A Two-Degree-Of-Freedom Time-Optimal Solution for Hard Disk Drive Servo Problems

This paper deals with the hard disk drive (HDD) servo problems. A novel discrete time-optimal control solution is proposed in a two-degree-of-freedom (2DOF) structure, employing both the feedback and feedforward controllers. The time-optimal feedback controller, derived from a simple, double integral plant model, shows remarkable robustness and disturbance rejection in the presence of resonant modes, measurement noises and position and torque disturbances. It eliminates the needs for two separate controllers for track-seeking and track-following operations. The proposed feedforward controller in this 2DOF structure proves to be quite beneficial in reducing the seek time. It also allows the feedback controller to be tuned more aggressively, which helps to improve the quality of track following. The proposed control scheme offers a novel basic control structure for HDD servo, upon which numerous further improvements can be made. It is successfully tested in simulation on an industrial 13.0-kTPI HDD

ADVANCED SENSOR FUSION AND VIBRATION CONTROL TECHNOLOGIES FOR ULTRA-HIGH DENSITY HARD DISK DRIVES

Ph.DDOCTOR OF PHILOSOPH

Advance Servo Control for Hard Disk Drive in Mobile Application

Ph.DDOCTOR OF PHILOSOPH

Robust periodic disturbance compensation via multirate control

Master'sMASTER OF ENGINEERIN

CHALLENGES OF CONTROL DESIGN FOR PRECISION SERVO SYSTEM WITH APPLICATION ON HARD DISK DRIVE

Ph.DDOCTOR OF PHILOSOPH

Randomized algorithms for control of uncertain systems with application to hand disk drives

Ph.DDOCTOR OF PHILOSOPH

Energy-Optimal Control of Over-Actuated Systems - with Application to a Hybrid Feed Drive

Over-actuated (or input-redundant) systems are characterized by the use of more actuators than the degrees of freedom to be controlled. They are widely used in modern mechanical systems to satisfy various control requirements, such as precision, motion range, fault tolerance, and energy efficiency. This thesis is particularly motivated by an over-actuated hybrid feed drive (HFD) which combines two complementary actuators with the aim to reduce energy consumption without sacrificing positioning accuracy in precision manufacturing. This work addresses the control challenges in achieving energy optimality without sacrificing control performance in so-called weakly input-redundant systems, which characterize the HFD and most other over-actuated systems used in practice. Using calculus of variations, an optimal control ratio/subspace is derived to specify the optimal relationship among the redundant actuators irrespective of external disturbances, leading to a new technique termed optimal control subspace-based (OCS) control allocation. It is shown that the optimal control ratio/subspace is non-causal; accordingly, a causal approximation is proposed and employed in energy-efficient structured controller design for the HFD. Moreover, the concept of control proxy is proposed as an accurate causal measurement of the deviation from the optimal control ratio/subspace. The proxy enables control allocation for weakly redundant systems to be converted into regulation problems, which can be tackled using standard controller design methodologies. Compared to an existing allocation technique, proxy-based control allocation is shown to dynamically allocate control efforts optimally without sacrificing control performance. The relationship between the proposed OCS control allocation and the traditional linear quadratic control approach is discussed for weakly input redundant systems. The two approaches are shown to be equivalent given perfect knowledge of disturbances; however, the OCS control allocation approach is shown to be more desirable for practical applications like the HFD, where disturbances are typically unknown. The OCS control allocation approach is validated in simulations and machining experiments on the HFD; significant reductions in control energy without sacrificing positioning accuracy are achieved.PHDMechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttps://deepblue.lib.umich.edu/bitstream/2027.42/146104/1/molong_1.pd

DISK DESIGN-SPACE EXPLORATION IN TERMS OF SYSTEM-LEVEL PERFORMANCE, POWER, AND ENERGY CONSUMPTION

To make the common case fast, most studies focus on the computation phase of applications in which most instructions are executed. However, many programs spend significant time in the I/O intensive phase due to the I/O latency. To obtain a system with more balanced phases, we require greater insight into the effects of the I/O configurations to the entire system in both performance and power dissipation domains. Due to lack of public tools with the complete picture of the entire memory hierarchy, we developed SYSim. SYSim is a complete-system simulator aiming at complete memory hierarchy studies in both performance and power consumption domains. In this dissertation, we used SYSim to investigate the system-level impacts of several disk enhancements and technology improvements to the detailed interaction in memory hierarchy during the I/O-intensive phase. The experimental results are reported in terms of both total system performance and power/energy consumption. With SYSim, we conducted the complete-system experiments and revealed intriguing behaviors including, but not limited to, the following: During the I/O intensive phase which consists of both disk reads and writes, the average system CPI tracks only average disk read response time, and not overall average disk response time, which is the widely-accepted metric in disk drive research. In disk read-dominating applications, Disk Prefetching is more important than increasing the disk RPM. On the other hand, in applications with both disk reads and writes, the disk RPM matters. The execution time can be improved to an order of magnitude by applying some disk enhancements. Using disk caching and prefetching can improve the performance by the factor of 2, and write-buffering can improve the performance by the factor of 10. Moreover, using disk caching/prefetching and the write-buffering techniques in conjunction can improve the total system performance by at least an order of magnitude. Increasing the disk RPM and the number of disks in RAID disk system also have an impressive improvement over the total system performance. However, employing such techniques requires careful consideration for trade-offs in power/energy consumption

RAID Organizations for Improved Reliability and Performance: A Not Entirely Unbiased Tutorial (1st revision)

RAID proposal advocated replacing large disks with arrays of PC disks, but as the capacity of small disks increased 100-fold in 1990s the production of large disks was discontinued. Storage dependability is increased via replication or erasure coding. Cloud storage providers store multiple copies of data obviating for need for further redundancy. Varitaions of RAID based on local recovery codes, partial MDS reduce recovery cost. NAND flash Solid State Disks - SSDs have low latency and high bandwidth, are more reliable, consume less power and have a lower TCO than Hard Disk Drives, which are more viable for hyperscalers.Comment: Submitted to ACM Computing Surveys. arXiv admin note: substantial text overlap with arXiv:2306.0876

NASA Tech Briefs, February 1997

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