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研究生:賴勁豪
研究生(外文):Chin-Hao Lai
論文名稱:光碟機聚焦伺服補償器之自動調整與循軌伺服之干擾補償策略
論文名稱(外文):Focus-Compensator Auto-Tuning and Track-Following Disturbance cmpensation in Optical Disk Drives
指導教授:呂有勝呂有勝引用關係
指導教授(外文):Yu-Sheng Lu
學位類別:碩士
校院名稱:國立雲林科技大學
系所名稱:機械工程系碩士班
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2006
畢業學年度:94
語文別:中文
論文頁數:83
中文關鍵詞:適應性前饋補償落後領先補償器參數自動調校法滑動模式干擾估測器循軌伺服。光碟機
外文關鍵詞:Lag-Lead compensatorautomatic adjustmentsliding-mode disturbance observerAdaptive feedforword cancellationOptical Disk DriveTrack-Following Servo
相關次數:
  • 被引用被引用:5
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  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:1
本文研究光碟機伺服迴路增益之自動調整機制與循軌伺服之干擾補償策略,並且利用數位訊號處理器(DSP)與可程式閘陣列(FPGA)實現於光碟機系統。於聚焦伺服迴路增益自動調整,採頻率響應之觀念,其中本文使用落後領先補償器參數自動調校法之線上自動調整機制,改善其伺服性能,使系統對於參數不確定性具有強健性。即針對光碟機因製造上的差異、元件老化、溫度、碟片反射光量之差異性,進行自動補償,以達到目標性能。
於循軌方面利用滑動模式干擾估測器應用於適應性前饋補償,此種型式之前饋補償是以訊號壓縮與還原為基礎,將系統之週期性的干擾做傅立葉係數的取得,並利用係數求出適當的前饋補償量,使循軌系統對於光碟片上的週期性干擾與外界的突發性干擾能獲得有較的抑制,增進光碟機性能。並提出滑動模式切換增益自動調整機制,能即時地調整切換增益。
本文以市售之12倍速DVD-ROM光碟機進行改裝而成實驗平台,以TI TMS320C6713 DSP與Xilinx可程式閘陣列(FPGA)取代原本光碟機上的伺服控制晶片,並以C語言與硬體描述語言(VHDL)做為發展工具,進行控制器設計,並實現於此光碟機。
This thesis presents mechanism of automatic adjustment by using lag-lead compensator. The method is applied to focus servo of optical disk drives with on line, and self-tuning features. The lag-lead compensator can attenuate servo-gain error due to mass production, temperature variation, or disk’s variation from reflex light, and fulfill specifications of focus servo.

About the track-following servo, we utilized linear state feedback controller with sliding-mode disturbance observer based adaptive feedforword cancellation (SDOB-Based AFC) that get Fourier coefficients from periodic disturbance, and use those coefficients to find appropriate feedforward compensation. Furthermore, a mechanism of automatic switching gain adjustment is implemented to the track-following servo by using SDOB-Based AFC, and proved its effectiveness in rejecting periodical disturbance and attenuating unexpected disturbances.

The experimental system consists of a commercially available 12Xs DVD-ROM drives and a DSP/FPGA system that is the control kernel, and replaces the servo chip on the original drive. We use C language and hardware description language (VHDL) as a tool for developing servo control systems for optical disk drives.
摘 要 i
ABSTRACT ii
誌 謝 iii
目 錄 iv
圖 目 錄 vi
表 目 錄 viii
第一章 緒論 1
1-1 背景說明 1
1-2 研究動機與目的 2
1-3 文獻回顧 4
1-4 實驗步驟 5
1-5 論文架構 7
第二章 光碟機系統描述 9
2-1 光碟機簡介 9
2-3 聚焦伺服系統 11
2-3-1 聚焦伺服規範 11
2-3-2 聚焦誤差偵測 12
2-3-3 聚焦伺服控制 14
2-4 循軌伺服系統(TRACKING SERVO SYSTEM) 15
2-4-1 循軌伺服規範 15
2-4-2 循軌伺服控制 16
第三章 實驗系統介紹 17
3-1 系統測試平台 17
3-2 高速串列埠介面之規劃 19
3-3 聚焦伺服系統鑑別 21
3-4 循軌伺服系統鑑別 24
第四章 聚焦控制系統設計 26
4-1 聚焦控制器設計 26
4-1-1 聚焦控制器架構 26
4-1-2 聚焦控制器設計方法 27
4-2 落後領先補償器自動調校法 27
第五章 聚焦迴路增益調整實驗結果 34
5-1 落後領先補償器自動調校法用於聚焦伺服 34
第六章 循軌控制系統設計 38
6-1控制器設計 38
6-1-1 線性狀態回授控制器設計 38
6-1-2循軌控制器架構 39
6-1-3 循軌控制器設計方法 40
6-2 適應性前饋補償 41
6-2-1 控制器介紹 41
6-2-2 傳統適應性前饋補償 43
6-2-3 穩定性分析 45
6-2-4 以滑動模式干擾估測器為基礎之適應性前饋補償 46
(Sliding-DOB-Based AFC, SDOB-AFC) 46
6-3干擾估測器切換增益自動調整 48
第七章 循軌控制實驗結果 49
7-1前饋補償的重要性 49
7-2以滑動模式干擾估測器為基礎之適應性前饋補償於循軌系統之實現 52
7-2-1主軸轉頻干擾對於控制器之影響 52
7-2-2步階干擾對於控制器之影響 62
7-3干擾估測器切換增益自動調整於循軌系統之實現 67
7-4結果與討論 69
7-4-1 聚焦伺服控制之結果與討論 69
7-4-2 循軌伺服控制之結果與討論 69
參考文獻 70
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