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研究生:劉俊宏
研究生(外文):Chun-Hung Liu
論文名稱:高速數位影音光碟機之可變線速控制法
論文名稱(外文):Variable Linear Velocity Control of High Data Rate DVD-ROM Drives
指導教授:林巍聳
指導教授(外文):Wei-Song Lin
學位類別:碩士
校院名稱:國立臺灣大學
系所名稱:電機工程學研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:1999
畢業學年度:87
語文別:英文
論文頁數:77
中文關鍵詞:數位影音光碟機等線速度等角速度可變線速度光碟機適應控制主軸馬達存取時間
外文關鍵詞:DVD-ROMconstant linear velocity CLVconstant angular velocity CAVvariable linear velocity VLVCD-ROMadaptive controlspindle motoraccess time
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數位影音光碟機(DVD-ROM)已逐漸變成最重要的資料儲存設備之一,但是由於DVD碟片上的高密度軌道分佈,使得DVD-ROM在進行資料的讀取動作時,要比傳統的CD-ROM更加困難,所以高速資料傳輸、高精度的光學讀取頭定位,以及快速的尋軌能力,是一部好的數位式光碟機所必備的條件。本論文的研究重點是要消除光學讀寫頭系統內部未知參數對位置控制所造成的誤差,使系統具有高速尋軌的能力,以實現可變線速(variable linear velocity, VLV)法,達成高速資料傳輸率的設計目標,其中,由於主軸馬達的轉速必須根據光學讀取頭的位置做精密的調整,然而馬達系統的參數可能因為外部環境的因素而成為不確定值,所以本研究藉由參考模型適應控制與非線性回饋控制法發展出適應控制律,以適應馬達系統特性的變化,使馬達的速度獲得良好的控制,而以可變線速法做為碟片的轉速控制法則,則有效的改善了定線速法(CLV)存取時間較長與定角速法(CAV)低資料傳輸率的缺點,使系統資料傳輸效率有顯著的提升。

DVD has become one of the most important media for saving digital data. Due to the high-density distribution of tracks on a DVD disc, the control actions of data retrieving on it is much more difficult than that of a CD disc. Therefore, to achieve high performance in data rate, a DVD-ROM drive must have the abilities of short access time and high data transfer rate. The objective of this research is mainly to develop a control method that considers the uncertainties of the motor system and achieves high-speed seeking and tracking of the optical pickup unit (OPU) so that the proposed variable linear velocity (VLV) algorithm can be realized. The proposed method is a combination of nonlinear feedback linearization and model reference adaptive control. The theoretical analysis and simulation results are presented to confirm the performance of the design. The VLV algorithm is shown to be able to ameliorate the connatural drawbacks of constant linear velocity (CLV) and constant angular velocity (CAV) algorithms.

Chapter 1 Introduction 1
1.1 Background 1
1.2 Control systems of DVD-ROM drives 3
1.3 Contributions 5
1.4 Organization of this thesis 5
Chapter 2 Preliminaries of DVD-ROM Control 6
2.1 Switching point of the velocity control of the optical pickup unit 6
2.2 Theory of Brushless DC Motors 9
2.2.1 Voltage and Torque Equations in Machine Variables 9
2.2.2 Voltage and Torque Equations in Rotor Reference-Frame Variables 11
2.3 Lyapunov Stability 12
2.3.1 Lyapunov's Direct Method 12
2.3.2 Positive Real & Strictly Positive Real Transfer Function 13
Chapter 3 High-Speed Tracking Control of DVD-ROM Drives 15
3.1 Dynamic equations of the pickup unit carrier 15
3.2 Velocity control of the optical pickup unit 18
3.3 Seeking using model reference adaptive control 19
3.3.1 Model Reference Control of the coarse seeking plant 19
3.3.2 Control law of the coarse seeking plant 21
3.3.3 Adaptive laws for the coarse seeking plant 23
3.3.4 Adaptive law for the fine seeking plant 27
3.4 Simulation results 29
Chapter 4 Speed Control of the Spindle Motor by Adaptive
Input-Output Feedback Linearization 36
4.1 Dynamics of the spindle motor system 36
4.2 Input-output feedback linearization 38
4.3 The disturbance torque and flux linkage 41
4.4 Adaptive input-output linearization 42
4.5 Estimation of disturbance torque and flux linkage 44
4.6 Simulation results 48
4.6.1 CAV control mode 48
4.6.2 CLV control mode 51
4.6.3 Hybrid speed control of integrating CAV/CLV control mode 53
Chapter 5 Variable Linear Velocity Control of DVD-ROM Drives 56
5.1 DVD-ROM system parameters 56
5.2 Variable linear velocity mode 57
5.2.1 Access time of DVD-ROM system 57
5.2.2 Data transfer mode during jump conditions 57
5.2.3 Limitations of the VLV control 59
5.2.4 Data rate of DVD-ROM systems 60
5.3 Variable linear velocity control of DVD-ROM drives 60
5.3.1 Construction of the speed index curve 62
5.3.2 The data rate of different velocity modes 65
5.3.3 Seek time of different control modes 67
5.3.4 Overall performance index 69
Chapter 6 Conclusion 72
Reference 74

References
[1] Paul C. Krause, "Analysis of Electric Machinery", McGraw-Hill Book Co., 1987.
[2] Watkinson, J., "The Art of Data Recording," Focal Press, Butterworth-Heinemann Ltd., Oxford, 1994
[3] K. H. Park, J. H. Lee, S. H. Kim and Y. K. Kwak, "High Speed Micro Positioning System Based on Coarse/Fine Pair Control," Mechatronics, Vol. 5, No. 6, pp.645-663, 1995.
[4] J. J. Lee, K. H. Park, S. H. Kim and Y. K. Kwak, "a High Speed Tracking System Using Adaptive Model-Following Control," Mechatronics, Vol. 5, No. 8, pp. 857-872, 1995.
[5] Petros A. Ioannou and Jing Sun, "Robust Adaptive Control", Prentice Hall, 1996.
[6] Sorin G. Stan and Jan L. Bakx, "Adpative-Speed Algorithms for CD-ROM Systems," IEEE Transactions on Consumer Electronics, Vol. 42, No.1, pp. 43-51, Feb. 1996.
[7] Stan, S.G., "Twin-Actuators for Ultra-Fast Access in CD-ROM Systems," IEEE Transactions on Consumer Electronics, Vol. 42, No. 4, pp. 1073-1084, Nov. 1996.
[8] Sorin G. Stan, "High-Performance Adaptive-Speed/CAV CD-ROM Drives," IEEE Transactions on Consumer Electronics, Vol. 43, No. 4, pp. 1034-1042, Nov. 1997.
[9] Tsuyoshi Katayama, "High-Precision Tracking Control System for Digital Video Disk Players," IEEE Transactions on Consumer Electronics, Vol. 41, No. 2, pp. 313-321, May 1995.
[10] Sorin G., "Look-Ahead Seek Correction in High-Performance CD-ROM Drives," IEEE Transactions on Consumer Electronics, Vol. 44, No. 1, Feb. 1998.
[11] Jung-Ho Moon, "Track-Following Control for Optical Disk Drives Using an Iterative Learning Scheme," IEEE Transactions on Consumer Electronics, Vol. 42, No. 2, pp.192198, May 1996.
[12] T.-J. Jang, C.-H. Choi, and H.-S. Ahn, "Iterative Learning Control in Feedback Systems," Automatica, Vol. 31, No. 2, pp. 243-248, 1995.
[13] Yutaka Uekawa, "The Development of Digital Servo Algorithms for Optical Disc Players," IEEE Transactions on Consumer Electronics, Vol. 36, No. 3, Aug. 1990.
[14] Jian-Dong Yang and Xian-Deng Pei, "Seek Time Trajectories of Time Optimal Control for a Dual Stage Optical Disc Drive Actuator," IEEE Transactions on Magnetics, Vol. 12, No. 5, pp. 3857-3859, Sep. 1996.
[15] J. McCormick and R. Horowitz, "Time Optimal Seek Trajectories for a Dual Stage Optical Disc Drive Actuator," J. of Dynamics Systems, Measurement, and Control, Vol. 113, pp. 534-536, Sep. 1991.

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