COMMUTATIONAL RAMP LOAD CONTROL USING A CONVENTIONAL DISC DRIVE ACTUATOR
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The research investigates the feasibility of a ramp load/unload (L/UL) controller using a conventional, non-L/UL disc drive actuator. Therefore, disc drives with lower cost, higher torque actuators can realize the shock resistance benefits of ramp loading. A disc drive designed with a conventional actuator is outfitted with a ramp and optimized for L/UL operation. While on the ramp, there exists a set in the state space where the actuator dynamics are uncontrollable. Additionally, there exists two equilibrium points which are functions of the input saturation level. State trajectories are generated that, when tracked, move the actuator through the uncontrollable set and equilibrium points for a successful load onto the disc at the desired load velocity. A trajectory generation methodology is proposed to produce the required state reference trajectories. A continuous, state-feedback controller with varying gains is designed for tracking. A unique disc drive is manufactured that contains both a conventional actuator and ramp load capability. Experiments are conducted to verify the design and modeling results. Copyright © 2005 IFAC.
author list (cited authors)
Ratliff, R., & Pagilla, P.