公开(公告)号：US20080080088A1

公开(公告)日：2008-04-03

申请号：US11732459

申请日：2007-04-03

申请人： Kazuhiko Takaishi

发明人： Kazuhiko Takaishi

IPC分类号： G11B5/596

CPC分类号： G11B5/5547

摘要： In a position control device based on a current observer control for performing two degree of freedom control, calculation accuracy is improved using a fixed point processor. For a target position trajectory and position error, which are inputs of a two degree of freedom control system using an observer, relative values of which reference is the reference trajectory are used, so that the state variable of the observer can hold a relative distance from the reference position. Compared with the case of holding an absolute distance, a range where the value changes is smaller, and the number of effective digits of a decimal point can be increased, and calculation accuracy can be improved even if a fixed point method is used. As a consequence, control current becomes smooth and the generation of resonance and noise can be prevented in an acceleration period, and the generation of residual vibration can be prevented in a constant velocity period and deceleration period, and seek time can be decreased.

摘要翻译： 在基于用于执行两个自由度控制的当前观察者控制的位置控制装置中，使用固定点处理器来提高计算精度。 对于作为使用观察者的两个自由度控制系统的输入的目标位置轨迹和位置误差，使用其参考是参考轨迹的相对值，使得观察者的状态变量可以保持相对距离 参考位置。 与保持绝对距离的情况相比，值变化的范围更小，并且可以增加小数点的有效位数，并且即使使用固定点方法也能够提高计算精度。 结果，控制电流变得平滑，并且可以在加速期间防止产生谐振和噪声，并且可以在恒定速度周期和减速周期中防止产生残余振动，并且可以减少寻道时间。

公开(公告)号：US20080074780A1

公开(公告)日：2008-03-27

申请号：US11732182

申请日：2007-04-03

申请人： Kazuhiko Takaishi

发明人： Kazuhiko Takaishi

IPC分类号： G11B5/596

CPC分类号： G11B5/5526

摘要： In a position control device based on a current observer control for performing two degree of freedom control, deterioration of the position accuracy caused by the output delay due to computation is prevented. In the two degree of freedom control system for preventing overrun, the delay of output of the two degree of freedom control (computing delay and hardware delay of drive amplifier, D/A converter, etc.) is considered, and the estimated state of Td which is advanced by the amount of delay from the sample point of time is computed, then output is computed based on this estimated state. So even if state changes during calculation from the sample point of time, the influence of the output delay can be prevented, and highly accurate position control can be performed, therefore overrun can be prevented.

公开(公告)号：US20080030160A1

公开(公告)日：2008-02-07

申请号：US11650691

申请日：2007-01-05

申请人： Kazuhiko Takaishi

发明人： Kazuhiko Takaishi

IPC分类号： G05B1/06

CPC分类号： G11B5/59622 ,  G11B5/59627

摘要： In a positioning control device based on control of an observer having a disturbance suppression function, a disturbance suppression function according to a head position is added without impairing the control characteristics of the observer. The position control device has an observer having a disturbance suppression function comprising a model of an actuator and a model of disturbance, and a table for storing an estimated gain of the observer according to a position of the head. And an estimated gain is acquired from the table according to the position of the head, and an estimated gain of the observer is changed so as to change the disturbance suppression frequency characteristic. The disturbance suppression characteristic can be optimized according to the position of the head in the radius direction or between disks, and vibration of the head can be prevented even if recording density is increased.

摘要翻译： 在基于对具有干扰抑制功能的观察者的控制的定位控制装置中，添加根据头位置的干扰抑制功能，而不损害观察者的控制特性。 位置控制装置具有具有干扰抑制功能的观察者，该功能包括致动器的模型和干扰模型，以及用于根据头部的位置存储观察者的估计增益的表格。 并且根据头部的位置从表中获取估计的增益，改变观察者的估计增益，以改变干扰抑制频率特性。 可以根据头部在半径方向上或盘之间的位置来优化干扰抑制特性，并且即使增加记录密度，也可以防止头部的振动。

公开(公告)号：US20070229017A1

公开(公告)日：2007-10-04

申请号：US11485925

申请日：2006-07-13

申请人： Kazuhiko Takaishi

发明人： Kazuhiko Takaishi

IPC分类号： G05D23/275

CPC分类号： G11B5/5582 ,  G11B5/596

摘要： A positioning control device executes disturbance observer control having a disturbance suppression function, wherein changes of control characteristics are prevented even if the disturbance frequency is suppressed. When a control value of an actuator is computed using estimated gains of the actuator and estimated gains of disturbance according to an estimated position error by disturbance observer control including a model of the actuator and model of the disturbance, the disturbance frequency is estimated according to the estimated position error, and the estimated gains of the actuator and the estimated gains of the disturbance, corresponding to the disturbance frequency, are changed. Therefore appropriate observer control according to the disturbance frequency can be implemented.

摘要翻译： 定位控制装置执行具有干扰抑制功能的干扰观察者控制，其中即使干扰频率被抑制也能够防止控制特性的改变。 当使用估计的致动器的增益和根据包括致动器的模型和扰动模型的扰动观测器控制的估计位置误差来估计致动器的增益来计算致动器的控制值时，根据 估计位置误差，以及与干扰频率相对应的致动器的估计增益和扰动的估计增益被改变。 因此，可以实现根据干扰频率的适当的观察者控制。

公开(公告)号：US20060291101A1

公开(公告)日：2006-12-28

申请号：US11362601

申请日：2006-02-23

申请人： Kazuhiko Takaishi

发明人： Kazuhiko Takaishi

IPC分类号： G11B5/48

CPC分类号： G11B5/5582 ,  G11B5/59627 ,  G11B5/59688 ,  G11B7/08505 ,  G11B7/0941 ,  G11B7/0946 ,  G11B11/10563 ,  G11B21/085

摘要： A position control device corrects the displacement of the head by disturbance applied to the disk device by the control system. An adaptive control to an unknown disturbance frequency is performed. The frequency estimation block for estimating the external vibration frequency from a signal that is based on the position error according to the adaptive rule, and a correction table for sequentially correcting the constants of the compensator using this external vibration frequency, are provided. Since the constants of the compensator are sequentially corrected according to the estimated angular frequency, highly accurate follow up control to an external vibration frequency in a wide range becomes possible.

摘要翻译： 位置控制装置通过控制系统对施加到盘装置的干扰来校正头部的位移。 执行对未知干扰频率的自适应控制。 提供了用于根据自适应规则从基于位置误差的信号估计外部振动频率的频率估计块，以及用于使用该外部振动频率顺序校正补偿器的常数的校正表。 由于根据估计的角频率顺次校正补偿器的常数，因此可以对宽范围内的外部振动频率进行高精度的跟随控制。

公开(公告)号：US07136256B2

公开(公告)日：2006-11-14

申请号：US11168738

申请日：2005-06-28

申请人： Kazuhiko Takaishi ,  Shunji Saito

发明人： Kazuhiko Takaishi ,  Shunji Saito

IPC分类号： G11B5/55

CPC分类号： G11B5/59627 ,  G11B5/5534

摘要： A head positioning method and device positions a head which reads a disk-type storage medium at a specified location, and accurately estimates a bias value during settling control. A disk device includes a disk medium, a head, an actuator, and a control circuit, and settling control is performed based on a detected position after coarse control without integral compensation or bias compensation having been performed. The position of the head for a next sample is estimated, and an initial bias value is estimated from the difference between the detected position and the estimated position. This initial bias value is then used to perform settling control together with integral compensation of bias compensation. Since the accurate initial bias value at the start of settling is estimated, it is possible to reduce the time for correcting the shift in the bias during settling control, and greatly reduce the time required for settling control.

公开(公告)号：US06950258B2

公开(公告)日：2005-09-27

申请号：US09802188

申请日：2001-03-08

申请人： Kazuhiko Takaishi

发明人： Kazuhiko Takaishi

IPC分类号： G11B20/14 ,  G11B5/55 ,  G11B5/596 ,  G11B19/04 ,  G11B21/10 ,  G11B5/09

CPC分类号： G11B5/5521 ,  G11B5/59633 ,  G11B19/04

摘要： In a head positioning method and device in which the position of servo signals between heads is not uniform, it is aimed to reduce the time taken to find the servo signals when heads are switched. A storage disk device comprises storage disks with the servo signals, a plurality of heads that read the information from the storage disks, an actuator that moves the heads, and a control circuit that positions the heads based on the servo signals read from the storage disks by a selected head. This control circuit includes a synchronization circuit that, in response to a head switching cue, synchronizes the time of a servo gate signal (of the head to which switching is directed) for detecting a servo signal with the time of the servo signal read by the head to which switching is directed, and a processing circuit that reads the servo signal for the head in response to the synchronized detection signal and positions the head in response to the servo signal read.

摘要翻译： 在其中头部之间的伺服信号的位置不均匀的头部定位方法和装置中，旨在减少在切换头部时找到伺服信号所花费的时间。 存储盘装置包括具有伺服信号的存储盘，从存储盘读取信息的多个头，移动头的致动器，以及基于从存储盘读取的伺服信号来定位头的控制电路 由选定的头。 该控制电路包括同步电路，其响应于头切换提示，使用于检测伺服信号的伺服门信号（切换到的头的定向时间）与由所述伺服信号读取的伺服信号的时间同步 以及处理电路，其响应于同步的检测信号读取头部的伺服信号，并且响应于读取的伺服信号来定位头部。

公开(公告)号：US06421200B2

公开(公告)日：2002-07-16

申请号：US09748973

申请日：2000-12-27

申请人： Kazuhiko Takaishi

发明人： Kazuhiko Takaishi

IPC分类号： G11B5596

CPC分类号： G11B5/59627 ,  G11B5/59611

摘要： This invention comprises a head 3 for reading information from a disk storage medium 2, an actuator 5 for moving the head 3, and a control circuit 8 for calculating a control signal from the position signal, that was read by the head, using an eccentricity observer 21. The control circuit 8 selects a first eccentricity estimation gain during seek control and selects a second eccentricity estimation gain during following control. This makes it possible to perform seek control that is not affected by the eccentricity error.

摘要翻译： 本发明包括用于从盘存储介质2读取信息的头3，用于移动头3的致动器5和用于根据由头读取的位置信号计算控制信号的控制电路8，使用偏心 观察器21.控制电路8在寻道控制期间选择第一偏心估计增益，并在随后的控制期间选择第二偏心估计增益。 这使得可以执行不受偏心误差影响的搜索控制。

公开(公告)号：US5995318A

公开(公告)日：1999-11-30

申请号：US821165

申请日：1997-03-20

申请人： Susumu Hasegawa ,  Yukihiro Uematsu ,  Keiji Aruga ,  Shuichi Hashimoto ,  Kazuhiko Takaishi

发明人： Susumu Hasegawa ,  Yukihiro Uematsu ,  Keiji Aruga ,  Shuichi Hashimoto ,  Kazuhiko Takaishi

IPC分类号： G11B5/55 ,  G11B5/596 ,  G11B21/08 ,  G11B21/10

CPC分类号： G11B5/59627 ,  G11B21/085 ,  G11B5/5547

摘要： Disclosed is a head positioning control system for disk drives which enables fast access even when eccentricities of tracks defined with servo control information relative to the center of rotation are different among disks assembled after the servo control information is externally written on the respective disks. The head positioning control system is adapted to a disk drive comprising a plurality of disks each having a record surface on which servo control information indicating positions in a radial direction on a disk is recorded, and heads associated with the plurality of disk record surfaces and designed to detect information stored on the plurality of disk record surfaces. The servo control information includes position information in the radial direction on each disk record surface and defines servo-control circular trajectories. In addition to known components, the head positioning control system includes an eccentric information memory for storing eccentric information concerning eccentricities of servo-control circular trajectories on disk record surfaces relative to the center of rotation, and an optimal processing unit that when object disk record surfaces are changed according to an instructed target address, executes processing, which requires the shortest time for accessing a target address, on the basis of eccentric information.

摘要翻译： 公开了一种用于盘驱动器的头定位控制系统，即使在伺服控制信息被外部写在各个盘上之后组装的盘之间，即使在由相对于旋转中心的伺服控制信息定义的轨道的偏心量不同的情况下也能够快速进入。 磁头定位控制系统适用于磁盘驱动器，磁盘驱动器包括多个磁盘，每个磁盘具有记录表面，伺服控制信息指示在盘上的径向方向上的位置，并且与多个磁盘记录表面相关联的磁头被设计 以检测存储在多个盘记录表面上的信息。 伺服控制信息包括每个磁盘记录表面上的径向位置信息，并且定义伺服控制圆形轨迹。 除了已知的部件之外，头部定位控制系统还包括偏心信息存储器，用于存储与磁盘记录表面相对于旋转中心的伺服控制圆形轨迹偏心的偏心信息，以及最佳处理单元，当对象盘记录表面 根据指示的目标地址而改变，基于偏心信息执行需要最短时间访问目标地址的处理。

公开(公告)号：US08049987B2

公开(公告)日：2011-11-01

申请号：US12566138

申请日：2009-09-24

申请人： Kazuhiko Takaishi

发明人： Kazuhiko Takaishi

IPC分类号： G11B5/596

CPC分类号： G11B5/59627

摘要： According to one embodiment, a position control apparatus includes: a digital control module that performs position control including disturbance adaptive control with a predetermined sampling period using a control constant, in accordance with a position error between a target position and a current position of the object; and a table that stores the control constant corresponding to a value of sin(ωT) or cos(ωT), wherein the digital control module is configured to determine a control value of the actuator in accordance with the position error, calculates the value of sin(ωT) or cos(ωT) according to an adaptive law from a signal based on the position error, reads the corresponding control constant from the table in accordance with the calculated value of sin(ωT) or cos(ωT), and updates the control constant, to perform the position control including the disturbance adaptive control.

摘要翻译： 根据一个实施例，位置控制装置包括：数字控制模块，其根据目标位置与对象的当前位置之间的位置误差，使用控制常数，以预定的采样周期执行包括干扰自适应控制的位置控制 ; 和存储对应于sin（ωT）或cos（ωT）的值的控制常数的表，其中数字控制模块被配置为根据位置误差确定致动器的控制值，计算sin （ωT）或cos（ωT）根据来自基于位置误差的信号的自适应规律，根据计算出的sin（ωT）或cos（ωT）的值从表读取相应的控制常数，并更新 控制常数，执行包括干扰自适应控制在内的位置控制。