Adaptive Feedforward Rejection of Microactuator Resonance in Hard Disk Drive Dual-stage Actuator Servo

하드디스크 드라이브 마이크로 구동기의 공진 영향 제거를 위한 적응 피드포워드 제어

We propose a novel adaptive feed forward controller (AFC) design method for rejecting the effect of micro actuator resonance in the design of dual-stage actuator servo systems for disk drives. Microactuator's resonance is one of important issues in dual-stage actuator servo, which varies up to ${\pm}10%$ per product and even during operation. We derive an adaptive algorithm for the proposed AFC design, which turns out to be identical to the delayed-x LMS algorithm which is a special form of the filtered-x LMS algorithm. In the algorithm, coefficients of the AFC are adapted by the residuals of constrained structure defined in such a way that the coefficients become time invariant. Contrary to the conventional AFC, it considers the phase delay of closed-loop transfer function at resonance frequency for system stability. We also apply an adaptive algorithm with frequency tracking capability. The frequency tracking algorithm is induced by the orthogonality of AFC coefficients. Computer simulations are carried out to demonstrate effect of the proposed AFCs.