High speed positioning trajectory design for TDOF controller of hard disk drives with mechanical vibration

Abstract

In this paper, we propose a novel design method of target trajectory for high-speed and high-precision head-positioning of hard disk drive system. To realize smooth acceleration and deceleration, the derivative of jerk is considered not to activate any mechanical vibrations. We applied the well-known optimal control theory to fix the initial and terminal conditions. Moreover, we showed that various performance can be improved by introducing time varying weighting coefficients. Some experimental results using a 2.5 inch hard disk drive are shown to verify the effectiveness of the proposed method.