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研究生： 蔡倉軒
Tsang-Shiuan Tsai
論文名稱： 光碟機聚焦伺服之PID 控制器自動調整
Automatic PID Tuning for Focus Servo of Optical Disk Drives
指導教授： 呂有勝
Lu, Yu-Sheng
學位類別： 碩士
Master
系所名稱： 機電工程學系
Department of Mechatronic Engineering
論文出版年： 2010
畢業學年度： 99
語文別： 中文
論文頁數： 132
中文關鍵詞： 光碟機 、聚焦伺服 、PID 參數自動調校法
英文關鍵詞： Optical Disk Drive, Focus Servo, Automatic Adjustment
論文種類： 學術論文
相關次數： 點閱：135  下載：14 
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    • 本文研究光碟機聚焦伺服之 PID 控制器增益之自動調整機制，並且利用
    數位訊號處理器（DSP）與可程式閘陣列（FPGA）實現於光碟機系統。於
    聚焦伺服控制器增益自動調整，採用頻率響應之觀念，有系統地設計聚焦伺
    服控制器增益線上自動調整機制，使聚焦伺服控制器能針對光碟機因製造組
    裝上的差異、元件老化、環境溫度改變、碟片反射光量變化等不確定因素對
    伺服性能造成的影響進行自動補償，進而讓系統對於參數不確定性具有強健
    性，確保系統達到目標性能。
    本文以市售之12 倍速DVD-ROM 光碟機進行改裝而成實驗平台，以TI
    TMS320C6713 DSP 與 Xilinx 可程式閘陣列（FPGA）取代光碟機上原有的
    伺服控制晶片，並以C 語言與硬體描述語言（VHDL）做為發展工具，進行
    PID 控制器設計且實現於此光碟機。
    經由實驗結果證實，透過本文提出之聚焦伺服PID 控制器自動調整機
    制，無論系統原有之控制器增益值過高或是過低、碟片轉速快或慢，均能自
    動將聚焦伺服系統調校至符合DVD 規格書規範之伺服性能要求，即便使用
    超過規格書容許偏擺量之測試碟片進行實驗，本自動調整機制仍能有效運
    作，自動調整聚焦控制器增益，使聚焦伺服性能達到要求目標。

    This thesis presents an automatic gain-tuning mechanism which is based on
    the frequency-response approach and applied to focus servo of optical disk drives
    with on-line and self-tuning features. This method can attenuate servo-gain error
    due to mass production, temperature variation, or different light reflections, and
    fulfill specifications of focus servo.
    The experimental system consists of a commercially available 12Xs
    DVD-ROM drive and a DSP/FPGA system that is the control kernel. We use the
    C language and hardware description language (VHDL) as tools for developing
    servo controllers to replace the servo chip on the original drive by the
    DSP/FPGA.
    The proposed method has been implemented in the experimental system
    under various operating conditions, such as different initial controllers, disk with
    significant wobble, and various spindle speeds. According to the experimental
    results, the method presented in this thesis can automatically and robustly adjust
    controller gains to fulfill frequency-domain specifications.

    摘要 ................................................................................................................................... I ABSTRACT ..................................................................................................................... II 誌 謝 ............................................................................................................................ III 目 錄 ............................................................................................................................ IV 圖目錄 ............................................................................................................................ VI 表目錄 .............................................................................................................................. X 第一章 緒論 .................................................................................................................. 1 1-1 前言 ...................................................................................................................... 1 1-2 研究動機與目的 .................................................................................................. 1 1-3 文獻回顧 .............................................................................................................. 2 1-4 實驗步驟 .............................................................................................................. 3 第二章 光碟機系統描述 .............................................................................................. 5 2-1 光碟機簡介 .......................................................................................................... 5 2-2 聚焦伺服系統 ...................................................................................................... 7 2-2-1 聚焦伺服 ..................................................................................................... 7 2-2-2 聚焦誤差偵測 ............................................................................................. 8 2-2-3 聚焦伺服控制 ........................................................................................... 10 2-3 自動調整機制於光碟機之應用[18] ................................................................. 12 第三章 實驗系統介紹 ................................................................................................ 13 3-1 系統測試平台 .................................................................................................... 13 3-2 聚焦伺服系統鑑別 ............................................................................................ 15 3-3 PID 聚焦伺服控制器 ........................................................................................ 17 第四章 聚焦伺服控制器增益自動調整 .................................................................... 19 4-1 聚焦伺服規範 .................................................................................................... 19 4-2 PID 聚焦伺服控制器增益自動調整原理 ........................................................ 23 4-3 低頻增益量測之困難與改善 ............................................................................ 26 4-4 NOTCH FILTER 之設計與穩定度分析 ............................................................... 28 4-4-1 Notch Filter 之設計 .................................................................................. 28 4-4-2 初始控制器A ............................................................................................ 31 4-4-3 穩定度分析 ............................................................................................... 31 4-5 NOTCH FILTER 之閉迴路暫態響應抑制 ........................................................... 35 4-5-1 Notch Filter 之實現方法 .......................................................................... 35 4-5-2 以零交越偵測抑制閉迴路暫態響應 ....................................................... 36 4-6 以零交越偵測抑制閉迴路暫態響應之實驗結果 ............................................ 38 4-6-1 一般市售碟片搭配主軸馬達轉速1200 rpm 之實驗結果 ...................... 38 4-6-2 垂直偏擺碟片搭配不同主軸馬達轉速之實驗結果 ............................... 41 4-7 聚焦伺服之PID 控制器增益自動調整機制流程 ........................................... 44 4-7-1 聚焦伺服流程 ........................................................................................... 45 4-7-2 聚焦伺服自動調整機制流程及參數設定 ............................................... 47 4-7-3 更新PID 參數流程 ................................................................................... 52 第五章 聚焦伺服之PID 控制器自動調整實驗結果 ................................................ 53 v 5-1 實驗設計 ............................................................................................................ 53 5-2 實驗碟機I，初始控制器A 調整結果 ............................................................ 56 5-3 實驗碟機I，初始控制器B 調整結果 ............................................................. 60 5-4 實驗碟機I，初始控制器C 調整結果 ............................................................. 64 5-5 實驗碟機II，垂直偏擺碟片調整結果 ............................................................ 68 5-6 實驗碟機II，垂直偏擺碟片、二倍轉速調整結果 ........................................ 72 5-7 實驗碟機II，垂直偏擺碟片、三倍轉速調整結果 ........................................ 76 5-8 實驗碟機III，BLACK BAND 碟片調整結果 .................................................... 80 5-9 聚焦伺服之PID 控制器自動調整實驗之結論 ............................................... 84 第六章 結論 ................................................................................................................ 86 參考文獻 ........................................................................................................................ 89 附錄A 光碟機聚焦伺服之落後領先補償器自動調整 .......................................... 92 A-1 落後領先補償器自動調整原理 ................................................................. 92 A-2 聚焦伺服之落後領先補償器自動調整流程及參數設定 ......................... 98 A-3 穩定度分析 ................................................................................................. 99 A-3 聚焦伺服規範 ........................................................................................... 102 A-4 光碟機聚焦伺服之落後領先補償器自動調整實驗結果 ....................... 102 A-4-1 實驗設計 ................................................................................................. 102 A-4-2 實驗碟機I，初始控制器A調整結果 .................................................. 105 A-4-3 實驗碟機I，初始控制器B調整結果 ................................................... 110 A-4-4 實驗碟機III，垂直偏擺碟片調整結果 ................................................. 114 A-4-5 實驗碟機III，垂直偏擺碟片、二倍轉速調整結果 ............................. 118 A-4-6 實驗碟機III，初始控制器A、Black Band 碟片調整結果 ................ 122 A-4-6 實驗碟機III，初始控制器B、Black Band 碟片調整結果 ................ 127

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