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Trajectory design considering derivative of jerk for head-positioning of disk drive system with mechanical vibration

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2 Author(s)
Byung-Hoon Chang ; Dept. of Electr. Eng., Univ. of Tokyo, Japan ; Y. Hori

In this paper, we propose a novel design method of target trajectory for high-speed and high-precision head positioning of a hard disk drive (HDD) 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 show that various performances can be improved by introducing time-varying weighting coefficients. Some experimental results using a 2.5-in HDD are shown to verify the effectiveness of the proposed method.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:11 ,  Issue: 3 )