基于Youla参数化的自适应循迹伺服控制器设计

Youla Parameterized Adaptive Tracking Servo Controller Design

研究伺服控制器性能优化问题,新型存储系统中数据信息点的密度越来越高,盘片的转速越来越快,现有的PID的循迹伺服控制器已无法满足超高密度存储系统纳米级的循迹精度。由于制造工艺导致的盘片偏心会对循迹误差信号产生周期性的扰动,随着盘片转速的提高,周期扰动会降低激光光头循迹的性能。为了有效地抑制该干扰,达到纳米级的循迹精度,提出了利用Youla全局收敛的自适应循迹伺服控制方法,通过对Youla参数权重函数的优化,提高了控制系统的伺服性能。通过在Matlab/Simulink上进行仿真,验证了自适应控制器具有较强的鲁棒性和抗干扰性,能显著有效地抑制外部各类干扰信号。

In the next generation data storage systems, higher data transfer rate and higher data density make it difficult to maintain the desired tracking precision during normal disk operation based on the traditional PID control- ler. In addition, the eccentricity of disk will cause periodic disturbances on the TE （ tracking errors） signal. With the increase of rotating speed, the effect of periodic disturbances consequently degrades the performance of tracking servo system. This paper proposed a method using a Youla parameterized adaptive regulation approach to maintain the tracking error below its desired value despite the unknown track eccentricity. The performance of the proposed control approach was analyzed and simulation results were presented to illustrate the capability of the proposed adaptive regu- lator to achieve and maintain the desired tracking precision.