Velocity control system for an actuator assembly
AssigneeSeagate Technology LLC
InventorsLee Tan, Xiong Liu, Choon Lim
Life of this patent
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Abstract
A method for generating a velocity command for an actuator assembly is provided. The actuator assembly includes an actuator arm, which is to move over a plurality of surfaces. The method begins by providing a compensation torque for each of the plurality of surfaces. A position of the actuator arm is determined so that it may be mapped to one of the plurality of surfaces, which is the present surface over which the actuator arm is moving. A target velocity is then provided for the actuator arm and input to a controller, which generates a velocity command from the target velocity and a selected compensation torque, which is the compensation torque of the present surface.
Claims22
A method for generating a velocity command for an actuator assembly having an actuator arm, wherein the actuator arm is to move over a plurality of surfaces, comprising:
- providing a compensation torque for each of the plurality of surfaces;
- determining a position of the actuator arm, wherein the position is mapped to a present surface, wherein the present surface is one of the plurality of surfaces;
- providing a target velocity for the actuator arm;
- and
- generating a velocity command from the target velocity and a selected compensation torque, wherein the selected compensation torque is the compensation torque of the present surface.
A velocity control system for an actuator assembly having an actuator arm, wherein the actuator arm is to move over a plurality of surfaces, comprising:
- a compensation torque database to store a compensation torque for each of the plurality of surfaces and output a selected compensation torque based on a position of the actuator arm;
- and
- a detector to generate a velocity feedback;
- a controller coupled to the compensation torque database and the detector, wherein the controller is to receive a target velocity, the velocity feedback, and the selected compensation torque and generate a velocity command for the actuator assembly;
- and
- an integrator coupled to the detector and the compensation torque database, wherein the integrator is to integrate the velocity feedback to determine the position of the actuator arm, wherein the position is mapped to one of the plurality of surfaces.
A method for loading an actuator assembly having an actuator arm, wherein the actuator arm is to move over a plurality of surfaces, comprising:
- providing a default compensation torque for each of the plurality of surfaces to form a default compensation torque table;
- determining a present surface of the actuator arm, wherein the present surface is one of the plurality of surfaces;
- and
- generating a velocity command from a target velocity and a selected compensation torque, wherein the selected compensation torque is the default compensation torque of the present surface and wherein the velocity command is to load the actuator assembly.
Dependencies are inferred from the claim text.