Hard Disk Drive Servo Systems, 2nd Edition (Advances in Industrial Control)

320 Pages·2006·3.47 MB·English

by  Ben M. Chen

Advances in Industrial Control
OthertitlespublishedinthisSeries:
RobustControlofDieselShipPropulsion
NikolaosXiros
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StrategiesforFeedbackLinearisation
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RobustAutonomousGuidance
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DynamicModellingofGasTurbines
GennadyG.KulikovandHaydnA.Thompson(Eds.)
ControlofFuelCellPowerSystems
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FuzzyLogic,IdentificationandPredictiveControl
JairoEspinosa,JoosVandewalleandVincentWertz
OptimalReal-timeControlofSewerNetworks
MagdaleneMarinakiandMarkosPapageorgiou
ProcessModellingforControl
BenoîtCodrons
ComputationalIntelligenceinTimeSeriesForecasting
AjoyK.PalitandDobrivojePopovic
ModellingandControlofmini-FlyingMachines
PedroCastillo,RogelioLozanoandAlejandroDzul
RudderandFinShipRollStabilization
TristanPerez
Measurement,Control,andCommunicationUsingIEEE1588
JohnEidson
PiezoelectricTransducersforVibrationControlandDamping
S.O.RezaMoheimaniandAndrewJ.Fleming
PublicationdueMarch2006
WindupinControl
PeterHippe
PublicationdueApril2006
ManufacturingSystemsControlDesign
StjepanBogdan,FrankL.Lewis,ZdenkoKovaˇci´candJoséMirelesJr.
PublicationdueMay2006
PracticalGrey-boxProcessIdentification
TorstenBohlin
PublicationdueMay2006
NonlinearH2/H∞ConstrainedFeedbackControl
MuradAbu-Khalaf,JieHuangandFrankL.Lewis
PublicationdueMay2006
Ben M. Chen, Tong H. Lee, Kemao Peng
and Venkatakrishnan Venkataramanan
Hard Disk Drive
Servo Systems
2ndEdition
With124Figures
123
BenM.Chen,PhD TongH.Lee,PhD
DepartmentofElectricalandComputer DepartmentofElectricalandComputer
Engineering Engineering
NationalUniversityofSingapore NationalUniversityofSingapore
4EngineeringDrive3 4EngineeringDrive3
Singapore117576 Singapore117576
KemaoPeng,PhD VenkatakrishnanVenkataramanan,PhD
DepartmentofElectricalandComputer MechatronicsandRecordingChannel
Engineering Division
NationalUniversityofSingapore DataStorageInstitute
4EngineeringDrive3 DSIBuilding,5EngineeringDrive1
Singapore117576 Singapore117608
BritishLibraryCataloguinginPublicationData
Harddiskdriveservosystems.-2nded.-(Advancesin
industrialcontrol)
1.Servomechanisms2.Datadiskdrives-Design3.Harddisks
(Computerscience)
I.Chen,BenM.,1963-
629.8’323
ISBN-10:1846283043
LibraryofCongressControlNumber:2006921170
AdvancesinIndustrialControlseriesISSN1430-9491
ISBN-10: 1-84628-304-32ndedition e-ISBN 1-84628-305-12ndedition Printedonacid-freepaper
ISBN-13: 978-1-84628-304-82ndedition
ISBN 1-85233-500-91stedition
©Springer-VerlagLondonLimited2006
Firstpublished2002
Secondedition2006
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AdvancesinIndustrialControl
SeriesEditors
ProfessorMichaelJ.Grimble,ProfessorofIndustrialSystemsandDirector
ProfessorMichaelA.Johnson,Professor(Emeritus)ofControlSystems
andDeputyDirector
IndustrialControlCentre
DepartmentofElectronicandElectricalEngineering
UniversityofStrathclyde
GrahamHillsBuilding
50GeorgeStreet
GlasgowG11QE
UnitedKingdom
SeriesAdvisoryBoard
ProfessorE.F.Camacho
EscuelaSuperiordeIngenieros
UniversidaddeSevilla
CaminodelosDescobrimientoss/n
41092Sevilla
Spain
ProfessorS.Engell
LehrstuhlfürAnlagensteuerungstechnik
FachbereichChemietechnik
UniversitätDortmund
44221Dortmund
Germany
ProfessorG.Goodwin
DepartmentofElectricalandComputerEngineering
TheUniversityofNewcastle
Callaghan
NSW2308
Australia
ProfessorT.J.Harris
DepartmentofChemicalEngineering
Queen’sUniversity
Kingston,Ontario
K7L3N6
Canada
ProfessorT.H.Lee
DepartmentofElectricalEngineering
NationalUniversityofSingapore
4EngineeringDrive3
Singapore117576
ProfessorEmeritusO.P.Malik
DepartmentofElectricalandComputerEngineering
UniversityofCalgary
2500,UniversityDrive,NW
Calgary
Alberta
T2N1N4
Canada
ProfessorK.-F.Man
ElectronicEngineeringDepartment
CityUniversityofHongKong
TatCheeAvenue
Kowloon
HongKong
ProfessorG.Olsson
DepartmentofIndustrialElectricalEngineeringandAutomation
LundInstituteofTechnology
Box118
S-22100Lund
Sweden
ProfessorA.Ray
PennsylvaniaStateUniversity
DepartmentofMechanicalEngineering
0329ReberBuilding
UniversityPark
PA16802
USA
ProfessorD.E.Seborg
ChemicalEngineering
3335EngineeringII
UniversityofCaliforniaSantaBarbara
SantaBarbara
CA93106
USA
DoctorK.K.Tan
DepartmentofElectricalEngineering
NationalUniversityofSingapore
4EngineeringDrive3
Singapore117576
DoctorI.Yamamoto
TechnicalHeadquarters
NagasakiResearch&DevelopmentCenter
MitsubishiHeavyIndustriesLtd
5-717-1,Fukahori-Machi
Nagasaki851-0392
Japan
To our families
Series Editors’ Foreword
The series Advances in Industrial Control aims to report and encourage technology
transfer in control engineering. The rapid development of control technology has
an impact on all areas of the control discipline. New theory, new controllers,
actuators, sensors, new industrial processes, computer methods, new applications,
new philosophies(cid:125), new challenges. Much of this development work resides in
industrial reports, feasibility study papers and the reports of advanced collaborative
projects. The series offers an opportunity for researchers to present an extended
exposition of such new work in all aspects of industrial control for wider and rapid
dissemination.
Hard disk drive systems are ubiquitous in today’s computer systems and the
technology is still evolving. There is a review of hard disk drive technology and
construction in the early pages of this monograph that looks at the characteristics
of the disks and there it can be read that: “bit density… continues to increase at an
amazing rate”, “spindle speed… the move to faster and faster spindle speeds
continue”, “form factors… the trend…is downward… to smaller and smaller
drives”, “performance… factors are improving”, “redundant arrays of inexpensive
disks… becoming increasingly common, and is now seen in consumer desktop
machines”, “reliability… is improving slowly… it is very hard to improve the
reliability of a product when it is changing rapidly” and finally “interfaces…
continue to create new and improved standards… to match the increase in
performance of the hard disks themselves”. To match this forward drive in
technology, control techniques need to progress too and that is the main reason
why Professor Chen and his co-authors T.H. Lee, K. Peng and V. Venkataramanan
have produced this second edition of their well-received Advances in Industrial
Control monograph Hard Disk Drive Servo Systems.
The monograph opens with two chapters that create the historical context and
the system modelling framework for hard disk drive systems. These chapters are
followed by the control and applications content of the monograph. Hard disk drive
systems are beset by nonlinear effects arising from friction, high-frequency
mechanical resonances and actuator saturation so any control methods used have to
be able to deal with these physical problems. Furthermore, there are two
operational modes to contend with: track seeking and track following each with
x Series Editors’ Foreword
different performance specifications. The type of control solution proposed by
Professor Chen and his co-authors emerges from the interplay between the desire
to mitigate the nonlinear effects and yet find a control strategy to unify the control
of the two operational modes. To reveal the strategy developed in this Foreword
would be like prematurely revealing the ending of a fascinating mystery story.
The monograph also has other valuable features: Chapter 3 contains succinct
presentations of five different control methods with formulas given for both
continuous and discrete forms. Two chapters on nonlinear control follow that
covering linear control techniques. These chapters review classical time-optimal
control and introduce the relatively new composite nonlinear feedback (CNF)
control method. Again, presentations are given in both the continuous-time and
discrete-time domains for completeness.
The second part of the monograph comprises five applications studies
presented over five chapters. Whilst the first three of these chapters test out the
control methods discussed in earlier chapters, the last two chapters introduce new
applications hardware into the hard disk drive servo system problem: microdrive
systems and piezoelectric actuators; nonlinear system effects are prominent in
these new hardware systems.
Overall, it is an excellent monograph that exemplifies the topicality of control
engineering problems today. Many lecturers will find invaluable material within
this monograph with which to enthuse and motivate a new generation of control
engineering students. Right at the end of this monograph, Professor Chen and his
co-authors have extracted a benchmark control design problem for a typical hard
disk drive system. The authors present their solution and “invite interested readers
to challenge our design”, so happy reading and computing!
M.J. Grimble and M.A. Johnson
Industrial Control Centre
Glasgow, Scotland, U.K.