基于Kalman滤波的滑模控制在磁盘驱动系统中的应用

Application of Sliding Mode Control in Disk Drive System Based on the Kalman Filter

针对磁盘驱动伺服系统中存在的诸多随机干扰和随机噪声等特点,常规的PID控制在该类系统中存在滞后或超调,以及传统的滑模控制要求系统不确定因素的边界为已知等缺点,本文提出了基于Kalman滤波算法的指数趋近律滑模变结构控制方法,以指数趋近律作为到达条件设计滑模变结构控制器。该方法能够较好地处理磁盘驱动伺服系统中的不确定性问题,而且对外界干扰不敏感。在MAT-LAB环境下对该算法进行了仿真试验研究,结果表明,该方法能够很好地削弱抖振和抑制伺服系统的随机干扰。将该方法应用于磁盘驱动伺服系统可以显著地改善系统的动态特性,并能使系统的稳定性和控制精度大大提高。

According to the random disturbance and noise in disk drive servo system and the traditional PID control has the disadvantages of lag or overshoot, and the traditional sliding mode control has the faults that ask for system uncertainty factors to be known. Then, this paper proposes the exponential approach law sliding mode control method based on the Kalman filter. The method of designing a sliding mode controller based on the reaching condition of the exponential approach law can handle the uncertainty problems in disk drive servo system better, and it is not sensitive to the external disturbances. The simulation experiment of this algorithm is processed based on the MATLAB environment. The simulation results show that this algorithm can weaken the vibration and suppress the random disturbance. This method can be used in the disk drive servo system to significantly improve the dynamic performance as well as it can enhance the stability and control accuracy of the system.