Method and apparatus for digital position control
AssigneeKabushiki Kaisha Toshiba
InventorMasafumi Iwashiro
Life of this patent
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Abstract
A digital position control system having a model of a plant therein is applied to a head position control system for a HDD in which a head moving unit is made to be a plant. A CPU of the HDD performs bang--bang control of the model to control movement of the head, and performs model following control to cause the head moving unit to follow the control of the model. Moreover, the CPU determines all of control input values attributable to dead beat control are smaller than an input limit value in a state of a deceleration state caused by the bang--bang control. When all of control input values are smaller than the input limit value of the plant, the CPU performs switching control to switch the bang--bang control to the dead beat control.
Claims12
A system for digital position control comprising:
- bang--bang control means for performing bang--bang control to position a plant to a target position;
- dead beat control means for performing dead beat control for positioning the plant to a target position by calculating a control input value at each of predetermined sampling timings and switching the control input value;
- and
- determining means for switching the bang--bang control to the dead beat control when all of the control input values for each sample are smaller than an input limit value of the plant.
A system for digital position control of a head in a disk storage device, comprising:
- determining means for detecting the actual position of said head when said head is moved to a target position on said disk;
- model set means for setting a mode of a plant when means for moving said head is assumed to be a plant having an input limit value;
- model following control means for causing said plant to follow the control of said model set by said model set means;
- bang--bang control means for performing bang--bang control for moving said model to a target position in an acceleration state or a deceleration state;
- dead beat control means for performing dead beat control for positioning said model to the target position by calculating and switching a control input value at each of predetermined sampling timings;
- and
- determining means for switching said bang--bang control to said dead beat control when all of control input values at each sample are smaller than the input limit value of said plant.
A method of digital position control, comprising the steps of:
- performing bang--bang control for positioning a plant to a target position;
- performing dead beat control for positioning the plant to the target position by calculating and outputting a control input value at each of predetermined sampling timings;
- and
- switching said bang--bang control to said dead beat control when all of control input values at each sample are smaller than the input limit value of said plant.
A method of digital position control of a head in a disk storage device, the method comprising the steps of:
- detecting the actual position of said head when said head is moved to a target position on said disk;
- performing model following control for causing said plant to follow the control of a model of said plant when means for moving said head is assumed to be a plant having an input limit value;
- performing bang--bang control for moving said model to a target position in an acceleration state or a deceleration state;
- performing dead beat control for positioning said model to the target position by calculating and switching a control input value at each of predetermined sampling timings;
- and
- switching said bang--bang control to said dead beat control when all of control input values at each sample are smaller than the input limit value of said plant.
Dependencies are inferred from the claim text.