CN103117068A - 上采样伺服控制信号的磁盘驱动器 - Google Patents
上采样伺服控制信号的磁盘驱动器 Download PDFInfo
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- CN103117068A CN103117068A CN2012104592324A CN201210459232A CN103117068A CN 103117068 A CN103117068 A CN 103117068A CN 2012104592324 A CN2012104592324 A CN 2012104592324A CN 201210459232 A CN201210459232 A CN 201210459232A CN 103117068 A CN103117068 A CN 103117068A
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- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B5/00—Recording by magnetisation or demagnetisation of a record carrier; Reproducing by magnetic means; Record carriers therefor
- G11B5/48—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed
- G11B5/54—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head into or out of its operative position or across tracks
- G11B5/55—Track change, selection or acquisition by displacement of the head
- G11B5/5521—Track change, selection or acquisition by displacement of the head across disk tracks
- G11B5/5526—Control therefor; circuits, track configurations or relative disposition of servo-information transducers and servo-information tracks for control thereof
- G11B5/553—Details
- G11B5/5547—"Seek" control and circuits therefor
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- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B5/00—Recording by magnetisation or demagnetisation of a record carrier; Reproducing by magnetic means; Record carriers therefor
- G11B5/48—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed
- G11B5/58—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head for the purpose of maintaining alignment of the head relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following
- G11B5/596—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head for the purpose of maintaining alignment of the head relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following for track following on disks
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- Moving Of The Head To Find And Align With The Track (AREA)
Abstract
Description
技术领域
背景技术
磁盘驱动器包括磁盘和连接到致动器臂的远端的磁头,其中音圈电机(VCM)围绕枢轴旋转致动器臂以便在磁盘上方径向定位磁头。磁盘包括多个径向间隔的同心磁道,用于记录用户数据扇区和嵌入式伺服扇区。嵌入式伺服扇区包括磁头定位信息(例如磁道地址),该信息被磁头读取并且被VCM伺服控制器处理以便在致动器臂逐个磁道寻道时控制致动器臂的速率。
图1示出包括数个伺服磁道4的现有技术磁盘格式2,所述数个伺服磁道4由围绕每个伺服磁道的圆周记录的同心伺服扇区60-6N定义,其中数据磁道相对于伺服磁道4被定义。每个伺服扇区6i包括:用于存储周期模式的前导码8,其允许读取信号的适当增益调整和定时同步;以及用于存储特殊模式的同步标记10,用于同步到伺服数据字段12。伺服数据字段12存储粗调磁头定位信息,例如用于在寻道操作期间将磁头定位在目标数据磁道上方的伺服磁道地址。每个伺服扇区6i还包括多组伺服脉冲串(servo burst)14(例如,A、B、C和D脉冲串),所述伺服脉冲串14包括相对于数据磁道中心线以精确的间隔和偏移记录的数个连续阶跃。多组伺服脉冲串14在读/写操作期间访问数据磁道时提供用于中心线跟踪的精细磁头位置信息。
发明内容
附图说明
图1示出现有技术磁盘格式,其包括由嵌入式伺服扇区定义的多个伺服磁道。
图2A示出根据本发明的实施例的磁盘驱动器,其包括在磁盘上方被致动的磁头。
图2B示出根据本发明的实施例的流程图,其中控制样本的序列被上采样以产生致动器控制信号。
图2C示出伺服控制***,其用于在磁盘上方(径向地或垂直地)致动磁头,包括上采样以产生致动器控制信号。
图3是根据本发明的实施例的流程图,其中上采样方程的标量基于性能指标(例如相位容限)被调整。
图4是根据本发明的实施例的流程图,其中上采样方程的标量基于寻道长度被调整。
图5是根据本发明的实施例的流程图,其中上采样方程的标量在寻道操作期间被调整到第一值,而在跟踪操作期间被调整到第二值。
具体实施方式
图2A示出根据本发明的磁盘驱动器,其包括包含多个伺服磁道18的磁盘16,其中每个伺服磁道包括多个伺服扇区200-20N。该磁盘驱动器还包括用于响应于致动器控制信号26在磁盘16上方致动磁头24的致动器22(图2C),以及可操作以便执行图2B的流程图的控制电路28,其中以对应于伺服扇区的频率的采样率读取伺服扇区200-20N以产生控制样本的第一序列x[k](步骤30)。根据以下方程以因子N对控制样本的第一序列x[k]进行上采样,以产生控制样本的第二序列y[ki](步骤32):
其中γ是大于或等于零且小于1的标量。响应于控制样本的第二序列y[ki]产生致动器控制信号(步骤34)。
图2C示出根据本发明的实施例的伺服控制***,其用于产生应用于致动器22的致动器控制信号26。来源于磁头24的信号36(例如读信号或飞行高度信号)被处理38以产生磁头40的估计位置。从参考位置42减去估计位置40以产生误差信号44。合适的补偿器46处理误差信号44以产生控制样本的第一序列x[k]48。根据上述方程以因子N对控制样本的第一序列x[k]48进行上采样50以产生控制样本的第二序列y[k]52。数字模拟转换器(DAC)54将被上采样的控制样本y[k]52转换成应用于致动器22的致动器控制信号26。图2C示出伺服控制***的一般概述,而实际的实施方式可能包括额外的信号处理,例如多速率陷波滤波器用于在产生致动器控制信号26之前过滤控制样本的第二序列y[k]52。
任何合适的致动器22都可以用在本发明的实施例中,以便在磁盘16上方致动磁头24,例如在磁盘16上方径向地或在磁盘16上方垂直地致动磁头24的致动器。在一个实施例中,致动器22可以包括用于响应于致动器控制信号26A在磁盘16上方径向地致动磁头24的音圈电机(VCM)56(图2A),而在另一个实施例中,驱动器22可以包括用于响应于致动器控制信号26B在磁盘16上方径向地致动磁头24的合适的微致动器58(例如压电致动器)。在另一个实施例中,致动器22可以包括用于响应于飞行高度测量在磁盘16上方垂直地致动磁头24的合适的飞行高度致动器(未图示)。
在一个实施例中,上采样帮助使控制样本x[k]48中的级梯(staircase)跃迁平滑化,这帮助降低采样率附近的共振激励和其他扰动以及采样率谐振,由此改进伺服控制***的性能。在多种实施例中,上述上采样方程中的标量γ被调整,以便实现期望的性能,解决不同的寻道长度,和/或解决操作模式(例如寻道、停留或跟踪)的变化。
图3是根据本发明的实施例的流程图,其中当在磁盘16上方致动磁头24(步骤60)时,测量性能指标(步骤62),例如测量伺服控制***的相位容限。然后基于性能指标调整标量γ(步骤64)。在一个实施例中,图3的流程图可以被重复很多次,并且标量γ被调整直到性能指标达到目标值。可以在校准过程中测量性能指标并且调整标量γ,和/或可以在磁盘驱动器的正常操作期间测量性能指标并且调整标量γ,以便将标量γ调适到操作环境。
在图4的流程图所示的另一个实施例中,当用于在磁盘上方径向致动磁头的伺服控制***执行寻道操作以使磁头在磁盘上方径向寻道时(步骤66),基于寻道长度调整标量γ(步骤68)。在一个实施例中,标量γ将作为针对一系列磁盘驱动器和多个不同寻道长度的设计过程的一部分而被优化。标量γ的优化值被存储在表格里,然后在现场部置的每个磁盘驱动器的正常操作期间用寻道长度来对该表格编索引。在一个实施例中,可以相对于在每个寻道操作期间测量的性能指标在每个磁盘驱动器内并且针对每个寻道长度来调整标量γ。
图5是根据本发明的另一实施例的流程图,其中当执行寻道操作时(步骤70),标量γ被调整到被校准的第一值以优化寻道性能(步骤72)。然后控制电路利用标量γ的第一值使磁头朝向目标伺服磁道寻道(步骤74),并且当磁头到达目标伺服磁道时(步骤76),控制电路调整标量γ到被校准的第二值以优化跟踪性能(步骤78)。然后控制电路在跟踪操作期间利用标量γ的第二值将磁头保持在目标伺服磁道上方(步骤80)。可以基于其他操作模式调整标量γ,例如在从寻道模式过渡到跟踪模式时调整标量γ到校准值以优化停留操作。
任何合适的控制电路都可以被采用以实现本发明的实施例中的流程图,例如任何集成电路或多个电路。例如,控制电路可以在读取信道集成电路中实现,或者在与读取信道分离的组件例如磁盘控制器中实现,或者上述某些步骤可以由读取信道执行,而其他步骤由磁盘控制器执行。在一个实施例中,读取信道和磁盘控制器被实现为分离的集成电路,而在可替代实施例中,读取信道和磁盘控制器将被加工成单个集成电路或片上***(SOC)。另外,控制电路可以包括合适的前置放大器电路,该前置放大器电路被实现为分离的集成电路,被集成到读取信道或磁盘控制电路中,或者集成到片上***中。
在一个实施例中,控制电路包括执行指令的微处理器,所述指令可操作以使微处理器执行本文描述的流程图的步骤。所述指令可以存储在任何计算机可读介质中。在一个实施例中,所述指令可以存储在外接于微处理器或者与微处理器一起集成在片上***中的非易失性半导体存储器中。在另一个实施例中,所述指令被存储在磁盘上并且当磁盘驱动器通电时被读入易失性半导体存储器中。在另一个实施例中,控制电路包括合适的逻辑电路,例如状态机电路。
Claims (14)
1.一种磁盘驱动器,其包括:
包括多个伺服磁道的磁盘,其中每个伺服磁道包括多个伺服扇区;
磁头;
致动器,其用于响应于致动器控制信号在所述磁盘上方致动所述磁头;以及
控制电路,其可操作以便:
读取所述伺服扇区,以便以对应于所述伺服扇区的频率的采样率产生控制样本的第一序列x[k];
根据以下方程以因子N对控制样本的所述第一序列x[k]进行上采样,以产生控制样本的第二序列y[ki]:
其中γ是大于或等于零且小于1的标量;以及
响应于控制样本的所述第二序列y[ki]产生所述致动器控制信号。
2.根据权利要求1所述的磁盘驱动器,其中所述致动器包括用于在所述磁盘上方径向致动所述磁头的音圈电机。
3.根据权利要求1所述的磁盘驱动器,其中所述致动器包括用于在所述磁盘上方径向致动所述磁头的微致动器。
4.根据权利要求1所述的磁盘驱动器,其中所述控制电路还可操作以便:
测量与在所述磁盘上方致动所述磁头相关联的性能指标;以及
响应于所述性能指标调整γ。
5.根据权利要求4所述的磁盘驱动器,其中所述性能指标包括相位容限。
6.根据权利要求1所述的磁盘驱动器,其中所述控制电路还可操作以便:
使所述磁头在所述磁盘上方寻道一寻道长度;以及
响应于所述寻道长度调整γ。
7.根据权利要求1所述的磁盘驱动器,其中所述控制电路还可操作以便:
在寻道操作期间使所述磁头在所述磁盘上方寻道;
在跟踪操作期间将所述磁头维持在目标伺服磁道上方;
在所述寻道操作期间将γ调整到第一值;以及
在所述跟踪操作期间将γ调整到第二值。
8.一种操作磁盘驱动器的方法,所述磁盘驱动器包括包含多个伺服磁道的磁盘以及致动器,其中每个伺服磁道包括多个伺服扇区,并且所述致动器用于响应于致动器控制信号在所述磁盘上方致动磁头,所述方法包括:
以对应于所述伺服扇区的频率的采样率读取所述伺服扇区,以产生控制样本的第一序列x[k];
根据以下方程以因子N对控制样本的所述第一序列x[k]进行上采样,以产生控制样本的第二序列y[ki]:
其中γ是大于或等于零且小于1的标量;以及
响应于控制样本的所述第二序列y[ki]产生所述致动器控制信号。
9.根据权利要求8所述的方法,其中所述致动器包括用于在所述磁盘上方径向致动所述磁头的音圈电机。
10.根据权利要求8所述的方法,其中所述致动器包括用于在所述磁盘上方径向致动所述磁头的微致动器。
11.根据权利要求8所述的方法,还包括:
测量与在所述磁盘上方致动所述磁头相关联的性能指标;以及
响应于所述性能指标调整γ。
12.根据权利要求11所述的方法,其中所述性能指标包括相位容限。
13.根据权利要求8所述的方法,还包括:
使所述磁头在所述磁盘上方寻道一寻道长度;以及
响应于所述寻道长度调整γ。
14.根据权利要求8所述的方法,还包括:
在寻道操作期间使所述磁头在所述磁盘上方寻道;
在跟踪操作期间将所述磁头维持在目标伺服磁道上方;
在所述寻道操作期间将γ调整到第一值;以及
在所述跟踪操作期间将γ调整到第二值。
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US13/298,133 US8542455B2 (en) | 2011-11-16 | 2011-11-16 | Disk drive upsampling servo control signal |
US13/298,133 | 2011-11-16 |
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CN108630233A (zh) * | 2017-03-16 | 2018-10-09 | 株式会社东芝 | 磁盘装置 |
CN112151077A (zh) * | 2019-06-28 | 2020-12-29 | 西部数据技术公司 | 限定磁道轨迹以减小ac磁道压缩的数据存储装置 |
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CN103117068B (zh) | 2016-03-09 |
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