• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.402-410
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• 2004

To obtain a good tracking performance in an optical disk drive servo system, it is essential to attenuate periodic disturbances caused by eccentric rotation of the disk. As an effective control scheme for enhancing disturbance attenuation performance, disturbance observers (DOBs) have been successfully applied to the track-following servo system of optical disk drives. In disk drive systems, the improvement of data transfer rate has been achieved mainly by the increase of disk rotational speed, which leads to the increase of the disturbance frequency. Conventional DOBs are no longer effective in disk drive systems with a high-speed rotation mechanism because the performance of conventional DOBs is severely degraded as the disk rotational frequency increases. This paper proposes a new DOB structure for effective rejection of the disturbance in optical disk drives with a very high rotation speed. Asymptotic disturbance rejection is achieved by adopting a band-pass filter in the DOB structure, which is tuned based on the information on the disturbance frequency. In addition, performance sensitivity of the proposed DOB to changes in disk rotational frequency is analyzed. The effectiveness of the proposed DOB is verified through simulations and experiments using a DVD-ROM drive.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.811-817
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• 2015

In this paper, we present a new control structure which is obtained by adding an appropriately designed filter to a conventional disturbance observer. The proposed controlled system preserves advantages of a system with the conventional disturbance observer; disturbance rejection and nominal performance recovery. In particular, by embedding the filter, the disturbance rejection performance is enhanced compared with that of the classical disturbance observer-based controlled system. Moreover, we suggest a condition for the robust internal stability of the considered system in this paper. Simulation results regarding an effect of relatively high-frequency disturbance on hard disk drive are also presented.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.122-127
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• 2002

A frequency-domain PES estimation and its prediction method are proposed for the tightly-coupled servo/mechanical design of high-TPI HDD system above 100 kTPI. The major two disturbance energies which are related with mechanical vibrations inside of HDD are used to predict the drive-level PES, while considering closed-loop servo dynamics. One is the torque disturbance which mainly comes from aerodynamic excitation of HSA system and the other is the displacement disturbance from disk-spindle dynamics. In order to obtain the accurate error transfer function of closed-loop servo control, the plant model is measured by accurate experiment. The measured PES is compared with predicted one in terms of frequency-domain PES spectrum and its standard variation value. It is proved that the proposed frequency-domain PES estimation/prediction method is capable of predicting drive-level PES of high-TPI hard disk drive.

• Journal of Ecology and Environment
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• v.30 no.1
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• pp.69-73
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• 2007

The sources and the frequency of disturbances and the responses of shorebirds to disturbances were studied at four roosting sites on Ganghwa Island and Yeongjong Island. The mean frequency of disturbance to roosting shorebirds was 2.7 per hour. Human activities contributed to the disturbance in 65% of all cases. Disturbance frequencies in saltpans were higher than those in the upper tidal zone, fishponds and salt marshes. Response patterns of shorebirds to disturbances were associated with the source of the disturbance. Disturbance caused shorebirds to change their behavior and to reduce roosting time at their roosting sites. Four patterns of responses by roosting shorebirds to disturbance were found, including: (1) leaving the roosts, (2) changing their location within the site, (3) leaving and returning, and (4) remaining in place. In the latter three response patterns, the birds tended to remain in their initial roosting sites, in contrast with the leaving pattern, which involved departing from the roosting area. Factors affecting these response patterns were time from high tide and time of day. When the time from high tide was greater, and the time of day was later, more birds stayed at the roost. The absence of sufficient alternative roosts in the study areas forced the birds to choose between tolerating the current disturbance, or moving to distant roosts.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.452-457
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• 2003

An add-on type output regulator is proposed in this paper. By an add-on controller we mean an additional controller which operates harmonically with a pre-designed one. The role of the add-on controller is to reject a sinusoidal disturbance of unknown magnitude and phase but with known frequency. Advantages of the proposed controller include that (1) it can be used only when the performance of disturbance rejection needs to be enhanced, (2) when it is turned on or off, unwanted transient can be avoided (i.e., bumpless transfer), (3) it is designed for perfect disturbance rejection not just for disturbance reduction, (4) ability for perfect rejection is preserved even with uncertain plant model. This design may be promising for optical disc drive (ODD) systems in which disc eccentricity results in a sinusoidal disturbance. For ODD systems, the sensitivity function obtained by the pre-designed controller, which may have been designed by the lead-lag, $H_{\infty}$, or DOB (disturbance observer) technique, does not change much with the add-on controller except at the frequency of the disturbance. Since the add-on controller does the job of rejecting major eccentricity disturbance, the gain of the pre-designed controller does not have to be too high.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.105-110
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• 2008

This paper presents a control method to maintain stable mold level for unsteady bulging in high speed casting. The stabilizing mold level is an important factor to get high quality products. But, for various reasons, there are several disturbance factors which make mold level unstable. Bulging is one of disturbance factors and considered for the current stage of study. We design a disturbance observer to attenuate the effect of bulging which is periodic mold level disturbance. Since the period of bulging varies with the casting speed, the parameters of disturbance observer are changed by the casting speed. Simulation is illustrated to demonstrate stable performance of the proposed method in comparison with a previous method in a variable operating frequency.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.8 s.101
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• pp.988-995
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• 2005

Vibration has been severly increased at the branch pipe of main steam header since the commercial operation of nuclear power plant. Intense broad band disturbance flow at the discontinuous region such as elbow, valve, and header generates the acoustical pulsation which is propagated through the piping system. The pulsation becomes the source of low frequency vibration at piping system. If it coincide with natural frequency of the pipe system, excessive vibration is made. High level vibration due to the pressure pulsation related to high dynamic stress, and ultimately, to failure probability affects fatally the reliability and confidence of plant piping system. This paper discusses vibration effect for the branch pipe system due to acoustical pulsations by broad band disturbance flow at the large main steam header in 700 MW nuclear power plant. The exciting sources and response of the piping system are investigated by using on-site measurements and analytical approaches. It is identified that excessive vibration is caused by acoustical pulsations of 1.3 Hz, 4.4 Hz and 6.6 Hz transmitted from main steam balance header, which are coincided with fundamental natural frequencies of the piping structure. The energy absorbing restraints with additional stiffness and damping factor were installed to reduce excessive vibration.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11a
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• pp.319.1-319
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• 2002

A frequency-domain PES estimation and its prediction method are proposed for the tightly-coupled servo/mechanical design of high-TPI HDD system above 100kTPI. The major two disturbance energies which are related with mechanical vibrations inside of HDD are used to predict the drive-level PES, while considering closed-loop servo dynamics. One is the torque disturbance which mainly comes from aerodynamic excitation of HSA system and the other is the displacement disturbance from disk-spindle dynamics. (omitted)

• Bulletin of the Korean Space Science Society
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• 2005.04a
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• pp.138-142
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• 2005

A reaction wheel, an actuator for satellite attitude control, produces disturbance torque and force as well as its axial control torque. The disturbances have an influence on the pointing stability of high precision satellites. The measurement of disturbances for such a satellite, therefore, is necessary. The wheel's rotation, however, causes the vibration of the table and its vibration induces measurement errors, especially large near the resonance frequency of the Measurement table. For the purpose of overcoming these defects, a calibration method using frequency compensation is suggested in this paper. Disturbance parameters are identified from data examined by frequency compensation. Measurement frequency range can be expanded far higher than the resonance frequency, since the degradation of data accuracy caused by its vibration is well alleviated even in the resonance area.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.780-785
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• 2005

Vibration has been severly increased at the branch pipe of main steam header since the commercial operation of a nuclear power plant. Intense broad band disturbance flow at the discontinuous region such as elbow, valve or heather generates the acoustical pulsation which is propagated through the piping system. The pulsation becomes the source of low frequency vibration at piping system. If it coincide with natural frequency of the pipe system, excessive vibration is made. High level vibration due to the pressure pulsation related to high dynamic stress, and ultimately, to failure probability affects fatally the reliability and confidence of plant piping system. This paper discusses vibration effect for the branch pipe system due to acoustical pulsations by broad band disturbance flow at the large main steam header in 7nn nuclear power plant. The exciting sources and response or the piping system are investigated by using on site measurements and analytical approaches. It is identified that excessive vibration is caused by acoustical pulsations of 1.3Hz, 4.4Hz and 6.6Hz transferred from main steam header, which are coincided with fundamental natural frequencies of the piping structure. The energy absorbing restraints with additional stiffness were installed to reduce excessive vibration.