Hardware Reference
In-Depth Information
30
20
10
0
10
2
10
3
10
4
10
5
Frequency (rad/sec)
0
−10
−20
−30
−40
10
2
10
3
10
4
10
5
Frequency (rad/sec)
Figure 3.85: Frequency response of C
SISO
.
100
50
0
−50
10
2
10
3
10
4
10
5
Frequency (rad/sec)
0
−180
−360
10
2
10
3
10
4
10
5
Frequency (rad/sec)
Figure 3.86: Frequency response of the compensated open loop C
SISO
P
SISO
.
tions:
1
1+C
V
P
V
,
S
Vdms
=
(3.168)
1
1+C
M
P
M
.
S
µdms
=
(3.169)
It is easily understood that S
Vdms
is equivalent to the sensitivity transfer
function of a single stage VCM loop and S
µdms
is equivalent to the sensitivity
transfer function of a single stage microactuator loop. The servo designer can
select C
V
and C
M
separately to shape S
Vdms
and S
µdms
individually and, as
a result, the combined sensitivity transfer function S
dms
.
