WO2004013855A1 - ディスク装置、ディスクの偏心制御方法、及び記録媒体 - Google Patents
ディスク装置、ディスクの偏心制御方法、及び記録媒体 Download PDFInfo
- Publication number
- WO2004013855A1 WO2004013855A1 PCT/JP2003/009785 JP0309785W WO2004013855A1 WO 2004013855 A1 WO2004013855 A1 WO 2004013855A1 JP 0309785 W JP0309785 W JP 0309785W WO 2004013855 A1 WO2004013855 A1 WO 2004013855A1
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- Prior art keywords
- head
- eccentricity
- phase shift
- shift amount
- disk
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 29
- 238000004364 calculation method Methods 0.000 claims abstract description 47
- 230000035939 shock Effects 0.000 claims abstract description 15
- 230000010363 phase shift Effects 0.000 claims description 182
- 230000001360 synchronised effect Effects 0.000 claims description 60
- 238000001514 detection method Methods 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 16
- 230000000694 effects Effects 0.000 description 13
- 230000002093 peripheral effect Effects 0.000 description 6
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000000747 cardiac effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000002542 deteriorative effect Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B21/00—Head arrangements not specific to the method of recording or reproducing
- G11B21/02—Driving or moving of heads
- G11B21/08—Track changing or selecting during transducing operation
-
- 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
- G11B21/00—Head arrangements not specific to the method of recording or reproducing
- G11B21/02—Driving or moving of heads
- G11B21/10—Track finding or aligning by moving the head ; Provisions for maintaining alignment of the head relative to the track during transducing operation, i.e. track following
-
- 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
- G11B5/59627—Aligning for runout, eccentricity or offset compensation
Definitions
- the present invention relates to a disk device, a disk eccentricity control method, and a recording medium, and more particularly, to a method of causing a head to follow a target track of an eccentric disk.
- the disk drive In order to record and reproduce information using the head on the target track of an eccentric disk, the disk drive must make the head follow the target track whose distance from the center of rotation constantly changes due to eccentricity.
- HDD hard disk drive
- FIG. 8 is a block diagram of a conventional HDD.
- a conventional HDD records and reproduces information on and from a magnetic disk 815, and outputs a head position signal 806 to a magnetic head 819.
- Actuator mechanism 810 that operates the magnetic head 819 based on the head control amount signal 809, and changes in the support information number read by the magnetic head 819 and the magnetic field Synchronizes with the phase learner 800, which learns the phase shift amount, which is the phase difference between the change in the eccentricity of the disk 8 15 and the phase shift amount signal 8 12
- Sine wave generator 802 that outputs an eccentric synchronous sine wave signal 8 13 with the phase shift amount learned by the phase learner 801 at the adjusted frequency, and eccentricity control by multiplying the sine wave signal by a weighting factor.
- Eccentricity control that calculates the amount, learns the amount of eccentricity, updates the weighting coefficient, and outputs the eccentricity control amount signal 804
- a magnetic head for compensating for the eccentricity of the magnetic disk 815 and causing the magnetic head 819 to follow the target track by adding the calculator 80.3 and the eccentricity control amount and the normal feedback control amount.
- a positioning controller 808 that calculates the control amount and outputs a magnetic head control amount signal 809, and a target position signal 805 input from outside the device to a head position signal 806 , And outputs the position error signal 807 as the subtraction result.
- a learning switch 811 for switching whether to perform the learning of the eccentricity and the updating of the weight coefficient of the eccentricity control amount calculator 803.
- the eccentricity control amount calculator 8 03 once learns the eccentricity amount and updates the weight coefficient.
- the eccentricity control amount is calculated using the weight coefficient calculated immediately before the stop.
- the learning switch 811 by turning on the learning switch 811 and restarting the learning of the eccentricity and the updating of the weighting coefficient, deterioration of the control performance during settling is prevented.
- the learning switch 811 To stop the learning of the amount of eccentricity and the updating of the weighting coefficient, and when the magnetic head 819 enters the predetermined positioning range, turns on the learning switch 811 to reduce the amount of eccentricity. By restarting learning and updating the weighting factor, control performance is prevented from deteriorating.
- the eccentricity control amount is calculated using the weighting factor calculated immediately before the stop, and when the magnetic head enters the predetermined positioning range, learning of the eccentricity and updating of the weighting factor are restarted.
- the value of the weighting factor differs depending on the target track on which the magnetic head is positioned, it takes time to converge the weighting factor, and the seek time may be delayed.
- the present invention has been made to solve the above-described problems, and has a disk device and a disk eccentricity control method capable of speeding up a seeker time and stabilizing the positioning of a head. With the goal of providing Target. Disclosure of the invention
- a disk device shows a head for reading the servo information having a series of servo information numbers recorded on a disk, and a change in the servo information number read by the head.
- Phase learning means for learning a phase shift amount which is a phase difference between the sawtooth wave and a sine wave indicating a change in the amount of eccentricity of the disk; a target position of the head input from outside and a Subtracting means for detecting a head position error based on a current position; and an eccentric synchronous sine wave having a phase shift amount learned by the phase learning means at a frequency synchronized with a rotation frequency of the disk.
- the eccentricity control amount calculating means includes a phase shift amount corresponding to a target position of the head during a settling operation.
- a weighting coefficient is read from the eccentricity control amount initial learning means, and the eccentricity control amount is calculated using the read phase shift amount and the weighting coefficient.
- the disk device according to the present invention (Claim 2) is the disk device according to Claim 1, wherein the eccentricity control amount initial learning means includes: a phase shift amount learned by the phase learning means; Instead of the weight coefficient, an approximate expression representing a relationship between a weight coefficient for each of a plurality of areas divided by concentric circles of the disk and a target position of the head is stored in advance, and the eccentricity control amount calculating means However, during the settling operation, the phase shift amount corresponding to the target position of the head and the approximate expression are calculated by the eccentricity control amount initial learning means. And calculating a weight coefficient corresponding to the target position of the head from the read approximate expression, and calculating an eccentricity control amount using the calculated weight coefficient and the read phase shift amount. It is assumed that.
- the disk device according to the present invention (Claim 3) is the disk device according to Claim 1, wherein the service information having a series of support information numbers recorded on a plurality of disk surfaces is provided. A plurality of heads provided corresponding to the respective disk surfaces, wherein the eccentricity control amount initial learning means learns the phase shift amount learned by the phase learning means, and A weighting coefficient for each of a plurality of areas divided by concentric circles of the disk is stored in advance, and the eccentricity control amount calculating means, when the head switch is operated, calculates a phase shift amount and weight corresponding to the target position of the head after switching. A coefficient is read from the eccentricity control amount initial learning means, and the eccentricity control amount is calculated using the read phase shift amount and the weighting coefficient. According to the present invention (claim 3), there is an effect that the head switch time can be shortened.
- the disk device according to the present invention (claim 4) is the disk device according to claim 1, wherein the plurality of disks have a series of service information numbers recorded on each disk.
- a plurality of heads for reading information are provided, and the eccentricity control amount initial learning means previously stores a phase shift amount learned by the phase learning means and a weight coefficient for each of a plurality of areas divided by concentric circles of each disk.
- the eccentricity control amount calculating means calculates the phase shift amount and the weight coefficient corresponding to the target position of the head after switching at the time of the head switch operation to the heads on different disks by the eccentricity control amount initial learning means. And calculating an eccentricity control amount using the readout phase shift amount and the weighting coefficient.
- a disk device includes a head for reading the servo information having a series of service information numbers recorded on a disk, and a servo information number read by the head.
- Phase learning means for learning an amount of phase shift, which is a phase difference between a sawtooth wave indicating a change in eccentricity and a sine wave indicating a change in the amount of eccentricity of the disk;
- First subtraction means for calculating a position error and residual distance of the head based on a current position; and eccentricity having a phase shift amount learned by the phase learning means at a frequency synchronized with a rotation frequency of the disk.
- a sine wave generating means for generating a synchronous sine wave; and a weighting factor calculated based on the eccentric synchronization sine wave and the position error of the head.
- An eccentricity control amount calculating means for calculating a control amount; a positioning control means for performing the head positioning control based on the head position error and the eccentricity control amount during a settling operation and a tracking operation; and
- An eccentricity control amount initial learning means for storing in advance a phase shift amount learned by the learning means and a weight coefficient for each of a plurality of areas divided by concentric circles of the disk; and a target corresponding to the remaining distance of the head.
- a reference speed calculating unit for calculating a speed; a head speed calculating unit for calculating an actual moving speed of the head; a speed error of the head based on the actual moving speed of the head and the target speed.
- a second subtraction means for calculating a head speed error calculated by the second subtraction means during a seek operation, and the eccentricity control amount calculation means. Using the eccentricity control amount calculated using the phase shift amount and the weight coefficient corresponding to the current position of the head stored in the cardiac control amount initial learning means, And speed control means for performing the control.
- an accurate head position can be detected, and the seek operation can be stably performed.
- a disk device includes a head for reading the servo information having a series of servo information numbers recorded on a disk, and a servo information number read by the head.
- Phase learning means for learning a phase shift amount which is a phase difference between a sawtooth wave indicating a change in the eccentricity of the disk and a sine wave indicating a change in the eccentricity of the disk; a target position of the head input from the outside; The head position based on the current position of the head
- Subtraction means for detecting a placement error; sine wave generation means for generating an eccentric synchronization sine wave having a phase shift amount learned by the phase learning means at a frequency synchronized with the rotation frequency of the disk; and the eccentric synchronization sine wave
- An eccentricity control amount calculating means for calculating a eccentricity control amount by multiplying a weighting coefficient by the eccentricity synchronous sine wave and calculating an eccentricity control amount, while calculating a weighting factor based on the head error and the position error of the head.
- Positioning control means for controlling the positioning of the head based on the position error and the eccentricity control amount, position error change amount calculating means for calculating the change amount of the position error of the head, and the position error change amount calculating means.
- the eccentricity control amount calculating means is provided with eccentricity learning switching determining means for stopping the calculation of the weight coefficient when the calculated change amount exceeds a predetermined value.
- a disk device reads a head information having a series of support information numbers recorded on a disk, and reads the head information.
- Phase learning means for learning a phase shift amount which is a phase difference between a sawtooth wave indicating a change in the number of the service information to be taken and a sine wave indicating a change in the eccentricity of the disc;
- Subtraction means for detecting a head position error based on a target position and the current position of the head; and a phase shift learned by the phase learning means at a frequency synchronized with a rotation frequency of the disk.
- a sinusoidal wave generating means for generating an eccentric synchronous sine wave having an amount, calculating a weight coefficient based on the eccentric synchronous sine wave and the position error of the head, and multiplying the eccentric synchronous sine wave by a weight coefficient.
- Heart control amount calculating means positioning control means for performing positioning control of the head based on the head position error and eccentricity control amount, and shock detecting means for outputting an externally applied shock to the disk device as a voltage
- an eccentricity learning switching determining means for stopping the calculation of the weighting factor when the voltage output by the shock detecting means exceeds a predetermined value. It is.
- the eccentricity control method for a disk according to the present invention is a method for controlling a phase difference between a sawtooth wave indicating a change in the servo information number read by the head and a sine wave indicating a change in the eccentricity amount of the disk.
- a phase shift amount and a weight coefficient for each of a plurality of regions divided by concentric circles of the disk are stored in advance, and during settling operation, the head shift is determined based on the previously stored phase shift amount and the weight coefficient.
- the phase shift amount and the weighting factor to be read are read, and the eccentricity control amount is calculated using the read phase shift amount and the weighting factor.
- the eccentricity control method for a disk according to the present invention is a method for controlling the phase difference between a sawtooth wave indicating a change in the support information number read by the head and a sine wave indicating a change in the eccentricity amount of the disk. Is stored in advance, and an approximate expression representing the relationship between the weight coefficient for each of a plurality of regions divided by concentric circles of the disk and the target position of the head is stored in advance. From the obtained phase shift amount and the approximate expression, a phase shift amount and an approximate expression corresponding to the target position of the head are read, and a weight coefficient corresponding to the target position of the head is calculated from the read approximate expression. The eccentricity control amount is calculated using the calculated weighting coefficient and the read out phase shift amount.
- the disk eccentricity control method according to the present invention (Claim 10) is characterized in that a position of a sawtooth wave indicating a change in a servo information number read by a head and a sine wave indicating a change in an eccentricity amount of a disk.
- a phase shift amount as a phase difference and a weight coefficient for each of a plurality of areas divided by concentric circles of the disk for each disk surface read by each of the plurality of heads are stored in advance, and are stored in advance when the head switch is operated. From the obtained phase shift amount and the weight coefficient, JP2003 / 009785
- a phase shift amount and a weight coefficient corresponding to the target position of the head after switching are read, and an eccentricity control amount is calculated using the read phase shift amount and the weight coefficient.
- the disk eccentricity control method includes a sawtooth wave indicating a change in the support information number read by the head and a sine wave indicating a change in the eccentricity of the disk.
- the phase shift amount which is the phase difference between the discs, and the phase shift amount and the weighting factor corresponding to each of a plurality of regions divided by concentric circles of the plurality of disks are stored in advance, and the heads on different disks are stored.
- the phase shift amount and the weight coefficient corresponding to the target position of the head after switching are read from the previously stored phase shift amount and the weight coefficient, and the read phase shift amount and It is characterized in that the eccentricity control amount is calculated using the weight coefficient.
- a disk eccentricity control method (Claims 1 and 2) provides a head position error based on a target position of a head input from the outside and a current position of the head. And calculating a remaining distance, calculating a target speed according to the remaining distance of the head, calculating an actual moving speed of the head, based on the actual moving speed of the head and the target speed, The speed error of the head is calculated, and the phase shift amount, which is the phase difference between the saw-tooth wave indicating the change in the support information number read by the head and the sine wave indicating the change in the eccentric amount of the disk, and the concentric circle of the disk
- a weight coefficient for each of a plurality of divided areas is stored in advance, and during a seek operation, an eccentricity control amount is calculated using a phase shift amount and a weight coefficient corresponding to the current position of the head stored in advance, and The calculated eccentricity control amount, Using the velocity error of the head that issued, it is characterized in that the positioning control of the head.
- an accurate head position can be detected, and the seek operation can be stably performed.
- the eccentricity control method for a disk according to the present invention (Claims 13 to 13) is an PT / JP2003 / 009785
- a position error of the head is calculated based on a target position of the head to be pressed and a current position of the head, a change amount of the position error of the head is calculated, and the calculated head is calculated.
- the calculation of the weight coefficient is stopped when the amount of change in the position error of the code exceeds a predetermined value.
- the disk eccentricity control method according to the present invention detects an impact applied from outside the device, converts the detected impact into a voltage value, and outputs the voltage value. When the value exceeds a predetermined value, the calculation of the weighting coefficient is stopped. .
- the recording medium according to the present invention (claim 15) has a phase shift, which is a phase difference between a sawtooth wave indicating a change in a servo information number read by a head and a sine wave indicating a change in an eccentric amount of a disk.
- the amount and the weighting factor for each of a plurality of regions divided by concentric circles of the disk are stored in advance, and during the settling operation, the phase shift corresponding to the target position of the head is determined from the previously stored amount of phase shift and the weighting factor.
- a program for reading out the shift amount and the weighting factor and calculating the eccentricity control amount using the read out phase shift amount and the weighting factor is recorded.
- the weighting is performed after the transition to the tracking operation and the learning calculation of the weight coefficient is resumed.
- the time required for the coefficients to converge is shortened, and the seek time can be shortened.
- the recording medium according to the present invention (Claim 16) has a phase shift, which is a phase difference between a sawtooth wave indicating a change in the servo information number read by the head and a sine wave indicating a change in the eccentricity of the disk. And an approximate expression representing a relationship between a weighting coefficient for each of a plurality of regions divided by concentric circles of the disk and a target position of the head, and the previously stored phase shift amount during a settling operation.
- the phase shift amount and the approximate expression corresponding to the target position of the head are read from the approximate expression and the approximate expression, and the target position of the head is calculated from the read approximate expression.
- a program for calculating a corresponding weighting coefficient and for calculating an eccentricity control amount using the calculated weighting coefficient and the readout phase shift amount is recorded.
- the recording medium according to the present invention (claim 17) is a phase difference between a sawtooth wave indicating a change in the servo information number read by the head and a sine wave indicating a change in the eccentricity of the disk.
- a phase shift amount and a weight coefficient for each of a plurality of areas divided by concentric circles of the disk are stored in advance for each disk surface read by each of the plurality of heads, and during the head switch operation, the previously stored phase shift amount is stored.
- a program for reading a phase shift amount and a weight coefficient corresponding to the target position of the head after the switching from the and the weight coefficient, and calculating a eccentricity control amount using the read phase shift amount and the weight coefficient is recorded. It is characterized by having done.
- the recording medium according to the present invention (claim 18) is a phase difference between a sawtooth wave indicating a change in the support information number read by the head and a sine wave indicating a change in the eccentricity of the disk.
- a phase shift amount, a phase shift amount corresponding to each area of a plurality of areas divided by concentric circles of a plurality of disks, and a weight coefficient are stored in advance, and the data is transferred to a head on a different disk.
- the phase shift amount and the weight coefficient corresponding to the target position of the switched head are read out from the previously stored phase shift amount and the weight coefficient, and the read phase shift amount and the weight coefficient are read out.
- the program is characterized by recording a program for calculating the eccentricity control amount by using.
- the head position error and the remaining distance are determined based on the target position of the head input from the outside and the current position of the head.
- the speed deviation of the disk is calculated by calculating the speed error of the disk, and the phase shift amount, which is the phase difference between the sawtooth wave indicating the change in the support information number read by the head and the sine wave indicating the change in the eccentricity of the disk, And a weight coefficient for each of a plurality of regions divided by concentric circles, and during a seek operation, a phase shift amount and a weight coefficient corresponding to the current position of the head stored in advance are used.
- An eccentricity control amount is calculated, and a program for controlling the positioning of the head is recorded by using the calculated eccentricity control amount and the calculated velocity error of the head. .
- an accurate head position can be detected, and the seek operation can be stably performed.
- the recording medium according to the present invention calculates a position error of the head based on a target position of the head input from the outside and a current position of the head, A program for calculating a change amount of the position error of the head, and stopping a calculation of the weight coefficient when the calculated change amount of the position error of the head exceeds a predetermined value. Things.
- the recording medium according to the present invention detects an impact applied from the outside of the apparatus, converts the detected impact into a voltage value, and outputs the voltage value, and the output voltage value is a predetermined value.
- the program is characterized by recording a program for stopping the calculation of the weighting factor when the value exceeds.
- FIG. 1 is a block diagram of an HDD according to Embodiment 1 of the present invention.
- FIG. 2 is a waveform diagram showing (a) a change in the position error of the magnetic head in the HDD with respect to the number of servo information.
- (B) Servo information number for number of FIG. 6 is a waveform diagram showing a change in the frequency.
- FIG. 3 is a plan view showing (a) the arrangement of tracks and servo information on a magnetic disk. (B) It is the elements on larger scale of a magnetic disk.
- FIG. 4 is a block diagram of an HDD according to Embodiment 2 of the present invention.
- FIG. 5 is a block diagram of an HDD according to Embodiment 3 of the present invention.
- FIG. 6 is a block diagram of an HDD according to Embodiment 4 of the present invention.
- FIG. 7 is a block diagram of an HDD according to a fifth embodiment of the present invention.
- FIG. 8 is a block diagram of a conventional HDD. BEST MODE FOR CARRYING OUT THE INVENTION
- the present invention can be applied to any disk device.
- the description will be made by taking a HDD (Hard Disk Drive) as an example.
- FIG. 2 (a) is a waveform diagram showing the change in the position error of the magnetic head in the HDD with respect to the number of the support information.
- the horizontal axis indicates the number of the support information, and the vertical axis indicates the position error of the magnetic head.
- FIG. 2 (b) is a waveform diagram showing the change of the service information number with respect to the number of the service information, wherein the horizontal axis indicates the number of the support information and the vertical axis indicates the support information number.
- FIG. 3 (a) is a plan view showing the arrangement of tracks and support information on a magnetic disk having concentric tracks T0 to Tn and service information areas S0 to SN, and FIG.
- the figure is a partially enlarged view of a magnetic disk showing tracks T0 to Tn and service information areas S0 to SN.
- the tracks T0 to Tn are described as track numbers ⁇ 0 to ⁇
- the service information areas S0 to SN are described as service information numbers S0 to SN, and the same reference numerals are used for both meanings.
- track numbers T0, Tl, ⁇ 2,... ⁇ are numbers assigned to a number of concentric tracks of the magnetic disk 15, respectively.
- the track number TO is the outermost track number, and is represented by adding natural numbers such as track numbers ⁇ 1, ⁇ 2, ⁇ ⁇ toward the inner circumference.
- Magnetic de When the disk 15 is eccentric, the track number of the track traced by the magnetic head at a certain position on the magnetic disk 15 fluctuates with a sine wave in a certain range. The period of the sine wave is equal to the rotation period of the magnetic disk.
- each track T0 to Tn of the magnetic disk 15 is provided with ( ⁇ + 1) number of service information areas S0 to SN, and the service information area is provided there. Point information is recorded in advance.
- ⁇ is, for example, several hundred.
- the numbers of natural numbers 0 to ⁇ are assigned to the service information of the service information areas S 0 to S ⁇ ⁇ provided in each track of the concentric circles, and the service information numbers are set to S 0 to S N.
- FIG. 3 (b) shows a partially enlarged relationship between the tracks D0 to D3 and the service information areas 30, S1, and S2.
- the sector-to-data area 16 is a part that the user can use for data recording.
- the support information numbers S0 to SN detected by the magnetic head at a predetermined position on the rotating magnetic disk 15 are, as shown in FIG. It changes from 0 to N with each rotation.
- the signal indicating the change of the support information numbers S0 to SN becomes a sawtooth wave.
- the sine wave shown in FIG. 2 (a) and the sawtooth wave shown in FIG. 2 (b) have the same period.
- the phase difference between the sine wave and the sawtooth wave is called “phase shift amount ⁇ ”.
- FIG. 1 is a block diagram of an HDD according to Embodiment 1 of the present invention.
- the HDD records and reproduces information on and from a magnetic disk 115 and outputs a head position signal 106. 19, an actuator unit 110 that operates the magnetic head 119 based on the magnetic head control amount signal 109, and a sensor read by the magnetic head 119.
- a sine wave generator that outputs an eccentrically synchronized sine wave signal 1 13 with a phase shift amount learned by the phase learner 101 at a frequency synchronized with the rotation frequency of the learning device 101 and the magnetic disk 1 15
- the eccentricity control sinusoidal signal 1 13 is multiplied by a weighting factor to calculate the eccentricity control amount, and the eccentricity control amount signal 104 is output.
- An eccentricity control amount calculator 103 that learns the amount of eccentricity and updates the weighting coefficient, and outputs a weighting coefficient signal 121,
- a magnetic head control amount is added to the normal feedback control amount to calculate a magnetic head control amount, and a positioning controller 108 that outputs a magnetic head control amount signal 109 is input from the outside.
- the subtractor 120 that subtracts the head position signal 106 from the target position signal 105 and outputs a position error signal 100 that is the result of the subtraction, and the eccentricity control amount calculator 103
- a learning switch 1 1 1 for switching whether or not to carry out the learning of the amount of heart and the updating of the weighting coefficient; and a phase shift amount signal 1 1 corresponding to each of a plurality of regions divided by concentric circles of the magnetic disk 115. 2 and an eccentricity control amount initial learning device 114 storing the weight coefficient signal 121.
- the actuator mechanism 110 When the HDD is started up, the actuator mechanism 110 first positions the magnetic head 119 at a predetermined position in the outermost area on the magnetic disk 115 by ordinary feedback control. I do.
- the normal feedback control is a control in which the magnetic head follows a desired track during the tracking operation and the settling operation, and the magnetic head follows a desired moving speed during the seek operation. Yes, the detailed description is omitted here.
- the magnetic head 1 19 detects the position of the magnetic head 1 19 on the magnetic disk 1 15 based on the track number detected by the magnetic head 1 19, and the head position is detected. Outputs signal 106.
- the subtractor 120 subtracts the head position signal 106 from the externally input target position signal 105 and outputs a position error signal 107 that is the result of the subtraction. It is applied to the phase learning device 101 and the eccentricity control amount calculator 103 via the learning switch 111 which is provided. This position error signal 107 changes sinusoidally when the magnetic disk 115 has eccentricity.
- the phase learner 101 calculates the phase shift ⁇ between the sine wave of the position error signal 107 and the sawtooth wave indicating the change in the service information number S, and calculates the phase shift signal ⁇ indicating the phase shift ⁇ . 1 1 2 is output and applied to the sine wave generator 10 2 and the eccentricity control amount initial learning unit 1 14.
- the eccentricity control amount initial learning device 1 14 stores the phase shift amount signal 1 1 2 as the phase shift amount ⁇ in the magnetic disk 1 15 where the magnetic head 1 19 is positioning. You.
- the sine wave generator 102 outputs an eccentricity-synchronized sine wave signal 113 with a phase corresponding to the phase shift amount ⁇ , and applies the signal to the eccentricity control amount calculator 103.
- the eccentricity control amount calculator 103 calculates the eccentricity control amount ur by multiplying the eccentricity synchronized sine wave signal 113 by a predetermined weighting factor A as shown in Expression (1).
- An eccentricity control amount signal 104 representing the eccentricity control amount ur is applied to a positioning controller 108.
- the eccentricity control amount calculator 103 performs a product-sum operation on the position error signal 107 and the eccentric synchronous sine wave signal 113 for each service information number as shown in Expression (2), and obtains a product-sum operation value I.
- the product-sum operation value I is multiplied by a predetermined constant gain G, and the weight coefficient A is updated as shown in Expression (3) for each rotation of the magnetic disk 115.
- Weight coefficient signal 121 representing weight coefficient A is applied to eccentricity control amount initial learning device 114.
- the eccentricity control amount initial learning unit 114 stores a weighting coefficient signal 121 as a weighting coefficient A in the outermost peripheral area of the surface of the magnetic disk 115 on which the magnetic head 119 is positioned.
- the positioning controller 108 Based on the position error signal 101, the positioning controller 108 performs a control amount for performing a normal feedback control for causing the magnetic head 119 to follow a desired track, that is, a control amount for reducing the position error signal 107. Is calculated and added to the eccentricity control amount signal 104 to calculate the magnetic head control amount signal 109. The magnetic head control amount signal 109 is applied to the actuator mechanism 110 to The positioning control of the head 1 19 is performed.
- the actuator mechanism 110 positions the magnetic head 1 19 at a predetermined position in the area one inside from the outermost area on the magnetic disk 1 15 by ordinary feedback control, The same operation as described above is performed, and the weight coefficient A in this area is calculated and stored. Similarly, for the other areas, the operations from the positioning of the magnetic head 1 19 to the calculation and storage of the weight coefficient A are performed, so that each area on the magnetic disk 115 is Calculate and store the corresponding weighting factor A.
- the learning switch 111 When the magnetic head 119 seeks to access the target track, the learning switch 111 is turned off to stop the learning calculation of the weight coefficient A, and the eccentricity control amount is set when the seek operation shifts to the settling operation.
- the initial learning device 114 reads out the weight coefficient A and the phase shift amount ⁇ corresponding to the target position signal 105 indicating the position where the magnetic head 111 is to be positioned, and performs eccentricity control as eccentricity information 118. Applied to the quantity calculator 103.
- the eccentricity control amount calculator 103 multiplies the weight coefficient A corresponding to the target position by a sine wave synchronized with the phase shift amount ⁇ , and outputs a settling eccentricity control amount signal 104.
- the learning switch 111 is turned on to restart the learning calculation of the weight coefficient A.
- the HDD according to the first embodiment includes an eccentricity control amount initial learning unit that previously stores the phase shift amount learned by the phase learning unit and the weighting factors for each of a plurality of regions divided by concentric circles of the disk.
- the eccentricity control amount calculator calculates the eccentricity control amount using the phase shift amount and the weight coefficient corresponding to the target position of the head stored in the eccentricity control amount initial learning. Therefore, even if the weight coefficient differs between the inner and outer circumferences of the magnetic disk, the operation moves to the tracking operation and the learning calculation of the weight coefficient A is restarted, until the weight coefficient converges.
- the seek time can be shortened, and the seek time can be shortened.
- the amount of phase shift in the magnetic disk and the weight coefficient A corresponding to each area on each surface are calculated and stored in the eccentricity control amount initial learning unit. If this is used for calculating the settling eccentricity control amount, The head switch time can be shortened.
- the phase shift amount of each magnetic disk and the weight coefficient A corresponding to each area of each magnetic disk are calculated and stored in the eccentricity control amount initial learning device, and these are settling eccentricity. If it is used for calculating the control amount, the head switch time can be shortened.
- FIG. 4 is a block diagram of an HDD according to Embodiment 2 of the present invention.
- the HDD records information on or reproduces information from a magnetic disk 415, and outputs a head position signal 406. 19, an actuator unit 410 that operates the magnetic head 419 based on the magnetic head control amount signal 409, and a servo information number read by the magnetic head 419.
- Phase learning unit that learns the phase shift amount, which is the phase difference between the sawtooth wave indicating the change in signal S and the sine wave indicating the change in the eccentricity of the magnetic disk 415, and outputs the phase shift amount signal 412.
- a sine wave generator 4 0 that outputs an eccentric synchronous sine wave signal 4 13 having a phase shift amount learned by the phase learning device 4 1 at a frequency synchronized with the rotation frequency of the magnetic disk 4 1 5 2 and the eccentric synchronous sine wave signal 4 1 3 are multiplied by a weighting factor to calculate the eccentricity control amount, and the eccentricity control amount signal 4 04 is output.
- the eccentricity control amount calculator 4 03 that outputs the weighting coefficient signal 4 2 1 by learning the eccentricity amount and updating the weighting coefficient, adds the eccentricity control amount and the normal feedback control amount, A positioning controller 408 that calculates the head control amount and outputs a magnetic head control amount signal 409, and a head position signal 406 from a target position signal 405 input from outside Is subtracted, and a subtractor 420 that outputs a position error signal 407 as a result of the subtraction, and an eccentricity control amount calculator 4003 determine whether or not to perform learning of the eccentricity and update of the weight coefficient.
- the actuator unit 4100 starts with the magnetic head 4
- the position 19 is positioned at a predetermined position in the outermost area on the magnetic disk 415 by ordinary feedback control.
- the normal feedback control is a control in which a magnetic head follows a desired track during a tracking operation and a settling operation, and a control that causes the magnetic head to follow a desired moving speed during a seek operation. Yes, the detailed description is omitted here.
- the magnetic head 4 19 detects the position of the magnetic head 4 19 on the magnetic disk 4 15 based on the track number detected by the magnetic head 4 19, and Outputs signal 406.
- the subtractor 420 subtracts the head position signal 406 from the externally input target position signal 405, and outputs a subtraction result position error signal 407, which is closed at startup. It is applied to the phase learning device 401 and the eccentricity control amount calculator 403 via the learning switch 411 which is formed.
- the phase learner 401 calculates the phase shift ⁇ between the sine wave of the phase error signal 407 and the sawtooth wave indicating the change in the support information number S, and calculates the phase shift ⁇
- the signal 412 is output and applied to the sine wave generator 402 and the eccentricity control amount initial learning unit 414.
- the eccentricity control amount initial learning device 4 14 stores the phase shift amount signal 4 12 as the phase shift amount ⁇ in the magnetic disk 4 15 on which the magnetic head 4 19 is positioned.
- the sine wave generator 402 generates an eccentrically synchronized sine wave signal 4 with a phase corresponding to the phase shift amount ⁇ .
- the eccentricity control amount calculator 4 03 multiplies the eccentricity synchronous sine wave signal 4 13 by a weighting factor A to calculate an eccentricity control amount ur, and an eccentricity control amount signal 4 0 representing the eccentricity control amount ur
- the eccentricity control amount calculator 403 calculates the product sum of the position error signal 407 and the eccentric synchronous sine wave signal 413 for each support information number, and obtains the product sum calculation value I. Then, the product-sum operation value I is multiplied by the gain G for each rotation of the magnetic disk 415 to update the weight coefficient A.
- the weight coefficient signal 4 2 1 representing the weight coefficient A is applied to the eccentricity control amount initial learner 4 14.
- the eccentricity control amount initial learner 4 14 stores the weight coefficient signal 4 2 1.
- the positioning controller 408 controls the normal feedback control to make the magnetic head 411 follow a desired track, that is, the position error signal 4
- the control amount for reducing 07 is calculated and added to the eccentricity control amount signal 404 to calculate the magnetic head control amount signal 409.
- the magnetic head control amount signal 409 is applied to the actuator overnight mechanism section 410 to control the positioning of the magnetic head 419.
- the actuator mechanism 410 positions the magnetic head 419 at a predetermined position in the area one inner side from the outermost area on the magnetic disk 415 by the usual feedback control, and The same operation is performed, and the weight coefficient A in this area is calculated and stored. Similarly, for the other areas, the operations from the positioning of the magnetic head 4 19 to the calculation and storage of the weight coefficient A are performed, so that each area on the magnetic disk 4 15 can be handled. Calculate and store weighting factor A.
- the eccentricity control amount initial learning device 4 14 uses the weighting factor measured and stored at a predetermined position in each region and the weighting factor measured and stored at a predetermined position in a region inside the region.
- a linear expression representing the relationship between the weighting factor for each region and the position at which positioning is performed is obtained, and the slope and intercept of the corresponding linear expression are stored for each region. That is, when obtaining a linear expression representing the relationship between the weighting factor and the position to be positioned in the outermost peripheral area, the weighting coefficient measured and stored at a predetermined position in the outermost peripheral area and the outermost peripheral area are determined.
- the slope and intercept are calculated from the weighting factor measured and stored at a predetermined position in the area one area inside the area, and the linear expression representing the relationship between the weighting factor and the position for positioning in the outermost peripheral area is Store.
- the learning switch 4 11 When the magnetic head 4 19 seeks to access the target track, the learning switch 4 11 is turned off to stop the learning calculation of the weight coefficient A, and when shifting from the seek operation to the settling operation, the eccentricity control amount is set.
- the initial learning device 4 14 reads out the phase shift amount ⁇ corresponding to the target position signal 4 05 indicating the position where the magnetic head 4 19 is to be positioned, and the weight coefficient corresponding to the target position signal 4 05.
- the slope and intercept of the linear expression representing the relationship between the position and the position to be positioned are read out, the weight coefficient corresponding to the target position signal 4 05 is calculated, and the eccentricity control amount calculator 4 0 as the eccentricity information 4 18 Mark 3 Add.
- the eccentricity control amount calculator 403 multiplies the weight coefficient A corresponding to the target position by a sine wave synchronized with the phase shift amount ⁇ , and outputs a settling eccentricity control amount signal 404.
- the learning switch 4 11 is turned on to restart the learning calculation of the weight coefficient A.
- the HDD according to the second embodiment represents the relationship between the phase shift amount learned by the phase learning means, the weight coefficient for each of a plurality of areas divided by concentric circles of the disk, and the target position of the head.
- An eccentricity control amount initial learning means for preliminarily storing an approximate expression and an eccentricity control amount calculator during settling operation, which is calculated from the phase shift amount and the approximate expression stored in the eccentricity control amount initial learning device. Since the eccentricity control amount is calculated using the weighting factor, even if the value of the weighting factor greatly changes in the area divided by the concentric circles of the magnetic disk, the operation shifts to the tracking operation and the weighting factor A is calculated. The time from the restart of the learning calculation to the convergence of the weighting factor is reduced, and the seek time can be shortened.
- FIG. 5 is a block diagram of an HDD according to Embodiment 3 of the present invention.
- the HDD records and reproduces information on a magnetic disk 515, and outputs a head position signal 506.
- a sine wave generator that outputs an eccentric synchronous sine wave signal 5 13 with the phase shift amount learned by the phase learner 501 at the frequency synchronized with the rotation frequency of the learning device 501 and the magnetic disk 515
- the eccentricity control amount is calculated by multiplying the eccentricity synchronized sine wave signal 5 13 and the eccentricity synchronous sine wave signal 5 1 3 by a weighting coefficient, and the eccentricity control amount signal 504 is output In both cases, learning of the eccentricity and updating of the weighting coefficient are performed, and the eccentricity control amount calculator 5 03 that outputs the weighting coefficient signal 5 21, and the eccentricity control amount and the normal feedback control amount are added to the magnetism.
- the speed controller 526 that calculates the magnetic head control amount and outputs the magnetic head control amount signal 509, and the tracking controller and the settling operation perform positioning in the actuator / mechanism unit 5110 during tracking operation and settling operation.
- the magnetic head control amount signal 509 output from the controller 508 is input, and during the seek operation, the magnetic head control amount signal 509 output from the speed controller 526 is input.
- each of them comprises a switch 522, a switch 522, a switch 522, a switch 522, a switch 522, a switch 522, and a switch 522, which switch the feedback control system in conjunction with each other.
- the switches 5 2 2 1 and 5 2 2 3 are turned off, the switches 5 2 2 2 and the switch 5 2 2 4 are turned on, and the switches 5 2 2 5 are turned on by the positioning controller 5 0.
- the side is switched to the side 8, and the actuator unit 510 positions the magnetic head 519 at a predetermined position in the outermost area on the magnetic disk 515 by ordinary feedback control.
- the normal feedback control is a control in which the magnetic head follows a desired track during the tracking operation and the settling operation, and the magnetic head follows a desired moving speed during the seek operation. Yes, the detailed description is omitted here.
- the magnetic head 5 19 sets the position of the magnetic head 5 19 on the magnetic disk 5 15 Detection is performed based on the track number detected by the head 519, and a head position signal 506 is output.
- the subtracter 520 subtracts the head position signal 506 from the target position signal 505 input from the outside, and outputs the position error signal 507 and the residual distance signal 529 which are the subtraction results. Output.
- the position error signal 507 is applied to the phase learning device 501 and the eccentricity control amount calculator 503 via the learning switch 511 which is closed at the time of startup.
- the phase learning device 501 calculates the phase shift amount ⁇ between the sine wave of the phase error signal 507 and the sawtooth wave indicating the change of the service information number S, and the phase shift amount signal indicating the phase shift amount ⁇ . 5 2 is output and applied to the sine wave generator 5 02 and the eccentricity control amount initial learning device 5 14.
- the eccentricity control amount initial learning device 5 14 stores the phase shift amount signal 5 12 as the phase shift amount ⁇ in the magnetic disk 5 15 on which the magnetic head 5 19 performs positioning.
- the sine wave generator 502 outputs an eccentric synchronous sine wave signal 513 with a phase corresponding to the phase shift amount ⁇ , and applies it to the eccentric control amount calculator 503.
- Eccentricity control amount calculator 5 0 3 with respect to the eccentric synchronous sinusoidal signals 5 1 3 obtains the eccentricity control quantity u r by multiplying the weighting factor A, the eccentricity control quantity signal 5 0 4 a that represents the eccentricity control amount ur Is output and applied to the positioning controller 508.
- the eccentricity control amount calculator 503 performs a product-sum operation of the position error signal 507 and the eccentricity-synchronized sine wave signal 513 for each service information number, and obtains a product-sum operation value I. Then, the product-sum operation value I is multiplied by the gain G for each rotation of the magnetic disk 515 to update the weight coefficient A.
- the weight coefficient signal 5 21 representing the weight coefficient A is applied to the eccentric control amount initial learning device 5 14, and the eccentric control amount initial learning device 5 14 4 is positioned by the magnetic head 5 19
- the weight coefficient signal 5 21 is stored as the weight coefficient A in the outermost peripheral area of the surface of the magnetic disk 5 15.
- the positioning controller 508 controls the normal feedback control for causing the magnetic head 511 to follow a desired track, that is, the position error signal 508. Calculate the control amount to reduce the eccentricity control amount signal.
- the magnetic head control amount signal 509 is calculated by adding it to the signal 504a.
- the magnetic head control amount signal 509 is applied to the actuator overnight mechanism section 5 10 to control the positioning of the magnetic head 5 19.
- the actuator mechanism 5110 positions the magnetic head 519 at a predetermined position in a region one inner side of the outermost region on the magnetic disk 515 by a normal feedback control, The same operation as described above is performed, and the weight coefficient A in this area is calculated and stored. Similarly, for the other areas, the operations from the positioning of the magnetic head 5 19 to the calculation and storage of the weight coefficient A are performed, so that each area on the magnetic disk 5 15 is handled. Calculate and store weighting factor A.
- the learning switch 5 11 is turned off and the learning calculation of the weight coefficient A is stopped.
- the switches 5 2 2 1 and 5 2 2 3 are turned on, the switches 5 2 2 and 5 2 4 are turned off, and the switch 5 2 2 5 is connected to the speed controller 5 2 6 side. Can be switched.
- the residual distance signal 529 output from the subtractor 520 is applied to the reference speed calculator 523 via the switch 522 closed during the seek operation.
- the reference speed calculator 5 2 3 outputs a target speed signal 5 2 4 according to the remaining distance signal 5 2 9.
- the head speed calculation unit 528 calculates the moving speed of the magnetic head 519 based on the output of the actuator overnight mechanism unit 510.
- the subtracter 525 subtracts the head speed signal 527 output from the head speed calculator 528 from the target speed signal 524 to calculate a speed error signal 530.
- the eccentricity control amount initial learning unit 5 14 outputs a weight coefficient corresponding to the head position signal 5 06 indicating the position of the magnetic head 5 19 on the magnetic disk 5 15.
- a and the phase shift amount ⁇ are read and applied to the eccentricity control amount calculator 503 as eccentricity information 518.
- the eccentricity control amount calculator 503 multiplies the weighting coefficient A corresponding to the current position of the magnetic head 5 19 by a sine wave synchronized with the phase shift amount ⁇ to obtain a seek eccentricity control amount signal 5 0 4 b. Is output.
- the speed controller 526 controls the amount of control when performing the normal feedback control for causing the magnetic head 519 to follow the desired moving speed based on the speed error signal 5330.
- magnetic head control is performed by calculating a control amount that reduces the speed error signal 530 and adding it to the seek eccentricity control amount signal 504b output from the eccentricity control amount calculator 503.
- the quantity signal 509 is calculated.
- the magnetic head control amount signal 509 is applied to the actuator unit 510 to control the magnetic head 519.
- the eccentricity control amount initial learning device 5 14 reads the phase shift amount ⁇ and the weighting factor A corresponding to the target position signal 5 0 5 indicating the position where the magnetic head 5 19 is to be positioned, and obtains the eccentricity information 5 1 8 is applied to the eccentricity control amount calculator 503.
- the eccentricity control amount calculator 503 multiplies the weight coefficient A corresponding to the target position by a sine wave synchronized with the phase shift amount ⁇ , and outputs a settling eccentricity control amount signal 504 a. .
- the learning switch 5 11 is turned on and the learning calculation of the weight coefficient A is restarted.
- the head speed error calculated by the subtractor and the eccentricity control amount calculator stored in the eccentricity control amount initial learning device by the eccentricity control amount calculator during the seek operation is provided, so that accurate As a result, the position of the magnetic head can be detected, and the seek operation can be performed stably.
- FIG. 6 is a block diagram of an HDD according to Embodiment 4 of the present invention.
- the HDD performs recording and reproduction of information on a magnetic disk 615, and outputs a head position signal 606.
- Head 6 19 actuator unit 6 10 for operating magnetic head 6 19 based on magnetic head control amount signal 6 09, and service information read by magnetic head 6 19
- the phase shift amount which is the phase difference between the sawtooth wave indicating the change in the number S and the sine wave indicating the change in the eccentricity of the magnetic disk 615, is learned, and the phase shift amount signal 612 is output.
- a sine wave generator that outputs an eccentric synchronous sine wave signal 6 13 with a phase shift amount learned by the phase learner 601 at a frequency synchronized with the rotation frequency of the phase learner 601 and the magnetic disk 615
- the eccentricity control amount is calculated by multiplying the eccentricity synchronous sine wave signal 613 and the eccentricity synchronous sine wave signal 613 by a weighting factor, and the eccentricity control amount signal 604 is output.
- the eccentricity control amount calculator 603 which performs the above, the eccentricity control amount and the normal feedback control amount are added to calculate the magnetic head control amount, and the magnetic head control amount signal 609 is output.
- a subtractor 6 that subtracts the head position signal 606 from the externally input target position signal 605 and outputs the position error signal 607 that is the result of the subtraction.
- the phase learning device 600 calculates the phase shift amount ⁇ between the sine wave of the position error signal 607 and the sawtooth wave indicating the change in the support information number, and calculates the phase shift amount signal indicating the phase shift amount ⁇ . Output 6 1 2 and apply to sine wave generator 6 2.
- the sine wave generator 6 02 to which the phase shift amount signal 6 1 2 is applied generates an eccentric synchronous sine wave signal 6 13 with a phase corresponding to the phase shift amount ⁇ , and the eccentricity control amount calculator 6 0 Add to 3.
- the eccentricity control amount calculator 603 obtains an eccentricity control amount ur by multiplying the applied eccentricity synchronous sine wave 6 13 by a weighting factor A, and an eccentricity control amount signal 60 4 is output and applied to the positioning controller 6 08. Further, the eccentricity control amount calculator 603 calculates the product sum of the position error signal 607 and the eccentric synchronization sine wave signal 613 for each support information number, and obtains the product sum calculation value I. Then, the product-sum calculation value I is multiplied by the gain G for each rotation of the magnetic disk 6 15 to update the weight coefficient A.
- the positioning controller 608 calculates a control amount for performing a normal feedback control for causing the magnetic head 611 to follow a desired track, and performs eccentricity control.
- the magnetic head control amount signal 6 0 9 is calculated.
- the magnetic head control amount signal 609 is applied to the actuator overnight mechanism unit 6110, and the magnetic head 619 is positioned.
- the position error change amount calculator 6332 calculates the amount of change of the position error signal based on the position error signal 607, and outputs the calculated amount to the eccentricity learning switching determiner 631.
- the eccentricity learning switching judgment unit 631 turns off the learning switch 611 when the change amount of the position error signal output from the position error change amount calculator 632 exceeds a predetermined value. The learning calculation of the weight coefficient A is stopped.
- the eccentricity control amount calculator 63 calculates the eccentricity control amount using the weighting factor obtained immediately before the learning switch 611 is turned off. calculate.
- the eccentricity learning switching determiner 631 performs learning when the change amount of the position error signal 607 recovers within a predetermined value and the position error signal 607 falls within a predetermined range. Turn on switch 6 1 1 to restart the learning calculation of weighting factor A.
- the HDD according to the fourth embodiment includes the eccentric learning switching determiner that calculates the amount of change in the position error signal based on the position error signal, and the amount of change in the position error signal calculated by the eccentric learning switching determiner is The learning of the eccentricity and the updating of the weighting coefficient are stopped when the value exceeds a predetermined value, so that even if the magnetic head is moved by an impact or the like, the positioning of the magnetic head can be stably performed. Can do it.
- FIG. 7 is a block diagram of an HDD according to Embodiment 5 of the present invention.
- the HDD records and reproduces information on and from a magnetic disk 715 and outputs a head position signal 706.
- the actuator head 710 that operates the magnetic head 7 19 based on the magnetic head control amount signal 7 09, and the servo information number read by the magnetic head 7 19
- Phase learning that learns a phase shift amount, which is a phase difference between a sawtooth wave indicating a change in S and a sine wave indicating a change in the amount of eccentricity of the magnetic disk 7 15, and outputs a phase shift amount signal 7 12
- Sine wave generator 7 0 that outputs an eccentric synchronous sine wave signal 7 13 with a phase shift amount learned by the phase learner 0 1 at a frequency synchronized with the rotation frequency of the magnetic disk 7 1 and the magnetic disk 7 15 2 and the eccentric synchronous sine wave signal 7 1 3
- the eccentricity control amount calculator 703 which calculates and outputs the eccentricity control amount signal 704, learns the eccentricity amount and updates the weight coefficient, adds the eccentricity control amount and the normal feedback
- a positioning controller 708 that calculates the magnetic head control amount and outputs a magnetic head control amount signal 709, and a target position signal 705 that is input from outside, and a head position signal 7 0 is subtracted, and a position error signal 7 07 as a result of the subtraction is output.
- Learning switch 7 11 an eccentric learning switching determiner 7 3 1 that outputs a voltage corresponding to the shock applied to the HDD, and a voltage output from the shock detector 7 33 3 exceed a predetermined value.
- the learning switch 711 when the learning switch 711 is turned off.
- the phase learner 7 0 1 calculates the phase shift amount ⁇ between the sine wave of the position error signal 7 07 and the sawtooth wave indicating a change in the service information number, and calculates the phase shift amount signal 7 1 representing the phase shift amount ⁇ . 2 is output and applied to the sine wave generator 70 2.
- the sine wave generator 702 generates an eccentrically synchronized sine wave signal 713 with a phase corresponding to the phase shift amount ⁇ , and applies the eccentricity synchronized sine wave signal 713 to the eccentricity control amount calculator 703.
- Eccentricity control amount calculator 7 0 3 with respect to the eccentric synchronous sinusoidal signal 7 1 3 obtains the eccentricity control quantity u r by multiplying the weighting factor A, the eccentricity control quantity signal 7 0 4 representing the eccentricity control amount ur The signal is output and applied to the positioning controller 708. Further, the eccentricity control amount calculator 703 calculates the product sum of the position error signal 707 and the eccentric synchronization sine wave signal 713 for each service information number, and obtains the product sum calculation value I. Then, the product-sum operation value I is multiplied by the gain G for each rotation of the magnetic disk 7 15 to update the weight coefficient A.
- the positioning controller 708 calculates a control amount based on the position error signal 707 when performing a normal feedback control for causing the magnetic head 711 to follow a desired track, and calculates an eccentricity control amount signal.
- a magnetic head control amount signal 709 is calculated by adding the value to 704. The magnetic head control amount signal 709 is applied to the actuator overnight mechanism section 7 10 to position the magnetic head 7 19.
- the shock detector 733 outputs a voltage corresponding to the shock applied to the HDD to the eccentricity learning switching determination unit 731.
- the eccentricity learning switching determination unit 731 turns off the learning switch 711, and stops the learning calculation of the weight coefficient A.
- the eccentricity control amount calculator 703 uses the weighting factor obtained immediately before turning off the learning switch 711 to calculate the eccentricity control amount. calculate.
- the eccentricity learning switching judgment unit 731 sets the learning switch 7 when the voltage output from the shock detector 733 recovers within a predetermined value and the position error signal 7 07 falls within a predetermined range. 1 Turn on 1 to restart learning calculation of weighting factor A.
- the HDD includes the shock detector that outputs a voltage corresponding to the shock applied to the HDD, and when the voltage output from the shock detector exceeds a predetermined value.
- the magnetic head can be stably positioned even if the magnetic head is moved by an impact or the like.
- the eccentric synchronous sine wave is used to calculate the weight coefficient, but a cosine wave may be used.
- the disk eccentricity control method described in the first to fifth embodiments can be realized by a computer program
- the disk eccentricity control method of the present invention is applied to a recording medium that can be controlled by a computer. It is possible to record.
- the recording medium is, for example, a flexible disk, CD—R ⁇ M,
- Data recording devices including DVD, magneto-optical disk, removable hard disk, and flash memory.
- the disk device, the disk eccentricity control method, and the recording medium according to the present invention are useful for any disk device such as an HDD, and can speed up seek time and position a head. Suitable for stabilizing.
Landscapes
- Moving Of The Head To Find And Align With The Track (AREA)
- Moving Of Head For Track Selection And Changing (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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US10/510,494 US7215501B2 (en) | 2002-08-02 | 2003-08-01 | Disk device, disk eccentricity control method, and recording medium |
KR1020047015102A KR100639468B1 (ko) | 2002-08-02 | 2003-08-01 | 디스크 장치, 디스크의 편심 제어 방법, 및 기록 매체 |
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JP2002-226300 | 2002-08-02 | ||
JP2002226300A JP2004071007A (ja) | 2002-08-02 | 2002-08-02 | ディスク装置、ディスクの偏心制御方法、及び記録媒体 |
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WO2004013855A1 true WO2004013855A1 (ja) | 2004-02-12 |
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US (1) | US7215501B2 (ja) |
JP (1) | JP2004071007A (ja) |
KR (1) | KR100639468B1 (ja) |
CN (1) | CN100334647C (ja) |
TW (1) | TWI275079B (ja) |
WO (1) | WO2004013855A1 (ja) |
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JP4825624B2 (ja) * | 2006-08-30 | 2011-11-30 | 東芝ストレージデバイス株式会社 | 制御装置、記憶装置、記憶媒体、サーボ情報復調プログラム及びサーボ情報復調方法 |
JP5457871B2 (ja) * | 2009-02-23 | 2014-04-02 | 株式会社日立ハイテクノロジーズ | 偏心したトラックに対するヘッド位置決め方法およびヘッド位置決め制御装置 |
JP2013157065A (ja) * | 2012-01-31 | 2013-08-15 | Toshiba Corp | 磁気ディスク装置およびヘッド位置制御方法 |
JP6147038B2 (ja) * | 2013-03-15 | 2017-06-14 | キヤノン株式会社 | 位置検出装置、レンズ装置、撮像システム、および、工作装置 |
EP3517897B1 (en) * | 2018-01-25 | 2020-10-28 | Melexis Technologies SA | Position sensing device |
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- 2002-08-02 JP JP2002226300A patent/JP2004071007A/ja active Pending
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- 2003-08-01 US US10/510,494 patent/US7215501B2/en not_active Expired - Fee Related
- 2003-08-01 WO PCT/JP2003/009785 patent/WO2004013855A1/ja active Application Filing
- 2003-08-01 TW TW092121122A patent/TWI275079B/zh not_active IP Right Cessation
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JPH0242691A (ja) * | 1988-08-01 | 1990-02-13 | Ricoh Co Ltd | トラツクアクセス方法 |
JPH02246063A (ja) * | 1989-03-17 | 1990-10-01 | Fujitsu Ltd | ヘッド位置決め制御回路 |
JPH1139814A (ja) * | 1997-07-15 | 1999-02-12 | Toshiba Corp | 磁気ディスク装置 |
JP2001189063A (ja) * | 1999-12-28 | 2001-07-10 | Toshiba Corp | ディスク記憶装置 |
JP2002230928A (ja) * | 2001-01-31 | 2002-08-16 | Toshiba Corp | ヘッド位置決め制御システム及び方法 |
JP2003123415A (ja) * | 2001-10-16 | 2003-04-25 | Matsushita Electric Ind Co Ltd | 磁気ディスクの偏心制御方法及び偏心制御方法を記録した記録媒体並びに偏心制御方法を用いた磁気ディスク装置 |
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TWI275079B (en) | 2007-03-01 |
TW200407856A (en) | 2004-05-16 |
US20060268448A1 (en) | 2006-11-30 |
US7215501B2 (en) | 2007-05-08 |
JP2004071007A (ja) | 2004-03-04 |
CN100334647C (zh) | 2007-08-29 |
CN1708803A (zh) | 2005-12-14 |
KR100639468B1 (ko) | 2006-10-26 |
KR20040093189A (ko) | 2004-11-04 |
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