2012 METU Lecture 5 Control of Smart Systems - Department of ...

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Hard Disc Drive Description • The plates are manufactured to amazing tolerances and are mirrorsmooth and typically spin at 3,600 or 7,200 rpm when the drive is operating. • The light and fast-moving arm holds the read/write heads and is controlled by the voice-coil actuator. The arm is able to move the heads from the hub to the edge of the drive and can do this, back and forth, up to 50 times per second. • In order to keep the magnetic head as close to the disk surface as possible, a self-pressurized air-bearing design is used for the sliders. 68
Design Challenges • To design each of the four main components of the disk drive servo system – plant dynamics, sensors, actuators, and control algorithms – and to reduce the effect of mechanical disturbances to the drive. • Disturbances arise from many sources: external shocks and vibrations, mechanical imperfections in the bearings of the disk spindle, disk vibrations, turbulent flow over the actuator due to air currents generated by the rapidly spinning disks, and the occasional contact between the slider and the disk. • Plant dynamics which affect servo performance are mechanical resonances in the suspension (the leaf spring that holds the head against the disk), the actuator arm, the pivot bearing, and the voice coil. 69
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• • • • • • Lecture 1:
Page 3 and 4:
Control Technologies for Smart Syst
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Control Systems Overview Definition
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Control Systems Overview Root locus
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Control System Technology • • M
Page 11 and 12:
Open Loop System • • Reference
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Open Loop System Reference Input
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Error Detector Closed Loop System R
Page 17 and 18: Closed Loop System Sensor The outpu
Page 19 and 20: Closed Loop System The expression S
Page 21 and 22: Elements of Control Systems Respons
Page 29 and 30: Controller Operation Controller pro
Page 31 and 32: Compensated Controllers • Compens
Page 33 and 34: PID Controllers • The PID control
Page 35 and 36: PID Controllers u(t) + P + e(t) +
Page 37 and 38: PID Controllers - Limitations • W
Page 39 and 40: PID Controllers - Limitations & Sol
Page 41 and 42: Design of Control Systems - Process
Page 43 and 44: Design of Control Systems - Digital
Page 45 and 46: Design of Control Systems - Digital
Page 47 and 48: Algorithm Implementation Considerat
Page 49 and 50: Algorithm Implementation Considerat
Page 51 and 52: Control System Hardware Implementat
Page 63 and 64: Hard Disc Drive Description • Dis
Page 66 and 67: Hard Disc Drive Description • In
Page 70 and 71: Design Challenges • The pivot bea
Page 72 and 73: Computer Hard Disc Drive - Transfer
Page 74 and 75: Active Suspension Systems - Introdu
Page 76 and 77: Suspension Systems - Safety and Sta
Page 78 and 79: Suspension Systems - Currently Avai
Page 80 and 81: Suspension Systems - Operating Scen
Page 82 and 83: Suspension Systems - Bose System
Page 84 and 85: Active Suspension Systems Bose Acti
Page 86 and 87: Resources Feedback Control of Dynam
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2012 METU Lecture 5 Control of Smart Systems - Department of ...

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