Track Following Control for Large Capacity Flexible Disk Drives -Disturbance Observer Design using Two Position Sensors-
Jun Ueda*, Akihiko Imagi**, Hitoshi Tamayama***, and Tsuneo Yoshikawa****
*Graduate School of Information Science, Nara Institute of Science and Technology (NAIST) Nara, 630-0192 Japan
**Advanced Technology R&D center, Mitsubishi Electric Corporation, Hyogo, 661-8661 Japan
***Koriyama Works, Mitsubishi Electric Corporation, Fukushima, 963-8872 Japan
****Department of Mechanical Engineering, Kyoto University, Kyoto 606-8501 Japan
Received:April 4, 2003Accepted:July 7, 2003Published:August 20, 2003
Keywords:servo mechanism, disk drives, positioning, observer, friction
Storage devices require highly accurate positioning performance to cope with disturbance friction force and vibration. In this paper, a novel configuration of realizing a two-degree-of-freedom (2DOF) track following controller with a disturbance observer is proposed for large capacity FDDs with backward compatibility. The controller is designed using two position sensors, one of them is used to handle low density disks. Furthermore, a new open loop design method is applied to choose the stable parameter against unmodeled dynamics. The validity of the proposed scheme has been confirmed by experiments.
Cite this article as:J. Ueda, A. Imagi, H. Tamayama, and T. Yoshikawa, “Track Following Control for Large Capacity Flexible Disk Drives -Disturbance Observer Design using Two Position Sensors-,” J. Robot. Mechatron., Vol.15 No.4, pp. 458-468, 2003.Data files:
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