两级磁头定位系统的建模与控制-精密仪器及机械专业论文.docxVIP

摘要 摘要 摘要 随着硬盘驱动器磁道密度的不断增加，对磁头定位系统的快速性和准确性提 出了更高的要求，而两级磁头定位系统是实现更高伺服带宽和更高定位精度的一 种有效方式。由于该系统中存在复杂的柔性振动模态，对其控制设计带来了严峻 的挑战。为了简化控制设计，已有的研究通常都是基于刚性模型的，这在一定程 度上会带来模型误差，从而降低控制性能。 为此，本文提出了一种非奇异终端滑模控制方法，首先建立了柔性取数臂系 统的动力学模型，在此基础上通过输出重定义方法，将系统分解为输入输出子系 统和内部子系统，合理设计非奇异终端滑模控制器以有效地抑制柔性模态引起的 振动，从而提高磁头的定位精度和寻道速度。在此基础上，为了有效地抑制抖振， 针对输入输出子系统提出了一种三阶非奇异终端滑模控制方法，对控制信号进行 一次低通滤波，有效削弱抖振对柔性控制系统的影响。 最后利用 MATLAB/Simulink 软件进行仿真，结果表明：与已有方法相比，本 文所提方法可显著提高磁头的定位精度同时降低寻道时间。 关键词：硬盘驱动器 磁头定位 柔性振动 非奇异终端滑模控制 Abst Abstract Abstract A dual-stage actuator (DSA) system in a hard disk drive (HDD) is expected to meet the servo bandwidth requirement for higher recording density in the near future. However, because of the existence of flexible modes in the system, how to design reasonable controller is a challenge that needs to be addressed. In order to simplify the control design, existing work on the DSA track seeking control is usually based on the rigid model, which lead to large tracking errors, reduce the system performance. Therefore, this paper proposes a high-order nonsingular terminal sliding mode (NTSM) control scheme to suppress the undesirable flexible vibration, as well as to improve the head positioning speed and accuracy, firstly flexible model of the system is build, then the flexible DSA system is decomposed into an input-output subsystem and an internal subsystem, in order to design the NTSM controller. On this basis, in order to effectively suppress chattering, a three-order NTSM control method is proposed for the input-output subsystem, the control input signal is obtained by low-pass filtering to suppress chattering. Matlab/Simulink is used to get the simulation results which show that the settling time in track seeking is reduced and the tracking precision is improved with the proposed method. Keywords: Hard disk drive Head positioning servo system Flexible vibration Nonsingular terminal sliding mode (NTSM) control 目录 目录 目录 第一章 绪论 1 1.1 研究背景 1 1.2 国内外研究现状 2 1.3 论文主要工作 3 1.4