光碟機長程尋軌馬達之適應控制

Abstract

在這篇論文中,我們提出以修正的卡曼濾波器加上狀態回授的方式作 為光碟機長程尋軌機構的控制器用來用來降低資料存取時間. 光學頭的線 性傳動機構事由一些齒輪組,導螺桿與長程尋軌馬達所組成. 一些非線性 的現象如不均勻摩擦力和齒隙等都會在這機構中出現而且對系統的性能造 成影響. 我們將這些非線性的現象視為系統的雜訊.並以我們提出的控制 法則來消除這些雜訊.模擬與實際應用的結果都顯示這種控制架構在尋軌 過程中的強健性. A state feedback controller with modified Kalman filter has been proposed toreduce the access time of the seeking mechanism of CD-ROM. The lineartranslation of the pick-up head of CD-ROM is combining gear sets, lead screwand sled motor. Nonlinear dynamic behavior such as friction and backlash areoccurred during the operation of the pick-up head which greatly affects thethe performance of the CD-ROM. By treating these nonlinear behavior asnoise ofthe system, a state feedback controller with modified Kalman filter isproposed to eliminate the above menationed noise. Numerical simulation andpractical implementation indicated that the present control scheme possessesrobustness in reducing the access time of CD- ROM.