Adaptive cancellation of self-induced vibration

A method to cancel self-induced vibrations of a HDD using an adaptive method is presented. Self-induced vibrations are excited by seek motions of the HDD, but they are amplified by internal and/or external mechanical modes of the HDD. The vibration effects are cancelled by adding a vibration model in the servo loop. Since the vibration gain and frequency vary, an adaptive technique is developed to adjust the model in real-time to ensure robustness. Experimental results show reasonable convergence speed and good suppression of the vibration effects.