I have used the following tools to generate disk and filesystem benchmarks to evaluate both the performance of raw disks and different filesystems on the same disk.
ffsb - To benchmark filesystem operations
randomio - To benchmark the IOPS for a given disk
zcav - To generate throughput graphs for the different CAV zones of a hard drive (using gnuplot to generate a graph)
This is just a quick reference, and lacks details on how the tools were used (and how the graphs were generated from zcav). The input for each command should be matched to the required workload to get the best results.