Vibrationless Acceleration Control of Positioning Mechanisms and Its Application to Hard-Disk Drives

Abstract

This paper describes vibrationless acceleration control for hard-disk drive positioning mechanisms. This control accelerates a flexible positioning mechanism to a certain acceleration without the transient vibration that prolongs the settling time and decreases positioning accuracy. We first describe how we derive the solution to optimal acceleration control based on optimal control theory. We then discuss results, and apply this control to the operation of a practical 5.25-inch magnetic disk drive.