公开(公告)号：US4956789A

公开(公告)日：1990-09-11

申请号：US192135

申请日：1988-05-10

申请人： Yoosuke Hamada ,  Hiromu Hirai ,  Isao Kobayashi

发明人： Yoosuke Hamada ,  Hiromu Hirai ,  Isao Kobayashi

IPC分类号： G05B19/19

CPC分类号： G05B19/19 ,  G05B2219/37275 ,  G05B2219/37351 ,  G05B2219/41117 ,  G05B2219/41218 ,  G05B2219/41367 ,  G05B2219/41374 ,  G05B2219/42162 ,  G05B2219/45026

摘要： When a move command (data indicating to move a movable unit from one position to a target position) is issued, a movable unit is displaced in response to the move command. A target trajectory which is an aggregation of target positions varying with time is determined such that a residual vibration of a structure at and after the stop of displacement of the movable unit is minimized. Target positions at various times during the displacement of the movable unit are generated based on the target trajectory. The target positions at various times are supplied to a control unit which feeds back an actual position of the movable unit and produces a drive signal which makes a difference from the target position zero. The drive signal is supplied to an actuator so that a drive force is transmitted from the actuator to the movable unit which follows a change in the target position. As a result, the movable unit is moved to the target position and the vibration at and after the stop of movement is suppressed.

摘要翻译： 当发出移动指令（指示将可移动单元从一个位置移动到目标位置的数据）时，可移动单元响应于移动命令而移位。 确定作为时间变化的目标位置的聚集的目标轨迹，使得可移动单元的位移停止和停止之后的结构的残余振动最小化。 基于目标轨迹产生在移动单元的位移期间的不同时刻的目标位置。 不同时刻的目标位置被提供给控制单元，该控制单元反馈可移动单元的实际位置并产生与目标位置零差异的驱动信号。 驱动信号被提供给致动器，使得驱动力从致动器传递到跟随目标位置的改变的可移动单元。 结果，可移动单元移动到目标位置，并且抑制了停止移动时和之后的振动。

公开(公告)号：US5229896A

公开(公告)日：1993-07-20

申请号：US780783

申请日：1991-10-23

申请人： Souichi Tohyama ,  Hiromu Hirai ,  Haruaki Otsuki ,  Yoosuke Hamada

发明人： Souichi Tohyama ,  Hiromu Hirai ,  Haruaki Otsuki ,  Yoosuke Hamada

IPC分类号： G05B17/02 ,  G05D3/12 ,  G11B21/08 ,  G11B21/10

CPC分类号： G11B21/083

摘要： A disk drive has a data recording medium disk, a head disposed facing a recording surface of the disk, for reading and writing data, a positioning mechanism for supporting and moving the head, a position detector for detecting the position of the head and outputting a position detection signal, and a control unit for processing the position detection signal and outputting a position control signal to the positioning mechanism. The control unit calculates a target acceleration signal for a given target track so as to make a turnaround frequency of a frequency component of the target acceleration signal coincident with a resonance frequency of the head positioning mechanism, calculates a target position for a head positioning operation in accordance with the target acceleration signal, calculates a position command value by inputting the target position signal to a model (inverse model) of an approximate inverse system to a position control system which includes the head positioning mechanism and the position detector, and outputs a position tracking error to the positioning mechanism, the position tracking error being the difference between the position command value and the position detection signal of the head.

摘要翻译： 磁盘驱动器具有数据记录介质盘，朝向盘的记录表面设置的用于读取和写入数据的头，用于支撑和移动头部的定位机构，用于检测头部的位置并输出 位置检测信号，以及用于处理位置检测信号并向定位机构输出位置控制信号的控制单元。 控制单元计算用于给定目标轨道的目标加速度信号，以使目标加速度信号的频率分量的周转频率与头部定位机构的共振频率一致，计算头部定位操作的目标位置 根据目标加速度信号，通过将目标位置信号输入到包括头部定位机构和位置检测器的位置控制系统的近似逆系统的模型（逆模型）来计算位置指令值，并且输出位置 定位机构的跟踪误差，位置跟踪误差是位置指令值与头部位置检测信号之间的差值。