公开(公告)号：US06204988B1

公开(公告)日：2001-03-20

申请号：US09138841

申请日：1998-08-24

申请人： Raffi Codilian ,  Edgar De-Jia Sheh ,  Jie Yu

发明人： Raffi Codilian ,  Edgar De-Jia Sheh ,  Jie Yu

IPC分类号： G11B2102

CPC分类号： G11B5/59622 ,  G11B5/59616

摘要： The invention is a method of characterizing the frequency response of the servo control system in a disk drive having a sampled servo system having a sampling rate and a nominal bandwidth, wherein the sampled servo system comprises a plant and a servo controller that controls the plant using a compensator and a gain element with a nominal open loop gain. The invention is, in more detail, a method for adaptively modifying the servo controller to compensate for plant variations which are incompatible with the nominal gain and bandwidth, including the steps of implementing a self-generated bode plot to determine a gain margin and a phase margin, and if the gain margin is not greater than a predetermined minimum, adjusting the open loop gain of the servo controller to provide a gain margin which is greater than the predetermined minimum at a bandwidth which is different than the nominal bandwidth; and adjusting the compensator to provide a phase margin which is greater than a predetermined minimum.

摘要翻译： 本发明是一种在具有采样率和标称带宽的采样伺服系统的磁盘驱动器中表征伺服控制系统的频率响应的方法，其中采样伺服系统包括工厂和伺服控制器，其控制工厂使用 补偿器和具有标称开环增益的增益元件。 本发明更详细地涉及一种用于自适应地修改伺服控制器以补偿与标称增益和带宽不兼容的工厂变化的方法，包括实施自生成波特图以确定增益裕度和相位的步骤 并且如果所述增益裕度不大于预定最小值，则调整所述伺服控制器的开环增益以在不同于所述标称带宽的带宽上提供大于所述预定最小值的增益裕度; 并且调整补偿器以提供大于预定最小值的相位裕量。