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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >A mode-switching control for motion control and its application to disk drives: design of optimal mode-switching conditions
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A mode-switching control for motion control and its application to disk drives: design of optimal mode-switching conditions

机译：运动控制的模式切换控件及其在磁盘驱动器上的应用：最佳模式切换条件的设计

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摘要

The mode switching control (MSC) is a kind of variable-structure control system with switching in only one direction. When the mode is switched from the fast-movement servo mode to the precise-positioning servo mode, the switching time is the initial time when the precise-positioning mode begins. As a result, initial value compensation (IVC), a method that takes into account the initial state values, can be applied. We (1996) previously proposed the design of IVC and showed its effectiveness in disk drive servo controls. In this paper, a design method for determining the optimal combination of initial states for mode switching is proposed. Here, the H/sub 2/ norm of the transfer function between the initial values and the control input is defined as the performance index of the transient response after mode switching. By combining the IVC method with this method of determining the optimal switching conditions, the issues of mode switching are resolved. Several experimental results show the effectiveness of these methods.
机译：模式切换控制（MSC）是一种仅在一个方向上进行切换的可变结构控制系统。当模式从快速移动伺服模式切换到精确定位伺服模式时，切换时间是精确定位模式开始的初始时间。结果，可以应用考虑初始状态值的方法初始值补偿（IVC）。我们（1996年）先前提出了IVC的设计，并展示了其在磁盘驱动器伺服控制中的有效性。本文提出了一种确定模式切换初始状态最优组合的设计方法。在此，将初始值与控制输入之间的传递函数的H / sub 2 /范数定义为模式切换后的瞬态响应的性能指标。通过将IVC方法与确定最佳开关条件的这种方法相结合，解决了模式切换的问题。几个实验结果证明了这些方法的有效性。

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