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Research Papers

Optimal Sliding Mode Dual-Stage Actuator Control in Computer Disk Drives

[+] Author and Article Information
Seung-Hi Lee

Division of Electrical and Biomedical Engineering, Hanyang University, Seoul 133-791, Koreashlee@ieee.org

J. Dyn. Sys., Meas., Control 132(4), 041003 (Jun 16, 2010) (9 pages) doi:10.1115/1.4001325 History: Received April 06, 2004; Revised January 29, 2010; Published June 16, 2010; Online June 16, 2010

This paper presents a discrete-time design of a dual-stage actuator control system with sliding mode for computer disk drives. A state estimator based discrete-time boundary layer sliding mode control scheme is developed for a dual-stage actuator, which consists of a voice coil motor and a microactuator. Considering dominant microactuator flexible mode dynamics and the interaction between the two actuators, an optimal sliding hyperplane is designed to maximize their cooperation so as to attain desired responses. An application example demonstrates the utility of the proposed sliding mode dual-stage actuator control scheme for track-seek in the microactuator range, settle, and track-follow.

Copyright © 2010 by American Society of Mechanical Engineers
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Figures

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Figure 1

Dual-stage actuator. Kv(Km) is the torque constant of VCM (MA), Jv(Jm) is the inertia of VCM (MA), lv(lm) is the length of VCM (MA), and km and bm are the stiffness and damping factors of MA, respectively.

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Figure 2

Block diagram representation of the dual-stage actuator (a and b)

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Figure 3

Dual-stage actuator control system: sampler/holder is not shown for pictorial simplicity

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Figure 4

Step responses of VCM and MA: observe the MA resonance excitation even lasting for some milliseconds

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Figure 5

Design hyperplane: optimal coefficient S21∗ leads to optimal gain Kcmv∗

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Figure 6

Dual-stage actuator with piezoeletric microactuator

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Figure 7

Frequency response curves: (a) VCM and (b) MA

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Figure 8

Reference velocity profile with linear extension

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Figure 9

Frequency response of Gcl−Gmcl. Observe J=2.64972×10−2 ensuring a very small destructive interference, which becomes even much smaller at low frequencies.

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Figure 10

Variation in VCM trajectories with Wv

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Figure 11

Variation in MA trajectories with Wm

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Figure 12

Track-seek in the microactuator range: time plane

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Figure 13

Track-seek in the microactuator range: phase plane

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Figure 14

Convergence of sliding sequences

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Figure 15

Short span seek tests

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Figure 16

Histogram of position error signal

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