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Dynamic Modeling and Control of a Piezo-Electric Dual-Stage Tape Servo Actuator

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4 Author(s)
Uwe Boettcher ; Center for Magn. Recording Res., Univ. of California San Diego, La Jolla, CA ; Bart Raeymaekers ; Raymond A. de Callafon ; Frank E. Talke

We present a data-based approach for modeling and controller design of a dual-stage tape servo actuator. Our method uses step response measurements and a generalized realization algorithm to identify a multivariable discrete-time model of the actuator. The data acquisition and modeling can be implemented in the servo firmware of a tape drive. We have designed a dual-stage controller, based on the model, using loop shaping techniques adopted for multivariable control problems. We applied the procedure to the prototype of a dual-stage actuator tape head to reduce the effect of lateral tape motion. The prototype consists of a conventional voice coil motor for coarse positioning and a micro-actuator for fine positioning. The micro-actuator, which is mounted on the voice coil motor, uses a piezo crystal to follow high-frequency lateral tape motion (up to the kilohertz regime), while the voice coil motor follows only low-frequency lateral tape motion. Compared to a single-stage design, the dual-stage servo design provides a 25% bandwidth improvement and a voice coil motor control signal that is much smaller in magnitude.

Published in:

IEEE Transactions on Magnetics  (Volume:45 ,  Issue: 7 )