VCM應用LQG方法於光碟機的制振研究
22
0
0
全文
(2) VCM. LQG
(3). Using VCM to Reduce Optical Disk Vibration with LQG Control.
(4) .
(5)
(6)
(7) ! "#$
(8) %&'()*+,-./ 01%23456789:;<" =>?@ AB/CD/EFGH IJKLMNOPQRSTUV
(9) WXPQ YZ! [\]^_ `a\bPQcdef" ghi%j/klm%jW nopqrst%j/ uvw%jWx>Uyz{| !M}noEs~/ // i/uV%jW !YZ ;//`a P/M}H*8(]^_ " c ¡¢£¤¡¥¦§H¨ ©8ª«¬ePQ®¯"#°`X±PQ²³´ !=¨µ/M}
(10) ja¶?@·".
(11) VCM. LQG
(12) . Using VCM to Reduce Optical Disk Vibration with LQG Control. ¸ ¹º». : ¼½. Student Advisor. ¸ ¸. ¾¿ÀÁÂ% ÃÄ!ÅÆp%Ç È½PQ A Thesis Submitted to Department of Electrical and Control Engineering National Chiao Tung University in partial Fulfillment of the Requirements for the Degree of Master in Electrical and Control Engineering June 2006 Hsinchu, Taiwan, Republic of China. ÉʾËÌÍÎÏ. Hui-Chin Huang Dr. Shir-Kuan Lin.
(13) VCM. LQG
(14).
(15) : !"# $% & ÐÑÄÒÓÔ5ÕxÖ× ÑØ£ÙÚÛÜ"ÝÞÐÑÄÁ @ßàÔáâãäåæÓçè"3éLêÐÑÄ£ëìíîï ÑÄð ñ×òïpó£ÝÞàÔçè°°ªôñ×òõöï÷ø 9³"ñß ùúûüý>þ:ÅÆ VCM ÿ3ñÒÔáâã äLì Dâãä"`ñÒÔáâãäLæÑÄUy×òï ÓÔ". i.
(16) A Disturbance Observer Applying to the Auto-Focusing System of Digital Video Cameras. Student : Hui-Chin Huang. Advisor : Dr. Shir-Kuan Lin. Department of Electrical and Control Engineering National Chiao Tung University. ABSTRACT Unbalanced disks in rotation will lead to the main vibration of an optical disk drive. Passive vibration absorbers are usually used in current optical disk drives to suppress vibration. Generally, optical disk drives have to make a disk spin at multiple speeds by different read/write conditions. However, the passive vibration absorber only suppresses vibration at a specific rotating speed and may excite vibration at other speeds. This study uses a linear quadratic Gaussian (LQG) to control VCM for active vibration absorbers. Using active vibration absorbers to reduce disk drive vibration at multiple rotating speed.. ii.
(17) . i. . ii. . ii. . v. . viii.
(18) 1.1 1.2 1.3 1.4 1.5. 1. Þ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Q´ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ÔÄ!Ý . . . . . . . . . . . . . . . . . . . . . . . . . . . z{!þ: . . . . . . . . . . . . . . . . . . . . . . . . . . . PQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. (VCM) 2.1. ÐÑÄ Ü . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii. 1 2 2 3 4. 5 5.
(19) Ý. iv. ÐÄ
(20) (Macha) . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.2 Ò !ë¯çè . . . . . . . . . . . . . . . . . . . . . . . 2.1.3 ÐÑÄ'Óçè . . . . . . . . . . . . . . . . . . . . . . . (VCM) Ü . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2.1 póm . . . . . . . . . . . . . . . . . . . . . . . . 2.2.2 Xß Ü!Û . . . . . . . . . . . 2.2.3 ! . . . . . . . . . . . . . . . . . . . . . . . ß âãä (Absorber) : . . . . . . . . . . 2.3.1 X . . . . . . . . . . . . . . . . . . . . 2.3.2 ÆãP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.3 Oú . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 2.1.1. 2.2. 2.3. LQG ! 3.1. 3.2. 3.3. 3.4. Ç !"#þ: . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.1 $Ôþá×%&-'¡()á . . . . . . . . . . . . . . 3.1.2 &-'¡()áUñ !"# . . . . . . . . . . . . . . LQG *+ßxÇ,- . . . . . . . . . . . . . . . . . . . 3.2.1 @ß LQG þ./!Çþ./ . . . . . . . . . . . 3.2.2 `dò0Û8Ò $1 . . . . . . . . . . . . . . . . . LQG þ:ß . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.1 23Ç×%45Ç . . . . . . . . . . . . . . . . . . . . 3.3.2 6789:ä . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.3 LQR þ: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ;²³ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.1 Kalman Filtering ;²³ . . . . . . . . . . . . . . . . . . . .. 5 7 7 7 7 8 10 11 11 12 13. 15 15 15 16 16 17 17 19 19 19 21 22 22.
(21) Ý. v 3.4.2. LQG. <=! ;. . . . . . . . . . . . . . . . . . . . . . . . . .. " #$ 4.1. 4.2. 4.3. Ù>ß?ä,- . . . . . . . . . . . . . . . . . . . . . . . . . 4.1.1 @Ôä . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1.2 dò0!ABCò? . . . . . . . . . . . . . . . . . . . . . . . 4.1.3 DöEÂä! DAQ 6×FG . . . . . . . . . . . . . . . . . . DAQ 6ßþá . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1 DAQ 6HÛ . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.2 DAQ 6IÛ . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.3 DAQ 6ßJ KL . . . . . . . . . . . . . . . . . . . . . . ²³! ;²³MN . . . . . . . . . . . . . . . . . . . . . . . . 4.3.1 ²³êB . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3.2 Mecha ÓÔò.!$1dò.OP<= . . . . . . . . . 4.3.3 Mecha ò.! VCM QRÃSOP<= . . . . . . . . . . . . 4.3.4 6789:äTC Mecha ò. . . . . . . . . . . . . . . . . .. % #&'() 5.1 5.2 5.3. Þ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ²P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . UL÷V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 27. 32 32 32 35 38 39 39 40 42 43 43 45 47 48. 50 50 50 51.
(22) 1.1 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9. £ÐÑØÜÓÔõW<= . . . . . . . . . . . . . . . . . . . . XYÐÑÄZ[/ . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mass <\) / . . . . . . . . . . . . . . . . . . . . . . . . . . . . . póm/ . . . . . . . . . . . . . . . . . . . . . . . . . . . ² / . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . / . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VCM ì âãäÐÑÄ . . . . . . . . . . . . . . . . . . . . . . . DÐÑÄ1/ . . . . . . . . . . . . . . . . . . . . . . . . . . . . ì âãäÇ1/ . . . . . . . . . . . . . . . . . . . . X>ß LQG þ./ . . . . . . . . . . . . . . . . . . . . . . ß]^1TC_^1þ:) / . . . . . . . . . . . . . . . . . dR`Vab:w/ . . . . . . . . . . . . . . . . . . . . . ;6789:äTC . . . . . . . . . . . . . . . . . . . . . . . . . dR 1e cdeO678TC²³ . . . . . . . . . . . . . . . . / 3.5fg/ÿ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . dR 1e cdeO678TC²³ . . . . . . . . . . . . . . . . / 3.7fg/ÿ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4000rpm Æã ; . . . . . . . . . . . . . . . . . . . . . . . . . . . . . −2. −3. vi. 3 6 6 8 9 9 10 11 12 17 18 21 23 24 24 25 26 27.
(23) /hÝ. Æã ; . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.11 8000rpm Æã ; . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.12 10000rpm Æã ; . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.13 iãõöïÆã ; . . . . . . . . . . . . . . . . . . . . . . . . . 3.14 Ù>ÓÔò.! DAQ 6QjÃS¨k . . . . . . . . . . . . . . . . 3.15 / 3.14 fgíî . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.10 6000rpm. @Ôä$l . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2 @Ôämùn . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3 @Ôä×ò . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4 @Ô RF OPQjo . . . . . . . . . . . . . . . . . . . . . . . 4.5 ABCò?Ò . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6 ABCò?ABOP÷CFpo . . . . . . . . . . . . . . . . . . . . 4.7 ABOPªÛq)Ðr . . . . . . . . . . . . . . . . . . . . . . . . . 4.8 dò0!st.Eèþ^Vè . . . . . . . . . . . . . . . . . . . . 4.9 dò0@Ôä . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.10 DöEÂä . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11 DAQ BNC ×FG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.12 Ù>) / . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.13 *Ù> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.14 DAQ 6 NI6221 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.15 <há/ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.16 UsÔ VCM Mecha ÓÔò.OP . . . . . . . . . . . . . . . . . 4.17 sÔ VCM K Mecha ÓÔò.OP . . . . . . . . . . . . . . . . . . . 4.18 Õ daq 6uì* Mecha ò.!vw$1/ . . . . . . . . 4.19 / 4.18 0 xy 0.1 xfgz{ . . . . . . . . . . . . . . . . . . . . .. 4.1. vii 28 28 29 29 30 30 33 33 33 34 35 35 36 36 37 38 39 40 41 41 42 44 44 46 46.
(24) /hÝ. 'ÓÔò.!|QR VCM ÃS . . . . . . . . . . . . 4.21 / 4.20 0 xy 0.1 xz{ . . . . . . . . . . . . . . . . . . . . . . . 4.22 Mecha ò. ( }~ ) !6789:äTC²³ ( ~ ) . . . . . . .. 4.20 Mecha. viii 47 48 48.
(25) 3.1 3.2. 6789:äP()( . . . . . . . . . . . . . . . . . . . . . . 6789:( . . . . . . . . . . . . . . . . . . . . . . . . . . . .. ix. 20 20.
(26) 1.1. . ÐÑÄ53ñß Ðà &Nù'! ÷VïUR ß:j}~ABÐÛÂv3 }ÐÐÑ&÷ 3ÿ Õ SONY (Ò Blue-ray Disc`aÕ(Ò HD DVD ¡¢£y¤¥U¦§¨=©IH*8ï3 ÐѤ¥ªR<«¬®Þ Sony ¯°o}б Ä X'[²³÷Y´µ¶j ç·}б ĸ¹Ãº" ûÛÐÑØ&jïÐÑë컼V&½L½¾¿ÀÁ ÐÑÂÛÂà ÐÑÄŽL½ÆâÐÑÄÇy$LÓÔÈÉ ÊTðëìq8T½L½BqË 8± ÐÑÄ£± jÌÅÐÑÍ5ëì£mÅTÎ5ÏÐÑØ\ coXÒ¢£1ÐÑÄXÓÔÓÔª1Tq8½L½Õ" DVD-ROM. 1.
(27) Ö 1 × ØP 1.2. . 2. ÙÚ ¨÷Û+ß'Ì<ÜÝßLåÞ ÔäyÆã9³¾¢ ¨ßÂ%o¬ßàáâã9 :ääå:Ù>æÓ9³ [8]æ çÂ%o¬ßàáè ;ãÔpääå:yÆã9³ [9]À LQG +ßéc5êëì Ý`²Pí<ðvyßÂ%+ß LQG ÅÆþ:àá RBF îï ðñò:¼VÅÆ'+ß [10]" 1.3.
(28). óÀÝÞô(o± ÐÑÄÔÓÄÆn5õöß÷øùóÀ pä (Isolator) `aâãä (Absorber) LåÒÔÓúûß÷ üåÔÓúûýþ5 Üÿ`! þ5x÷øú( `oô3ñÓÔõöïoÓ9³" ± Í5ëìÐÑÄð £ÑØyîÍ5± ò. `Uy£õöNOëì!± Ôó õöUyíîï÷ü Ó9³£ 5 `|
(29) " `ÝÞXÒÒ DVD-ROM ÐÑÄLêÛo 4.7G DVD ÐÑØ Y `Ø>ýÌúTnåó@@±jÌÅÐÑØ 5n `<(`þz{£Ì<qóÀå`c ÛÐѱ &a³±jÌÅÐÑÄË¢£1Àà XÒ (` LNOÐÑÄæÓ&" XÒÝÎ5¬ß (Voice Coil Motor) ì Dâã ä (Absorber) ÆÒ ¼õöÓÔ" X5!pqÃÐ(áó¬ßÃÐ(²÷jL (VCM) ì DÐÑÄ âãäLyÒÔÆÓ9³".
(30) Ö 1 × ØP 1.4. . 3. ÐÑØùÜÕxdp£e!ðÜÐÑØ'ÕÛ" :e#$%<&'£$%ÕÛÐËÑØ£ÙÚÛ" ÐÑÄ£(!± Í5ëì ÑØ£ÙÚÛûòïÖ× ðÜÇ¢íÓÔñ¢íÓÔõöð £×ò£ õöÓÔ) pqÃÐ(&*+ [11] jÑØ£ÙÚÛÜ ÓÔõW<=?<=q)ñÓÔ5ÐÑÄÖ×õöªÛ < =ªÛ W, 53'ûõeO`aÐÑÄ
(31) iãõ ö / 1.1Àñ!ÐÑÄÒ Ö×õö<Î53> Ò -.W/". 1.1:
(32) Xß5pq¦ùçèÐÑÄÐÄ
(33) (Mecha) 'åUsÔ ¬ßXÓ0úy!÷ø 1âãä 9³32sÔÇ'ð!$ 1 31453ñõöï$1ÜÓÔÛÅÆþ:'ß ùúý>ûüÅÆþ: (LQG) LyÐÑÄ ¼×òs 6×òïÒ ÔÆãÝ".
(34) Ö 1 × ØP 4 7ßÕ5Õx8s9Ã: `£ ÿ&; EèxÐÑÄì âãä¬ßù£<!y=å@ Ô1ÛyÆÓÝ" ÅÆþ:ßùúý>ûüÅÆþ:Õ5Õx6789: (Kalman filtering) þ:÷Vj3>?@e?PÀÁý@ÔeOú5 ÝÞ@ßlAäK3àáùúý> 6 (LQR) ÅÆþ:Lyæ Ó9³" 1.5. XPQ <ËÍÂ×B<ï. CWz{DE/z{mFFW\G þ:NOÿ`êBÎ5PQ ".
(35) (VCM) C W p q à Р( Æ `a>(ßÐÑÄÙ>FF,- : OúCS" LQG CWXm/þ: HÇ Ffg,-" X×fg,-`a²³no J KLHÁMN! ;²³I@" J×vj>÷Ûýþ P`avjKL;NMþ,-ÝÞ `+ß÷VNO".
(36) !"# (VCM) X×,-DÐÑÄUñí<óß`aX> ß VCM Ü,-ßì âãäþ:!ÕÇ"#8y Ç&-'¡()á" 2.1. . ÐÑÄk3Ð/Ä/Ã?áÇ#ÐÑÄ¢íPQ Ð%Ç /HÃñna¾ÆÄR Ü"ÐÑÄÄ STU!VWX YZ·Ð%ëì»/Ò aÐÑØH5ÐÑÄX "?Ä
(37) ' `[\<ÐÄ
(38) (Mecha) aZ·Ä (Loader)Õx> £ð]^yZ·Ä (`3í<Î_\£,-" ÐÑÄ`oý_aÓÇ/ûb.² ac$ÍXÓ$× KãÔÊÐÑÄëìz{úÍdXÎ5CWÝÞß DaÓÇd`;_" 2.1.1. *+ (Macha). / 2.1Ë3ñXYÐÑÄZ[/=¤) Macha í<Î5ÐÄ
(39) À Mass 5âãä (Absorber) 'eÛ `Õ/ 2.2Mass <\) /fg WVè" 5.
(40) Ö 2 × ÐÑÄÇ! (VCM). 2.1: . 2.2: Mass . 6.
(41) Ö 2 × ÐÑÄÇ! (VCM) 2.1.2. 7. ,-./01. ëìçè'Ð%ëì»ÑØûòÖ× hNO¼V!ëìz{ ÔóÀÒ Î5ÑØûòÖ×Ô1Li" ÕxûòÓÔðÜë¯çèjÔ(`NO h ðÄ>ë¯çè`øâ ¼k=£ðËl> m£V è(`ܲ³£" 2.1.3. 234501. Õ/ 2.1 `fgÐÑÄë¯çè4FÐÄ
(42) '(`ÐÄ
(43) nÛo*p¼32ÓÔqÂð4FÊë¯çèpó³ 5Üë¯çèëì£yz{Í5± ± yrsVèÜz{rs ÐÑØ"(`XYÐÑÄÄt ¼o!ÐÄ
(44) K¡ðdR3ñàÔ Óçèuv4ä (Isolator)ñÓçèD'ß÷øñ÷ø ÕÄRlþwL åx3ñxyzoD{$LÓÔªÛóß| `¬ ßñúyªÛD{y}$3ñ~Ø (Mass) ' Mass ãÔL-9 ªÛ" }$3ñàÔÓçèuâãä (Absorber) T53ñI÷ød'3ñ oÕÛ~Ø (Mass)=Ý5ÑÄÓÔ oí<ªÛD{y Mass 9\ÑÄ
(45) 'ë¯çèÇyÓÔÊ," 2.2. (VCM) . XsBfg,-X>ß² /Û`apó m" 2.2.1. 6789. póm/ 2.3()3ñùERÄÒåù'à þ^!ÄÒþ^4 f!ÄÒ4í<ùÇy^'¶1¶1þ.
(46) Ö 2 × ÐÑÄÇ! (VCM) 8 ^Õ B ¼éG¼Çy¶1ÂsÄÒÃÂs'ÄÒb .Õ ( 2.1) G¼ùÇ1Âs!þ^" ~ F~ = N · l · ~i ⊗ B. (2.1). = F~ ()¶1 ; N Ëù<! ; l Ë ù!ÄÒ4j. ; ~i Ë4ÁÄÒà ; ~ ËÄÒ" B. 2.3: 2.2.2. : ;<3=>?@AB. X>ß/ 2.4()À/ 2.55/ Ë \êþß/ 2.4\ê5Õñí< = A í <ñ~.5'ïB í<5ñC í<~.¢o Ä~3ñÄÒD í<53ñîp.¡oùù !ÄÒþ^ÙOùÁ: ) 2.2.1 sB(ð'ï.
(47) Ö 2 × ÐÑÄÇ! (VCM) 9 $ÔjÔ ùà C .k(` C .!ùð3« B ~' ïjÔË C .' A í<~.(`d' B í±' d'Ç". 2.4: !". 2.5: #$.
(48) Ö 2 × ÐÑÄÇ! (VCM) 10 Ë UÁà hT `yàÔáâãäDª '`ÛmLàÔáâãäÄRú ¨þ: ` r st%jPQ ”Design of an Adaptive Dynamic Absorber to Reduce Optical Disk Drives Vibration at Multiple Rotating Speeds” [1]" 2.2.3. *C D. 2.6: VCM %&'()
(49) / 2.6 f5ÝÞß VCM ì âãäíÿñÇ' âãä.'`ñ VCM ì âãäå VCM sÔ ð Æ Mecha 'ÓÔX>£ÇÖ×!ÔÛ/Jx4þ ^'ÓÔÅÆ".
(50)
相關文件
Sankoff knew little of algorithm design and nothin g of discrete dynamic programm ing, but as an undergraduate h e had effectively used the lat ter in working out an economic s
In this paper, we evaluate whether adaptive penalty selection procedure proposed in Shen and Ye (2002) leads to a consistent model selector or just reduce the overfitting of
With new ICE trains crossing Europe at speeds of up to 300 km/h, sound and vibration levels in the trains are an important issue. Hilliges/Mehrmann/Mehl(2004) first proposed
4.3.1 若要開啟 SSH，則設定為【Enabled 開啟】。不開啟，則設定為【 Disabled 關閉】。把 SSH 服務開啟，方便日後有問題可以用 SSH 連線.. VMware vSphere Client 連線 5.1
Data larger than memory but smaller than disk Design algorithms so that disk access is less frequent An example (Yu et al., 2010): a decomposition method to load a block at a time
等溫電漿應用於電弧熔鍊(Arc Refinement)、電漿融射(Plasma Spraying)及感應偶合電漿分光儀(Inductively Coupled Plasma Optical
本研究採用的方法是將階層式與非階層式集群法結合。第一步先運用
本研究旨在使用 TI-Nspire CAS 計算機之輔助教學模式，融入基礎 統計學的應用，及研究如何使用 TI-Nspire CAS
