Abstract
A new decoupled track-seeking controller design is described for dual-stage servo systems of magnetic disk drives. The controller is applied to the dual-stage system with a push-pull piezoelectric (PZT) microactuator and enables high-speed one-track seeking. The one-track seeking controller was designed in three steps : 1) A VCM feedforward controller was designed to prevent overshoot in response of VCM actuator. 2) A feedforward loop was designed from the VCM reference signal to the PZT actuator in order to decouple the dual-stage actuator system. 3) A feedforward controller was designed for the PZT actuator such that an output PES (position error signal) only follows a PES reference signal. The robustness of the seeking controller for both gain variations and PZT hysteresis is analyzed by using simulations. Simulations and experiments show that the proposed dual-stage track-seeking controller performs better than the conventional single VCM servo and achieves 0.3ms one-track seeking time.
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