臺灣博碩士論文加值系統

雙制動器或稱為背負制動器常以不同的機械結構型式出現在精密機械控制系統中。現今的主要光碟機系統，亦多使用雙制動器的驅動架構來負責碟片軌道的跟隨與搜尋兩種任務。該雙制動器顧名思義包含兩個制動器： 其一為以音圈馬達為主的微制動器被負載於另一個長距離移動且以一般直流馬達為主的粗制動器，或稱為滑撬。這兩個制動器彼此互補來同時達成長軌距移動及高精度定位的雙重要求。本論文即在針對以此雙制動器為主的光碟機跨軌控制系統提出兩個主要的研究重點：第一、以數值模擬的方式分析雙制動器的時間最佳化跨軌問題。一般而言以傳統解析解的方式分析複雜的雙制動器跨軌問題非常的困難，因此我們提出以二次元規劃的方法來分析雙輸入控制系統的時間最佳化問題，藉由模擬的結果可以歸納出在時間最佳最佳化要求下，雙制動器的運動行為，以作為未來雙制動器跨軌系統的伺服控制器設計之參考。第二、建立以狀態估測器為主的跨軌控制器架構，其中狀態估測器的設計是基於卡氏預測器(Kalman Predictor)的設計方式，藉由調整雜訊共變異(noise covariance)的方式，使得所設計出來的狀態估測器可以同時兼顧：一、微制動器與滑橇的動態特性，二、反應感測器干擾-軌道週期性晃動的情況，並設計出能提供足夠精度與頻寬的系統狀態。再藉由所設計的跨軌控制器一方面可以有效抑制跨軌時的感測器干擾，另一方面可以要求系統狀態沿著所設計的速度曲線運動，達到快速跨軌與穩定鎖軌的目的。本論文並根據目前市售的唯讀型光碟機，設計了一套跨軌實驗來實現文中所提出的跨軌控制器架構。由實驗的結果可以發現該跨軌控制器可以達到良好的跨軌性能與要求。

Dual actuator, or piggyback actuator, is used in many precision machine control systems. The most popular optical disc drives, for example, use dual actuators to fulfill both track following and track accessing demand. The actuator is comprised of a sled and a fine actuator. The two actuators are complementary to each other to achieve both long distance motion and high precision requirements. This thesis addresses two research problems in the dual actuator servo design. First, a numerical method to analyze the time optimal control problem for track accessing is proposed. We adopt quadratic programming method. A computer code is developed to solve for the dual actuator accessing control problem. The computer simulation results provide clear guidance to the future servo design of the dual actuator track accessing algorithms. Second, an estimator-based track accessing control algorithm is proposed. The estimator is based on the Kalman filter design and can provide enough state variable bandwidth to cover track runout and also reflect system dynamics. The controller uses two velocity control loops to further effectively cancel sensor runout and make the system follow a given velocity profile. The controller is implemented on a consumer CD-ROM. The experimental results show rapid track accessing and stable track following performance.

封面
目錄
中文摘要
英文摘要
致謝
目錄
圖表目錄
符號表
第一章 緒論
1-1 研究動機
1-2 文獻回顧
1-3 論文貢獻
1-4 論文內容
參考文獻
第二章 光碟機跨軌系統原理
2-1 跨軌機構-雙制動器
2-2 跨軌訊號
2-3 碟片軌道結構
參考文獻
第三章 時間最佳化跨軌問題之數值分析方法
3-1 文獻回顧
3-2 時間最佳化問題解的唯一性(uniqueness)
3-3 時間佳化跨軌問題
3-4 以線性規劃法求時間最佳化跨軌問題之數值解
3-5 數值分析程式架構與分析流程
3-6 模擬結果與討論
3-7 本章結論與跨軌策略(strateries)
參考文獻
第四章 跨軌實驗裝置與相關硬體設計
4-1 以PC為主的伺服控制器特性
4-2 光碟機跨軌實驗的硬體架構
4-3 跨軌軌數計算器設計
4-3-1 訊號之訊號處理
4-3-2 軌數計數器
參考文獻
第五章 隻制動器系統鑑別
5-1 隻制動器物理模型與數學模型的建立
5-2 滑橇制動器的系統參數鑑別
5-3 微制動器的系統鑑別
5-4 雙制動器的動態特性分析
參考文獻
第六章 雙制動器的庇測器設計
6-1 狀態估測器設計策略
6-2 卡氏頂測器的設計
6-3 估測器的開迴路跨軌測試實驗與討論
6-4 卡氏頂測器調整法總結
參考文獻
第七章 光碟機跨軌控制器設計
7-1 跨軌控制器設計的目標
7-2 跨軌控制器設計與特性
7-3 實驗結果與討論
7-4 本章結論
參考文獻
第八章 結論與建議
8-1 結論
8-2 建議與未來展望
附錄A 由洪振頻率應求二階系統的自然共振頻率與阻尼
A-1 Q值的意義：
A-2 共振頻率響應與二階系統的自然共振頻率與阻尼係數的關係
參考文獻
附錄B 長軌距與短軌距的區分方式

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