Rejecting Rotational Disturbances on Small Disk Drives Using Rotational Accelerometers
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1 Rejecting Rotational Disturbances on Small Disk Drives Using Rotational Accelerometers Danny Abramovitch Hewlett-Packard Labs DYA--ifac_96a.doc--9/19/97--Slide 1
2 DYA--ifac_96a.doc--9/19/97--Slide 2
3 Problem: External shock and vibration a significant portion of offtrack budget. 2 KH Control, No Shaking CurrPos (volts) 1-1 Acc 5-5 Hz vibration 86.5 rad/s^2 rms Accel. write protect trips between 1-2 rad/s^2 1.2 volts = 12% of track CurrPos (volts) KH Control, Rotary Shaking Goal: Use KittyHawk rotational accelerometer to substantially diminish effects of rotary shock and vibration. DYA--ifac_96a.doc--9/19/97--Slide 3
4 DYA--ifac_96a.doc--9/19/97--Slide 4
5 Technical issues: Accel. Filter HDA Accel. Why not Just do it? 1)Accelerometer beam resonances TarPos Σ Comp Gain Σ Blob of electro/ mechanic stuff Head - Disk (HDA) Position 2)Low sample rate of KittyHawk servo 3)Large gain variation of KittyHawk accelerometer Zer are technical zolutions. -- Edward Teller, )Filters to compensate accelerometer frequency characteristics 2)Multirate sampling 3)Adapting filter gain DYA--ifac_96a.doc--9/19/97--Slide 5
6 Magnitude (db) 2-2 HPL Disk Mechanics Accelerometer Beam Resonances and Other Nonidealities Phase (deg) Notch, lead, and low pass filter for ACV Resonance Frequency (Hz) Frequency (Hz) Resonance puts limit on the frequency that can be followed. Can be filtered. Filters give phase hit. Matching phase is as critical as matching gains. Basic assumption (from sampling of product accelerometers): Shape of accelerometer response is approximately constant. Only the gain is highly variable. DYA--ifac_96a.doc--9/19/97--Slide 6
7 PES Extra Samples Magnitude (db) Frequency (Hz) HPL Disk Mechanics Notch, lead, and low pass filter for ACV Resonance Multirate Sampling PES is limited by # of sectors. Accelerometer signal is not. Extra samples on accelerometer broaden bandwidth reduce phase hit of filters give more freedom in filter design (e.g. lead filters) Phase (deg) Frequency (Hz) DYA--ifac_96a.doc--9/19/97--Slide 7
8 Implementing Multirate PES T C PES K PES Held for T Σ To D/A ACC T/M C ACC K ACC Held for T/M PES loop clocked by disk sector. ACC loop clocked by disk sector and by extra clock for inter-sector samples. M = oversample multiplier Basic assumption means that can keep C ACC constant and adapt only K ACC. DYA--ifac_96a.doc--9/19/97--Slide 8
9 Disturbance Rejection Frequency Response 25 Single Rate ACC vs. Multi Rate ACC vs. Multi Rate Lab Grade Accel. Mag (db) Standard KittyHawk 1 Drive ACC w/ 1X Drive ACC w/ 4X Area below red curve indicates increased disturbance rejection. 5 1 Lab ACC w/ 4X Input is voltage to shaker table. Output is PES Freq (Hz) DYA--ifac_96a.doc--9/19/97--Slide 9
10 Two Choices for Adaptation TarPos Σ Comp Accel. Filter Gain Σ HDA Accel. Blob of electro/ mechanic stuff Head - Disk (HDA) Position Identify Accel. response: Complete, right way. Requires estimating HDA accel. from head position and compensator output. Requires estimating 2nd derivatives. Forget that. Pray to gods of LMS. (Chant, Widrow-Hoff... ) Really want to remove effects of HDA accel. from PES. LMS decorrelates signals i.e. it removes effects of one from another. Sometimes, if you ve thought about it enough, you do get to Just do it. DYA--ifac_96a.doc--9/19/97--Slide 1
11 Gain Adaptation HDA Accel. Gain LMS: In DSP: Blob o stuff w k + 1 = w k + 2µε k x k CurrPos TarPos Σ Error Gain k + 1 = Gain k + 2µ ( Error) k ( HDA Accel. ) k 6 instructions for LMS 4 instructions for gain limit 6 instructions for threshold CurrPos (volts) CurrPos (volts) CurrPos (volts) No Feedforward Gain Adapting Adaptation Done Hz random rotary vibration 57.7 rad/s^2 rms DYA--ifac_96a.doc--9/19/97--Slide 11
12 DYA--ifac_96a.doc--9/19/97--Slide 12
13 DYA--ifac_96a.doc--9/19/97--Slide 13
14 Results from adaptation: Rotational Shaking No Feed Forward With Feed Forward DSP Amplitude No Feed Forward (X-corr) 4 DSP Amplitude With Feed Forward (X-corr) 4 DSP Ampl. *1e DSP Ampl. *1e DYA--ifac_96a.doc--9/19/97--Slide 14
15 Results from adaptation: Rotational Shocking DSP Amplitude DSP Amplitude mv/no Feed Forward mv/no Feed Forward DSP Amplitude DSP Amplitude mv/with Feed Forward mv/with Feed Forward DYA--ifac_96a.doc--9/19/97--Slide 15
16 What Does It Cost? Accelerometer feedforward: a rotational accelerometer Multi-rate: 1 clock direct DSP access to A/D & D/A CPU bandwidth Adaptation: 16 instructions (CPU bandwidth) shaking The same method can be applied to other sensors, e.g. velocity sensing. DYA--ifac_96a.doc--9/19/97--Slide 16
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