Adaptive attenuation of multi-axis vibrational disturbance
First Claim
1. In a disc drive having a rotatable disc with a recording surface on which a plurality of concentric data tracks are defined, a controllably positionable head adjacent the recording surface, and a servo circuit which generates a position error signal in relation to a difference between detected position of the head and a desired position of the head, a method for attenuating externally generated vibration which is applied to the disc drive along multiple axes, comprising steps of:
- (a) determining a plant estimate indicative of transfer function response of the disc drive while the disc drive is operated off-line;
(b) concurrently generating a plurality of acceleration signals along each of a corresponding plurality of different axes of the disc drive, each acceleration signal indicative of a different component of the externally generated vibration applied along the corresponding axis of the disc drive;
(c) generating a compensation signal by adaptively filtering each of the acceleration signals in parallel and summing the resulting filtered acceleration signals; and
(d) using the compensation signal to reduce effects of the externally generated vibration in the position error signal.
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Abstract
Apparatus and method for attenuating effects of externally generated vibration applied along multiple axes of a disc drive. The disc drive includes a disc with a recording surface, a read/write head and a servo circuit which detects and corrects head position error. The servo circuit determines a plant estimate indicative of transfer function response of the disc drive while the disc drive is operated off-line. A sensor network concurrently generates a plurality of acceleration signals each along a different axis of the disc drive and indicative of a different component of the externally generated vibration applied along the corresponding axis. An adaptive filter network adaptively filters the acceleration signals to generate a compensation signal. The compensation signal is fed forward to the servo circuit to remove the effects of the externally generated vibration.
61 Citations
13 Claims
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1. In a disc drive having a rotatable disc with a recording surface on which a plurality of concentric data tracks are defined, a controllably positionable head adjacent the recording surface, and a servo circuit which generates a position error signal in relation to a difference between detected position of the head and a desired position of the head, a method for attenuating externally generated vibration which is applied to the disc drive along multiple axes, comprising steps of:
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(a) determining a plant estimate indicative of transfer function response of the disc drive while the disc drive is operated off-line;
(b) concurrently generating a plurality of acceleration signals along each of a corresponding plurality of different axes of the disc drive, each acceleration signal indicative of a different component of the externally generated vibration applied along the corresponding axis of the disc drive;
(c) generating a compensation signal by adaptively filtering each of the acceleration signals in parallel and summing the resulting filtered acceleration signals; and
(d) using the compensation signal to reduce effects of the externally generated vibration in the position error signal. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A disc drive configured to attenuate effects of externally generated vibration applied along multiple axes of the disc drive, comprising:
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a base deck;
a rotatable disc supported by the base deck with a recording surface on which a plurality of concentric data tracks are defined;
a read/write head adjacent the recording surface;
an actuator motor which controllably moves the head relative to the recording surface;
a servo circuit, coupled to the head, which generates a position error signal indicative of head position error in relation to detected head position and desired head position, the servo circuit determining a plant estimate indicative of transfer function response of the disc drive while the disc drive is operated off-line;
a sensor network coupled to the base deck and comprising a plurality of vibration sensors, each vibration sensor configured to generate an acceleration signal along a corresponding axis of the disc drive, each acceleration signal indicative of a different component of the externally generated vibration applied along the corresponding axis of the disc drive; and
an adaptive filter network coupled to the sensor network and comprising a plurality of filters arranged in parallel, each filter adaptively filtering a selected one of the acceleration signals to generate a filtered acceleration signal in response to the plant estimate and the externally generated vibration, the adaptive filter network combining the filtered acceleration signal to generate a compensation signal which is used by the servo circuit to reduce head position error induced by the externally generated vibration. - View Dependent Claims (9, 10, 11, 12)
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13. A disc drive, comprising:
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a base deck;
an actuator motor which controllably moves a transducer head relative to a disc recording surface; and
means for attenuating effects of externally generated vibration applied along multiple axes of the disc drive, including means for concurrently generating a plurality of acceleration signals along each of a corresponding plurality of different axes of the disc drive, each acceleration signal indicative of a different component of the externally generated vibration applied along the corresponding axis of the disc drive, and means for adaptively filtering each of the acceleration signals.
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Specification