JPS6271067A - Controlling method for head positioning - Google Patents
Controlling method for head positioningInfo
- Publication number
- JPS6271067A JPS6271067A JP20862085A JP20862085A JPS6271067A JP S6271067 A JPS6271067 A JP S6271067A JP 20862085 A JP20862085 A JP 20862085A JP 20862085 A JP20862085 A JP 20862085A JP S6271067 A JPS6271067 A JP S6271067A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- control
- follow
- head
- speed control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Moving Of The Head To Find And Align With The Track (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は、磁気ディスク装置におけるヘッドの位置決め
制御方法に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a head positioning control method in a magnetic disk device.
一般に磁気ディスク装置においては１アクセスタイムを
向Ｊ−させるため、ひとつのトラックから他のトラック
へのヘッドの移動は迅速に行われることを要求される。Generally, in a magnetic disk drive, in order to reduce one access time, the head must be moved quickly from one track to another.
このため速度制御を高速で実行すると本来剛体とみなさ
れている機構系に歪みが蓄積し、目標トラックに到達し
、そのトラックに正確に位置決めするための追従制御に
切り換わった後、この歪みの復元力によりヘッドの位置
が目標トラックから徐々にオフセットするという問題を
生じていた。これに対し特開昭５８−２１ｄＯ！３０号
公報などに記された技術では、追従制御系にオフセット
信号を加える方法をとっていたが、この方法では機構系
の状態の変化によって必要となる印加オフセット量の変
動に対しての即応性を欠くものと思われる。For this reason, when speed control is executed at high speed, distortion accumulates in the mechanical system, which is originally considered to be a rigid body. A problem has arisen in that the head position gradually offsets from the target track due to the restoring force. On the other hand, JP-A-58-21dO! In the technology described in Publication No. 30, etc., an offset signal is added to the follow-up control system, but this method does not allow immediate response to changes in the amount of applied offset required due to changes in the state of the mechanical system. It seems that it lacks.
本発明の目的は、速度制御時に生じる機構系の歪みを因
とする追従制御時の目標トラックからのオフセットを打
ち消し、正確な位置決め制御を行なうことにある。An object of the present invention is to perform accurate positioning control by canceling offset from a target track during follow-up control due to distortion of the mechanical system that occurs during speed control.
本発明の特徴は、速度制御時の機構系の状態を監視しそ
の情報を基に追従制御ループに電気的な初期値を設定す
をことにある。これにより、速度制御時に機構系に蓄積
した歪みの復元力により生じる追従制御時の目標トラッ
クからのオフセットを打ち消し正確な位置決めを行なう
ことができる。A feature of the present invention is that the state of the mechanical system during speed control is monitored and electrical initial values are set for the follow-up control loop based on that information. Thereby, the offset from the target track during follow-up control, which is caused by the restoring force of distortion accumulated in the mechanical system during speed control, can be canceled out, and accurate positioning can be performed.
以下、発明の実施例を図面を用いて説明Ｔる◇第１図は
、磁気ディスク装置の速度制御系のブロック図である。Embodiments of the invention will be described below with reference to the drawings. Fig. 1 is a block diagram of a speed control system of a magnetic disk drive.
第１図の装置は、ディスク面のサーボ情報を読み取るサ
ーボへシト９と、サーボヘッドの位置を検出する回路８
と、サーボヘッドと一体化したボイスコイルモーター１
１と、ボイスコイルモーターを駆動するパワーアンプ１
０ト、パワーアンプに流れる電流を検出する回路１２と
、ヘッドの移動速度を算出する電子タコメータ、７と、
ヘッドの目標トラック到達まテニクロスするトラック数
をカウントするディファレンスカウンタ１と１ヘッド移
動時ニ速度。The device shown in FIG. 1 includes a servo head 9 that reads servo information on the disk surface, and a circuit 8 that detects the position of the servo head.
and voice coil motor 1 integrated with the servo head.
1 and a power amplifier 1 that drives the voice coil motor.
0, a circuit 12 for detecting the current flowing to the power amplifier, and an electronic tachometer 7 for calculating the moving speed of the head.
Difference counter 1 counts the number of tracks crossed until the head reaches the target track, and 2 speeds when the head moves.
及び加速度に目標を与える回路２．３と、パワーアンプ
に流す電流を規定する回路４．５とから成る。速度側−
を行なう際、ヘッドの現在の位置から目標トラックまで
の距離を目標トラックまでの残トラック数として扱い、
トラッククロス。It consists of a circuit 2.3 that gives a target to acceleration, and a circuit 4.5 that specifies the current flowing to the power amplifier. Speed side -
When performing this, the distance from the current position of the head to the target track is treated as the number of remaining tracks to the target track,
track cross.
検出回路６により刻々カウントダウンされるディ７アレ
ンスカウンタ１を用いて残トラック数を監視している。The number of remaining tracks is monitored using a delay counter 1 which is counted down every moment by a detection circuit 6.
このディファレンスカウンタ１の値を基に加速度命令発
生器２．はパワーアンプ１０を通してボイスコイルモー
ター１１に流す電流量を規定し、速度命令発生器５はヘ
ッドの移動速度の目標値を与える〇一方１ヘッドの実際
の移動速度は、位置検出回路８及び電流検出回路１２の
データ２基に電子タコメーター７により算出する。ヘッ
ド移動の実速度と目標速度の間に速度エラーｓＢが発生
した場合、減算器１４により加速度命令に修正がなされ
る。理想的な速度制品が行なわれた場合、速度エラーｓ
Ｂは零となるが、本出願人は、商法で速度制御を行なう
と速度ニラ−５Ｂが定常的に発生しこの速度エラーｓＢ
の総量ど、速度制御から追従制御への切換時に発生する
目標トランクからのオフセット量に密接な比例関係が存
在する事を見出した。これハ、パワーアンプ１０を通し
てボイスコイルモーター１１に流した電流のエネルギー
があらかじめ設計した通り速度エネルギーに変換されず
、本来剛体例とみなされるべき機構系に歪みのエネルギ
ーとして蓄積していると推定される。Based on the value of the difference counter 1, the acceleration command generator 2. defines the amount of current flowing to the voice coil motor 11 through the power amplifier 10, and the speed command generator 5 gives a target value for the moving speed of the head.On the other hand, the actual moving speed of one head is determined by the position detection circuit 8 and the current Calculations are made using two data sets from the detection circuit 12 and an electronic tachometer 7. If a speed error sB occurs between the actual speed of head movement and the target speed, a correction is made to the acceleration command by the subtractor 14. If ideal speed production is performed, the speed error s
B becomes zero, but the applicant has discovered that when speed control is carried out using a commercial method, a speed error of 5B occurs constantly, and this speed error sB
It was found that there is a close proportional relationship between the total amount of offset from the target trunk and the amount of offset from the target trunk that occurs when switching from speed control to follow-up control. The reason for this is that the energy of the current flowing through the power amplifier 10 to the voice coil motor 11 is not converted into velocity energy as designed in advance, but is estimated to be accumulated as distortion energy in the mechanical system, which should originally be considered as a rigid body example. Ru.
第２図は、磁気ディスク装置の追従制御系のブロック図
である。第２因の装Ｎは島前記サーボへ、−）”？、位
置検出回路８、ボイスコイルモー ター１１、パワーア
ンプ１０及び、位置信号のノイズを取り除く回路２ｏと
、追従制御系の安定性を補償する回路２１と、目標トラ
ックからのずれご補償する電流を規定する位置エラー−
アンプ２２とから成る。追従制御系のループは速度制宵
の系とは独立であり、速度制御の追従制御に及ぼす影響
を特に考慮していない。そこで本出願人は機構系に蓄積
した歪みの復元力による目標トラックからのオフセット
を解消する実施例を以下記述する。FIG. 2 is a block diagram of the follow-up control system of the magnetic disk device. The second factor, the equipment N, is connected to the servo above, the position detection circuit 8, the voice coil motor 11, the power amplifier 10, the circuit 2o that removes noise from the position signal, and the stability of the tracking control system. A compensation circuit 21 and a position error that defines a current to compensate for deviation from the target track.
It consists of an amplifier 22. The follow-up control system loop is independent of the speed control system, and the influence of speed control on follow-up control is not particularly considered. Therefore, the present applicant will describe below an embodiment that eliminates the offset from the target track due to the restoring force of the distortion accumulated in the mechanical system.
第３図は、第２図中の位相補償器２１の従来技術による
回路構成である。この回路で、位置エラーに対する補正
量を周波数軸上で規定し、追従制御系の安定性を高めて
いる。第４図は本田１願人の考案する回路で第３図の回
路に速度制御時にオンとなるアナログスイッチ４０およ
び抵抗ｒ、を付加しである。この回路を用いる事により
、速度制御中に発生する速度エラーＳＢはＣ１に積分す
ることができ、速度制御から追従制御への切り換え時に
、Ｃ１に積分した電荷の働きで追従制御ループに初期値
を持たせる事ができる。従って機構系の歪みの復元力に
よる目標トラックからのオフセットは、この追従制御ル
ープの持つ電気的初期値と打ち消し合い、安定な位置決
め動作を行なうことかできる。FIG. 3 shows a circuit configuration of the phase compensator 21 in FIG. 2 according to the prior art. This circuit defines the amount of correction for position errors on the frequency axis, increasing the stability of the tracking control system. FIG. 4 is a circuit devised by Yasushi Honda, which is the circuit of FIG. 3 with the addition of an analog switch 40 and a resistor r that are turned on during speed control. By using this circuit, the speed error SB that occurs during speed control can be integrated into C1, and when switching from speed control to follow-up control, the initial value is input to the follow-up control loop by the function of the charge integrated into C1. You can have it. Therefore, the offset from the target track due to the restoring force of the distortion of the mechanical system is canceled out by the electrical initial value of this follow-up control loop, making it possible to perform a stable positioning operation.
本発明により、磁気ディスク装置のヘッド位置決め制御
において、ヘッドのトラック間移動時の高速性をそこな
うことなく１追従制御時の安定性を向上することができ
る。According to the present invention, in head positioning control of a magnetic disk device, stability during 1-following control can be improved without impairing high-speed movement of the head between tracks.
第１図は本発明の一実施例の磁気ディスク装置の速度制
御系のブロック図、第２図は追従制御系のブロック図、
第３図は位相補償器窃回路図、第４図は本発明の実施例
となる位相補償器の回路図である。
３・・・速度命令発生器
７・・パ１子タコメーター
１０・・・パワーアンプFIG. 1 is a block diagram of a speed control system of a magnetic disk device according to an embodiment of the present invention, FIG. 2 is a block diagram of a follow-up control system,
FIG. 3 is a circuit diagram of a phase compensator, and FIG. 4 is a circuit diagram of a phase compensator according to an embodiment of the present invention. 3...Speed command generator 7...Parameter tachometer 10...Power amplifier
Claims (1)
スクおよびサーボディスクと、このディスク面上を半径
方向に移動するデータヘッドおよびサーボヘッドと、こ
のヘッドを駆動するボイスコイルモータおよびパワーア
ンプを有し、さらに、前記サーボディスク上の任意のト
ラックに前記サーボヘッドを追従させる追従制御回路と
、前記サーボディスク上の任意のトラックから他の任意
のトラックへあらかじめ設定した速度カーブを目標とし
て前記サーボヘッドを移動させる速度制御回路を有する
磁気ディスク装置において、速度制御時に機構系の状態
を監視しその情報を基に、速度制御から追従制御への切
り換え時に追従制御ループに電気的な初期値を設定する
ことを特徴とするヘッド位置決め制御方式。1. It has a data disk and a servo disk that are rotated together by a spindle motor, a data head and a servo head that move in the radial direction on the disk surface, a voice coil motor and a power amplifier that drive the heads, and further, a tracking control circuit that causes the servo head to follow an arbitrary track on the servo disk; and a speed that moves the servo head from an arbitrary track on the servo disk to another arbitrary track with a preset speed curve as a target. In a magnetic disk drive having a control circuit, the state of a mechanical system is monitored during speed control, and based on that information, an electrical initial value is set in a follow-up control loop when switching from speed control to follow-up control. head positioning control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60208620A JPH0614430B2 (en) | 1985-09-24 | 1985-09-24 | Head positioning control circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60208620A JPH0614430B2 (en) | 1985-09-24 | 1985-09-24 | Head positioning control circuit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6271067A true JPS6271067A (en) | 1987-04-01 |
| JPH0614430B2 JPH0614430B2 (en) | 1994-02-23 |
Family
ID=16559238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60208620A Expired - Lifetime JPH0614430B2 (en) | 1985-09-24 | 1985-09-24 | Head positioning control circuit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0614430B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0630723A2 (en) * | 1993-06-17 | 1994-12-28 | Cms Gilbreth Packaging Systems, Inc. | Registration system for web feeding |
| US5915612A (en) * | 1993-06-17 | 1999-06-29 | Trine Manufacturing Company, Inc. | Registration system for web feeding |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4942054A (en) * | 1972-08-29 | 1974-04-20 | ||
| JPS56114176A (en) * | 1980-02-15 | 1981-09-08 | Nec Corp | Transducer positioning device of magnetic storage device |
-
1985
- 1985-09-24 JP JP60208620A patent/JPH0614430B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4942054A (en) * | 1972-08-29 | 1974-04-20 | ||
| JPS56114176A (en) * | 1980-02-15 | 1981-09-08 | Nec Corp | Transducer positioning device of magnetic storage device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0630723A2 (en) * | 1993-06-17 | 1994-12-28 | Cms Gilbreth Packaging Systems, Inc. | Registration system for web feeding |
| EP0630723A3 (en) * | 1993-06-17 | 1995-01-11 | Cms Gilbreth Packaging Systems, Inc. | Registration system for web feeding |
| US5915612A (en) * | 1993-06-17 | 1999-06-29 | Trine Manufacturing Company, Inc. | Registration system for web feeding |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0614430B2 (en) | 1994-02-23 |
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