A novel robust time-optimal algorithm for servo systems with bias disturbance

Author

Huang, Yuhong ; Messner, William C.

Author_Institution

Data Storage Syst. Center, Carnegie Mellon Univ., Pittsburgh, PA, USA

Volume

34

Issue

1

fYear

1998

fDate

1/1/1998 12:00:00 AM

Firstpage

7

Lastpage

12

Abstract

This paper presents a novel robust time-optimal algorithm for servo systems with bias disturbance. The proposed method specifically minimizes the settling time of the servo positioning system by applying a constant feed-forward signal at the initial time. Unlike many other time-optimal control algorithms, additional computation is not needed once the constant optimal control signal is applied. Since the control is achieved through a constant change in the system\´s initial condition, the overall stability of the original control system is not affected by the addition of the time-optimal controller. The proposed control scheme has been implemented on a 3.5" disk drive servo system with a rotary actuator. Significant improvement in seeking time has been demonstrated by both simulation and experiments

Keywords

feedforward; magnetic disc storage; position control; robust control; servomechanisms; time optimal control; 3.5 in; bias disturbance; control system stability; disk drive; feedforward signal; positioning system; robust time-optimal algorithm; rotary actuator; servo system; settling time; Closed loop systems; Control systems; Data storage systems; Disk drives; Error correction; Feedforward systems; Integral equations; Optimal control; Robustness; Servomechanisms;

fLanguage

English

Journal_Title

Magnetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9464

Type

jour

DOI

10.1109/20.663427

Filename

663427