Methods, apparatus and computer program products for controlling seeking of a transducer based on phase dependent state error
AssigneeMaxtor Corporation
InventorJeffrey V. DeRosa
Life of this patent
Estimating the term…
Abstract
A transducer is controlled during seeking based on an acceleration-phase state error. While seeking, the transducer is moved from an initial track to a target track on the disk based on a current command. At least one transducer state relative to the disk is estimated while seeking. At least one transducer state relative to the disk is measured while seeking. An acceleration-phase state error is determined that is indicative of an error between the estimated at least one transducer state and the measured at least one transducer state as the transducer is accelerated toward the target track during the seeking. The current command is generated based on the acceleration-phase state error.
Claims27
A method of controlling seeking of a transducer that is adjacent to a rotatable disk in a disk drive, the method comprising:
- seeking the transducer from an initial track to a target track on the disk based on a current command;
- estimating at least one transducer state relative to the disk while seeking;
- measuring at least one transducer state relative to the disk while seeking;
- determining an acceleration-phase state error that is indicative of an error between the estimated at least one transducer state and the measured at least one transducer state as the transducer is accelerated toward the target track during the seeking;
- and
- generating the current command based on the acceleration-phase state error,
- wherein determining an acceleration-phase state error comprises substantially determining the acceleration-phase state error while the transducer is accelerating at least a threshold amount toward the target track during the seeking.
An apparatus for controlling the seeking of a transducer, the apparatus comprising:
- a servo controller that is configured to seek the transducer from an initial track to a target track on a disk based on a current command, configured to estimate at least one transducer state relative to the disk while seeking, configured to measure at least one transducer state relative to the disk while seeking configured to determine an acceleration-phase state error that is indicative of an error between the estimated at least one transducer state and the measured at least one transducer state as the transducer is accelerated toward the target track during the seeking, and configured to generate the current command based on the acceleration-phase state error,
- wherein the servo controller is configured to substantially determine the acceleration-phase state error while the transducer is accelerating at least a threshold amount toward the target track during the seeking.
A computer program product for controlling seeking of a transducer that is adjacent to a rotatable disk in a disk drive, the computer program product comprising computer program code embodied in a computer-readable storage medium, the computer program code comprising:
- computer program code that is configured to seek the transducer from an initial track to a target track on the disk based on a current command;
- computer program code that is configured to estimate at least one transducer state relative to the disk while seeking;
- computer program code that is configured to measure at least one transducer state relative to the disk while seeking;
- computer program code that is configured to determine an acceleration-phase state error that is indicative of an error between the estimated at least one transducer state and the measured at least one transducer state as the transducer is accelerated toward the target track during the seeking, and is further configured to substantially determine the acceleration-phase state error while the transducer is accelerating at least a threshold amount toward the target track during the seeking;
- and
- computer program code that is configured to generate the current command based on the acceleration-phase state error.
Dependencies are inferred from the claim text.