CN1269123C - Method of controlling disk drive brake system - Google Patents
Method of controlling disk drive brake system Download PDFInfo
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- CN1269123C CN1269123C CN 02135071 CN02135071A CN1269123C CN 1269123 C CN1269123 C CN 1269123C CN 02135071 CN02135071 CN 02135071 CN 02135071 A CN02135071 A CN 02135071A CN 1269123 C CN1269123 C CN 1269123C
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Abstract
The present invention relates to a method for controlling brake systems of magnetic disk drivers. The method comprises: 1. a self-regulation evaluator is operated in a brake system of the magnetic disk drive; 2. the self-regulation evaluator is dynamically regulated when the magnetic disk driver works; 3. the self-regulation evaluator comprises a model of the brake and an error signal generated by the actual parameters of the brake, the error signal represents the variable of the brake system of the magnetic disk drive ar real time, wherein the model of the brake comprises simulation back electromotive force; the self-regulation evaluator enables the simulation back electromotive force to be used as the function of the error signal to be changed along with the error signal.
Description
[technical field]
The invention relates to a kind of method of controlling disk drive brake system, particularly about a kind of method of the back electromotive force of in the velocity feedback loop, regenerating exactly.
[background technology]
Along with the miniaturization of high-performance computer system, the size of disc driver has also been dwindled 2.5 inches and 1.5 inches thereupon.These mini disc drivers are applicable in kneetop computer and the personal digital assistant device.The feasible detent and the inertia wherein that reduces of disk drive dimensions diminishes, and in order to overcome the problem of bringing therefrom, just needs the structure of redesign disc driver.Simultaneously, can improve memory capacity by the hoverheight of introducing new read-write program and reduction magnetic head.
In order to make the hoverheight minimum of magnetic head, the latest development trend is to use no weavy grain medium.But the magnetic head that uses this medium to open/stop for contact is written into the problem that there is the serious quiet sassafras that rubs in mode, and a kind of method that eliminate this problem is to use dynamic magnetic head to be written into technology.
To be written into technology at the dynamic magnetic head of use successful in small-sized disc driver, just must make magnetic head be written into the process that unloads in do not contact, do not damage medium, therefore speed must slowly and be in the accurate control when being written into and unloading.But because in the process that is written into magnetic head be not suspended in medium above, so no sensory feedback signal in the magnetic head also just can't utilize the sensory feedback signal to come control rate.
The existing a kind of method that is used for control rate is to utilize the back electromotive force of detent as a kind of feedback signal, and this method has two shortcomings: the first, and back electromotive force is not directly significantly; The second, back electromotive force is very little for the detent that speed is low and moment is little and constant.
It is well-known in the industry cycle utilizing the regeneration back electromotive force to come control brake device speed, a problem of existing regeneration back electromotive force technology is that hypothesis braking resistor Ract is known, suppose to be written into and disturb to insignificant, but for using the disc driver dynamically be written into, be not suitable for this be written into disturb be assumed to be insignificant.
And use the parameter value of the detent in the regeneration back electromotive force to change with manufacturing tolerance, temperature and aging degree.Do not change if do not consider these, the regeneration of back electromotive force is insecure.Equally, any mistake in the regeneration back electromotive force may be exaggerated because of low speed, is enlarged into available feedback signal because these back-emf signals by a small margin are multiplied by a gain coefficient.
See also Fig. 1, wherein show more detailed physical process, detent input voltage V
ACTBe provided on the circuit 10 of the positive input terminal that connects totalizer 30 current i of the detent on the circuit 20
ACTBe multiplied by the negative input end that braking resistor Ract and product are input to totalizer 30.The output signal of totalizer 30 is back electromotive force Vemf.This back-emf signal is amplified by the constant gain K in the unit 40, to produce an energy available feedback signal in the speed control brake system.
In order at length to understand speed control brake system of the prior art, please refer to the characteristic electron and the mechanical property of the given detent in following formula (1) and (2).
Vact(t)＝Ract(t)*iact(t)+Lact*diact(t)/dt (1)
Wherein Vact (t) represents voltage and the funtcional relationship of time
The resistance of Ract (t) expression detent and the funtcional relationship of time
Iact (t) is expressed as the funtcional relationship of detent electric current and time
The induction coefficient of Lact (t) expression detent; And
D/dt represents the differential about the time
Jact(t)dω(t)/dt＝Tact(t)-Tload(t)-Bact*ω(t) (2)
Wherein, Jact represents the inertia of detent;
(t) expression detent angular velocity and the funtcional relationship of time;
The moment of Tact (t) expression detent and the funtcional relationship of time;
The funtcional relationship that is written into moment and time of Tload (t) expression detent;
Bact represents viscous friction.
Expression formula (1) and (2) are the general relational expressions that can be used in any speed control brake system, but, the implication of feature formula in the disc driver of small dimension of these detents is different with big specification driver, in the disc driver of small dimension the size restrictions of these brake gears the quantity of operable coil, also limited the size of magnet.These restrictions cause detent to have less moment constant K t and less detent induction coefficient Lact.So just make braking resistor Ract more much bigger than the induction coefficient Lact of detent.If like this, for first, can ignore for second that expresses (1) the right, so this detent voltage can further get approximate value, as expression formula (3):
Vact(t)＝Ract(t)*iac(t) (3)
Viscous friction coefficient B act is more much smaller than inertia Jact in small-sized detent.So just make the 3rd of equation (2) the right in mini disc driver, can ignore, so expression (2) becomes:
Jact(t)dω(t)/dt＝Tact(t)-Tload(t) (4)
In order in meeting the moving system of speed control control of expression formula (3) and (4), to utilize back electromotive force Vbemf to realize velocity feedback, examine the relational expression between back electromotive force Vbemf (t) and angular velocity omega (t) again:
ω(t)＝(1/Kb)*Vbemf(t) (5)
Please refer to Fig. 2, this figure is for the principle of further proof speed control brake system, please refer to detent voltage Vact (t), detent current i act (t), and the relation of braking resistor Ract and back electromotive force Vbemf (t), so:
Vbemf(t)＝Vact(t)-Ract(t)*iact(t) (6)
Can obtain a expression formula in conjunction with expression formula (5) and (6) about angular velocity:
(t)＝(1/Kb)(Vact(t)-Ract(t)*iact(t)) (7)
See also Fig. 3, this figure is the schematic diagram that speed control brake system voltage is realized the speed control brake system of expression formula (3) and feedback speed signal realization expression formula (5).Have three feedback control loops among Fig. 3: a physics back-emf voltage feedback control loop 310, a detent current feedback loop 320 and a velocity feedback loop 330.
In this kind speed control brake system, a reference input voltage ω
RefOffer the positive input terminal of totalizer 301.The output signal of this voltage feedback loop 330 is provided to the negative input end of totalizer 301.The output signal of totalizer 301 drives first transition function G1 (s), and this transition function 301 then drives the positive input terminal of second totalizer 302.In general, transition function G1 (s) is used for the closed loop feature of control rate feedback control loop.
The output signal of current feedback loop 320 drives the negative input end of totalizer 302, and the output signal of totalizer 302 drives the second transition function G2 (s).Generally speaking, transition function G2 (s) is used for the closed loop feature of Control current feedback control loop.The output signal of transition function G2 (s) drives the positive input terminal of totalizer 303 and the positive input terminal of the totalizer 304 in the velocity feedback loop 330.
The output signal of the second transition function G2 (s) is detent voltage Vact (t).Drive the negative input end of totalizer 303 from the physics back-emf voltage of back-emf voltage feedback control loop 310.The output signal of totalizer 303 is braked device resistance R act and removes and produce detent current i act (t) in unit 305.
Feedback transmission function H2 (s) in detent current i act (t) the drive current feedback control loop 320, and the output signal of H2 (s) is input to the negative input end of totalizer 302, detent current i act (t) is driver element 306 also, and this unit 306 makes the detent electric current multiply by moment constant K t and obtains a signal Tact who represents brake torque.In addition, the also unit 331 in the drive feedback loop 330 of detent current i act (t).
This brake torque signal Tact is input to the positive input terminal of totalizer 307, this detent be written into the negative input end that torque signals Load (t) is input to totalizer 307, the output signal of totalizer 307 is the poor of these two moments like this.
After removing, the product of representing the signal of the difference of these two moments to be braked the inertia Jact of device and Laplce's converted variable s in unit 308 obtains angular velocity omega (t).Angular velocity omega (t) multiply by back electromotive force gain Kb in unit 311, and obtains being input to the back electromotive force Vbemf of the negative input end of totalizer 303.Therefore, feedback control loop 310 can be realized expression formula (5).In unit 309, angular velocity (t) is removed by Laplce's converted variable s, and the result obtains an angle position signal θ after rounding.Wherein, totalizer 303 and 307, unit 305,306,308,309 and 311 is physical operationss of representing detent in the prior art.
The braking resistor REQ that unit 331 usefulness of feedback control loop 330 are estimated multiply by detent current i act (t), thereby a signal that produces is input to the negative input end of totalizer 304.As shown in Figure 3, the positive input terminal of totalizer 304 is braked device voltage Vact and drives.The output signal of unit 305 is removed by back electromotive force gain Kb in unit 332 and is produced the angular velocity omega of a regeneration ' (t).Therefore, feedback control loop 330 can be realized expression formula (7).Angular velocity ' (t) in unit 333, be transmitted function H
1(S) handle, result is input to the negative input end of totalizer 301.
Speed control brake system 330 needs the variable and the constant on equation the right of expression formula (3) to (7).In the prior art, detent current i act (t) and detent voltage Vact (i) are apparent and easy to know.But braking resistor Ract and back electromotive force gain Kb are assumed to known and constant.If use the SI unit in the speed control brake system 330, back electromotive force gain Kb and moment gain constant Kt equate, because moment gain constant Kt energy measurement obtains, so back electromotive force gain Kb can obtain with experimental technique.
See also Fig. 4, this figure is an embodiment who utilizes the speed control brake system of back electromotive force of the prior art.Input voltage V from digital-to-analogue converter DAC
INBe connected to the negative input end of operational amplifier 410 through the resistance 401 of a 5k Ω.The negative input end of this operational amplifier 410 is also connecting reference input voltage VR1, and connecting between the negative input end of this reference input voltage VR1 and amplifier 410 resistance 402 of a 5k Ω and the resistance 404 of a 1k Ω.The positive input terminal of operational amplifier 410 is connecting reference input voltage VR1 by the resistance 403 of a 5k Ω.And, be connected to the positive input terminal of operational amplifier 410 by the resistance 421 of a 5k Ω from the back electromotive force TACH of the regeneration of operational amplifier 420.The output signal of this operational amplifier 410 is detent voltage ACT-.And detent voltage ACT+ obtains from resistance 404 402 of public resistance.
The back-emf voltage TACH of regeneration utilizes detent voltage ACT+ and ACT-to produce, and detent voltage ACT+ is connected to the positive input terminal of operational amplifier 420.And detent voltage ACT-is connected to the negative input end of operational amplifier 420 by the resistance 423 of 5k Ω.Reference voltage VR1 is connected to the negative input end of operational amplifier 420 by variable resistor REQ.
Braking resistor Ract in the circuit 400 is changeless so, and can calibrate by variable resistor REQ.Zai Sheng back-emf voltage can be approximately so:
Vbemf(t)＝Vact(t)-(REQ*iact(t) (8)
Perhaps, can obtain according to circuit 400:
TACH＝5(Vact-(5/REQ)*iact) (9)
4.5＜Ract＜6，
Ract=(5/REQ), and
Vact＝(ACT+)-(ACT-)
Variable resistor REQ can adjust with three switches, and Ract can estimate in 0.50 Ω scope like this.Particularly, for calibrated resistance REQ, there is the electric current of a 100mA to pass through detent.The switch that rotates then on the resistance R EQ is approximately zero up to signal TACH.During being written into of dynamic magnetic head, the calibration of this back electromotive force and regeneration are suitable.But, when the gain of the circuit that produces signal TACH is very big and magnetic head move very at a slow speed the time, the calibration of back electromotive force and regeneration can make circuit make mistakes.
Particularly, suppose that variable resistor REQ is:
REQ＝Ract+Rδ (10)
Wherein, R δ is the error resistance when the supposition braking resistor is constant, and the back electromotive force Vbest (t) of regeneration is:
Vbest (t)=Vact (t)-((Ract+R δ) * iact (t)) or
Vbest(t)＝(Vact(t)-Ract*iact(t))-Rδ*iact(t)
Vbest(t)＝Vbemf(t)-Rδ*iact(t) (11)
Therefore, when error resistance R δ was approximately zero, in expression formula (11), the back electromotive force Vbest (t) of regeneration was the estimator of back-emf voltage Vbemf (t).But the calibration of 0.50 Ω precision shows that error resistance R δ is approximately zero, is example with following disc driver:
ω(t)＝3rad/sec；Ract＝10.5Ω，REQ＝10Ω，Kb＝20mV/rad/sec.
Please refer to Fig. 5, this figure is the figure of back-emf voltage Vbest (t) to the detent electric current, and wherein the y axle is the back-emf voltage Vbest (t) of regeneration, and the x axle is the detent electric current.Solid line is represented actual back-emf voltage among the figure, and dotted line is represented the back electromotive force of regenerating.
Although braking resistor Ract estimates in 5% scope of actual value, the very big error of the back-emf voltage of regeneration existence for big electric current.Because detent current i act is during greater than 120mA, it is incorrect that the direction that detent moves is estimated.These big electric currents are because be to produce under low in speed, that height the is written into situation, for example pass the ramp when disc driver is written under the situation at dynamic magnetic head, so previous speed control brake system was not suitable for using in this case.If back-emf voltage will successfully utilize in the situation that these low velocity, height are written into, just need a kind of new calibration steps and a kind of new speed control brake system.
[summary of the invention]
The object of the present invention is to provide a kind of method of control disk drive brake system of the back electromotive force of regenerating exactly.
The objective of the invention is to realize by following technical proposal: a kind of method of controlling disk drive brake system of the present invention comprises the steps: 1) use a self-regulation evaluator in the described disk drive brake system; 2) described self-regulation evaluator produces a back electromotive force that becomes when non-according to the signal of detent and when disc driver is worked; 3) an imitation follower produces an error signal, the variable of described error signal real-time embodying disk drive brake system; 4) wherein the self-regulation evaluator makes electromotive force as the function of error signal and with error signal variations, controller is according to the accurate control brake device of error signal.
Compared with prior art, the method that the present invention controls the disc driver brake system can be regulated the parameter of disk drive system in real time, thereby in the velocity feedback loop, regenerate back electromotive force more accurately, can be applicable under low velocity that dynamic magnetic head runs in being written into, situation that height is written into.
[description of drawings]
Fig. 1 is a kind of method that produces back electromotive force in the prior art.
Fig. 2 has enumerated the various a plurality of factors that relate to when being used to back-emf voltage is described.
Fig. 3 is the schematic diagram about prior art medium velocity control brake system.
Fig. 4 is the synoptic diagram of prior art medium velocity control brake device circuit.
Fig. 5 has shown that imitation velocity feedback loop shown in Figure 4 meets the improper error signal that produces when being written into situation on the way.
Fig. 6 is the disc driver block diagram with speed control brake system of the present invention.
Fig. 7 is imitation signal generator among Fig. 6 and the detail circuits figure that imitates follower.
Fig. 8 A to H is a depiction, shows that the present invention has imitation signal follower and nothing to imitate the performance of the speed control brake system under the situation of signal follower.
Fig. 9 is first embodiment of speed control brake system of the present invention.
Figure 10 is second embodiment of speed control brake system of the present invention.
Figure 11 is the 3rd embodiment of speed control brake system of the present invention.
Figure 12 A is the synoptic diagram of the simulation imitation signal generator among Figure 11.
Figure 12 B is the equivalent circuit diagram of Figure 12 A.
Figure 13 is the process flow diagram of the calibration procedure of the error signal of determining that the digital compensator of Figure 11 produces.
Figure 14 is the 4th embodiment of speed control brake system of the present invention.
Figure 15 is the process flow diagram of the calibration procedure of the error signal that produces of the digital compensator of decision among Figure 14.
[embodiment]
According to the present invention, a speed brake device control system 650 comprises a simulation tracing system 660.This simulation tracing system 660 allow brake control systems 650 during running into the non-normal working that height is written into interference and normal duration of work can both utilize accurate speed feedback control.
In the brake control system 650 in hard disk drive 600, one brake monitor 610 drives detent driver 601, detent driver 601 then drives detent 602, detent 602 can make sensor 604 move above disk 603 in normal work period, and makes sensor 604 605 be written into or unload from the ramp during non-normal working.
At the duration of work of disc driver 600, imitation signal generator 661 receives the one or more drive signals that offer detent driver 601, and it can produce an imitation signal and be input to imitation follower 662 after handling this input signal.Imitation follower 662 also receives the actual signal from detent 602 except that accepting this imitation signal.
Difference between actual signal and imitation signal is an error signal, represents the actual performance of detent 602 and the variation between the imitation performance.Imitation follower 662 process errors signals also produce an error compensating signal to brake controller 610.For example, in the normal work period of detent, be an angular velocity of estimating, or a detent electric current of estimating from the imitation signal of imitation signal generator 661, perhaps both.In the detent normal work period, imitation follower 662 received imitation signal and actual signals are followed the tracks of mutually, and therefore, imitation follower 662 produces one and is similar to the error compensating signal that speed control feedback control loop 300 of the prior art is provided.
But during the non-normal working of detent, imitation follower 662 received imitation signal and actual signals depart from mutually.In this case, error signal is among non-normal working of imitation follower 662 expressions is being handled.So imitation follower 662 will be according to the grade of the error signal compensating signal of correcting a mistake, so the speed of detent 602 will be precisely controlled during non-normal working.
Imitate the running of follower system 660 and use and in some disc driver, be used for compensating the feedforward control that breaks away from the influence that stable state produced very big difference is arranged.Those feedforward control systems produce a big known signal in brake controller.The approaching position error signal that breaks away from the behavior of stable state and then then reduce to produce of this signal owing to the behavior.Because have the differential of littler position error signal, more accurately alignment sensor.But the feedforward needed sampling of overdue compensation and other operations can have influence on the stability of entire system.Comparatively speaking, 660 of imitation trackers need to detect the external disturbance that moves that influences detent 602 and under the condition of the stability that does not influence entire system external disturbance are made compensation and get final product.This is not have under the wrong prerequisite in the measurement that case of external is disturbed, and for example, the noise of sensor can influence the resistance to overturning of imitation tracker 660.
See also Fig. 7, the figure shows simulation tracing system 660 more specifically.Wherein transition function 721 is represented gain Ki in the present embodiment, has also listed totalizer 701, voltage transfer function 711 and totalizer 710 in the brake controller 610 among Fig. 7.The input signal of this totalizer 710 is produced in a conventional manner by brake controller 610.Detent driver 601 is expressed as detent and amplifies transition function 702 in Fig. 7, detent 602 is shown among Fig. 7 by various totalizer and cell lists with feature of detent 602.Particularly totalizer 603 and 607, the unit 605,606,608 and 609 in the detent 602 is similar to totalizer 303 and 307, unit 305,306,308 and 309 respectively, so, can be in conjunction with reference to above to the explanation of totalizer 303 and 307, unit 305,306,308 and 309 at this.
In unit 702m, from the imitated amplifier gain Kmamp adjusting of the output signal of imitation totalizer 701m, its result is input to the positive input terminal of imitation totalizer 703m.The negative input end of this imitation totalizer 703m receives an imitation back-emf voltage from unit 709m, and this imitation back electromotive force obtains by gain Kmb adjusting imitation angular velocity omega m.
The output voltage of this imitation totalizer 703m is an imitation detent voltage, and this imitation detent voltage imitated braking resistor in unit 705m removes and produces an imitation detent current i m.In imitation unit 706m, imitation detent current i m imitated moment constant gain Kmt regulates, and this result is removed by Jms in unit 708m and produces one and imitate angular velocity omega m.Therefore, in an embodiment, imitation signal generator 661 produces the input signal imitation detent current i m of an imitation angular velocity omega m and an imitation follower 662.
Speed error signal Δ m ω is transmitted function K2 and handles in unit 764, transition function K2 is the embodiment of general transition function G5 (s).Transition function K2 is a cover question blank in an embodiment, can be used on during operate as normal and the non-normal working.The rank of this speed error signal Δ m ω is used for choosing table and will be provided to totalizer 710 from the special error compensation output signal of this table.
Current error signal Δ im is transmitted function K1 and handles in unit 766, transition function K1 is the embodiment of general transition function G3 (s).Transition function K1 also is a cover question blank in an embodiment, can be used on during operate as normal and the non-normal working.The rank of this current error signal Δ im is used for choosing table and will be provided to totalizer 701 from the special error compensation output signal of this table.
See also Fig. 8 A to Fig. 8 H, Fig. 8 A shows a standardization input signal Vref, promptly is input to the curve 801 of brake system.Fig. 8 B is the standardization output signal 802 that is used for driving brake system.The control system of this brake system has the location status for the function of time, as the curve 803 of curve map 8C be the speed state of the function of time, as the curve 804 of Fig. 8 D.Curve 803 among Fig. 8 C and Fig. 8 D and curve 804 utilize back electromotive force control imitation to produce, as realize the imitation of traditional control law.
As mentioned above, in the normal work period of brake system, the combination of the imitation state shown in Fig. 8 C and Fig. 8 D can produce the output signal 802 of the needs shown in Fig. 8 B.But, when external disturbance acts on brake system, the position of imitation and speed to the variation of time respectively shown in the curve 806 of the curve 805 of Fig. 8 E and Fig. 8 F.Be respectively to be used for response external to disturb needed location status and speed state shown in the curve 804 of the curve 803 of Fig. 8 E and Fig. 8 F.Fig. 8 G has described the error 809 in the output signal 807 when having only an imitation signal generator that utilizes the control law that traditional response external disturbs.
Principle of the present invention is that an imitation follower is used with the imitation signal generator.When external disturbance took place, this imitation follower produced an output signal, thereby when just obtain needed position and speed state during with the signal combination of imitating evaluator from the imitation follower.So output signal 808 is followed the tracks of a desired output signal 802, even externally disturb as dynamically magnetic head be written into that this tracking also can continue when acting on brake system, therefore, increase an imitation follower and compare the mistake of having only the imitation signal generator can eliminate or reduce greatly output signal.
See also Fig. 9, this figure is first embodiment about speed control brake system 900.The voltage signal of this speed control brake system 900 satisfies expression formula (3) and feedback speed signal satisfies expression formula (5).The element or the node that have same numeral among element among Fig. 9 and Fig. 3 are identical.Speed control brake system 900 comprises 3 feedback control loops: a physics back electromotive force feedback control loop 910, and wherein the angular velocity omega of detent reality is adjusted by physics back electromotive force gain Kb; One detent current feedback loop 920; One velocity feedback loop 930, it utilizes former physiological regeneration back-emf voltage of the present invention.Loop 910 is identical with the loop 310 and 320 that utilizes prior art with 920, can be in conjunction with reference to above to the description of loop 310 and 320 at this.
In speed control brake system 900, a reference input voltage ω ref is provided to the positive input terminal of totalizer 301.The output signal of velocity feedback loop 930 is provided to the negative input end of totalizer 301.The output signal of totalizer 301 drives first transition function G1 (s), and this transition function G1 (s) then drives the positive input terminal of another totalizer 302.
The negative input end of this totalizer 302 is driven by the output signal of current feedback loop 920.The output signal of totalizer 302 drives another transition function G2 (s), and generally speaking, transition function G2 (s) is a sound coil power amplifier integrated circuit.The output signal of this transition function G2 (s) drives the positive input terminal of totalizer 303 and the positive input terminal of the totalizer 933 in the velocity feedback loop 930.
The output signal of transition function G2 (s) is detent voltage Vact (t).Drive the negative input end of totalizer 303 from 910 back-emf voltage of back electromotive force feedback control loop.Detent voltage Vact (t) from totalizer 303 passes brake coil, thus detent voltage Vact (t) thus removed by the braking resistor Ract of reality and to produce detent current i act (t).
Feedback transmission function H2 (S) in detent current i act (t) the drive current feedback control loop 920, and the output signal of feedback transmission function H2 (S) is input to the negative input end of totalizer 302.Detent current i act (t) multiplies each other with the physics moment constant of moment constant gain Kt such as detent, produces a signal of representing brake torque Tact.In addition, the unit 931 in detent current i act (t) the drive feedback loop 930.
This brake torque signal is input to the positive input terminal of totalizer 307.This detent is written into the negative input end that torque signals is input to totalizer 307, so the output signal of totalizer 307 is the difference of this two moment.
The product of representing the signal of the difference of this two moment to be braked device inertia Jact and Laplce's converted variable s in unit 308 removes, and produces angular velocity omega (t).Angular velocity omega (t) multiplies each other with back electromotive force gain Kb in unit 311, produces the negative input end that back-emf voltage Vbemf is input to totalizer 303.Therefore, expression formula (5) is represented feedback control loop 310.In unit 309, angular velocity omega (t) is divided exactly by Laplce's variable s, obtains an angle position signal θ (t).
Speed loop 930 comprises an imitation signal generator 961 and an imitation follower 962, in the production process of back-emf voltage, be adjusted to the estimated value of braking resistor of the function of regeneration angular velocity omega est (t) and detent current i act (t), rather than the braking resistor value Ract that the resistance R EQ that usefulness is fixed resemble in the prior art promptly estimates multiply by detent current i act (t).Detent current i act (t) is input to unit 931 and multiply by detent current i act (t) with fixing resistance R EQ and produces a signal, and this signal is input to a negative input end of the totalizer 933 in the imitation signal generator 961.
In addition, detent current i act (t) is provided to self-regulation unit 932 simultaneously and produces an angular velocity here and depend on that the wrong compensating signal of electric current compensates the mistake that imitation brings.In Fig. 9, circuit 934 has an arrow and passes self-regulation unit 932, and this expression unit 932 is to carry out self-regulation on regeneration angular velocity omega est (t) is the basis of output signal of unit 332.The output signal of self-regulation unit 932 is connected to another negative input end of totalizer 933.The positive input terminal of totalizer 933 is driven by detent voltage Vact.
The output signal of this totalizer 933 is removed generation regeneration angular velocity omega est (t) by back electromotive force gain Kb in unit 332.Therefore, according to principle of the present invention, the regenerative voltage by brake coil comprises two parts, change part when stable state part and.This stable state part is produced by imitation signal generator 961, and this imitation signal generator 961 produces the totalizer 933 that comprises unit 931, unit 332 and receive the output signal of detent voltage Vact and unit 931.This time become part by receiving detent current i act (t) and the self-regulation unit 932 of the angular velocity omega est (t) that regenerates imitates follower 962 and provides.
Become part during the self-regulation of this braking resistor Ract and provide energy for speed control brake system 900 (contrasting speed control brake system 300).Self-regulation unit 932 compensates processing procedure variation, the aging influence that reaches factors such as temperature significantly.
For example, as mentioned above, in conjunction with being with reference to variable resistor REQ:
REQ＝R
act+R
δ
And when this resistance was used for producing back-emf voltage Vbest (t), back-emf voltage Vbest (t) was:
Vbest(t)＝Vbemf(t)-R
δ*iact(t)
But, adding self-regulation unit 932, the regeneration back-emf voltage becomes:
Vbest(t)＝Vbemf(t)-(R
δR
st)*iact(t)
For guaranteeing not produce the positive feedback signal that will cause stability problem, defined a wrong border ∈, so:
|R
δ-R
st|＞∈*Ract
Mistake border ∈ defines the accuracy of regeneration back-emf voltage.Especially, the back-emf voltage of regenerating in the work that low velocity, height are written into after the selected wrong border ∈ has similar feature with actual back-emf voltage.In an embodiment, mistake border ∈ is 0.01.
Among the following embodiment more complete description is arranged, in the generation of the feedback speed signal of driver control system 650, realized imitation tracker 660, these imitation tracker 660 combinations for simulation evaluator and number evaluation device.This simulation evaluator promptly imitates signal generator, is similar to feedback control loop 330 of the prior art, and just the simulation evaluator among the present invention is more more accurate than feedback control loop 330.This number evaluation device can supply higher degree of accuracy is provided compared to simulation system of the prior art, and the imitation following function of the intrinsic error of simulation evaluator that affords redress.And this number evaluation utensil has better configuration, makes like this to support that the required extra number of elements of numeral corrigendum is minimum.
See also Figure 10, this figure is the more detailed figure of second embodiment of speed control brake system of the present invention.In velocity feedback loop 1030, comprise that simulation evaluator 1075 promptly imitates signal generator and number evaluation device 1076 promptly imitates follower.In this embodiment, number evaluation device 1076 is to realize by the microprocessor on the disc driver circuit board.Microprocessor uses firmware to realize comprising the digital speed control 1080 of number evaluation device 1076.
Numeral speed control 1080 uses the known processing of industry, produces a digital reference angular velocities ω ref.Digital reference angular velocity omega ref and from the digital speed of velocity feedback loop 1030 by digital speed control 1080 in totalizer 1001 combinations, and the digital voltage that produces in unit 1052 by transition function G1 (z).1052 output voltages that come out are provided to the first node of OP from the unit, it is the working end of two-photo pole switch 1053A, when using hardware to describe the work of digital detent generator 1080, decode not as operating on an equal basis in the firmware of disc driver, and carried out by the microprocessor on the disc driver circuit board.
Another node CAL of two-photo pole switch 1053A promptly calibrates node, is connecting the controller calibration 1035 in the digital speed control 1080.The selector switch of two-photo pole switch 1053A is connecting first output line 1055 of the defeated Read Controller 1082 of numeral.Below the operation of this two-photo pole switch 1053A more detailed description is arranged.
Outlet line 1055 drives the input end of digital and analogue signals converter 1061.In an embodiment, all digital to analog converters and analog to digital converter are 8, and what use in other embodiments is 10 and 12.
The analog output signal of this digital to analog converter 1061 drives the input end of totalizer 302.In Figure 10, totalizer 302, transition function G2 (S), totalizer 303, unit 305 to 309, and the configuration of unit 311,321 and operation can be in conjunction with reference to above about the descriptions of Fig. 3 and Fig. 9.Similarly, the configuration of feedback control loop 1030, unit 931, totalizer 933 and unit 332 and operation velocity feedback loop 930 as previously discussed are so the regeneration angular velocity omega est (t) that unit 332 is produced drives an input end of analog to digital converter 1062 in the present embodiment.The digital output signal of this analog to digital converter 1062 drives the first input signal circuit of digital speed control 1080, and this speed control 1080 is connecting the selector switch of two utmost point switch 1053B.
In the present embodiment, simulation evaluator 1075 is by unit 931, and totalizer 933 and unit 332 are formed.Therefore, simulation evaluator 1075 receives three input signals, be simulating brake device current i act (t), simulating brake device voltage Vact (t) and error compensating signal, output regeneration angular velocity omega est (t), this angular velocity omega est (t) converts a digital signal to.
First node OP, promptly the working end of two utmost point switch 1053B is connected to the input end of the unit 1033 in the digital speed control 1080.The Section Point CAL of two utmost point switch 1053B, promptly calibration terminal is connected to circuit 1034, and circuit 1034 is connecting the self-regulation unit 1032 in the digital speed control 1080.
In the present embodiment, detent current i act (t) offers analog to digital converter 1064, and the digital output signal of analog to digital converter 1064 drives second incoming line 1058 of digital speed control 1080.Second incoming line 1058 provides the digital current signal to digital speed control 1080 self-regulation unit 1032.
Self-regulation unit 1032 produces the imitation error compensating signal to input current, and compensation uses resistance R EQ to count roughly the error that actual detent time-varying reactance Ract is produced in imitation.The output signal of this self-regulation unit 1032 drives second outlet line 1057 of digital speed control 1080 to digital to analog converter 1063.The analog output signal of this digital to analog converter 1063 is provided to second negative input end of totalizer 933.Therefore, in the present embodiment, number evaluation device 1076 comprises digital self-regulation unit 1032, analog to digital converter 1064 and digital to analog converter 1063.
In the present embodiment, resistance R EQ is conditioned the earliest, so resistance R EQ is a braking resistor Ract initial assessment value.Then, controller calibration 1035 is connected to the CAL end with the selector switch of switch 1053A and 1053B.
Controller calibration 1035 produces a series of output voltages continuously, for each output voltage ω ref, controller calibration 1035 receives the digital value of these regeneration angular velocity omega est (t) and corresponding to the digital value iact_i of detent current i act (t), and definite resistance error Δ ri makes that regeneration angular velocity omega est (t) is zero.Controller calibration 1035 uses resistance error Δ ri and digitized detent current i act_i to create a question blank, and each clauses and subclauses is a detent current i act_i and corresponding with it imitation error compensation voltage δ Vi.In this adjustment process, it is static to guarantee that angular velocity omega (t) is zero that this detent keeps.This question blank is represented the linear function and the sectional type linear transformation function of self-regulation resistance.
In an embodiment, controller calibration 1035 produces a new question blank before dynamically magnetic head is written into operation each time.Because this imitation error compensating signal that uses in digital self-regulation unit 1032 is constantly upgraded, this imitation error compensating signal depends on the time, therefore can compensate manufacturing tolerance, historical and other physical features of the disc driver that depends on the time that make the velocity feedback conversion of the practical operation of disc driver.These depend on that the factor of time no longer is considered to constant.
After calibration was finished, controller calibration 1035 was returned to switch 1053A and 1053B the position of work.When self-regulation unit 1032 receives the digital detent current i act_j of digital detent current i act (t), self-regulation unit 1032 obtains the corresponding imitation error compensation voltage δ Vi from the sectional type linearity curve f (iact_j) that uses linear interpolation, and imitation error compensation voltage δ Vi that should correspondence outputs to analog converter 1063.
See also Figure 11, this figure represents third embodiment of the invention, detent speed control feedback system 1100 comprises a speed control feedback control loop 1130, this speed control feedback control loop 1130 comprises that an analog rate feedback evaluator 1175 promptly imitates signal generator, and promptly to imitate follower parallel with digital velocity feedback compensator 1176.Difference shown in this configuration map 10, the number evaluation device 1076 among Figure 10 provides an input signal to simulating evaluator 1075.For convenience, these switches from the duty to the align mode are not included in wherein.But can be with reference to embodiment shown in Figure 10, these technology comprise that the correct switch of carrying out calibration procedure 1300 has more complete explanation hereinafter.
Detent speed control feedback system 1100 receives an aanalogvoltage, and this voltage can be produced by digital to analog converter, is called voltage Vref, represents the reference input voltage ω ref of the positive input terminal of totalizer 1101.Analog rate evaluator 1175 produces an aanalogvoltage AVbemf at first negative input end of totalizer 1101, and digital velocity feedback compensator 1176 produces an aanalogvoltage Dvbemf at second negative input end of totalizer 1101 simultaneously.
Output voltage Δ V from totalizer 1101 is amplified by gain Kamp in unit 1102, for example can be the gain of amplifier 410 among Fig. 4, then produces a detent voltage Vact (t) and it is provided to detent 1110.In detent 1110, therefore totalizer 1103,1107, unit 1105,1106,1108 and 1109 are similar to totalizer 303,307, unit 305,306,308,309 respectively, here can be in conjunction with reference to above to the description of totalizer 303,307, unit 305,306,308,309.
Detent voltage Vact (t) and detent current i act (t) are fed back to analog rate evaluator 1175.Figure 12 A is the more detailed figure of an embodiment of analog rate evaluator 1175.Figure 12 B is the figure of the circuit model of the equivalence behind the circuit reduction among Figure 12 A, can be with reference to figure 12B when considering the operation of analog rate evaluator 1175.
Similar in input signal ACT-and the ACT+ map 4, wherein these signals pass through detent.Can get from Figure 12 B:
Vbemf=(ACT+)-(ACT-)-iact*Ract and
iact＝(Vin-(ACT-))/Rsense
This second expression formula can be substituted in first expression formula, is 1 Ω abbreviation with resistance Rsense again.
Input signal Vin arrives the negative input end of operational amplifier 1220 by resistor 1201.Resistor ladder 1230 public resistor 1201 parallel connections.In an embodiment, resistor ladder 1230 comprises the element of five parallel connections, and each element comprises the switch of a resistor and a series connection, i.e. resistor ladder 1203 resistor 1201A to 1201E and switch 1203A to 1203E.
Input signal ACT-arrives the negative input end of operational amplifier 1220 by resistance 1203.The output terminal of operational amplifier 1220 is connecting the negative input end of feedback resistance 1222.The gain of this operational amplifier 1220 is selected to produce a back-emf voltage signal, and the rank of this back-emf voltage signal is consistent with reference input voltage.For example, the back-emf voltage of supposing the speed of 2.5inches/sec is 50 millivolts.Because the voltage no change, and reference input voltage ω ref (t) is 1v, supposes not comprise other gain stage, and the gain of this operational amplifier 1220 is 1.00/0.050 or 20.
The link tester that transports signal Vin is crossed resistor 1205 and is connected to the circuit that transports signal ACT+, and resistor 1205 is 1 Ω in present embodiment is heavy.Signal ACT+ is by resistor 1203,1204, and resistor 1203 and 1204 is in parallel, and is connected to the positive input terminal of operational amplifier 1220.One resistor ladder 1240 is in parallel with resistance 1204.In an embodiment, resistor ladder 1240 comprises the element of five parallel connections, and each element comprises a resistor and one and the switch of this resistor in series.Be that resistor ladder 1240 comprises resistor 1202A to 1202E, switch 1204A to 1204E.The positive input terminal of this operational amplifier 1220 is connected to reference voltage Vref by resistor 1206.
In the present embodiment, five the switch 1203A to 1203E and the 1204A to 1204E that connect on each pin of 1220 of operational amplifier are independently.Usually these all switches are all opened.But, equate that in order to keep input resistance switch corresponding on every pin should be consistent closed.For example, the parallel resistance of resistance 1201 and 1201A is then closed simultaneously with switch 1203A and 1204A if desired.
Therefore, in Figure 11, loop 1175 has produced the simulation assessed value of back-emf voltage.This imitation follower is that digital voltage feedback compensator 1176 generations one imitation error compensating signal compensates from the error in the signal of circuit 1175.Detent current i act (t) has been converted to a digital signal by analog to digital converter 1164.
This digitizing current signal is the input signal of digital compensator 1132, in the present embodiment, digital compensator 1132 is used to produce the imitation error compensating signal corresponding to the digital current signal from the data that are stored in the sectional type linearity curve table in the disc driver internal memory.This imitation error compensating signal is the output signal of digital compensator 1132, and this signal is provided to digital to analog converter 1163.
Digital to analog converter 1163 imitates error compensating signal with numeral and converts simulating signal DVbemf to, and this signal is provided to totalizer 1101.In the present embodiment, represent the question blank of the sectional type linearity curve of digital compensator 1132 uses periodically to upgrade.So, the time varying characteristic of this imitation error compensating signal utilization reflection disc driver and influence producing of table that back electromotive force regenerates.In addition, this imitation error compensating signal comprises the compensation to improper incident, and for example those are written into the problem that runs in the situation at dynamic magnetic head.Therefore, detent speed control feedback system 1100 compared to prior art at the normal duration of work back-emf voltage of more accurately regenerating, and in improper incident, control brake device speed more accurately.
See also Figure 13, this figure is the transition function processing flow chart 1300 that is used for producing the imitation follower, as describes the question blank of the sectional type linearity curve of digital compensator 1132 uses in the digital velocity feedback compensator 1176.Calibration steps 1300 to the imitation follower is carried out better before dynamically being written into operation at every turn.
Therefore, in the workplace of disc driver, treatment scheme of the present invention rests on to be written into checks that step 1302 is written into the work initialization up to magnetic head.When magnetic head was written into the operation initialization, treatment scheme was transferred to the step 1302 of calibration velocimeter circuit by step 1301.
At first, when calibration ring circuits step 1302, produce a predetermined detent electric current, as 100mA.Adjust adjacent switch 1201A to 1201E, 1202A to 1202E, promptly open and close these switches.Mate with signal DAC (Vin) as much as possible up to signal Avbemf.In the present embodiment, this error is approximately 2%.Consider similarly factor such as aging, temperature in the velocimeter circuit, environmental interference, so before each magnetic head is written into, carry out the step 1302 of calibrating the velocimeter circuit.
In the step 1303 that produces electric current, produce a predetermined current, and detent is static.For example, the equivalent of switch 1053 can be placed calibrating position come the opening speed feedback control loop, and be used for providing the inner current loops of a current known for the sound motor coil in the detent.When electric current produced, treatment scheme was just transferred to the step 1304 of the error of calculation.
In the step 1304 of the error of calculation, measuring output signal AVbemf and producing one the zero needed voltage of feedback signal is error compensating signal, determines for this voltage of predetermined current.This error compensating signal is converted into a digital value then, so when digital to analog converter 1163 was handled this digital value, signal DVbemf had the rank of error compensating signal.
When determining the correct digital value of error signal, this predetermined current and its digital value are stored, to use in the step 1305 of storage data.After the step 1304 of storage data is finished, transfer to extra current and check step 1306.In an embodiment, 5 electric currents have been produced ,-33mA, 0mA, 33mA, 66mA and 130mA.If all these electric currents are processed, then transfer to the step 1307 of carrying out magnetic head by step 1306, otherwise, transfer to the step 1302 that produces electric current, wherein produce next electric current, and repeat process by step 1303 to 1306.Generally, this calibration steps is carried out after about 50 milliseconds.
In the step 1307 of carrying out magnetic head, digital compensator 1132 receives digital detent electric current and uses the sectional type linearity curve that produces in the calibration steps 1300 to produce an imitation error compensating signal for given input signal.This imitation error compensating signal is provided to digital to analog converter 1163, and then this digital to analog converter 1163 produces signal DVbemf.Therefore, the table of this generation is the sectional type linear function that is used for following the tracks of the imitation output signal in the magnetic head workplace, so just control rate correctly.In the present embodiment, linear interpolation is used in the question blank given input signal is produced corresponding imitation error compensating signal.This step is carried out by the microprocessor of disc driver.
See also Figure 14, this figure is the fourth embodiment of the present invention.Speed control brake system 1400 comprises a speed control feedback control loop 1430, this loop 1430 comprises the i.e. imitation signal generator of an analog rate feedback evaluator 1175, one analog to digital converter 1422 and a unit 1433, this unit 1433 have one with the i.e. imitation follower transition function H1 (z) in parallel of digital speed loop compensator 1476.And, for convenience, do not comprise that switch is from the duty to the align mode.But can consult embodiment shown in Figure 10, the person skilled in the art can include correct switch and carry out calibration steps 1500.
Speed control brake system 1400 receives a digital signal ω ref at the positive input terminal of totalizer 1401, and this signal ω ref is that the microprocessor by disc driver produces in a conventional manner.Analog rate evaluator 1175 produces an aanalogvoltage AVbemf and is provided to analog to digital converter 1442.Converter 1442 is simulating signal AVbemf digitizing, and the result is provided to transition function H1 (z) in the unit 1433.The digital output signal of this unit 1433 is provided to the negative input end of totalizer 1401, and simultaneously, digital velocity feedback compensator 1476 produces a digital voltage DVb at second negative input end of totalizer 1401.
Output signal from totalizer is transmitted function G 1 (z) processing in unit 1402, and this result is that the detent digital voltage is provided to digital to analog converter 1421.Analog output voltage from digital to analog converter 1421 is provided to detent 1110.In detent 1110, node 1103 and 1107, unit 1105,1106,1108 with 1109 with above described identical about Figure 11.
Detent voltage Vact (t) and detent current i act (t) feed back to analog rate evaluator 1175,1175 and produce signal AVbemf, with above described identical about Figure 12.Detent current i act (t) is also supplied to the digital compensator 1423 in the digital velocity feedback compensator 1476.
See also Figure 15, this figure is the treatment scheme table that produces transition function, promptly imitates the question blank of follower.In the present embodiment, the execution before each magnetic head is written into work of the calibration steps 1500 of imitation follower is more suitable.
At first, the step 1501 of calibration velocimeter circuit is identical with the step 1302 of calibration velocimeter circuit, and can describe in the lump at this.But step 1501 does not resemble the step 1300 in the magnetic head loop, so step 1501 can not be written into preceding work at each magnetic head.
The layout of the step of this calibration velocimeter circuit can change with the work of disc driver.Step 1500 also can make calibration velocimeter circuit realize in the magnetic head ring in another embodiment as step 1300.Alternative is that this calibration velocimeter circuits step also can be included in the magnetic head loop, still, can only carry out under the condition of work of certain disc driver.Importantly to consider the work of variable effect velocimeter circuit of the condition of work of brake system, and recalibrate the velocimeter circuit with enough frequencies.
In the work of disc driver, treatment scheme of the present invention rests on to be written into checks that step 1502 is written into the work initialization up to magnetic head.Be written in the operation initial work at magnetic head, treatment scheme is transferred to the step 1503 of output current by step 1502.
In output current step 1503, export a predetermined current, and this detent keeps static.When electric current produced, as previously discussed, treatment scheme was transferred to the step 1504 that reads error.
In the step 1504 that reads error, the output signal of the transition function H1 (z) in the reading unit 1433 and the digitizing electric current in the read converter 1423.The output signal of this transition function H1 (z) should be for zero, so the signal that reads is the error signal in the calibration steps 1300.Therefore, in calibration steps 1500 this execution this calibrate needed time and heating required time of detent still less.
When reading two digital values, store this digital current and this imitation compensating signal in the step 1505 of storage data, to use.When finishing storage data step 1504, treatment scheme is transferred to extra current and is checked step 1506.In an embodiment, utilize five electric currents, promptly-33mA, 0mA, 33mA, 66mA and 130mA.If all these electric currents are processed, then treatment scheme is transferred to by step 1506 and is carried out the step 1507 that magnetic head is written into work, otherwise, transfer to the step 1503 that produces electric current, wherein produce next electric current, and repeat process by step 1503 to 1506.
When the data of five electric currents all have been stored, electric current is stored in the addressable internal memory of processor of disc driver the sectional type linear list of imitation error compensating signal.Be written in the step 1507 of work at the execution magnetic head, the processor of this disc driver uses the method for linear interpolation to produce the imitation error compensating signal.
For example, suppose first electric current, digitizing electric current I i is between electric current I 2 and I3 in question blank.Imitation error compensating signal H2 and electric current I 2 are stored together, and imitation error compensating signal H3 and electric current I 3 are stored together.
Therefore, produce an imitation error compensating signal ERROR (Ii), use the data of storage to carry out magnetic head work 1508, promptly for electric current I i
ERROR(Ii)＝I2+((H3-H2)/(I3-I2))*(Ii-I2)
In the present embodiment, imitation error compensating signal ERROR (Ii) is feedback signal DVb.
The method of Figure 15 has reduced the alignment time of the related embodiment among Figure 13, do not have to heat the detent that causes resistance variations, and than the easier realization of the analogy method among Figure 13.
In a plurality of embodiment of the present invention, a kind of speed control brake system of eliminating shortcoming of the prior art has been described, the back electromotive force of can under normal and non-normal working, regenerating exactly.Use when speed control brake system of the present invention is used an imitation signal generator regeneration back electromotive force a part that the parameter that becomes when non-sets up and an imitation follower produce an error compensating signal with in conjunction with the time disc driver that becomes parameter come to provide energy as speed control brake system of the present invention.This imitation follower can compensate the influence that factors such as process variables, aging and temperature are brought significantly.
Claims (14)
1. a method of controlling disk drive brake system is characterized in that: comprise the steps: 1) use a self-regulation evaluator in the described disk drive brake system; 2) when disc driver is worked, described self-regulation evaluator produces an imitation back electromotive force according to the signal of detent; 3) by an imitation follower, according to error compensating signal of signal generation of described imitation back electromotive force and detent; 4) one of self-regulation evaluator output is used to drive the detent location and electromotive force that change with error compensating signal.
2. the method for control disk drive brake system as claimed in claim 1 is characterized in that: the self-regulation evaluator that uses wherein 1) outputs to the braking resistor in the disc driver.
3. the method for control disk drive brake system as claimed in claim 2 is characterized in that: further comprise step: by the braking resistor in the disc driver electromotive force signal of self-regulation evaluator output is converted to and is used for the current signal of control brake device.
4. the method for control disk drive brake system as claimed in claim 3 is characterized in that: further comprise step: the imitation follower in the disc driver further produces an error compensating signal according to the imitation back-emf signal.
5. the method for control disk drive brake system as claimed in claim 4, it is characterized in that: wherein the imitation back-emf signal is produced a wrong compensating signal and further comprise: regain information from look-up table, this searches the sectional type linear representation that comprises a self-regulation braking resistor.
6. the method for control disk drive brake system as claimed in claim 4, it is characterized in that: wherein the imitation back-emf signal is produced a wrong compensating signal and further comprise: regain information from look-up table, this searches the sectional type linear representation that comprises a wrong compensating signal.
7. the method for control disk drive brake system as claimed in claim 1 is characterized in that: comprise at disc driver duration of work calibration self-regulation evaluator wherein 2): calibrate the self-regulation evaluator before dynamically magnetic head is written into.
8. the method for control disk drive brake system as claimed in claim 1 is characterized in that: comprise at disc driver duration of work dynamic adjustments self-regulation evaluator wherein 2): the question blank that the upgrade controller control system is suitable for.
9. the method for control disk drive brake system as claimed in claim 5 is characterized in that: the question blank that the self-regulation evaluator of wherein upgrading is suitable for further comprises: for the current rank of each detent is stored an error signal.
10. a feedback of controlling in the disk drive brake system is characterized in that: in response to appearing in the detent and an imitation of employed actual signal generation feedback signal in control; The signal that uses in the control in response to this detent produces an imitation error compensating signal, and this imitation error compensating signal is used for compensating the mistake in the imitation feedback signal; And, producing a feedback signal in conjunction with imitation feedback signal and imitation error compensating signal, this feedback signal is used in the control that produces a disc driver detent.
11. the feedback in the control disk drive brake system as claimed in claim 10, it is characterized in that: wherein produce an imitation feedback signal and further comprise: produce a back-emf signal, this back-emf signal uses the resistance constant of a detent.
12. a method of controlling disk drive brake system is characterized in that: respond at least one and appear in the detent and the signal that in the control brake device, uses generation imitation feedback signal and a detent parameter signal; And in this detent parameter signal, use the imitation detent parameter of a preliminary election and dynamically change imitation detent parameter, and the imitation detent parameter of this dynamic change of dynamic adjustments, make its function as the imitation feedback signal.
13. the method for control disk drive brake system as claimed in claim 12 is characterized in that: the detent parameter of wherein imitating detent parameter and dynamic change is the back electromotive force parameter.
14. the method for control disk drive brake system as claimed in claim 13 is characterized in that: the signal of this at least one use in the control brake device is actual detent electric current; And this back electromotive force parameter is the braking resistor parameter.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02135071 CN1269123C (en) | 2002-10-29 | 2002-10-29 | Method of controlling disk drive brake system |
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| CN 02135071 CN1269123C (en) | 2002-10-29 | 2002-10-29 | Method of controlling disk drive brake system |
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| CN1494077A CN1494077A (en) | 2004-05-05 |
| CN1269123C true CN1269123C (en) | 2006-08-09 |
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| US10587794B2 (en) * | 2018-04-25 | 2020-03-10 | Semiconductor Components Industries, Llc | Methods and apparatus for actuator control |
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