Magnetic recording disk drive with multiple feedforward controllers for rotational vibration cancellation
First Claim
1. A method for operating a disk drive, the disk drive including (a) a rotatable magnetic recording disk having a plurality of concentric data tracks containing servo positioning information;
- (b) a recording head movable across the disk, the head being capable of reading data and servo positioning information in the data tracks;
(c) an actuator for moving the head;
(d) a disturbance sensor for sensing external disturbances to the disk drive;
(e) a servo control processor responsive to a position error signal (PES) from the servo positioning information for generating an actuator control signal; and
(f) a plurality of feedforward controllers, each feedforward controller generating a compensation signal to be summed with the actuator control signal for substantially canceling an external disturbance having a predefined spectrum;
the processor-implemented method comprising;
determining which of said plurality of predefined disturbance spectra most closely matches the actual external disturbance acting on the disk drive;
selecting the feedforward controller associated with said determined predefined disturbance spectrum; and
summing the compensation signal from said selected feedforward controller with the actuator control signal.
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Accused Products
Abstract
A disk drive has multiple feedforward controllers for handling external disturbances, such as rotational vibration (RV), that have different external disturbance frequency spectra. Each feedforward controller is designed to be optimal for a canceling a specific associated RV spectrum. The actual RV spectrum acting on the disk drive is determined and the proper feedforward controller is then selected and used to generate a compensation signal for canceling the RV. Each feedforward controller may be tested when the disk drive is experiencing the RV, and the resulting compensation signal and PES measured. The feedforward controller that produces the best external disturbance cancellation is then selected as the feedforward controller. A signal from a RV sensor may be used to detect the peak frequency of the actual RV spectrum. This detected peak frequency is then matched to a peak frequency in a plurality of peak frequencies in a lookup table, and the feedforward controller associated with the matching peak frequency is selected as the feedforward controller.
41 Citations
22 Claims
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1. A method for operating a disk drive, the disk drive including (a) a rotatable magnetic recording disk having a plurality of concentric data tracks containing servo positioning information;
- (b) a recording head movable across the disk, the head being capable of reading data and servo positioning information in the data tracks;
(c) an actuator for moving the head;
(d) a disturbance sensor for sensing external disturbances to the disk drive;
(e) a servo control processor responsive to a position error signal (PES) from the servo positioning information for generating an actuator control signal; and
(f) a plurality of feedforward controllers, each feedforward controller generating a compensation signal to be summed with the actuator control signal for substantially canceling an external disturbance having a predefined spectrum;
the processor-implemented method comprising;
determining which of said plurality of predefined disturbance spectra most closely matches the actual external disturbance acting on the disk drive;
selecting the feedforward controller associated with said determined predefined disturbance spectrum; and
summing the compensation signal from said selected feedforward controller with the actuator control signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
- (b) a recording head movable across the disk, the head being capable of reading data and servo positioning information in the data tracks;
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10. A method for operating a disk drive, the disk drive including (a) a rotatable magnetic recording disk having a plurality of concentric data tracks containing servo positioning information;
- (b) a recording head movable across the disk, the head being capable of reading data and servo positioning information in the data tracks;
(c) an actuator for moving the head;
(d) a rotational vibration (RV) sensor for sensing rotational vibration of the disk drive;
(e) a servo control processor responsive to a position error signal (PES) from the servo positioning information for generating an actuator control signal;
(f) memory associated with the processor; and
(g) N feedforward controllers stored in memory, each feedforward controller comprising a set of parameters for calculating a compensation signal to be summed with the actuator control signal for substantially canceling an RV having a predefined RV spectrum;
the processor-implemented method comprising;
determining which of N predefined RV spectra most closely matches the actual external RV acting on the disk drive;
selecting the feedforward controller associated with said determined predefined RV spectrum; and
summing the compensation signal from said selected feedforward controller with the actuator control signal. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
- (b) a recording head movable across the disk, the head being capable of reading data and servo positioning information in the data tracks;
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19. A magnetic recording disk drive including (a) a rotatable magnetic recording disk having a plurality of concentric data tracks containing servo positioning information;
- (b) a recording head movable across the disk, the head being capable of reading data and servo positioning information in the data tracks;
(c) a voice-coil-motor (VCM) for moving the head;
(d) a rotational vibration (RV) sensor for sensing rotational vibration of the disk drive;
(e) a servo control processor;
(f) memory associated with the processor;
(g) N feedforward controllers stored in memory, each feedforward controller comprising a set of parameters for calculating a compensation signal to be summed with the VCM control signal for substantially canceling an RV having a predefined RV spectrum; and
(f) a program of instructions stored in memory and readable by the processor for undertaking method acts comprising;
receiving a RV sensor signal from the RV sensor and a position error signal (PES) from the servo positioning information;
calculating a VCM control signal from the PES;
determining which of N predefined RV spectra most closely matches the actual external RV acting on the disk drive;
calculating a compensation signal from the stored parameter set for the feedforward controller associated with said determined predefined RV spectrum; and
summing the calculated compensation signal with the VCM control signal. - View Dependent Claims (20, 21, 22)
- (b) a recording head movable across the disk, the head being capable of reading data and servo positioning information in the data tracks;
Specification