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1、bly,andelectronicscard.cover,spindleandmotorassembly,actuatorassembly,disk,head/suspensionassem-AharddiskdriveasshowninFigure1.1includes?vemajorparts:baseplateand2.2Systemdescriptionanismwiththeerrorsignalastheinput.low-frequencydisturbancesaremodeledastheoutputofanadaptivenonlinearmech-
2、isproposedwhichleadstoapproximatedisturbanceandnoisemodels.Particularly,tionoftheerrorsignalmeasuredinaclosed-loopsystem.Adecouplingprocedurethepositionandthemodelingerror.hysteresis,andanoptimalmodelisobtainedbyminimizingtheenergygainbetweenmentinclosed-loop.Anoperatorbasedmodelingappro
3、achisadoptedtomodeltheThehysteresisoffrictionversusactuatorpositionisthenobtainedfromthemeasure-theconditionthattheactuatoriscontrolledtoavoidunsteadysignalmeasurement.beinvolvedinherently.Moreover,nonlinearityinducedbyfrictionismeasuredundermodel,uncertainties,especiallyduetohighfrequen
4、cyunmodeleddynamics,havetotheparametersofamodelintheformoftransferfunction.Tohaveamorerealisticators.Systemdynamicsmeasurementinthefrequencydomainisusedtodeterminechangesinthephysicalsystem.atanoperatingpoint,?ndingacontrolstrategythatisrobustandadaptabletothemanyattemptstodealwithaphysi
5、calsystem:approximatingitwithalinearmodelsystemsaremoreorlessnonlinearandmayvarywithtime.Researchershavemadephysicalsystemhastobemodeledinordertodesignacontrolsystem.PhysicalModelingplaysanimportantroleinanycontrolsystemanalysisanddesign.A2.1IntroductionVibrationModelingofDiskDriveSystem
6、andIts2Inthischapter,vibrationmodelingisbasedprimarilyonthespectraldecomposi-Thesystemmodelinginthischapterisdiscussedfromthe?rstprincipleofactu-17servoburstinformationiswrittenonthediskcompletely[53][54].Thedefectssuchguidedpush-pinmechanismtopositionthewriteheadonthedisksurfaceuntilthe
7、dedicatedservowritingequipmentexternaltothediskdrive,whichusesalaser-isembeddedineachdisksurface.Servoburstsareconventionallywrclosed-loopsystem.withtheVCMprimaryactuatorisgenerallyusedtoproduceahigherbandwidthoferrorrejectiontransferfunction.Asecondarymicroactuatoractiva
