Dynamic magnetic information storage or retrieval – Automatic control of a recorder mechanism – Controlling the head
Reexamination Certificate
2005-08-30
2005-08-30
Hudspeth, David (Department: 2651)
Dynamic magnetic information storage or retrieval
Automatic control of a recorder mechanism
Controlling the head
C360S078090, C360S077020, C318S561000
Reexamination Certificate
active
06937430
ABSTRACT:
Friction existing between any two surfaces having relative motion is nonlinear, multiform, and is difficult to model. Nonlinear friction in the actuator pivot of a hard disk drive (HDD) limits the low frequency gain, which prevents the system positioning accuracy from further improvement. This problem is much more pronounced for the severe nonlinearity at the micrometer level. The conventional two-mode proximate time optimal servomechanism (PTOS) is inadequate for immediate future hard disk drives because of the existence of restrictions in the particular design approach. A triple-mode control scheme, and its variations, as presented herein, include (a) a proximate time-optimal controller (PTOC) having a relatively large output is used for track seeking, (b) a robust compensator having a relatively small output is used for track following to compensate for friction and other nonlinearities, and (c) a bridging (connection) control to guarantee the continuity of the control signals. Because of the introduction of an extra mode, additional freedoms for controler design are made available for improved performance. The robust compensator is non-model based in the sense that it does not depend on the models of friction and other nonlinearities. This makes the invention simpler and more practical than conventional systems.
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Ge Shuzhi
Huang Chun-Hung Tony
Lee Tong Heng
Lou Yaolong
Low Teck Seng
Davidson Dan I
Hudspeth David
National University of Singapore
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