臺灣博碩士論文加值系統

本論文提出利用H∞迴路成型方法設計光碟機伺服系統之結果。光碟機光學頭是利用滑車與音圈馬達組合成的雙輸入單輸出形式(DISO)致動器所驅動，屬於多輸入多輸出(MIMO)系統的子集，因此MIMO系統所應用的控制器設計方法如H2、H∞或μ分析法等，也能使用在光碟機伺服系統控制器的設計上，但為了在控制器設計過程中引入直觀概念，並且注重到系統穩定性的與干擾拒斥問題，本文利用H∞迴路成型方法配合不同架構設計之，其中聚焦伺服為單位回授；定軌伺服為主從式架構；尋軌伺服則是並聯式架構。其特點在於H∞迴路成型設計可得到一最大穩定邊限指標，同時解得系統在此擾動下仍能維持穩定的控制器。在論文的最後，以電腦模擬測試設計之結果顯示，經此方法所設計的控制器能有效地抑制光學頭因碟片失圓(run-out)所引起的震動干擾，同時還具有良好的時態響應性能。

This paper presents the results of servo designs for optical disk drives which consist of a dual-input/single-output (DISO) actuator; both a sledge actuator and a voice coil motor contribute to a radial movement of the spot on the disk. DISO systems are subset of multi-input/multi-output (MIMO) systems and thus the servo engineer can apply the design methods developed for MIMO controller design to the DISO compensator problems. These techniques include H2 , H∞ and μ-synthesis. However, in order to obtain insights into the controller elements, in this study we prefer the H∞ loop-shaping approach. Here, the focus is on stability and disturbance rejection. The method is presented for a master-slave control scheme in tracking servo, a parallel scheme in seeking servo, and a unit-feedback scheme in focusing servo. The maximum stability margin can be obtained in H∞ loop-shaping algorithm. Furthermore, a robust controller guarantees to stabilize it would be carried out. Finally, computer simulation results are provided to show that the shaking disturbance due to the run-out of disk can be significantly attenuated and a good tracking performance can be achieved by the developed controller.

目錄 ………………………………………………………………i
圖表索引 ………………………………………………………… iii
論文摘要(中文) …………………………………………………vi
論文摘要(英文) .…………………………………………………vii
符號表 ……………………………………………………………viii
第一章緒論 ………………………………………………………1
1-1背景說明 ……………………………………………1
1-2 文獻回顧 ……………………………………………1
1-3 研究動機 ……………………………………………3
1-4 內容摘要 ……………………………………………4
第二章光碟機系統原理 …………………………………………5
2-1光碟格式定義 ………………………………………5
2-2光碟機伺服系統 ……………………………………7
a.讀取頭雷射功率控制單元（APC）………………8
b.主軸馬達轉速伺服（Spindle Servo）…………8
c.拖盤進/退片單元（Tray load/unload unit）…9
d.聚焦伺服（Focusing Servo） …………………9
e.定軌伺服（Tracking Servo） …………………11
f.尋軌伺服（Seeking servo）……………………13
2-3 光碟機伺服系統的性能要求 ………………………15
第三章H∞迴路成型控制理論介紹 ………………………………25
3-1開路函數與系統性能之關係 ………………………25
3-2 H∞迴路成型法 ………………………………………30
3-2-1 正交化左互質因子分解擾動系統的強韌穩定問題 ……………………………30
3-2-2 H∞迴路成型控制器求解 ……………………32
3-3 H∞迴路成型控制器設計過程 …………………… 34
3-4退化現像 ……………………………………………36
3-5 H∞迴路成型與傳統迴路成型之差別 ………………37
第四章聚焦、定軌與尋軌機構之鑑別 …………………………39
4-1聚焦機構鑑別 ………………………………………39
4-2定軌機構鑑別 ………………………………………44
4-3尋軌機構鑑別 ………………………………………46
第五章光碟機定軌、聚焦與尋軌控制器設計與摸擬…………62
5-1聚焦伺服器設計與模擬 ……………………………62
5-2定軌伺服器設計與模擬 ……………………………63
5-3尋軌伺服器設計與模擬 ……………………………64
第六章結論 ………………………………………………………82
6-1本文貢獻 ……………………………………………82
6-2 討論事項 ……………………………………………82
參考文獻……………………………………………………………84
附錄一、PD控制器電路圖 ………………………………………88

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