Disk drive optimizing filters based on sensor signal and disturbance signal for adaptive feed-forward compensation
First Claim
1. A disk drive comprising:
- a disk;
a head; and
control circuitry comprising a servo control system operable to actuate the head over the disk, the control circuitry operable to;
generate a sensor signal in response to a disturbance;
generate an error signal of the servo control system;
filter the sensor signal with a first filter comprising a frequency response to generate a filtered sensor signal;
filter the filtered sensor signal to generate a compensated sensor signal;
filter the error signal with a second filter comprising the frequency response to generate a filtered error signal;
generate an adaptation control signal based on the compensated sensor signal and the filtered error signal;
adapt an adaptive filter in response to the adaptation control signal, wherein the adaptive filter filters the sensor signal to generate feed-forward compensation values;
apply the feed-forward compensation values to the servo control system to compensate for the disturbance;
generate a disturbance signal that represents the disturbance; and
optimize the frequency response of the first and second filters based on the sensor signal and the disturbance signal.
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Accused Products
Abstract
A disk drive is disclosed comprising a servo control system operable to actuate a head over a disk. A sensor signal is filtered with a first filter comprising a frequency response, and the filtered sensor signal is filtered to generate a compensated sensor signal. An error signal is filtered with a second filter comprising the frequency response, and an adaptation control signal is generated based on the compensated sensor signal and the filtered error signal. An adaptive filter is adapted in response to the adaptation control signal, wherein the adaptive filter filters the sensor signal to generate feed-forward compensation values. The feed-forward compensation values are applied to the servo control system to compensate for the disturbance. A disturbance signal that represents the disturbance is generated, and the frequency response of the first and second filters is optimized based on the sensor signal and the disturbance signal.
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Citations
26 Claims
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1. A disk drive comprising:
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a disk; a head; and control circuitry comprising a servo control system operable to actuate the head over the disk, the control circuitry operable to; generate a sensor signal in response to a disturbance; generate an error signal of the servo control system; filter the sensor signal with a first filter comprising a frequency response to generate a filtered sensor signal; filter the filtered sensor signal to generate a compensated sensor signal; filter the error signal with a second filter comprising the frequency response to generate a filtered error signal; generate an adaptation control signal based on the compensated sensor signal and the filtered error signal; adapt an adaptive filter in response to the adaptation control signal, wherein the adaptive filter filters the sensor signal to generate feed-forward compensation values; apply the feed-forward compensation values to the servo control system to compensate for the disturbance; generate a disturbance signal that represents the disturbance; and optimize the frequency response of the first and second filters based on the sensor signal and the disturbance signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method of operating a disk drive comprising a disk, a head, and control circuitry comprising a servo control system operable to actuate the head over the disk, the method comprising:
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generating a sensor signal in response to a disturbance; generating an error signal of the servo control system; filtering the sensor signal with a first filter comprising a frequency response to generate a filtered sensor signal; filtering the filtered sensor signal to generate a compensated sensor signal; filtering the error signal with a second filter comprising the frequency response to generate a filtered error signal; generating an adaptation control signal based on the compensated sensor signal and the filtered error signal; adapting an adaptive filter in response to the adaptation control signal, wherein the adaptive filter filters the sensor signal to generate feed-forward compensation values; applying the feed-forward compensation values to the servo control system to compensate for the disturbance; generating a disturbance signal that represents the disturbance; and optimizing the frequency response of the first and second filters based on the sensor signal and the disturbance signal. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification