2003 Fiscal Year Final Research Report Summary

Study on Design and Control of a Head Positioning Mechanism for High Servo Band Width

Research Project

Project/Area Number	14550211
Research Category	Grant-in-Aid for Scientific Research (C)
Allocation Type	Single-year Grants
Section	一般
Research Field	Dynamics/Control
Research Institution	Tokyo Institute of Technology
Principal Investigator	YAMAURA Hiroshi Tokyo Institute of Technology, Graduate School of Science and Engineering, Associate Professor, 大学院・理工学研究科, 助教授 (80210326)
Project Period (FY)	2002 – 2003
Keywords	Positioning Mechanism / Tracking Control / Servo bandwidth / H^∞ Control / In-phase Vibration Mode
Research Abstract	(a)Design of High Resonance Positioning Mechanism High resonance positioning mechanism based on the in-phase vibration mode concept has been proposed in this study. Prototype of proposed positioning mechanism was manufactured and its characteristics were investigated experimentally. The lowest vibration mode of the prototype was in-phase and its natural frequency was larger than 8.5kHz. (b)Control of Proposed positioning Mechanism Some types of H^∞ controller have been designed for simple models of a positioning mechanism. Effects of magnitude of residue and natural frequency of the second vibration mode on the servo bandwidth have been investigated using these models. Conditions for high control servo bandwidth are discussed. Considering the conditions, a H^∞ controller has been designed for the proposed positioning mechanism. It was shown by simulation that the servo bandwidth of the head positioning system is about 4kHz.