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博碩士論文 etd-0723102-161611 詳細資訊
Title page for etd-0723102-161611
論文名稱
Title
光碟機聚焦/尋軌之H∞迴路成形控制器設計
H∞ Loop-shaping design for Focusing/Seeking controllers of Optical disk drives
系所名稱
Department
畢業學年期
Year, semester
語文別
Language
學位類別
Degree
頁數
Number of pages
99
研究生
Author
指導教授
Advisor
召集委員
Convenor
口試委員
Advisory Committee
口試日期
Date of Exam
2002-07-15
繳交日期
Date of Submission
2002-07-23
關鍵字
Keywords
光碟機、尋軌伺服、聚焦伺服、H∞迴路成形控制、雙致動器
seeking servo, dual-actuator, H∞ loop-shaping control, focusing servo, CD-drives
統計
Statistics
本論文已被瀏覽 5739 次,被下載 5516
The thesis/dissertation has been browsed 5739 times, has been downloaded 5516 times.
中文摘要
本論文提出利用H∞迴路成型方法設計光碟機伺服系統之結果。光碟機光學頭是利用滑車與音圈馬達組合成的雙輸入單輸出形式(DISO)致動器所驅動,屬於多輸入多輸出(MIMO)系統的子集,因此MIMO系統所應用的控制器設計方法如H2、H∞或μ分析法等,也能使用在光碟機伺服系統控制器的設計上,但為了在控制器設計過程中引入直觀概念,並且注重到系統穩定性的與干擾拒斥問題,本文利用H∞迴路成型方法配合不同架構設計之,其中聚焦伺服為單位回授;定軌伺服為主從式架構;尋軌伺服則是並聯式架構。其特點在於H∞迴路成型設計可得到一最大穩定邊限指標,同時解得系統在此擾動下仍能維持穩定的控制器。在論文的最後,以電腦模擬測試設計之結果顯示,經此方法所設計的控制器能有效地抑制光學頭因碟片失圓(run-out)所引起的震動干擾,同時還具有良好的時態響應性能。
Abstract
This paper presents the results of servo designs for optical disk drives which consist of a dual-input/single-output (DISO) actuator; both a sledge actuator and a voice coil motor contribute to a radial movement of the spot on the disk. DISO systems are subset of multi-input/multi-output (MIMO) systems and thus the servo engineer can apply the design methods developed for MIMO controller design to the DISO compensator problems. These techniques include H2 , H∞ and μ-synthesis. However, in order to obtain insights into the controller elements, in this study we prefer the H∞ loop-shaping approach. Here, the focus is on stability and disturbance rejection. The method is presented for a master-slave control scheme in tracking servo, a parallel scheme in seeking servo, and a unit-feedback scheme in focusing servo. The maximum stability margin can be obtained in H∞ loop-shaping algorithm. Furthermore, a robust controller guarantees to stabilize it would be carried out. Finally, computer simulation results are provided to show that the shaking disturbance due to the run-out of disk can be significantly attenuated and a good tracking performance can be achieved by the developed controller.
目次 Table of Contents
目錄 ……………………………………………………………… i
圖表索引 ………………………………………………………… iii
論文摘要(中文) ………………………………………………… vi
論文摘要(英文) .………………………………………………… vii
符號表 …………………………………………………………… viii
第一章 緒論 ………………………………………………………1
1-1背景說明 ……………………………………………1
1-2 文獻回顧 ……………………………………………1
1-3 研究動機 ……………………………………………3
1-4 內容摘要 ……………………………………………4
第二章 光碟機系統原理 …………………………………………5
2-1光碟格式定義 ………………………………………5
2-2光碟機伺服系統 ……………………………………7
a.讀取頭雷射功率控制單元(APC)………………8
b.主軸馬達轉速伺服(Spindle Servo)…………8
c.拖盤進/退片單元(Tray load/unload unit)…9
d.聚焦伺服(Focusing Servo) …………………9
e.定軌伺服(Tracking Servo) …………………11
f.尋軌伺服(Seeking servo)……………………13
2-3 光碟機伺服系統的性能要求 ………………………15
第三章H∞迴路成型控制理論介紹 ………………………………25
3-1開路函數與系統性能之關係 ………………………25
3-2 H∞迴路成型法 ………………………………………30
3-2-1 正交化左互質因子分解擾動系統的強韌穩定問題 ……………………………30
3-2-2 H∞迴路成型控制器求解 …………………… 32
3-3 H∞迴路成型控制器設計過程 …………………… 34
3-4退化現像 ……………………………………………36
3-5 H∞迴路成型與傳統迴路成型之差別 ………………37
第四章 聚焦、定軌與尋軌機構之鑑別 …………………………39
4-1聚焦機構鑑別 ………………………………………39
4-2定軌機構鑑別 ………………………………………44
4-3尋軌機構鑑別 ………………………………………46
第五章 光碟機定軌、聚焦與尋軌控制器設計與摸擬…………62
5-1聚焦伺服器設計與模擬 ……………………………62
5-2定軌伺服器設計與模擬 ……………………………63
5-3尋軌伺服器設計與模擬 ……………………………64
第六章 結論 ………………………………………………………82
6-1本文貢獻 ……………………………………………82
6-2 討論事項 ……………………………………………82
參考文獻…………………………………………………………… 84
附錄一、PD控制器電路圖 ……………………………………… 88
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