# US 2014/0153127 A1 · Disk storage apparatus and method for servo controlling > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0153127 A1 - Document ID: US20140153127A1 - Status: Published application - Kind: A1 - Application number: 13/851,212 - Filed: 2013-03-27 - Published: 2014-06-05 - Earliest claimed: 2012-11-30 - Assignees: Kabushiki Kaisha Toshiba - Applicants: Kabushiki Kaisha Toshiba - Inventors: Takayuki KAWABE; Makoto ASAKURA; Takuji MATSUZAWA; Takeyori HARA - Web page: https://patentgrep.com/patent/US20140153127A1 ## CPC - G11B 5/09: Digital recording - G11B 20/10388: {control of the read or write heads, e.g. tracking errors, defocus or tilt compensation} - G11B 5/596: for track following on disks {(G11B5/5526, G11B5/5552, G11B5/5565, G11B5/5582 take precedence)} - G11B: INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER (recording measured values in a way that does not require playback through a transducer G01D9/00; recording or playback apparatus using mechanically marked tape, e.g. punched paper tape, or using unit records, e.g. punched or magnetically marked cards G06K; transferring data from one type of record carrier to another G06K1/18; circuits for coupling output of reproducer to radio receiver H04B1/20; gramophone pick-ups or like acoustic electromechanical transducers or circuits therefor H04R) ## Abstract According to one embodiment, a disk storage apparatus includes an interrupt controller and a servo controller. The interrupt controller determines whether or not to carry out servo interrupt processing and holds a number of negative results of the determination. The servo controller includes an internal model configured to calculate an estimated current position of the head. The servo controller corrects a state of the internal model based on the number of negative results of the determination and performs head positioning control based on a result of a calculation of the internal model, if the result of the determination by the interrupt controller is affirmative. ## Claims ### Claim 1 A disk storage apparatus comprising: an interrupt controller configured to determine whether or not to carry out servo interrupt processing and to hold a number of negative results of the determination; and a servo controller comprising an internal model configured to follow a detected position of a head to calculate an estimated current position which is a position error with respect to a target position of the head, wherein the servo controller is configured to correct a state of the internal model based on the number of negative results of the determination and perform head positioning control based on a result of a calculation of the internal model, if the result of the determination by the interrupt controller is affirmative. ### Claim 2 (depends on 1) The disk storage apparatus of claim 1, further comprising: a command processor configured to inhibit the servo interrupt processing and to preferentially carry out command processing, wherein the interrupt controller is configured to determine whether or not to carry out the servo interrupt processing based on a state of execution of the command processing in response to a servo interrupt request at each sampling point of time, and count and hold the number of negative results of the determination corresponding to an elapsed time of execution of the command processing in accordance with a negative determination in the result of the determination. ### Claim 3 (depends on 2) The disk storage apparatus of claim 2, wherein the servo controller is configured to correct a state variable of the internal model calculation based on a time corresponding to the number of negative results of the determination when the servo interrupt processing is recovered after execution of the command processing. ### Claim 4 (depends on 2) The disk storage apparatus of claim 2, wherein the command processor is configured to inhibit the servo interrupt processing occurring during the execution of the command processing, and permit the servo interrupt processing after the execution of the command processing ends. ### Claim 5 (depends on 1) The disk storage apparatus of claim 1, further comprising: a command processor configured to carry out command processing, wherein the command processor is configured to inhibit the servo interrupt processing in accordance with a negative determination to reject a servo interrupt request during execution of the command processing. ### Claim 6 (depends on 1) The disk storage apparatus of claim 1, wherein the interrupt controller is configured to count and hold the number of negative results of the determination based on a timer value indicative of a measured elapsed time of execution of the servo interrupt processing. ### Claim 7 (depends on 1) The disk storage apparatus of claim 1, wherein the servo controller is configured to: perform a feedback control calculation which calculates a control input value for moving a position of the head based on the estimated current position and a state prediction calculation which calculates a next state predicted value of the internal model obtained at a sampling point of time; and correct the state predicted value based on the number of negative results of the determination at start time of the servo interrupt processing, using time parameters of the state prediction calculation. ### Claim 8 A method of servo controlling in a disk storage apparatus including an internal model configured to follow a detected position of a head to calculate an estimated current position which is a position error with respect to a target position of the head, and performing head positioning control, the method comprising: determining whether or not to carry out servo interrupt processing; holding a number of negative results of the determination; and correcting a state of the internal model based on the number of negative results of the determination if the result of the determination is affirmative. ### Claim 9 (depends on 8) The method of claim 8, further comprising: inhibiting the servo interrupt processing and preferentially carrying out command processing; determining whether or not to carry out the servo interrupt processing based on a state of execution of the command processing in response to a servo interrupt request at each sampling point of time; and counting and holding the number of negative results of the determination corresponding to an elapsed time of execution of the command processing in accordance with a negative determination in the result of the determination. ### Claim 10 (depends on 9) The method of claim 9, further comprising: correcting a state variable of the internal model calculation based on a time corresponding to the number of negative results of the determination when the servo interrupt processing is recovered after execution of the command processing. ### Claim 11 (depends on 9) The method of claim 9, further comprising: inhibiting the servo interrupt processing occurring during the execution of the command processing; and permitting the servo interrupt processing after the execution of the command processing ends. ### Claim 12 (depends on 8) The method of claim 8, further comprising: inhibiting the servo interrupt processing in accordance with a negative determination to reject a servo interrupt request during execution of a command processing routine. ### Claim 13 (depends on 8) The method of claim 8, further comprising: counting and holding the number of negative results of the determination based on a timer value indicative of a measured elapsed time of execution of the servo interrupt processing. ### Claim 14 (depends on 8) The method of claim 8, further comprising: performing a feedback control calculation which calculates a control input value for moving a position of the head based on the estimated current position and a state prediction calculation which calculates a next state predicted value of the internal model obtained at a sampling point of time; and correcting the state predicted value based on the number of negative results of the determination at start time of the servo interrupt processing, using time parameters of the state prediction calculation. ### Claim 15 A data processing device comprising: an interrupt controller configured to determine whether or not to allow a control system to carry out interrupt processing every sampling point of time and to hold a number of negative results of the determination; and a processor comprising an internal model configured to follow an output value for a control target to calculate an estimated input value which is an error with respect to a target value, wherein the processor is configured to correct a state of the internal model based on the number of negative results of the determination and perform a calculation for the control system based on a result of a calculation of the internal model, if the result of the determination by the interrupt controller is affirmative. ### Claim 16 (depends on 15) The data processing device of claim 15, further comprising: a command processor configured to inhibit the interrupt processing and to preferentially carry out command processing, wherein the interrupt controller is configured to determine whether or not to carry out the interrupt processing based on a state of execution of the command processing in response to a interrupt request at each sampling point of time, and count and hold the number of negative results of the determination corresponding to an elapsed time of execution of the command processing in accordance with a negative determination in the result of the determination. ### Claim 17 (depends on 16) The data processing device of claim 16, wherein the processor is configured to correct a state variable of the internal model calculation based on a time corresponding to the number of negative results of the determination when the interrupt processing is recovered after execution of the command processing. ### Claim 18 (depends on 15) The data processing device of claim 15, further comprising: a command processor configured to carry out command processing, wherein the command processor is configured to inhibit the interrupt processing in accordance with a negative determination to reject a interrupt request during execution of the command processing. ### Claim 19 (depends on 15) The data processing device of claim 15, wherein the interrupt controller is configured to count and hold the number of negative results of the determination based on a timer value indicative of a measured elapsed time of execution of the interrupt processing. ### Claim 20 (depends on 15) The data processing device of claim 15, wherein the processor is configured to: perform a control calculation which calculates a control input value for the control system and a state prediction calculation which calculates a next state predicted value of the internal model obtained at a sampling point of time; and correct the state predicted value based on the number of negative results of the determination at start time of the interrupt processing, using time parameters of the state prediction calculation.