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首页> 外文期刊>IEEE Transactions on Magnetics >Track-Following Control of Four-Bar Structured HDD via Parameter-Dependent Low-Frequency Precompensation
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Track-Following Control of Four-Bar Structured HDD via Parameter-Dependent Low-Frequency Precompensation

机译：通过参数相关的低频预补偿控制四杆结构硬盘的轨迹跟踪控制

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摘要

This paper considers track-following control of four-bar structured hard disk drive (HDD) systems. Compared with the traditional single-arm HDD, the four-bar structure potentially leads to higher achievable closed-loop bandwidth, but also brings challenges in control design due to nonlinearity. In track-following control design, exact linearization is impossible in practice due to mechanic resonances and measurement constraints. In this paper, instead of exact linearization, we propose a kind of prefilter to compensate for the low-frequency nonlinearities so that the compensated system has the same linear approximation at different track positions subjected to different high-frequency resonances. With this prefilter, many existing track-following control methods can be applied to the compensated plant. In this paper, $H_{infty}$ loop shaping is used and simulation results show that the resulting controller preserves similar track-following performance at different track positions.
机译：本文考虑了四杆结构硬盘驱动器（HDD）系统的跟踪控制。与传统的单臂硬盘驱动器相比，四杆结构可能导致更高的闭环带宽，但由于非线性，也给控制设计带来了挑战。在跟踪控制设计中，由于机械共振和测量限制，实际上不可能进行精确的线性化。在本文中，代替精确的线性化，我们提出了一种预滤波器来补偿低频非线性，以使补偿系统在经受不同高频谐振的不同磁道位置处具有相同的线性近似。使用这种预滤波器，可以将许多现有的跟踪控制方法应用于补偿后的设备。在本文中，使用了 $ H_ {infty} $ 环路整形，仿真结果表明，所得控制器保留了类似的轨迹-在不同的赛道位置跟随表现。

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