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A Generalized Anti-Windup Scheme Considering Amplitude and Rate Saturations

[+] Author Affiliations
Shiying Zhou, Minghui Zheng, Masayoshi Tomizuka

University of California, Berkeley, CA

Paper No. DSCC2016-9839, pp. V002T22A007; 7 pages
doi:10.1115/DSCC2016-9839
From:
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME

abstract

The secondary actuator in dual-stage hard disk drives (HDDs) is subject to both amplitude and rate saturations. This paper proposes an anti-windup scheme based on robust control methodologies by modeling the saturations as bounded nonlinear uncertainties. The scheme is constructed as an add-on linear conditioning structure which consists of a dual-input-dual-output filter. With the proposed scheme, the induced l2 norm from the disturbance to the position error is minimized with guaranteed stability. Loop transformations to reduce redundant uncertainties and weighting functions to accommodate different performances are discussed. Simulation validation on a dual-stage HDD system is performed and the effectiveness of the proposed anti-windup scheme is demonstrated.

Copyright © 2016 by ASME

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