公开(公告)号：EP0969465A4

公开(公告)日：2007-11-28

申请号：EP99900327

申请日：1999-01-18

申请人： MATSUSHITA ELECTRIC IND CO LTD

发明人： UMEDA YOSHIO ,  KOHSO HIROSHI ,  INAGAKI TATSUHIKO ,  WADA TOSHIYUKI ,  KUWAMOTO MAKOTO

IPC分类号： G11B21/10 ,  G11B5/55

CPC分类号： G11B5/553 ,  G11B5/5582

摘要： Recording track density is increased to provide large storage by improving positioning accuracy that is limited by the presence of the vibration mode of an actuator (3) for positioning a magnetic head (2). A data recording and reproducing apparatus comprises a magnetic disk (1), a magnetic head (2) movable relative to the magnetic disk (1) to record and reproduce data, an actuator (3) supporting the magnetic head (2) and movable in response to a command, and a controller (4) for controlling the movement of the actuator (3) by producing commands according to the signals read by the magnetic head (2). The actuator (3) has at least one mode of vibration in addition to the mode of rigid-body motion. The controller (4), composed of an internal model including at least one mode of vibration, comprises a state estimation section for estimating the state variables of the modes of vibration and rigid-body motion of the actuator (3) from the signals read by the magnetic head (2) and the controlled variables corresponding to the move command given to the actuator (3), and a generator section for generating controlled variables by using the estimated state variables output from the state estimation section.