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Robust Control Design Strategies Applied to a DVD-Video Player Giampaolo Filardi

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Robust Control Design Strategies Applied to a DVD-Video Player Giampaolo Filardi Robust control design strategies applied to a DVD-Video player Giampaolo Filardi To cite this version: Giampaolo Filardi. Robust control design strategies applied to a DVD-Video player. Automatic. Université Joseph-Fourier - Grenoble I, 2003. English. tel-00197521 HAL Id: tel-00197521 https://tel.archives-ouvertes.fr/tel-00197521 Submitted on 14 Dec 2007 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. UNIVERSITE´ JOSEPH FOURIER - GRENOBLE given by the library PHD THESIS For obtaining the degree of DOCTEUR DE L'UJF Special field : Automatique { Productique prepared at the Laboratoire d'Automatique de Grenoble - INPG in the context of the Ecole´ Doctorale Electronique,´ Electrotechnique,´ Automatique, T´el´ecommunications, Signal presented and sat by Giampaolo FILARDI the 1st of December 2003 Title: ROBUST CONTROL DESIGN STRATEGIES APPLIED TO A DVD-VIDEO PLAYER PHD supervisors : Alina VODA-BESANCON Olivier SENAME JURY M. M. de MATHELIN Examiner Professor at the ENSP Strasbourg M. J. STOUSTRUP Examiner Professor at the Aalborg University, DK M. P. NONIER Examiner Project leader at ST Microelectronics M. H. J. SCHROEDER Examiner Project leader at ST Microelectronics Mme A. VODA-BESANC¸ON PHD supervisor Ma^ıtre de conf´erences `a l'UJF-LAG M. O. SENAME PHD supervisor Ma^ıtre de conf´erences `a l'INPG-LAG M. L. DUGARD President Research Director at the CNRS - LAG UNIVERSITE´ JOSEPH FOURIER - GRENOBLE attribu´e par la biblioth`eque THESE` pour obtenir le grade de DOCTEUR DE L'UJF Sp´ecialit´e : Automatique { Productique pr´epar´ee au Laboratoire d'Automatique de Grenoble - INPG dans le cadre de l'Ecole´ Doctorale Electronique,´ Electrotechnique,´ Automatique, T´el´ecommunications, Signal pr´esent´ee et soutenue par Giampaolo FILARDI le 1er D´ecembre 2003 Titre: STRATEGIES´ DE CONTROLE^ ROBUSTE DE LECTEURS DE DISQUES DVD Directeurs de th`ese: Alina VODA-BESANCON Olivier SENAME JURY M. M. de MATHELIN Rapporteur Professeur `a l'ENSP Strasbourg M. J. STOUSTRUP Rapporteur Professeur `a l'Universit´e d'Aalborg, DK M. P. NONIER Examinateur Chef de projet chez ST Microelectronics M. H. J. SCHROEDER Examinateur Chef de projet chez ST Microelectronics Mme A. VODA-BESANC¸ON Directeur de th`ese Ma^ıtre de conf´erences `a l'UJF-LAG M. O. SENAME Directeur de th`ese Ma^ıtre de conf´erences `a l'INPG-LAG M. L. DUGARD Pr´esident Directeur de Recherches CNRS - LAG Contents 1 Introduction 49 1.1 Digital Consumer Market . 50 1.2 How does DVD technology differ from CD ? . 51 1.3 Why a DVD Player ? . 51 1.4 Motivations of this Work . 52 1.5 Outline of the Work . 54 2 The DVD Video Player System 56 2.1 Introduction . 56 2.2 High-capacity storage devices : a brief history . 57 2.3 DVD Formats . 58 2.3.1 DVD Video . 60 2.3.2 DVD Audio . 61 2.3.3 DVD Recordable . 61 2.3.4 DVD-ROM . 62 2.4 Data reading and disc physical layout . 62 2.5 DVD drive architecture . 67 2.6 The Optics . 68 2.6.1 Optical Error Signals . 70 2.6.2 Focus error signal . 73 2.6.3 Radial error signal . 77 2.6.4 Generation of the HF signal . 79 2.7 The Mechanical Servo System . 82 2.8 Focus and Radial Servo Loops : Control Problem Description 84 2.9 The Track Disturbance . 87 2.10 Conclusions . 91 3 The ST DVD-video player : Control problem description 92 3.1 Introduction . 92 4 3.2 STMicroelectronics System-on-Chip Solution for Optical Storage . 93 3.3 The Servo System . 95 3.3.1 DSP/SMAC Module . 96 3.3.2 ST7 Micro-Controller . 97 3.3.3 Disturbance block . 98 3.3.4 Differential Phase Detection block . 98 3.3.5 Decimation block . 99 3.3.6 Digital to Analog converters . 99 3.4 Performance Limitations . 99 3.5 Servo Loops for Focus and Radial Adjustment . 102 3.5.1 On-Track Radial Control . 104 3.5.2 Radial Seek Control . 104 3.5.3 Automatic Gain Control . 105 3.6 The Actual Focus and Radial Control Solutions . 106 3.6.1 Focus and Radial Loops Servo Requirements . 107 3.6.2 Current Spot Position Controllers . 111 3.6.3 Industrial Implementation . 111 3.7 Physical Models . 113 3.8 Conclusions . 116 4 System Identification 117 4.1 Introduction . 117 4.2 State of the Art . 118 4.3 Model Uncertainty . 120 4.4 The experimental set-up . 121 4.5 Frequency Domain Measurements . 122 4.5.1 Measuring using a Dynamic Signal Analyzer . 123 4.5.2 Open-loop measurements : Controller frequency response . 127 4.5.3 Closed-loop measurements : Plant frequency response 131 4.6 Curve Fitting Procedure . 133 4.7 Model Validation . 139 4.8 Closed-loop identification for Performance Analysis and Robustness . 140 4.8.1 Closed-loop performances . 140 4.8.2 Disturbance rejection . 141 4.8.3 Robustness . 142 4.9 Analysis of the Coupling Phenomena . 142 5 4.10 Conclusions . 146 5 Robust Control Design for the DVD Video Player 153 5.1 Introduction . 153 5.2 State of the Art . 155 5.3 H1 Control Design : theoretical background . 157 5.3.1 H1 Performance . 157 5.3.2 H1 Optimal Control . 160 5.3.3 Mixed-Sensitivity H1 Control . 162 5.4 H1 Control Design applied to a DVD Player . 164 5.4.1 Choice of the Control Scheme . 165 5.4.2 Controller Order Reduction . 169 5.4.3 Simulation and Experimental results . 172 5.5 System parametric uncertainties : theoretical background . 176 5.6 Unstructured Uncertainty . 178 5.6.1 Modelling unstructured uncertainty . 178 5.6.2 Choice of the uncertainty models . 180 5.6.3 Robust Stability and Robust Performance with Un- structured Uncertainty . 182 5.6.4 Simulation and experimental results . 184 5.7 µ-Analysis : System Structured Uncertainty . 186 5.7.1 Theoretical background on µ-Analysis . 187 5.7.2 Application to the DVD player servo mechanism . 190 5.7.3 Choice and Representation of Uncertainty . 192 5.7.4 RS and RP analysis applied to the H1 controller . 197 5.8 Conclusions . 198 6 Conclusions and Perspectives 201 6.1 Review . 201 6.2 Contributions of this research . 202 6.3 Perspectives . 205 A Modelling the error signals generation 207 A.1 Introduction . 207 A.2 Modelling the Focus error signal generation . 208 A.3 Modelling the Tracking error signal generation . 216 B The DVD Forum 223 6 List of Figures 1 Sch´ema-bloc de l'architecture d'un lecteur DVD. 22 2 Sp´ecifications de performance des boucles focus et tracking en terme de gabarits fr´equentiels sur S(s)−1, N = 1. 24 3 Mod`ele physique des actionneurs de position de la lentille optique. 25 4 Diagrammes de Bode de deux types d'actionneurs de position pr´esents actuellement dans le commerce. 25 5 R´eponses fr´equentielles mesur´ees des quatres fonctions de sen- sibilit´e du syst`eme en boucle ferm´ee T (j!), S(j!), SP (j!) et C(j!). 26 6 Sc´ema-bloc des boucles d'asservissemenbt de positionb endfocus et tracb king de la lentille optique. 28 7 Sch´ema-bloc utilis´e pour la synth`ese d'un controleur de type H1. 29 8 Amplitude et phase des contr^oleurs de la boucle de tracking. Cont^oleur actuellement utilis´e (ligne continue), contr^oleur H1 d'ordre complet (ligne tirets), contr^oleur H1 d'ordre r´eduit (ligne pointill´ee-tirets) impl´ement´e sur le syst`eme industriel. 30 9 Amplitude de la fonction de sensibilit´e en sortie du syst`eme S. 30 10 Amplitude de la fonction de transfer du syst`eme en boucle ferm´ee T . 31 11 Amplitude de la fonction de sensibilit´e en entr´ee du syst`eme KS. 31 12 Amplitude de la fonction SG du syst`eme. 32 1.1 Thesis outline . 55 2.1 An overview of the Compact Disc standards. 59 2.2 An overview of the Digital Versatile Disc standards. 60 2.3 Schematic view of the DVD cross section. 64 7 2.4 Schematic view of DVD formats. 64 2.5 Schematic view of data organization on a DVD disc. 65 2.6 Schematic view of the DVD disc impressed structure. 65 2.7 Simplified view of the disc impressed structure. 66 2.8 Schematic view of the DVD architecture. 67 2.9 Block scheme of the optical pick-up unit (OPU). 68 2.10 Block-scheme of the DVD optical system. 70 2.11 The laser spot and its light intensity. 71 2.12 Diffracted light zero and first orders, due to the impressed pits and land grating structure. ∆x = λ (pNA) . 72 n 2.13 Astigmatic method for focus error signal generation. 75 2.14 An example of S-curve measured, in the time-domain, from an industrial DVD-video player. 76 2.15 Example of DPD radial error signal generation. 77 2.16 DPD radial error signal, generated by a DVD-video player optical pick-up. 78 2.17 Example of HF generation for a pit/land impressed structure. 79 2.18 An industrial DVD mechanical servo system.
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