Escolar Documentos
Profissional Documentos
Cultura Documentos
www.elsevier.com/locate/isatrans
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.
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
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.
Table 1
Simulation and experimental natural frequencies (Hz)
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.
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.
Fig. 18. Proposed HDD servo simulation toolkit with repeatable (RRO and disk ODS) and non-repeatable components (NRRO).
6. Conclusion
References