Damping of Mechanical Vibrations , 1976 .

[31]  L. Guo,et al.  Dual-stage actuator servo control for high density disk drives , 1999, 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399).

[32]  C. D. Mote,et al.  Aerodynamically Excited Vibration And Flutter Of A Thin Disk Rotating At Supercritical Speed , 1993 .