IMPROVED CHATTER REDUCTION IN SLIDING MODE CONTROL OF DISK DRIVE ACTUATOR

摘要

PROBLEM TO BE SOLVED: To provide a sliding mode controller for controlling a read/write head actuator in a magnetic disk drive storage system.;SOLUTION: In the sliding mode controller, a voice coil motor connected to the actuator operates to adjust the position of the read/write head over a selected data track recorded on a magnetic medium. The sliding mode controller comprises an improved method for reducing chattering associated with the inherent operation of such a controller, for example, rapid switching between gains to force the observable phase states to follow a predetermined phase state trajectory. The sliding mode controller generates a motor control command by multiplying an actuator position error and an actuator position error velocity by respective switching gains. The gains are switched according to a predetermined relationship σ between the phase states and a phase state trajectory.;COPYRIGHT: (C)2007,JPO&INPIT