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ISA Transactions 47 (2008) 85–93

www.elsevier.com/locate/isatrans

Experimental dynamic characterizations and modelling of disk


vibrations for HDDs
Chee Khiang Pang a,b,∗ , Eng Hong Ong a , Guoxiao Guo a , Hua Qian a
a A*STAR Data Storage Institute, Singapore 117608, Republic of Singapore
b Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576, Republic of Singapore

Received 11 November 2006; accepted 29 May 2007


Available online 11 September 2007

Abstract

Currently, the rotational speed of spindle motors in HDDs (Hard-Disk Drives) are increasing to improve high data throughput and decrease
rotational latency for ultra-high data transfer rates. However, the disk platters are excited to vibrate at their natural frequencies due to higher
air-flow excitation as well as eccentricities and imbalances in the disk-spindle assembly. These factors contribute directly to TMR (Track Mis-
Registration) which limits achievable high recording density essential for future mobile HDDs. In this paper, the natural mode shapes of an
annular disk mounted on a spindle motor used in current HDDs are characterized using FEM (Finite Element Methods) analysis and verified
with SLDV (Scanning Laser Doppler Vibrometer) measurements. The identified vibration frequencies and amplitudes of the disk ODS (Operating
Deflection Shapes) at corresponding disk mode shapes are modelled as repeatable disturbance components for servo compensation in HDDs. Our
experimental results show that the SLDV measurements are accurate in capturing static disk mode shapes without the need for intricate air-flow
aero-elastic models, and the proposed disk ODS vibration model correlates well with experimental measurements from a LDV.
c 2007 Published by Elsevier Ltd on behalf of ISA.

Keywords: Hard-disk drives; Disk mode shapes; SLDV

1. Introduction Disturbances into the HDD servo system arising from disk
platter resonances are not new to the HDD research community.
With the introduction of perpendicular recording technolo- In previous works, their effects are usually neglected due
gies, magnetic data storage capacities in HDDs are growing at to either lower spindle rotational speeds or perceived non-
an amazing rate of more than 100% every year. As such, a high repeatable nature of disk axial vibration, hence rendering them
disk-spindle spin speed is essential to facilitate ultra-high data as NRRO (Non-Repeatable Run-Out) which includes broad
transfer rate for faster user data access in magnetic recording- band white noise and some narrow band coloured noise with
based mobile storage devices. However as the rotational speed random phase. Little is hence known about the frequency
of spindle motor increases, air-flow induced mechanical vibra- spectra of the dynamic mode shapes of the disk under static
tions and air turbulence worsen, degrading R/W (Read/Write) and operating conditions, or the disk platter resonances’ impact
head positioning accuracy which limits the achievable projected on the sliders (carrying the R/W heads) off-track in the in-plane
data storage density. The disk fluttering phenomenon becomes direction.
more serious and dominates the contribution to TMR. In recent years, the effect of disk fluttering on TMR and
the effect of different substrates on disk vibrations are studied.
∗ Corresponding address: A*STAR Data Storage Institute, No. 5, McAllister proposed to approximate the PES (Position Error
Engineering Drive 1, Singapore 117608, Republic of Singapore. Tel.: +65 Signal) contributed by disk vibration via bandpassing overall
68748668; fax: +65 67772053. PES in a frequency range where large disk flutter modes appear
E-mail addresses: Pang Chee Khiang@dsi.a-star.edu.sg, in the PES frequency spectra, thereby reducing disk platter
ckpang@nus.edu.sg (C.K. Pang), Ong Eng Hong@dsi.a-star.edu.sg
(E.H. Ong), Guo Guoxiao@dsi.a-star.edu.sg (G. Guo), resonances as a repeatable component in [1,2]. Imai et al.
Qian Hua@dsi.a-star.edu.sg (H. Qian). proposed a method to reduce disk vibration by altering the

c 2007 Published by Elsevier Ltd on behalf of ISA.


0019-0578/$ - see front matter
doi:10.1016/j.isatra.2007.05.008
86 C.K. Pang et al. / ISA Transactions 47 (2008) 85–93

air-flow path inside an enclosed HDD in [3]. More recently,


Guo et al. conducted experiments to characterize disk platter
resonances and their impact on head/slider off-track, and
investigated disk flutter magnitude with respect to the radius
of the disk and modelled the disk flutter vibration amplitude as
a linear function of disk radius in [4].
On theoretical developments, Shen et al. proposed mathe-
matical models to explain and predict natural frequencies of
the disk-spindle system in HDDs with Rayleigh dissipation
function and Lagrange’s equations in [5,6]. Experimental mode
shape measurements using a SLDV for flexible structures were
also carried out by Stanbridge et al. in [7,8]. The problems and
guidelines for using the SLDV for modal analysis are also doc-
umented by Martarelli et al. in [9].
In this paper, the first four dominant natural mode shapes of
a static annular disk used in current HDDs are first obtained
Fig. 1. Nodal circles and diameters (m, n) of a typical annular disk with a
using FEM analysis and verified with SLDV measurements. central hole.
After decoupling the repeatable and non-repeatable axial
vibrations for a disk under nominal operating conditions, a RLS
(Recursive Least Squares) algorithm is implemented to identify
natural frequencies and vibration amplitudes of forward and
backward travelling waves of a rotating disk-spindle system
Fig. 2. Simulated (0, 1) mode of constrained 0.8 mm thick 3.500 Al disk with
regressed on spindle rotational speed in rpm (revolutions per natural frequency at 594 Hz.
minute). Using the experimentally identified RRO (Repeatable
Run-Out) and disk ODS vibration model, the actual head off- In a 3.500 HDD employing 0.8 mm thick Aluminium disks in
track displacement is projected in rpm at different locations to today’s lower end desktop HDDs, the disk can be considered as
create a disturbance simulation model for track-following servo a circular lamina with a central hole categorized into m nodal
controller design in future HDDs. circles and n nodal diameters designated by the couple (m, n).
The rest of the paper is organized as follows. Section 2 The relationship between the modal indices m and n of the
introduces the nomenclature of disk mode shapes with FEM annular plate is shown in Fig. 1. It should be noted that
analysis for the first four dominant disk mode shapes. Section 3 this nomenclature and the results proposed in the rest of the
verifies the simulated disk platter resonances with SLDV paper can be applied to higher end desktop or mobile HDDs
measurements. Section 4 analyzes the time domain disk employing glass disks. This nomenclature will be used to
fluttering signal at the OD (Outer Diameter) of a disk in time characterize and model the disk vibration phenomena in the rest
and frequency domain to reduce the disk ODS vibration to of the paper.
a repeatable component with the regression of disk natural The 3D mode shape in the z-axis can be expressed by the
frequencies and vibration amplitudes on spindle rotation speed polynomial series Vz as
in rpm for higher disk-spindle system rotational speeds for XX
Vz (x, y) = Vmn x m y n
future HDDs. Section 5 proposes the disk ODS vibration model m n
for HDD track-following servo controller design evaluation. XX
Our conclusion and future works are detailed in Section 6. = Vmn sinm ωx t sinn ω y t (2)
m n

2. Mode shape analysis where Vmn is the set of polynomial coefficients with ωx and ω y
as the vibrational frequencies in rad/s about x- and y-axes,
For an general single input LTI (Linear Time-Invariant) respectively. Vz is the z-axial displacement at each (x, y)
flexible mechanical system, the mathematical model with N th coordinate (expressed in terms of modulated harmonics of the
DOF (Degree Of Freedom) can be expressed as vibrational frequencies) and forms a mode shape surface when
intrapolated (or “weaved”) together.
Mz̈ + Cż + Kz = Fu (1)
For simplicity but without loss of generality, the simulated
where M, C, and K are the mass, damping, and stiffness first four dominant disk mode shapes for a 0.8 mm thick 3.500
matrices of order N × N , respectively. z and F are the N × 1 Aluminium disk constrained at its ID (Inner Diameter) by the
displacement state and excitation vectors, respectively, and u spindle motor in the x–y plane—namely (0, 1), (0, 2), (0, 3) and
is the excitation function to the mechanical system. As such, (0, 4) modes—and their corresponding natural frequencies are
the mode shapes of the system are given by the orthogonal shown in Figs. 2–5, respectively.
eigenvectors of the homogeneous solution (i.e. when u = 0) It is worth noting that the simulations are done with the disk
and the corresponding natural frequencies are computed by in static conditions i.e. when the disk-spindle system is non-
their eigenvalues. rotating.
C.K. Pang et al. / ISA Transactions 47 (2008) 85–93 87

Fig. 3. Simulated (0, 2) mode of constrained 0.8 mm thick 3.500 Al disk with
natural frequency at 719 Hz.

Fig. 4. Simulated (0, 3) mode of constrained 0.8 mm thick 3.500 Al disk with
natural frequency at 1151 Hz.

Fig. 5. Simulated (0, 4) mode of constrained 0.8 mm thick 3.500 Al disk with
natural frequency at 1877 Hz.

3. Experimental disk mode shape measurement using


SLDV Fig. 6. SLDV setup for measuring dynamic mode shapes. The SLDV is
centered over the spindle motor with constrained 0.8 mm thick 3.500 Al disk
Experimental mode shape characterization allows modal pack.
testing and identification of the vibrational properties and
behavior of the disk without rigorous theoretical analysis.
In this section, the simulated disk mode shapes obtained in
the previous section via FEM analysis are compared with
experimental results captured from SLDV measurements.
In previous experimental works ([1,2,5,6,10] etc.) done on
the disks used in HDDs, a point-by-point measurement of the
disk at the OD with a LDV or capacitance probe was usually
employed and the collected data was then transferred to a modal
analysis software package for reconstruction of mode shapes
and calculation of the corresponding natural frequencies.
For the experiments reported here, the PSV-200 SLDV
by Polytec GmbH is used. The SLDV compact vibrometer Fig. 7. SLDV data management system. Left: Display of mode shapes and
scanning head is centered over the spindle motor with mounted scanning results. Top right: displacement measurements. Middle right: velocity
disks as shown in Fig. 6. The SLDV data management measurements. Bottom right: data management system with in-built modal
system, software for x–y control of the in-built scanners, data analysis and reconstruction software package.
processing, and various spectra display are shown in Fig. 7.
analysis software package in-built in the SLDV allows a
The schematic diagram of the experimental setup used for
fast and accurate visualization of mechanical vibrational
measuring natural frequencies and mode shapes of the disk is
characteristics [7,8]. Using the SLDV, the ODS of the spinning
shown in Fig. 8.
disk under operating conditions without any external excitation
With the SLDV, the advantages of non-contact laser
can also be captured.
vibrometry together with modal reconstruction are incorporated
into a single automated turnkey package. The SLDV can
capture the mode shapes and natural frequencies of a stationary 3.1. Natural frequency measurement
or spinning disk, scanning the entire disk and non-obtrusively
measuring the out-of-plane velocity and displacement of Before measuring the disk mode shapes using the SLDV
vibrations of the disk in both static and rotating conditions [11]. described in the previous section, the natural frequencies of
Also, the system allows quick data logging and gathers the constrained annular disk is obtained via an experimental
complete calibrated data from an entire disk surface using real- approach. In this section, a single point measurement using the
time data validation algorithms to ensure that the frequency LDV at the OD is used to capture the natural frequencies of the
measurements acquired at every scanned point are with disk. It is worth noting that the SLDV can also be used for this
high resolution and SNR (Signal-to-Noise Ratio). The modal part of the experiment.
88 C.K. Pang et al. / ISA Transactions 47 (2008) 85–93

Fig. 9. Experimental (0, 1) mode of constrained 0.8 mm thick 3.500 Al disk at


natural frequency of 603 Hz captured with SLDV.

Fig. 8. Schematic diagram of experimental setup for measuring natural


frequencies and disk mode shapes using the SLDV, LDV, impact hammer, and
DSA.

Table 1
Simulation and experimental natural frequencies (Hz)

Modes (0, 1) (0, 2) (0, 3) (0, 4)


Simulation 594 719 1151 1877 Fig. 10. Experimental (0, 2) mode of constrained 0.8 mm thick 3.500 Al disk at
Experiment 603 701 1191 1887 natural frequency of 701 Hz captured with SLDV.
Percentage variation (uncertainty) (%) +1.51 −2.50 +3.48 +0.53

For the experiments reported here, an impact hammer


excitation is chosen for its speed and accuracy in exciting
small homogeneous structures such as the disk platter over
the traditional shaker setup, which is commonly employed for
larger mechanical structures with lower natural frequencies.
The impact hammer is connected to a current amplifier to
trigger the LDV and DSA (Dynamic Signal Analyzer) for
synchronizing scanning and data logging when the stationary
disk is excited at its OD. The natural frequencies of the first
four dominant (m, n) mode shapes can then be observed from
the FRF (Frequency Response Function) displayed on the DSA.
The comparison between the natural frequencies derived
Fig. 11. Experimental (0, 3) mode constrained 0.8 mm thick 3.500 Al disk at
from FEM analysis and LDV experimental measurements are
natural frequency of 1191 Hz captured with SLDV.
shown in Table 1.
The simulated natural frequencies of the first four scan in the SLDV is set to the experimental natural frequency
dominant (0, n) mode shapes of the 0.8 mm 3.500 Al disk of the (0, n) mode shape to be measured. Similarly, the impact
from FEM analysis tally closely with the measured natural hammer is connected to a current amplifier to trigger the
frequencies using the setup shown in Fig. 8 with little SLDV for synchronizing scanning and measurement when
uncertainty from the simulation results. The simulated first used to excite the natural frequencies of the stationary disk
four dominant (0, n) mode shapes at the corresponding natural at its OD as can be seen from Fig. 8. Interested readers are
frequencies will be verified with SLDV measurements in the kindly referred to [7] and [8] for more details on calibration
next subsection. and guidelines when using the SLDV for modal analysis of
mechanical structures.
3.2. Mode shape measurement
The mode shapes measured using the SLDV for the first
In this part of the experiment, the disk modes are excited four dominant (0, 1), (0, 2), (0, 3) and (0, 4) modes of the
using an impact hammer when the disk is non-rotating. The stationary 0.8 mm thick 3.500 Al disk are shown in Figs. 9–12,
mode shapes can then be reconstructed with the modal analysis respectively.
software package in-built in the SLDV. The experimental first four dominant (0, n) mode shapes of
For mode shape measurement using an SLDV via area the 0.8 mm 3.500 disk measured using the SLDV tally well with
scanning, the center frequency of the bandwidth of the area the simulated modes shapes obtained via FEM analysis.
C.K. Pang et al. / ISA Transactions 47 (2008) 85–93 89

Fig. 12. Experimental (0, 4) mode constrained 0.8 mm thick 3.500 Al disk at
natural frequency of 1887 Hz captured with SLDV.

Fig. 13. Campbell diagram of z-axis vibration of 0.8 mm thick 3.500 Al disk
4. Modelling of disk mode shape as repeatable component
platter at OD.

With the experimental natural frequencies of the first four


dominant (0, n) modes of the disk and their corresponding
mode shapes known, the disk ODS will be modelled as a
repeatable component regressed on different spindle rotational
speeds in rpm in this section. It should be noted that no external
excitation was introduced into the disk-spindle system in this
part of the experiment.

4.1. RRO estimation

Similar to obtaining the experimental verification of the


natural frequencies of the disk, the LDV is used to measure the
out-of-plane displacement of the disk in the z-axis as shown
in Fig. 8. By focusing the laser beam onto the OD of the
disk, the time domain signals and linear amplitude spectra of
the vibrations can be obtained with the oscilloscope and DSA,
respectively, at different spindle rotational speeds.
Fig. 14. Time domain OD disk axial vibration in the z-axis of a 0.8 mm
The z-axis amplitude-modulated displacements of the disk thick 3.500 Al disk spinning at 12 000 rpm.
vibrations at the OD are measured from 3000 rpm (50 Hz)
to 16 000 rpm (266.67 Hz) in incremental steps of 1000 rpm detrended (i.e. removal of DC component) and the RRO
(16.67 Hz). Converting the time domain data into linear components arising from the spindle motor are identified with
amplitude spectra via a FFT (Fast Fourier Transform), the the following identity using the known spindle rotational speed
frequency spectra is plotted along different rotational speeds in
Rω sin(ωt + λω ) = aω sin ωt + bω cos ωt (3)
a Campbell diagram (or so-called spin-up waterfall plot) and is
shown in Fig. 13. where w is the corresponding spindle rotational speed with aω
It can be seen clearly from Fig. 13 that the RRO components and bω being the coefficients of p
the sinusoidal vibration signal
locked to the harmonics of spindle rotational speed (due to to be identified. As such, Rω = aω2 + bω2 and λω = tan−1 abωω
the usage of earlier generations of ball bearing spindle motors which can be obtained from the known aω and bω .
instead of current higher end air or fluid bearing spindle motors) Using the following standard RLS algorithm commonly
dominate the z-axis disk vibration spectra, appearing as line used in signal processing and control engineering applications
spectra in frequency spectra on the Campbell diagram. As such,
ψ R,λ (l) = ψ R,λ (l − 1) + K R,λ (l)ε R,λ (l)
the information and contribution by the disk ODS and other
NRRO components are hindered. In this subsection, the z-axis K R,λ (l) = PR,λ (l − 1)ϕ R,λ (l)[I
RRO components will be estimated and removed. + ϕ R,λ
T
(l)PR,λ (l − 1)ϕ R,λ (l)]−1
For illustration purposes but without loss of generality, a
PR,λ (l) = [I − K R,λ (l)ϕ R,λ
T
(l)]PR,λ (l − 1) (4)
typical time domain disk fluttering vibration of a 0.8 mm
thick 3.500 Al disk rotating at 12 000 rpm is shown in Fig. 14. by replacing ψ R,λ with the magnitude Rω and phase λω
With the collected time domain data of the rotating disk estimation at each desired rotational frequency (or its
at different rpms, the disk axial z-axis vibration signal is harmonics), the magnitude Rω and phase contribution λω due
90 C.K. Pang et al. / ISA Transactions 47 (2008) 85–93

Fig. 17. Campbell diagram of disk mode shapes and other NRRO components
Fig. 15. Decoupled time domain OD disk axial vibration in the z-axis of after removal of DC and first three dominant spindle rotation RRO harmonics.
a 0.8 mm thick 3.500 Al disk spinning at 12 000 rpm. Solid: Locked to spindle
speed. Dashed-dot: Mode shapes and other NRRO components. From Figs. 15–17, it can be seen that the proposed usage
of the RLS algorithm in (4) is effective in decoupling the
DC and RRO components from the disk fluttering vibration,
revealing the contributions by disk mode ODS and other
NRRO components. It should be noted that by extrapolating
the natural frequencies of the forward and backward travelling
disk ODS mode shapes wave backward to zero rpm using the
Campbell diagram in Fig. 17, the natural frequencies of the
first four dominant (0, n) modes of the stationary disk obtained
from SLDV measurements in the previous section can also be
verified.

4.2. Natural frequencies and vibration amplitudes of ODS

With the natural frequencies of the first four dominant (0, n)


modes of the stationary 0.8 mm thick 3.500 Al disk and their
contributions to disk axial vibration in the z-axis at different
spindle rotation speeds in rpm at OD, the natural frequencies
Fig. 16. Campbell diagram of DC and first three dominant spindle rotation and vibration amplitudes of the disk ODS mode shapes can now
RRO harmonics.
be identified in this subsection. It is assumed that the NRRO is
to the RRO components arising from the rotating disk-spindle a zero mean white noise of appropriate variance (power) for
assembly at the corresponding spindle rotation speed ω can now simplicity but without loss of generality.
be identified. ε R,λ and I are the error at each each estimation
update instant and the identity matrix, respectively. 4.2.1. Natural frequencies and spindle rotational speed
As such, the effect of z-axis RRO on disk vibration at its From a ground-fixed observer, the natural frequencies of
OD can be decoupled from the collected time domain data at ODS of a spinning disk can be described by a linear relationship
different rpm to obtain the contributions from disk ODS and governed by the mode of vibration (0, n).
other NRRO components. The main advantage of using the
ωnODS = ωn + αn ω (5)
RLS algorithm is its fast computation, ease of implementation,
as well as parametric updates when new data are available where n is the number of nodal diameters and ω is the rotational
online. speed of the disk-spindle system in rpm. As the (0, 0) mode
The time domain signal of the disk axial vibration recorded has no branches, identification is carried out for n = 1, 2, 3
at 12 000 rpm (200 Hz) after removal of the z-axis spindle and 4 which are the four main disk mode shapes measured in the
RRO components is shown in Fig. 15. The linear amplitude previous section. Similarly, the constant αn will be determined
spectra of the estimated DC and RRO components are shown for different ODS (0, n) for the first four dominant disk platter
in Fig. 16 and the remaining decoupled information (consisting resonance mode shape using the RLS algorithm in (4).
mainly of disk ODS at their corresponding first disk mode The identified values of αn results are summarized in
shapes, rotating natural frequencies, and NRRO components) Table 2. An experimental approach of determining αn is more
are shown in Fig. 17. attractive than a theoretical solution due to its simplicity and
C.K. Pang et al. / ISA Transactions 47 (2008) 85–93 91

Fig. 18. Proposed HDD servo simulation toolkit with repeatable (RRO and disk ODS) and non-repeatable components (NRRO).

Table 2 the decoupled frequencies and amplitudes of the z-axis RRO


αn for (0, n) Mode Shapes of a rotating disk regressed on rpm and identified repeatable disk ODS vibrations regressed on
n 1 2 3 4 disk-spindle pack rotational speed in rpm to create a disk
ODS vibration simulation model, useful for servo controller
αn ±0.0185 ±0.0354 ±0.0512 ±0.0678
designs in future HDDs with higher TPI (Tracks-Per-Inch) and
rotational speeds.
reliability on extrapolation at higher rpm in future HDDs. More To convert the disk axial displacement at its OD to
importantly, the unbiased estimates of the parameters αn can be R/W head off-track, the following geometric model derived
updated when new data are available using the RLS algorithm experimentally in [4] is used
in (4). The regressed values of αn will be used for construction
of a disk ODS vibration simulation model to be described in Ot = 0.032h. (7)
Section 5.
This geometric model in (7) averages the first four dominant
4.2.2. Vibration amplitudes and spindle rotational speed modes of the disk resonances—namely (0, n) modes for n =
In this subsection, the mean amplitude of disk fluttering 1, 2, 3 and 4, which is congruent with the scope of interests
vibrations at the OD of the 0.8 mm thick 3.500 Al disk are in this paper—and approximates a direct relationship between
projected and regressed on rotational speed ω in rpm. head off-track Ot to disk fluttering magnitude h. The effects
In [12], a linear relationship of disk ODS vibrations against on different locations on the disk can then be further scaled
disk-spindle system rotational speeds in rpm was used by down with simple trigonometry with prior knowledge of the
Pang et al. For a higher rotation speed such as 15 000 rpm identified z-axis disk ODS vibration displacement and arm
(250 Hz) and above to be employed in future HDDs, a quadratic location with respect to center of the disk-spindle system.
relationship for vibration amplitude z nODS against disk-spindle With a pre-specified disk-spindle rotational speed ω in rpm,
assembly rotational speed ω in rpm is required the contribution of the in-plane R/W head off-track from the
z nODS = βn2 ω2 + βn1 ω + βn0 (6) disk ODS can now be known from (7) and trigonometry for
possible servo compensation. The functional block diagram
and the RLS equation in (4) is employed for parametric used to simulate the effects of axial disk fluttering on slider
estimates of βn2 , βn1 , and βn0 . off-track is shown in Fig. 18. The effects of NRRO can be
With the identified disk ODS resonance frequency ωnODS approximated by a zero mean white noise source with variance
and amplitudes z nODS , the magnitude and phase of the disk of 0.01 (µm)2 . The simulated time domain disk ODS axial
ODS can then be identified, reducing the ODS of the first four vibration at 12 000 rpm (200 Hz) with the corresponding NRRO
dominant (0, n) modes to repeatable components which can be components are shown in Fig. 19.
compensated by the servo control when scaled to in-plane R/W To illustrate the effectiveness of the proposed disk ODS
head off-track from simple geometry. vibration model at different disk locations, the experimental
It is worth noting that the proposed methodology for results of a disk rotating at 12 000 rpm is compared with the
reduction of disk ODS into repeatable components can be
simulated results after modelling at MD (Middle Diameter) for
applied to a general (m, n) mode shape as well.
brevity but without loss of generality. The experimental disk
5. Disk ODS vibration simulation model axial vibration and that simulated using the proposed HDD
servo simulation toolkit with disk ODS disturbance model for
In this section, the disk fluttering vibrations in the z-axis a 0.8 mm thick 3.500 Al disk spinning at 12 000 rpm in frequency
is converted into x–y plane R/W head off-track effects with domain is shown below in Figs. 20 and 21, respectively.
92 C.K. Pang et al. / ISA Transactions 47 (2008) 85–93

It can be seen from Figs. 20 and 21 that the proposed


HDD servo simulation toolkit is effective in predicting the
experimental spectra of in-plane RRO as well as disk ODS
frequencies and amplitudes, as can be seen from the match
in amplitude in terms of the dominant line spectra and
baseline spectrum in frequency domain. With the proposed
methodology, the linear amplitude spectra of the repeatable
components—consisting of RRO from disk-spindle rotation at
frequency ω and the first four dominant (0, n) disk ODS—
can be reconstructed and compensated. An example of an
application of such compensation methodologies via active
control is presented in [13].

6. Conclusion

In this paper, the first four dominant (0, n) static mode


Fig. 19. Modelled disk axial vibration of disk spinning at 12 000 rpm in time shapes of a 0.8 mm thick 3.500 Al disk are simulated with FEM
domain. Solid: simulation model. Dashed-dot: NRRO components. and compared with measurements using a SLDV. Using the z-
axis disk ODS displacement at the OD of the disk, the natural
frequencies, vibration amplitudes, and phases are regressed on
disk-spindle rotational speed in rpm using an experimental
approach. With the conversion of the disk OD information
to in-plane R/W head off-track at different locations on a
disk, a time domain HDD servo simulation toolkit with
disk ODS disturbance model is constructed based on the
identification results for projection on higher rotational speeds.
Future works include scanning the disk for modes involving
generic (m, n) modes as well as Vold-Kalman filtering of disk
and suspension/slider vibration signals for order analysis.

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