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首页> 外文期刊>Mathematical Problems in Engineering: Theory, Methods and Applications >The Discrete-Time Sliding Mode Control with Computation Time Delay for Repeatable Run-Out Compensation of Hard Disk Drives
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The Discrete-Time Sliding Mode Control with Computation Time Delay for Repeatable Run-Out Compensation of Hard Disk Drives

机译：带有计算时间延迟的离散滑模控制，用于硬盘驱动器的可重复用尽补偿

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摘要

The presented is a study on the problem of disturbance rejection, specifically the periodic disturbance, by applying discrete-time sliding mode control method. For perturbations such as modeling errors and external disturbances, their compensation is formulated using the designed sliding mode control. To eliminate the effect of these perturbations, the convergence rate between the disturbance and their compensation has been shaped by an additional parameter. Decoupling of the resultant perturbation estimation dynamics from the closed loop dynamics is achieved. Computation time delay is also presented to address the perturbation effects. The approach developed ensures the robustness of the sliding mode dynamics to parameter uncertainties and exogenous disturbances, in addition to the complete rejection of the periodic disturbance component. Satisfactory simulation results as well as experimental ones have been achieved based on a fast servo system of a modern hard disk drive to illustrate the validity of the controller for repeatable run-out (RRO) compensation.
机译：提出了一种利用离散时间滑模控制方法对扰动抑制问题，特别是周期性扰动问题的研究。对于建模误差和外部干扰等扰动，可使用设计的滑模控制来制定其补偿。为了消除这些扰动的影响，扰动及其补偿之间的收敛速度已通过附加参数确定。实现了所得摄动估计动力学与闭环动力学的解耦。还提出了计算时间延迟以解决扰动效应。所开发的方法除了完全消除周期性干扰分量外，还确保了滑模动力学对参数不确定性和外源性干扰的鲁棒性。基于现代硬盘驱动器的快速伺服系统，已获得令人满意的仿真结果和实验结果，以说明控制器可重复跳动（RRO）补偿的有效性。

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