Improved Integral Sliding Mode Controller with Phase Lead Peak Filter for Hard Disk Drives

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Abstract

An integral-type sliding mode control scheme is developed that explicitly takes into account mismatched disturbances provided their bounds are known in this study. By using an integral sliding surface, the dynamics of the sliding mode is analytically obtained which does not have any reaching phase by using the integral sliding surface. To reconstruct estimates of the system states for use in a full information sliding mode control law, an asymptotic observer is also employed and the fulfillment of sliding condition, including the case when estimated states are used, is also verified. In addition, the proposed control scheme integrated with a phase leak peak filter (PLPF) is also investigated for better rejection of disturbance of narrow-band type at mid-frequency ranges in hard disk drives (HDDs). Simulation studies on track-following in HDDs are conducted to illustrate the feasibility and effectiveness of the proposed sliding mode control. They also demonstrate that the proposed scheme provides better performance than the conventional sliding mode and PID control methods.
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带相位超前峰值滤波器的硬盘驱动器改进积分滑模控制器
提出了一种积分型滑模控制方案,该方案明确地考虑了不匹配干扰,只要它们的边界已知。利用积分滑动面,解析得到了不存在任何到达相位的滑模的动力学特性。为了重建用于全信息滑模控制律的系统状态估计,还使用了渐近观测器,并验证了滑动条件的满足,包括使用估计状态的情况。此外,为了更好地抑制硬盘驱动器(hdd)中频范围内的窄带型干扰,还研究了与漏相峰值滤波器(PLPF)集成的控制方案。通过对hdd跟踪系统的仿真研究,验证了所提滑模控制方法的可行性和有效性。结果表明,该方法比传统的滑模和PID控制方法具有更好的性能。
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