四弦型光學讀寫頭控制器與觀測器之
實作與驗證

本篇論文採用安裝於CD/DVD等資料擷取系統上之四弦型光學讀寫頭，此一四弦型光學讀寫頭具有3個自由度，分別是聚焦(Focusing)、尋軌(Tracking)與傾斜(Tilting)方向。首先利用虛功原理(Virtual work)與Lagrange's equation推導出具有3個自由度四弦型光學讀寫頭之動態方程式，再加以考慮讀寫頭上之線圈所產生電磁感應之作用力，導出完整動態方程式。在控制器上主要採用滑動模態控制器(Sliding mode controller)。而在觀測器的設計上，先採用全階型之高增益觀測器(High-gain observer)來估測讀寫頭之速度，當作滑動模態控制器的速度信號回授，並且實際運用dSPACE及時控制之人機介面，將設計好之滑動模態控制器，加上全階型之高增益觀測器當作控制器之回授信號，作三軸光學讀寫頭三軸同動定位控制之實作，以驗證將觀測器觀測之速度訊號替代直接微分位置為回授信號，進而獲得更好實作控制結果之可行性。

關鍵字

高增益觀測器；滑動模態控制器；光學讀寫頭

並列摘要

This thesis considers a four-wire type optical pickup that is installed in CD/DVD of commercial data-reading systems. The optical pickup owns three degrees of freedoms, focusing, tracking and tilting, respectively. The virtual work and Lagrange's equation are used to derive the equations of motion. On the other hand, the action forces of voice coil motor (VCM) are formulated to derive the compact governing equation. The design of the controller is base on sliding mode control theory. The full-order high-gain observer is designed first to estimate the velocities of the pickup to provide feedback signals for sliding control. By using the dSpace real-time control interface to verify the theoretical mode which taking the combined observed signal from full-order high-gain observer as feedback signal of sliding mode controller to make experiments. Finally, experiments are conducted to test and verify effectiveness of the observing velocity from high-gain observer replacing digital derivatives of available, measured positions to be the feedback signals.

並列關鍵字

Sliding mode control ； optical pickup ； high-gain observer

參考文獻

[1] Kajiwara and A. Nagamatsu, 1993, “Optimum Design of Optical Pick-up by Elimination of Resonance Peaks”, Journal of Vibration and Acoustics 115, pp 377-383.

[3] S. Lim and T. Y. Jung, 1999, “Dynamics and Robust Control of a High Speed Optical Pickup”, Journal of Sound and Vibration, 4, pp. 607-621.

[4] J. Y. Kang and M. G. Yoon, 1998, “Robust Control of an Active Tilting Actuator for High-Density Optical Disk”, Proceedings of the American Control Conference, pp. 861-865.

[5] M. Nagasato and I. Hoshino, 1996, “Development of Two-Axis Actuator with Small Tilt Angles for One-Piece Optical Head”, Japanese Journal of Applied Physics, part 1, 35, pp. 392-397.

[6] Tae-Yong Doh, Byung In Ma, Byoung Ho Choi, In Sik Park, Chong Sam Chung, Yong-Hoon Lee, Seok Jung Kim and Dong Ho Shin, 2001, “Radial Tilt Detection Using One Beam and Its Compensation in a High-Density Only Memory ”, Japanese Journal of Applied Physics, part 1, 35, pp.1680-1683.

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四弦型光學讀寫頭控制器與觀測器之實作與驗證

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