Resonance and Friction Compensations in a Micro Hard Drive

摘要

This paper presents dynamic compensations in a micro hard drive. It reviews dynamic models of the drive in low-and high-frequency regions. The nonlinear friction compensation for low-frequency dynamic is achieved via a fuzzy logic controller. Forward and backward micro-step motion of the read/write head can be nicely performed. Resonance compensation for high-frequency dynamic is achieved via linear compensation. The paper presents some comparison studies of using a cascaded lead compensator, a complex lead-lag compensator, and a searched polynomial compensator. The compensated system's performance is enhanced further by stable nonlinear control. Detailed descriptions of modelling, design, simulation results, and analysis can be found in the paper.