Data storage device with notch filter calibration based on multi-rate excitation and error rejection

A data storage device, comprising:

• one or more disks;
• an actuator mechanism configured to position one or more heads proximate to one or more disk surfaces of the one or more disks;
• and
• one or more processing devices, comprising an actuator mechanism control system configured for controlling the actuator mechanism, and
• wherein the one or more processing devices are configured to:
• output a plurality of substantially sinusoidal excitations having a plurality of different frequencies to at least one multi-rate notch filter of the actuator mechanism control system;
• detect in sequence, frequency responses of the actuator mechanism to the excitations having the plurality of frequencies;
• and
• calibrate the at least one multi-rate notch filter of the actuator mechanism control system, based at least in part on the detected frequency responses of the actuator mechanism.

A data storage device, comprising:

• one or more disks;
• an actuator mechanism configured to position one or more heads proximate to one or more disk surfaces of the one or more disks;
• and
• one or more processing devices, comprising an actuator mechanism control system configured for controlling the actuator mechanism, and
• wherein the one or more processing devices are configured to:
• output a multi-rate excitation to at least one multi-rate notch filter of the actuator mechanism control system;
• detect a frequency response of the actuator mechanism in response to the multi-rate excitation;
• and
• calibrate the at least one multi-rate notch filter of the actuator mechanism control system, based at least in part on the detected frequency response of the actuator mechanism, wherein the at least one multi-rate notch filter comprises at least one primary actuator multi-rate notch filter and at least one fine actuator multi-rate notch filter;
• wherein outputting the multi-rate excitation comprises outputting a primary actuator multi-rate excitation to a primary actuator control subsystem of the actuator mechanism control system that comprises the primary actuator multi-rate notch filter;
• and
• outputting at least one fine actuator multi-rate excitation to at least one fine actuator control subsystem of the actuator mechanism control system that comprises the at least one fine actuator multi-rate notch filter.

A method comprising:

• outputting, by one or more processing devices, a multi-rate excitation to at least one multi-rate notch filter of an actuator mechanism control system, the at least one multi-rate notch filter comprising at least one primary actuator multi-rate notch filter and at least one fine actuator multi-rate notch filter, wherein the comprises an actuator mechanism that is configured to position one or more heads proximate to one or more disk surfaces of a data storage device;
• detecting, by the one or more processing devices, a frequency response of the actuator mechanism in response to the multi-rate excitation;
• and
• calibrating, by the one or more processing devices, the at least one multi-rate notch filter of the actuator mechanism control system, based at least in part on the detected frequency response of the actuator mechanism.

One or more processing devices comprising:

• means for outputting a plurality of substantially sinusoidal excitations having a plurality of different frequencies in sequence to at least one multi-rate notch filter of an actuator mechanism control system configured for controlling an actuator mechanism, the actuator mechanism configured to position one or more heads proximate to one or more disk surfaces;
• means for detecting, in sequence, frequency responses of the actuator mechanism to the excitations having the plurality of different frequencies;
• and
• means for calibrating the at least one multi-rate notch filter of the actuator mechanism control system, based at least in part on the detected frequency responses of the actuator mechanism.