Mechatronic Design of Hard Disk Drives: single and dual stage
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1 K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems Mechatrnic Design f Hard Disk Drives: single and dual stage Dr. Hamid D. Taghirad Advanced Rbtics and Autmated Systems (ARAS) Department f Electrical Engineering K.N.Tsi University f Technlgy HDD Tutrial,.
2 Outline Intrductin Hard Disk Drive Specificatin Perfrmance Requirements Mechatrnic Design Cntrller Design Signal Generatin ARC Cntrl Perfrmance Imprvement Dual Stage HDD ARC Cntrller design Rbust Perfrmance Cnclusins HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 2
3 Hard Disk Drive Specificatins HDD is a nn-vlatile strage device which stres digitally encded data n rapidly rtating platters with magnetic surfaces. Invented By: Reynld Jhnsn Date Invented: Sept.13, 1956 HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 3
4 HDD Specificatins HDD Technlgy Recrd data : magnetizing a magnetic material in a pattern that represents the data. Read data: detecting the magnetizatin f the material HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 4
5 HDD Specificatins Bit-cell magnetic grains grains/bit 0 : Regin f grains f unifrm magnetic plarity 1 : Bundary between regins f ppsite magnetizatin HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 5
6 HDD Specificatins HDD Cnsists f A Spindle: hlds ne r mre platters. (10,000 RPM!) The platters: nn-magnetic material (glass r aluminum) cated with a thin layer f magnetic material. (cbalt-based ally) HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 6
7 HDD Specificatins HDD Cnsists f Read-Write Head: Multiple heads n a cmmn arm HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 7
8 HDD Specificatins HDD Cnsists f Read-Write Head (Air Gap Nanmeter!) HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 8
9 HDD Specificatins HDD Platter Damage: (Air Gap Nanmeter!) HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 9
10 HDD Specificatins HDD size Standard name 5.25" 3.5" 2.5" 1.8" (PCMCIA) 1.8" (ATA-7 LIF) Width 5.75" 4" 2.75" 54 mm 2.12" HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 10
11 HDD Specificatins Data Track: sub-micrmeter-sized magnetic regins HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 11
12 HDD Perfrmance Requirement Fast Transient Lw Capacity HDD Accuracy Micr meter Sub-Micrn Psitining 970 Seeking Mde Fllwing Mde time ms HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 12
13 HDD Mechatrnic Design Marketing reliability Material Mechanical Cntrl Electrical Cmmunicatin cmputer HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems
14 HDD Mechatrnic Design Access Time Rtatinal Speed Transient Time N Switching Cntrl RPM Access Time (ms) HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 14
15 HDD Mechatrnic Design HDD Capacity Track Density Mdern Cntrller Imprved Psitining Perfrmance Disturbance Rejectin HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 15
16 HDD Mechatrnic Design Mechanical High RPM Vibratin Cntrl Air Cushins Material Disk Surface Flatness Data Density HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 16
17 HDD Mechatrnic Design Electrical & Cmputer R/W Head Vice Cil Mtr Embedded Prcessr HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 17
18 HDD Mechatrnic Design Electrical & Cmputer Hst Interface Buffer Cntrller Disk Sequencer ECC Serv Cntrl CPU Buffer Memry CPU Memry Data Channel HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 18
19 HDD Mechatrnic Design Reliability Key metric MTBF MTBF fr SCSI disk: 1,200,000 hurs Factrs Affecting Reliability Duty Cycle N. f Platters Temperature HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 19
20 HDD Mechatrnic Design Marketing Cst per Capacity Flash Memry Cst per megabyte Dual Stage HDD $ HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 20
21 HDD Cntrller Design Heart f Mechatrnic Design: Cntrller Design Material and Mechanical Cnstrains Signal Generatin Access Time Mdern Cntrller Unified Structure Such as r ARC Switching Mde Capacity Mdern Cntrller H Imprved Psitining Perfrmance Disturbance Rejectin HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 21
22 HDD Cntrller Design Literature Review 1971 IBM Merlin 3330 The first HDD which used disk psitin infrmatin n feedback IBM Winchester 3340 The first HDD with embedded cntrller. Bang Bang Cntrl (Dick Oswald) Prximate Time Systems (PTS) Prximate Time ptimal Systems (PTOS) Mdern Cntrller Mde Switching Rbust cntrllers Adaptive Rbust Cntrllers HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 22
23 HDD Cntrller Design Tw decay f Bang-Bang Cntrl v/vmax (-.) Velsity prfile 0.6 u, v, and y Open-lp Bang Bang cntrl Open-lp Bang Bang cntrl y/yref y/yref (Psitin (slid) prfile) Psitin prfile Prximated Time Optimal System v/vmax (-.) (Velsity prfile) 700 v/v max 500 y/y u des Track track seeking and fllwing IDCARC (slid) and PTOS (dash) a/amax(:) (Acceleratin a/amax (:) prfile) -0.8 Acceleratin prfile Time 2 (sec) x 10 Open lp Bang Bang Time (sec) x 10 Clse lp Bang Bang Prximate 0 time time ptimal (sec) System x Time (ms) PTOS & IDCARC HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 23
24 HDD Cntrller Design Unified Cntrller Structure Cntrller y d.. a d α y d + 1 h 4ξ k 2 ' u s1 us2 + + u a + d + K t Plant 1 Js + B 1 s Signal Generatin. ^ k 1 + s θ θ = Prj( Γϕ p) d ^ u ^ a ϕ d θ HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 24
25 HDD Cntrller Design On-line Signal Generatin k e U v 1 y k Ls + R t c J s s B Jerk minimizatin With effect f frictin J = T 0 du dt 2 dt v( t ) v max u max u = cv k v e max 1.Accel. i( t ) i set k sw u min HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 25
26 HDD Cntrller Design Adaptive Rbust Cntrl (ARC) What is ARC Rbust Cntrl Law Learning Mechanism (Parameter Adaptatin) Adjustable Mdel Cmpensatin Crdinatin Mechanism Why ARC HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 26
27 HDD Cntrller Design HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 27
28 HDD Cntrller Design HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 28
29 HDD Cntrller Design HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 29
30 HDD Cntrller Design Unified Cntrl Structure (ARC) θˆ 1 s θ ˆ Pr j ( Γ ˆ ϕ( x) p) θ u s Rbust Feedback ϕ( x) T ˆ θ u a x T = ϕ ( x) θ + + u x e PD p Adjustable Mdel Cmpensatin Plane Plant x d HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 30
31 HDD Cntrller Design Desired Cmpensatin ARC θˆ 1 s θ ˆ Pr j ( Γ ˆ ϕ( x) p) θ u s ϕ( x) T ˆ θ ua T x = ϕ ( x) θ + + u Plant x e x d p θˆ 1 s θ ˆ Pr j ( Γϕ ˆ d ( x) p) θ ϕ ( x) d T ˆ θ u a u s Rbust Feedback T x = ϕ ( x) θ + + u x e PD p Adjustable Mdel Cmpensatin Plant Plane x d HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 31
32 HDD Cntrller Design Imprved DC ARC Disturbance attenuatin Gd tracking in seeking mde Accuracy in fllwing mde θˆ k s +1 θ ˆ Pr j ( Γϕ ˆ d ( x) p) θ ϕ ( x) d T ˆ θ ua u s x T = ϕ ( x) θ + + u x e p Plant x d HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 32
33 HDD Cntrller Design Imprved Desired Cmpensatin Adaptive Rbust Cntrl θˆ k s +1 θ ˆ Pr j ( Γϕ ˆ d ( x) p) θ Cntrller T ϕ ( x) ˆ θ d ua u s T x = ϕ ( x) θ + + u x e p Plant x d y d.. a d α y d + 1 h 4ξ k 2 ' u s1 us2 + + u a + d + K t Plant 1 Js + B 1 s Signal Generatin HDD Tutrial,. ^ k 1 + s θ θ = Prj( Γϕ p) d ^ u ^ a ϕ d θ K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 33
34 HDD Cntrller Design Cntrller Perfrmance: Tracking Micr meter Micr meter time ms time ms HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 34
35 HDD Cntrller Design Cntrller Perfrmance: Tracking errr HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 35
36 HDD Cntrller Design Cntrller Perfrmance: Actuatr effrt HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 36
37 HDD Cntrller Design Cntrller Perfrmance: Parameter Estimatins HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 37
38 HDD Cntrller Design Cntrller Perfrmance: Transient Imprvement HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 38
39 Dual Stage HDD Descriptin VCM 1 st Actuatr PZT 2 nd Actuatr HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 39
40 Dual Stage HDD Vice Cil Mtr (VCM) Large Operating Range Lw Resnance Frequency Curse Psitining HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 40
41 Dual Stage HDD Piez-Electric Transducer (PZT): Push-Pull type Small Operating Range High Resnance Frequency Fine Psitining HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 41
42 HDD Dynamic Mdels VCM Nnlinear Mdel Uncertain Linear Mdel Experimental Frequency Respnse Estimates x 1 = x 2 Jx 2 = u B x 2 A S ign ( y ) F + F + F y = x 1 f hys hi d ( ) ( ) 1 ( ) ( ) 0 ( jω ) ( jω ) ( ) ( ) P s Π P s = + s W s P s P P ( jω) 1 W, ω Laser-Dppler-Scanning Vibrmeter (LDV) HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 42
43 HDD Dynamic Mdels VCM Experimental Mdel VCM-mdel Lg. Magn. [µ m/v] 10 0 Reduced mdel Nminal mdel Frequency [Hz] 0 Phase [deg] HDD Tutrial, Frequency [Hz] K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 43
44 HDD Dynamic Mdels VCM Mdel Uncertainty Multiplicative VCM-Uncertainty Frequency [Hz] HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 44
45 HDD Dynamic Mdels PZT Experimental Mdel PZT-mdel Lg. Magn. [µ m/v] 10 0 Nminal mdel Reduced mdel Frequency [Hz] Phase [deg] HDD Tutrial, Frequency [Hz] K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 45
46 HDD Dynamic Mdels PZT Mdel Uncertainty Multiplicative PZT-Uncertainty HDD Tutrial, Frequency [Hz] K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 46
47 HDD Dynamic Mdels Nminal Mdels VCM = G V CM, reduced 2 s s PZT s G PZT, reduced = 2 8 s HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 47
48 HDD Cntrller Design Pre-Filter Design Reduced Mdel N Unstable zers! HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 48
49 HDD Cntrller Design Pre-Filter Design 4 s + (0.07 ± 6.7 j) 10 PVCM = K ( s )( s )( s + (2.4 ± 7.4) 10 ) -60 Bde Diagram -80 Magnitude (db) Phase (deg) VCM; rder 12 Cmpensated VCM Frequency (rad/sec) HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 49
50 HDD Cntrller Design Pre-Filter Design 4 4 ( s + (0.03± 6.7 j) 10 )( s + (1.4 ± 8.4 j) 10 ) PPZT = K ( s + 2 ωξs + ω )( s + (0.58 ± 7.7) 10 )( s )( s ) Bde Diagram -80 Magnitude (db) Phase (deg) PZT; rder 10 Cmpensated PZT Frequency (rad/sec) HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 50
51 HDD Cntrller Perfrmance Nminal Tracking errr R & Y [ µ m ] E=R-Y [ µ m ] Ttal Respnce Time[msec] Ttal Seeking Errr Time[msec] Ttal Traking Errr HDD Tutrial, E=R-Y [ µ m ] Ev=R-Yv [ µ m ] Time[msec] Traking Errr fr VCM Time[msec] K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 51
52 HDD Cntrller Perfrmance Cntrller Perfrmance: Nminal Cntrl Effrt 30 Cntrl Effrts VCM Input [v] Time[msec] 20 MA Input [v] Time[msec] HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 52
53 HDD Cntrller Perfrmance Cntrller Perfrmance: Rbust Tracking errr R & Y [ µ m ] E=R-Y [ µ m ] E=R-Y [ µ m ] Ev=R-Yv [ µ m ] Ttal Respnce Time[msec] Ttal Seeking Errr Time[msec] Ttal Traking Errr Time[msec] Traking Errr fr VCM Time[msec] HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 53
54 HDD Cntrller Perfrmance Cntrller Perfrmance: Rbust Cntrl Effrt 150 Cntrl Effrts VCM Input [v] Time[msec] 25 MA Input [v] Time[msec] HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 54
55 HDD Cntrller Perfrmance Cntrller Perfrmance: Quantitative Cmparisn Nminal Perfrmance in presence f Disturbance Rbust Perfrmance in presence f Disturbance and wrst case uncertainty HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 55
56 Cnclusins Hard Disk Drive Specificatin Perfrmance Requirements Mechatrnic Design Dual Hard Disk Drives Cntrller Design Unified Structure fr Cntrl f HDD: IDCARC Significant Tracking Errr Reductin Disturbance Attenuatin Nise Rejectin Rbust Perfrmance Dynamic Adaptatin Fast Transient + Very Accurate Psitining HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 56
57 References: Visit ur web site: HDD.htm Papers: H.D. Taghirad and E. Jamei, Rbust Perfrmance Verificatin f IDCARC Cntrller fr Hard Disk Drives, Accepted fr publicatin in IEEE Transactins n Industrial Electrnics, H. Taghirad and P. Sheykhleslam, IDCARC Cntrller Design Fr Dual-Stage Hard Disk Drives, Accepted fr publicatin in 15th Int. Iranian Cnference n Electrical Engineering, May 2007, Tehran. H.D. Taghirad and E. Jamei, Adaptive Rbust Cntrller Synthesis fr Hard Disk Serv Systems, IEEE IROS 04, 2: , Oct 2004, Japan. H.D. Taghirad and E. Jamei, Adaptive rbust cntrl fr hard disk serv system, In the Prceedings f the 12th Internatinal Cnference n Electrical Engineering, pp 13-18, May 2004, Mashad. HDD Tutrial, K.N. Tsi University f Technlgy Advanced Rbtics and Autmated Systems 57
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