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VCM應用LQG方法於光碟機的制振研究

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(1) 

(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~/€ /‚ƒ„/ i/u†‡V%jˆ‰W !YZ Š‹ŒŽ;/†/‘’“”`aˆ‰• P/M}H–*—8(]^_" ˜™cš›œžŸ ¡¢£¤¡¥¦§H¨ ©—8ª«¬e­PQ®¯"#°`X±PQ²³´›œ !=¨µ/M}

(10) ja¶Ž?@·ž".

(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)   :    !"# $% &  ÐÑÄҚÓÔ5ÕxÖ× ÑØ£ÙÚÛÜ­"ÝÞÐÑÄÁ @—ßàÔáâãäå­æÓçè"3éLêÐÑÄ£‹ëìíîï ÑÄðñ×òïpó£ˆÝÞàÔçè°°ªôñ×òõöï÷ø 9³"ñ—ßùúûüý>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 X—ß Ü!Û . . . . . . . . . . . 2.2.3  ! . . . . . . . . . . . . . . . . . . . . . . . —ß âãä (Absorber) : . . . . . . . . . . 2.3.1 Xš . . . . . . . . . . . . . . . . . . . . 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 $Ôþ‰á×%­&-'¡()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 6—ßþá . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1 DAQ 6HÛ . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.2 DAQ 6IÛ . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.3 DAQ 6—ßJKL . . . . . . . . . . . . . . . . . . . . . . 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 <h‰á/ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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:ä€P()( . . . . . . . . . . . . . . . . . . . . . . 6789:‰( . . . . . . . . . . . . . . . . . . . . . . . . . . . .. ix. 20 20.

(26)   1.1. . ÐÑÄž‚ƒ„53ñ‚ߑ †Ðà ‡&Nˆù'‰Š!‹ŒŽ÷VïU‘’““”R •ß–:j}—~ABИۙvš›3 }ÐÐч&÷ ™3Šÿ­Õ SONY (Ò œBlue-ray Disc`a՞Ÿ(Ò œHD DVD ¡¢£y¤¥ŠU¦§¨=©IH‘’–*—8ï3 ‹ÐѤ¥ªR<«¬­®Þ Sony ¯°ƒ„o}б č‘ X­'[²³÷Y´µƒ„¶jç·}б ĸ¹ú" û˜ÛÐÑ؇&­jïÐÑë컼V‡&½L½¾¿ÀÁ ÐÑ€˜ÛÂË ÐÑÄŽL½ÆâÐÑÄÇy$LÓÔÈÉ ‹ÊTðë숉q8T½L½BqË—8± ÐÑÄ£± jÌÅÐÑÍ5ë숉£mÅTÎ5ÏÐÑØ\‘ coXÒ¢£1ÐÑÄXÓÔÓÔª1Tq8½L½Õš" DVD-ROM. 1.

(27) Ö 1 × ØP 1.2. . 2. žÙÚ ¨÷Û+ß'Ì<ÜÝßLå­Þ ÔäyÆã9³¾¢ ¨ßÂ%o¬ßàáâã9 :ääå:­Ù>æÓ9³ [8]æ ç‡Â%o¬ßàáè ;ãÔpääå:yÆã9³ [9]À LQG +ßéc5êëì Ý`˜™²Pí<ðvyßÂ%+ß LQG ÅÆþ:àá RBF îï „ðñò:¼VÅÆ'+ß [10]" 1.3.  

(28). óÀÝއô(o± ÐÑÄÔÓÄÆn5õö—ß÷øùóÀ ­pä (Isolator) `aâãä (Absorber) Lå­ÒšÔÓúû—ß÷ üå­ÔÓúûýþ5 Üÿ`! þ5x÷øú( `oô3ñÓÔõöïoÓ9³" ± Í5ë숉ÐÑÄ𠣋ÑØyîÍ5± ò. `Uy£‹õöNOëì!± Ôó õöUyíîï÷ü Ó9³£ 5`|

(29) " `ÝÞXÒҁ DVD-ROM ÐÑÄLê˜Ûo 4.7G  DVD ÐÑØ Y `؛>ýÌúTnåó@@±jÌÅÐÑØ 5n`˜<(`þ­z{Š£Ì<q†óÀå`™c˜ ÛÐѱ ‡&a™³˜±jÌÅÐÑÄË¢£1Àà XÒ(`ž†LNOÐÑÄæӇ&" XҚÝÎ5¬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. ÐÑØù܈‰Õxdpˆ‰£e!ðÜ­ÐÑØ'ÕÛ" :e#$%<&'£$%ÕÛžÐËÑØ£ÙÚÛ" ÐÑÄ£‹(!± Í5ëì ÑØ£ÙÚÛûòïÖ× ðÜ­Ç¢íÓÔñ¢íÓÔõö𠆣‹×ò£‹ õöÓÔ) pqÃÐ(‡&*+ [11]  jÑØ£ÙÚÛÜ­ ÓԄˆõW<=?<=™q)ñÓÔ5ÐÑÄÖ×õöªÛ­ <˜=ªÛ W,53'ûõeO`aÐÑÄ

(31) iãõ ö / 1.1Àñ!ÐÑÄÒ Ö׋õö­<Î5ž3> Қš-.W/".  1.1: 

(32)  X•ß5pq¦ùçèÐÑÄÐÄ

(33) (Mecha) 'åUsÔ ¬ßXÓ0úy!÷ø 1âã䠋9³32sÔ™Ç'ð!$ 1 31453ñõöï$1Ü­ÓÔÛÅÆþ:'ž•ß ùúý>ûüÅÆþ: (LQG) LyÐÑļ×òs™ 6×òïÒ ÔÆãÝ".

(34) Ö 1 × ØP 4 7ßÕ5Õx8s9Ã:`­£ ‹ÿ&; EèxÐÑÄì âãä¬ßù£‹<!y=å@ Ô1ÛyÆÓÝ" ÅÆþ:•ßùúý>ûüÅÆþ:Õ5Õx6789: (Kalman filtering) þ:ƒ„÷Vj3>?@e?PÀÁý@ÔeOú5 Ýޘ@•ßlAäK3àáùúý>˜ 6 (LQR) ÅÆþ:Lyæ Ó9³" 1.5.  XPQ <ËÍÂ×B<ï.   CWz{DE/z{mFF†W\G þ:NOÿ`êB˜™Î5PQ ".  

(35) (VCM)  C W p  q à Р(  Æ `a>(—ßÐÑÄÙ>FF†,- :OúCS"   LQG   CWXm/þ: HÇ Ffg,-"   X×fg,-ˆ‰`a²³noˆ ‰JKLHŠÁMN! ;²³I@"   ˜J×vj>™÷Ûýþ• P`avjKL;NMþ˜™,-ÝÞ`+ß÷VNO".

(36)    !"# (VCM) Xמš,-DÐÑÄUñí<óß`aX>— ß VCM ܘ™,-ßì âãäþ:!ÕÇ"#8y Ç&-'¡()á" 2.1.  . ÐÑÄk3Ð/Ä/Ã?áÇ#ÐÑÄ¢íPQÐ%Ç /HÃñna¾ÆÄR Ü"ÐÑÄÄ SœTU!VWX YZ·Ð%ëì»/Ò aÐÑØH5ÐÑÄX "?Ä

(37) ­'`[\<­ÐÄ

(38) (Mecha) aZ·Ä (Loader)Õx> £ð]^yZ·Ä (`3í<Î_\£,-" ÐÑÄ`šoý_aÓÇ/ûb.² ac$ÍXÓ$×  KãÔ‹ÊÐÑÄëìz{úÍdXÎ5CWÝÞ—ß DaÓÇd`;_" 2.1.1. *+ (Macha). / 2.1Ë3ñXYÐÑÄZ[/=¤) Macha í<Î5ÐÄ

(39)  À Mass 5âãä (Absorber) 'eÛ`Õ/ 2.2Mass <\)/fg ž 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 Î5—ÑØûòÖ×Ô1Li" ÕxûòÓÔðÜ­ë¯çèjÔ(`NO hž ðÄ>ë¯çè`øâ¼k—=£ðËl> m£‹V è(`Ü­²³£‹" 2.1.3. 234501. Õ/ 2.1`fgÐÑÄë¯çè4FÐÄ

(42) '(`ÐÄ

(43) nÛo*p¼32ÓÔqÂð4F‹Êë¯çèpó™³ 5Ü­ë¯çèëì£yz{Í5± ˆ‰± yrsVèÜ­z{rs ÐÑØ"(`XYÐÑÄÄt¼o!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)=Ý5€ÑÄÓÔ oí<ªÛD{y Mass 9\ÑÄ

(45) 'ë¯çèÇyÓÔ‹Ê‚," 2.2.  (VCM) . XsBfg,-X>ß² /Û`apó m" 2.2.1. 6789. póm/ 2.3()3ñùERÄÒåù'à þ^!ÄÒþ^ƒ4f!Ä҃4í<ùÇy^'¶1¶1þ.

(46) Ö 2 × ÐÑÄÇ! (VCM) 8 ^Մ B¼éG¼Çy¶1Âs„ˆÄÒÁÂs†'ÄÒb .Õ ( 2.1) G¼ùÇ1Âs!þ^" ~ F~ = N · l · ~i ⊗ B. (2.1). = F~ ()¶1 ; N Ëù<! ; l Ë ù!Ä҃4j. ; ~i ˃4ÁˆÄÒÁ ; ~ ËÄÒ" B.  2.3:   2.2.2. :;<3=>?@AB. X>—ß/ 2.4()À/ 2.55/ Ë\êþž•ß/ 2.4\ê5Շñí< ­= A í <ñ~.5'ïˆB í<5ñ‰ŠC í<~.¢o Ä~3ñÄÒD í<53ñî‹pŒ‰.¡oùù !ÄÒþ^ÙOùÁŽ: ) 2.2.1 sB(ð'ï.

(47) Ö 2 × ÐÑÄÇ! (VCM) 9 $ÔjÔ ùà C ‰.k(` C ‰.!ùð3«† B ~Š' ïjÔː‘ C ‰.’' A í<~.(`d' B í±‰Š' d'“”‘’•Ç–".  2.4: !".  2.5: #$.

(48) Ö 2 × ÐÑÄÇ! (VCM) 10 Ë—UÁàhT`yàÔáâãäDªž '`šÛmLàÔáâãäÄRú ¨þ:` r st%jPQ ”Design of an Adaptive Dynamic Absorber to Reduce Optical Disk Drives Vibration at Multiple Rotating Speeds” [1]" 2.2.3. *CD.  2.6: VCM %&'()

(49)  / 2.6f5ÝÞž—ß VCM ì âãäíÿñÇ' žƒ„âãä—.'`ñ VCM ì âãäå VCM sÔ ðÆ Mecha 'ÓÔX>£˜ÇÖ×!™ÔÛ/šJxƒ4þ ^'ÓÔÅÆ".

(50)

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