Time Optimal Based DSMC with Time-varying Surface and Its Application to Hard Disk Drives

Q. Hu, Lihua Xie, Youyi Wang, C. Du
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引用次数: 1

Abstract

A time optimal based discrete-rime sliding mode control (DSMC) approach is developed in this paper. In this approach, a proximate time optimal switching curve is adopted for the time varying sliding mode design and a controller, consisting of an equivalent part and a discontinuous one, is designed such that the trajectory from any initial point is driven into a sliding region in the vicinity of the switching surface without chartering and thereafter remains inside it. By using the time-varying switching surface, one unified framework for both track seeking and track following control in hard disk drives (HDDs) is provided and the smooth transition from seeking control to track following control is achieved. In addition, a time-varying sliding region is also used instead of rime-invariant one to eliminate the chattering and overshoot and improve the tracking performance. Simulation studies in HDDs demonstrate that the proposed control scheme provides better performance during track seeking than the commonly used discrete-time proximate time-optimal servomechanism (PTOS) and sliding mode proximate time optimal servomechanism (SMPTOS). Moreover, the unified controller achieves better disturbance rejection in track-following than the SMPTOS control.
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时变曲面时间最优DSMC及其在硬盘驱动器中的应用
提出了一种基于时间最优的离散时间滑模控制方法。该方法采用近似时间最优切换曲线进行时变滑模设计,并设计了一个由等效部分和不连续部分组成的控制器,使轨迹从任意初始点被驱动进入切换曲面附近的滑动区域而不包车,此后一直留在该区域内。利用时变切换面,为硬盘驱动器的寻迹和跟踪控制提供了统一的框架,实现了寻迹控制向跟踪控制的平稳过渡。此外,采用时变滑动区域代替时不变滑动区域,消除了抖振和超调,提高了跟踪性能。在hdd系统中的仿真研究表明,该控制方案比常用的离散近似时间最优伺服机构(PTOS)和滑模近似时间最优伺服机构(SMPTOS)具有更好的寻迹性能。此外,统一控制器在轨迹跟踪方面比SMPTOS控制具有更好的抗扰性。
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