Digital redesign and multi-rate control for motion control - a general approach and application to hard disk drive servo system

被引：13
|
作者：
Gu, YP [1 ]
Tomizuka, M [1 ]
机构：
[1] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
来源：
6TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS | 2000年
关键词：
digital redesign; multi-rate control; digital control;
D O I：
10.1109/AMC.2000.862867
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper is concerned with the digital redesign of continuous time controllers for motion control. Multi-rate digital control with a high order hold is utilized to better approximate the continuous time controller when the measurement sampling rate is relatively low. The proposed approach is illustrated for track following control of a hard disk drive (HDD) servo system. The HDD controller is first designed in the continuous time domain based on LQG/LTR method. It is redesigned as a single rate digital controller as well as multi-rate digital controllers with different holds. The redesigned controllers are evaluated by simulation, and the advantage of multirate control is demonstrated.
引用
收藏
页码：246 / 251
页数：6
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