Development of a visualized method for robust integrated design of mechanical and control systems and its application to next-generation HDDs

• Project/Area Number: 18K04210
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 21040:Control and system engineering-related
• Research Institution: Chiba Institute of Technology
• Principal Investigator: Atsumi Takenori 千葉工業大学, 工学部, 教授 (70772052)
• Project Period (FY): 2018-04-01 – 2023-03-31
• Project Status: Discontinued (Fiscal Year 2022)
• Budget Amount: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000); Fiscal Year 2022: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000); Fiscal Year 2021: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000); Fiscal Year 2020: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000); Fiscal Year 2019: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000); Fiscal Year 2018: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
• Keywords: メカトロニクス / 制御系設計 / 機構系設計 / すり合わせ / ハードディスクドライブ / ロバスト制御 / 機構・制御系のすり合わせ / 外乱推定 / データマイニング

Outline of Final Research Achievements

In this research, we developed an integrated design of mechanical and control systems. This method provides step-by-step guides for using a visualized tool that can account for structured uncertainties of controlled objects. As a result, mechanical and control engineers can exchange views on mechatronic systems design.
Afterward, we applied the proposed method to the magnetic head positioning control system of hard disk drives (HDD) and elucidated the mandatory items in mechanical and control systems for the next-generation HDDs that will support future highly information-oriented societies.

Academic Significance and Societal Importance of the Research Achievements

研究成果の学術的意義：メカトロニクス技術にとって極めて重要となる，機構系と制御系を統合的に設計する手法を，可視化された理解しやすい手法として実現した．また，その手法を，多入力系となる制御対象に対しても適用可能とする手法を実現した．
研究成果の社会的意義：次世代ＨＤＤに必要な機構系および制御系の条件を明らかにし，高度情報化社会の発展の一助となる知見となった．また，開発された手法を用いることにより，マルチコプタなどの多入力系の制御対象となるメカトロニクス装置に対しても，簡易に制御性能を向上することが可能となった．

Research Products

• [Journal Article] Compensation for Fan-Induced Disturbance in Storage Box for Hard Disk Drive (2022)
  • Author(s): 熱海武憲, 藪井将太
  • Journal Title: IEEJ Transactions on Industry Applications Volume: 142 Issue: 4 Pages: 330-341
  • DOI: 10.1541/ieejias.142.330
  • ISSN: 0913-6339, 1348-8163
  • Year and Date: 2022-04-01
  • Peer Reviewed
• [Journal Article] Improving methodology for multi-input-single-output control system using the Robust Bode plot (2021)
  • Author(s): Hayato Kato and Takenori Atsumi
  • Journal Title: Journal of Advanced Mechanical Design, Systems, and Manufacturing Volume: Vol. 14, No. 4, No. 20-00058 Issue: 4 Pages: JAMDSM0053-JAMDSM0053
  • DOI: 10.1299/jamdsm.2020jamdsm0053
  • NAID: 130007833215
  • Peer Reviewed / Open Access
• [Journal Article] Quadruple-Stage Actuator System for Magnetic-Head Positioning System in HDDs (2020)
  • Author(s): Takenori Atsumi and Shota Yabui
  • Journal Title: The IEEE Transactions on Industrial Electronics Volume: Vol. 67, No. 11 Issue: 11 Pages: 9184-9194
  • DOI: 10.1109/tie.2019.2955432
  • Peer Reviewed
• [Journal Article] Magnetic-head positioning control of HDDs with improved <i>H</i>_∞ controller by Robust Controller Bode (RCBode) plot (2018)
  • Author(s): Jun Ito, and Takenori Atsumi
  • Journal Title: Journal of Advanced Mechanical Design, Systems, and Manufacturing Volume: 12 Issue: 7 Pages: JAMDSM0124-JAMDSM0124
  • DOI: 10.1299/jamdsm.2018jamdsm0124
  • NAID: 130007510554
  • ISSN: 1881-3054
  • Peer Reviewed / Open Access
• [Presentation] Loop-Shaping Technique for Quadruple-Stage-Actuator System in Hard Disk Drive (2022)
  • Author(s): Takenori Atsumi and Shota Yabui
  • Organizer: The 2022 International Power Electronics Conference
  • Int'l Joint Research / Invited
• [Presentation] A Design Method for 2DOF Control System in Inverted Pendulum Robots Using Neural Networks (2021)
  • Author(s): Ryohei Sato, Miyu Hirose, and Takenori Atsumi
  • Organizer: The 8th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization
  • Int'l Joint Research
• [Presentation] Control System Improvement for Robot Arm with Readymade Servo Motors Using RCBode plot (2021)
  • Author(s): Taiki Okada and Takenori Atsumi
  • Organizer: The 8th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization
  • Int'l Joint Research
• [Presentation] Track-Following Control Using Resonant Filter for Dual-Stage-Actuator System in Hard Disk Drives (2021)
  • Author(s): Takenori Atsumi and Shota Yabui
  • Organizer: The 17th IEEE International Workshop on Advanced Motion Control
  • Int'l Joint Research
• [Presentation] RBode Plotを用いた放水マルチコプターの目標軌道追従性能の改善 (2021)
  • Author(s): 吉村隆一郎，熱海武憲，中代重幸
  • Organizer: 第64回自動制御連合講演会
• [Presentation] 2自由度制御型ノイズキャンセリングヘッドフォンにおける風切り音の影響 (2021)
  • Author(s): 金井星士，熱海武憲，中代重幸
  • Organizer: 第64回自動制御連合講演会
• [Presentation] ニューラルネットワークを用いた倒立振子ロボットの２自由度制御系設計 (2021)
  • Author(s): 佐藤燎平，熱海武憲，中代重幸
  • Organizer: 電気学会メカトロニクス制御研究会
• [Presentation] RCBode Plotを用いた描画ロボットの位置決め制御性能向上 (2021)
  • Author(s): 岡田泰毅，熱海武憲，中代重幸
  • Organizer: 電気学会メカトロニクス制御研究会
• [Presentation] RCBode plotを用いたクワッドコプターの高速移動時における目標軌道追従性能の改善 (2021)
  • Author(s): 竹田一裕，五十嵐一穂，熱海武憲，中代 重幸
  • Organizer: 第64回自動制御連合講演会
• [Presentation] Improved Positioning Accuracy of the Multicopter for Vertically Applied Wind Disturbances (2020)
  • Author(s): Keitaro Oriuchi, Ryota Seki, Ryu Obayashi, Hayato Kato, Takenori Atsumi, and Shigeyuki Nakadai
  • Organizer: The 7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization
  • Int'l Joint Research
• [Presentation] Improvement of Wind-Induced Tracking Error in Horizontal Direction for a Multicopter (2020)
  • Author(s): Ryota Seki, Keitaro Oriuchi, Ryu Obayashi, Hayato Kato, Takenori Atsumi, and Shigeyuki Nakadai
  • Organizer: The 7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization
  • Int'l Joint Research
• [Presentation] Feedforward Control for Track Seeking Control in Hard Disk Drive with Sampled-Data Polynomial Based on Causal First-Order Hold (2020)
  • Author(s): Kazuho Igarashi, Ryo Igarashi, Takenori Atsumi, and Shigeyuki Nakadai
  • Organizer: The 7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization
  • Int'l Joint Research
• [Presentation] Discrimination of Magnetic Attraction Reduced Area Using a Disturbance Observer for Crawler Robots (2020)
  • Author(s): Natsuki Kageyama, Takeshi Nishimura, Takahiro Itoh, Takenori Atsumi, and Shigeyuki Nakadai
  • Organizer: The 7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization
  • Int'l Joint Research
• [Presentation] Detection of Reduced Magnetic Attraction Force Using a Disturbance Observer for Crawler Robots (2020)
  • Author(s): Natsuki Kageyama, Takeshi Nishimura, Takahiro Itoh, Takenori Atsumi, and Shigeyuki Nakadai
  • Organizer: The 2021 IEEE International Conference on Mechatronics
  • Int'l Joint Research
• [Presentation] Feedforward Control for Track-Seeking Control in Hard Disk Drive with Sampled-Data Polynomial Based on First-Order Hold (2020)
  • Author(s): Kazuho Igarashi, Ryo Igarashi, Takenori Atsumi, and Shigeyuki Nakadai
  • Organizer: The 2021 IEEE International Conference on Mechatronics
  • Int'l Joint Research
• [Presentation] Performance Comparison between Triple-stage Actuator Systems in HDDs (2020)
  • Author(s): Takenori Atsumi and Shota Yabui
  • Organizer: The 21st IFAC World Congress 2020
  • Int'l Joint Research
• [Presentation] 上下方向に加わる風邪外乱に対するマルチコプターの位置決め精度向上 (2020)
  • Author(s): 織内奎太朗, 大林龍，関亮太，加藤勇人，熱海武憲，中代重幸
  • Organizer: 電気学会メカトロニクス制御研究会
• [Presentation] 水平方向に加わる風邪外乱に対するマルチコプターの位置決め精度向上 (2020)
  • Author(s): 関亮太，大林龍，加藤勇人，織内奎太朗, 熱海武憲，中代重幸
  • Organizer: 電気学会メカトロニクス制御研究会
• [Presentation] 磁石付きクローラ型ロボットにおける外乱オブザーバに基づく磁気吸着力検出 (2020)
  • Author(s): 影山夏樹，伊藤崇浩，西村健志，熱海武憲，中代重幸
  • Organizer: 電気学会メカトロニクス制御研究会
• [Presentation] HDDシーク制御における1次ホールドに基づくサンプル値多項式を用いたフィードフォワード制御 (2020)
  • Author(s): 五十嵐一穂, 熱海武憲，中代重幸
  • Organizer: 電気学会メカトロニクス制御研究会
• [Presentation] Improving Methodology for Dual-Stage-Actuator System in HDDs Using the RBode Plot (2020)
  • Author(s): Takenori Atsumi
  • Organizer: 第63回自動制御連合講演会
• [Presentation] 磁石付きクローラを有する6クローラ型ロボットの外乱オブザーバに基づく磁気吸着力検出 (2020)
  • Author(s): 伊藤崇浩, 西村健志, 影山 夏樹, 熱海武憲, 中代重幸
  • Organizer: 日本機械学会２０２０年度年次大会
• [Presentation] RBode plotを用いた風影響下におけるマルチコプターの目標軌道追従性能の改善法 (2020)
  • Author(s): 大林龍, 関亮太, 加藤勇人, 辻翔平, 熱海武憲, 中代重幸
  • Organizer: 日本機械学会２０２０年度年次大会
• [Presentation] Improving Methodology by Using RCBode Plot for Triple-Stage-Actuator System in HDDs (2019)
  • Author(s): Hayato Kato and Takenori Atsumi
  • Organizer: The 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON 2020)
  • Int'l Joint Research
• [Presentation] Study of Flow-Induced Tracking Error Caused by Passing Multicopters (2019)
  • Author(s): Toshiki Kawahira and Takenori Atsumi
  • Organizer: The 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON 2020)
  • Int'l Joint Research
• [Presentation] Control System Improvement for Triple-Stage-Actuator System of Hard Disk Drive Using the RBode Plot (2019)
  • Author(s): Hayato Kato and Takenori Atsumi
  • Organizer: The 45th Annual Conference of the IEEE Industrial Electronics Society
  • Int'l Joint Research
• [Presentation] RBode Plotを使用したHDD三段アクチュエータシステムの制御系設計 (2019)
  • Author(s): 加藤勇人, 熱海武憲
  • Organizer: 電気学会メカトロニクス制御研究会
• [Presentation] 熱膨張アクチュエータにおける周波数領域の解析 (2019)
  • Author(s): 佐野仁亮，熱海武憲，中代重幸
  • Organizer: 電気学会メカトロニクス制御研究会
• [Presentation] すれ違う2機のクアッドコプターにおける流体関連振動の解析 (2019)
  • Author(s): 川平星輝, 熱海武憲
  • Organizer: 電気学会メカトロニクス制御研究会
• [Presentation] Data-driven Optimization Method for Controller Parameters Using Support Vector Machine (2019)
  • Author(s): Toshiki Saito, Ryo Kikuchi, and Takenori Atsumi
  • Organizer: The 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization
  • Int'l Joint Research
• [Presentation] Estimation of Wind Disturbance for Quadcopter in Square Tube (2019)
  • Author(s): Yoshiyuki Otsuji and Takenori Atsumi
  • Organizer: The 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization
  • Int'l Joint Research
• [Presentation] Optimization Method for Controller Parameters Using Support Vector Machine (2019)
  • Author(s): Toshiki Saito, Ryo Kikuchi, and Takenori Atsumi
  • Organizer: The 20th IEEE International Conference on Industrial Technology
  • Int'l Joint Research
• [Presentation] Estimation of Wind Disturbance for Quadcopter in Closed Space (2019)
  • Author(s): Yoshiyuki Otsuji and Takenori Atsumi
  • Organizer: The 20th IEEE International Conference on Industrial Technology
  • Int'l Joint Research
• [Presentation] ＨＤＤ三段アクチュエータシステムにおけるRBode plotを用いた制御系設計法 (2019)
  • Author(s): 加藤勇人，熱海武憲
  • Organizer: 日本機械学会IIP2019 情報・知能・精密機器部門講演会