Method and apparatus for providing feedforward control of two interacting actuators
First Claim
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1. A disk drive, comprising:
- at least one rotatable disk;
at least first and second separately movable heads for providing transducing action with respect to the disk;
first and second head actuators mounted so that the operation of one actuator causes mechanical forces to be coupled to the other actuator, said first actuator providing for radial movement of said first head relative to said disk and said second actuator providing for radial movement of said second head relative to said disk, the radial movement provided by each actuator being separately controllable from that of the other actuator; and
at least one controller, wherein the at least one controller comprises a first and second state model associated with the first and second actuators, wherein the first state model receives an acceleration applied to the second actuator and the second state model receives an acceleration applied to the first actuator, the first and second state models generating head acceleration estimates for the first and second actuators, and wherein the at least one controller produces control signals for the first and second actuators based upon the head acceleration estimates for the first and second actuators.
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Abstract
A method and apparatus for providing feedforward control of two interacting actuators to compensate for interaction there between is disclosed. State models for each actuator that processes acceleration for each actuator provide an estimate of head acceleration for each of the actuators and to provide feedforward control signals to the actuators for controlling the positioning of the heads based upon the estimates of head acceleration for each of the actuators.
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Citations
16 Claims
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1. A disk drive, comprising:
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at least one rotatable disk;
at least first and second separately movable heads for providing transducing action with respect to the disk;
first and second head actuators mounted so that the operation of one actuator causes mechanical forces to be coupled to the other actuator, said first actuator providing for radial movement of said first head relative to said disk and said second actuator providing for radial movement of said second head relative to said disk, the radial movement provided by each actuator being separately controllable from that of the other actuator; and
at least one controller, wherein the at least one controller comprises a first and second state model associated with the first and second actuators, wherein the first state model receives an acceleration applied to the second actuator and the second state model receives an acceleration applied to the first actuator, the first and second state models generating head acceleration estimates for the first and second actuators, and wherein the at least one controller produces control signals for the first and second actuators based upon the head acceleration estimates for the first and second actuators. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for providing feedforward control of two interacting actuators to compensate for interaction there between, comprising:
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providing at least one rotatable disk, providing at least first and second separately movable heads for transducing with respect to the disk;
radially moving a first head associated with a first head actuator and radially moving a second first head associated with a second head actuator;
wherein the radial movement provided by each actuator being separately controllable from that of the other actuator;
providing a first and second state model associated with the first and second actuators receiving at the first state model an acceleration applied to the second actuator and receiving at the second state model an acceleration applied to the first actuator generating by the first and second state models head acceleration estimates for the first and second actuators based upon the acceleration applied to the second actuator received by the first state model and the acceleration applied to the first actuator received by the second state model; and
producing control signals for the first and second actuators based upon the head acceleration estimates for the first and second actuators. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification