Sliding-Mode Control Based on the Internal Model Principle and its Application to the Track-Following Servosystems in Optical Disk Drives

• Main Authors: Shuen-Shing Jan, 詹順興
• Other Authors: Yu-Sheng Lu
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/06247373113194811447

碩士 === 國立雲林科技大學 === 機械工程系碩士班 === 92 === The linear IMP (internal model principle) controllers is known for its capability of perfect tracking and disturbance rejection with an internal model of exogenous signals, while the SMC (sliding-mode control) controller is robust to system perturbation and exogenous signals with unknown dynamics. In this thesis, an SMC design based on IMP is used to combine the best feature of these two fundamentally different but effective methods for disturbance rejection. This IMP-based SMC was applied to the track-following servo system and proved to be an effective way of rejecting periodic disturbance and attenuating unexpected disturbances as well. Systematic approaches of designing the spindle servo and the focus servo are also presented in this thesis. The experimental system consists of a commercially available 12Xs DVD-ROM drives as the plant, and a DSP/FPGA system as a controller kernel that replaces the servo chip on the original drive. The experimental results show the effectiveness of this DSP/FPGA-based control system.