Random vibration and shock compensator using a disturbance observer
First Claim
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1. A control system for positioning an object susceptible to physical disturbances comprising:
- a disturbance observer adapted to generate a disturbance compensation signal to compensate a position of the object as a function of an estimated physical disturbance responsive to low-frequency components of the estimated physical disturbance, the disturbance observer including a low pass filter configured to filter high frequency components from an output signal from the object related to position of the object which includes sensor noise.
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Abstract
A data storage device adapted to compensate for physical disturbances has a storage medium, a read-write mechanism positionable relative to the storage medium, and a disturbance observer. The read-write mechanism is adapted to read and write data. The disturbance observer compensates a position of the read-write mechanism according to low-frequency components of physical disturbances.
247 Citations
19 Claims
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1. A control system for positioning an object susceptible to physical disturbances comprising:
a disturbance observer adapted to generate a disturbance compensation signal to compensate a position of the object as a function of an estimated physical disturbance responsive to low-frequency components of the estimated physical disturbance, the disturbance observer including a low pass filter configured to filter high frequency components from an output signal from the object related to position of the object which includes sensor noise. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of controlling position of an object comprising:
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filtering sensor noise from an output signal from the object related to position of the object with a low pass filter; estimating a disturbance of the object related to a difference between a position control signal and low-frequency components of the filtered output signal related to position of the object; filtering high frequency components from the estimated disturbance to derive a low-frequency disturbance compensation signal; and adjusting position of the object by applying the low-frequency disturbance compensation signal to an output of a controller. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A control system comprising:
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a positionable object which provides an output signal related to position; a controller adapted to position the object; and a disturbance observer adapted to estimate physical disturbances to the object based upon the output signal and responsively to adjust a position of the object with a disturbance compensation signal based on low-frequency components of the estimated physical disturbances generated from a low pass filter output signal from the object related to position of the object which is applied to an output of the controller.
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Specification