Minimum Residual Vibration Sliding Mode Servo Control for Computer Disk Drives

Abstract This paper presents a discrete time design of sliding mode servo control with minimum residual vibration that significantly affects settling of the disk drive head to a target track. By optimizing the acceleration rate, the convergence rate to the sliding hyperplane for seek is determined for minimum residual vibration at the end of track seek. The scheme retains the intrinsic nature of the sliding mode servo control enforcing the actuator to slide along the optimally designed reference profile such that no substantial seek performance degradation occurs at all. Simulation and experiment results are also presented to demonstrate utility of the proposed minimum residual vibration sliding mode controller.

[1]  William C. Messner,et al.  Design and analysis of a high bandwidth disk drive servo system using an instrumented suspension , 1999 .

[2]  Jian Zhou,et al.  Improved proximate time-optimal sliding-mode control of hard disk drives , 2001 .

[3]  O. Kaynak,et al.  On the stability of discrete-time sliding mode control systems , 1987 .

[4]  V. Utkin,et al.  Sliding mode control in dynamic systems , 1992 .

[5]  Jae-Wan Jang,et al.  Design of seek control of hard disk drive using discrete-time sliding mode control , 2004, Proceedings of the 2004 IEEE International Conference on Control Applications, 2004..

[6]  Chung Choo Chung,et al.  Optimal sliding mode dual-stage actuator control for magnetic disk drives , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[7]  Seung-Hi Lee,et al.  Design of a dual-stage actuator control system with discrete-time sliding mode for hard disk drives , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[8]  Seung-Hi Lee,et al.  Optimal Sliding Mode Dual-Stage Actuator Control in Computer Disk Drives , 2010 .

[9]  Wu-Chung Su,et al.  Implementation of variable structure control for sampled-data systems , 1996 .

[10]  Chung Choo Chung,et al.  Analysis and design of servomechanism and its application to disk drives , 2003, IEEE Trans. Control. Syst. Technol..

[11]  Guoxiao Guo,et al.  Adaptive cancellation of microactuator resonance in hard disk drives , 2000 .

[12]  D. Q. Zhang,et al.  Discrete-time sliding mode proximate time optimal seek control of hard disk drives , 2000 .

[13]  Vadim I. Utkin,et al.  A control engineer's guide to sliding mode control , 1999, IEEE Trans. Control. Syst. Technol..

[14]  Susumu Hasegawa,et al.  Vibration minimized access control for disk drives , 1996 .

[15]  V. Utkin.  Variable structure systems with sliding modes , 1977 .

[16]  T. Semba,et al.  Active damping in HDD actuator , 2000, 2000 Asia-Pacific Magnetic Recording Conference. Digests of APMRC2000 on Mechanical and Manufacturing Aspects of HDD (Cat. No.00EX395).

[17]  R. Horowitz,et al.  Vibration control of a PZT actuated suspension dual-stage servo system using a PZT sensor , 2002, Digest of the Asia-Pacific Magnetic Recording Conference.

[18]  B. Draenovi.  The invariance conditions in variable structure systems , 1969 .

[19]  Choong Woo Lee,et al.  Active high frequency vibration rejection in hard disk drives , 2004, Proceedings of the 2004 American Control Conference.

[20]  Chung Choo Chung,et al.  An approach to discrete-time sliding mode control , 2004, Proceedings of the 2004 IEEE International Conference on Control Applications, 2004..