Head follow-up control method, head follow-up control device and storage device thereof
AssigneeFujitsu Limited
InventorIchiro Watanabe
Life of this patent
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Abstract
A follow-up control system follows up a head of a storage device to a storage medium. A sine wave signal learning section (82) which learns sine wave signals according to follow-up error signals which are input to a feedback control system (80), and performs time lead compensation corresponding to a delay of the feedback system (80), is provided. Since the time lead compensation is used for the sine wave signal learning model which can learn at high-speed, frequency disturbance of high frequency, for which phase lag must be considered, can be a compensation target, and the present invention contributes to the improvement of follow-up accuracy of the storage device.
Claims24
A head follow-up control method for following up a head to a storage medium, comprising:
- a feedback control step of calculating a feedback control amount for a follow-up control of said head based on a follow-up error signal of said head by using a feedback control system;
- a disturbance model update step of representing a disturbance model of frequency disturbance by weight composition of a sin function and a cos function, and sequentially updating the weights for said sin function and said cos function of said disturbance model by a learning rule of which input is a signal according to said follow-up error signal;
- a disturbance model value output step of outputting a disturbance model output value corresponding to a time lead by a time period for canceling a delay of said feedback control system to be the target;
- and
- a step of feeding said disturbance model output value to said feedback control system.
A head follow-up control device for a head to follow up a storage medium, comprising:
- a feedback control system for calculating a follow-up control amount for said head based on a follow-up error signal of said head;
- a sine wave signal learning section for representing a disturbance model of frequency disturbance by weight composition of a sin function and a cos function, sequentially updating the weights for said sin function and said cos function of said disturbance model by a learning rule of which input is a signal according to said follow-up error signal, and outputting a disturbance model output value corresponding to a time lead by a time period for canceling a delay of said feedback control system;
- and
- addition means for feeding said disturbance model output value to said feedback control system.
A storage device for at least reading data of a storage medium, comprising:
- a head for at least reading the data of said storage medium;
- and
- a head follow-up control section for the head to follow up said storage medium,
- wherein said head follow-up control section comprises:
- a feedback control system for calculating a follow-up control amount of said head based on a follow-up error signal of said head;
- a sine wave signal learning section for representing a disturbance model of frequency disturbance by weight composition of a sin function and a cos function, sequentially updating the weights for said sin function and said cos function of said disturbance model by a learning rule of which input is a signal according to said follow-up error signal, and outputting a disturbance model output value corresponding to a time lead by a time period for canceling a delay of said feedback control system;
- and
- addition means for feeding said disturbance model output value to said feedback control system.
Dependencies are inferred from the claim text.