Self-tuning fuzzy PID controller for servo control of hard disk drive with time delay
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ORIGINAL RESEARCH
Self-tuning fuzzy PID controller for servo control of hard disk drive with time delay Anil Kumar Yadav1
•
Piyush Saxena2 • Prerna Gaur2 • Pawan Kumar Pathak3
Received: 1 July 2020 / Accepted: 9 November 2020 Ó Bharati Vidyapeeth’s Institute of Computer Applications and Management 2020
Abstract This paper presents the implementation of conventional proportional-integral-derivative (PID) controller, fuzzy logic with proportional-derivative (FL-PD) control configuration and self-tuning fuzzy logic PID (STFL-PID) controller for servo control of hard disk drive (HDD). Comprehensive performance analyses of the conventional PID, FL-PD and STFL-PID controllers are performed, and identify the superior control technique for the HDD. It is shown that the proposed and designed control technique improves the track seeking performance. The proposed controller is used to keep the read/write (R/W) head on track i.e., to minimize the position error signal (PES). Keywords PID control Hard disk drive Fuzzy logic based control Position error signal Read–write head
1 Introduction The hard disk drive (HDD) was introduced in 1956 as data storage system for processing and computing. In HDD system, the data is magnetically read from and written to the platter by R/W heads. The position of R/W head is controlled by a closed-loop servo system. The design criteria of the controller for desired track following of hard disk drive must have least variance in the head position. An & Anil Kumar Yadav [email protected] 1
Department of Electrical Engineering, NIT Hamirpur, Hamirpur, Himachal Pradesh 177005, India
2
Department of ICE, NSUT, Dwarka, New Delhi, India
3
School of Automation, Banasthali Vidyapith, Tonk, Rajasthan 304022, India
actuator i.e. VCM is used to rotate the R/W heads over the surface of the rotating disk [1–4]. To recognize the high recording density, the magnetic R/W heads must be positioned precisely [5]. Figure 1 shows the overview of a typical HDD servo system with a voice coil motor (VCM) actuator. The control techniques such as Linear Quadratic Gaussian Regulator (LQG), H 1 and l synthesis approaches, and loop transfer recovery (LTR) techniques are used to effectively handle the controlling of disk. The dual stage servo control design has been done using modern optimal control techniques in literature [1–6]. The quadruple-stage actuator system for the HDD servo system has been discussed in [7]. The PID type controller is mostly used for industrial control because it has simple structure, excellent performance and easy to design [8–13]. The applications of PID controller for various systems such as power system [13], vehicle system [14, 15] and solar system [16] are presented. In recent, the conventional PID structure is combined with well known soft computing technique like fuzzy logic and form the new intelligent controllers such as FLPD and STFL-PID controllers. The STFL-PID controller is design to obtain the parameters such as KP, KI and KD. The performance parameters such as rise
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