Seek control method, seek control device and medium storage device
AssigneeFujitsu Limited
InventorKazuhiko Takaishi
Life of this patent
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Abstract
In a seek control device based on a current observer control which performs two degree of freedom control, a current step difference to be generated when seek control is switched to following control is prevented. When seek control is switched to following control, a current step difference cancellation trajectory generation section calculates a current value Udiff for the amount of the step difference based on a difference between current values u(n) and u(n−1), and supplies a target position trajectory r′(n) (or target current trajectory) for offsetting this calculated value to a following controller. Therefore the current step difference of the output current is cancelled.
Claims20
A seek control method for performing seek control of an object to a target position using an actuator, comprising:
- a step of computing a position error based on a target position of the object and a current position of the object;
- a step of executing seek control according to the position error;
- and
- a step of switching to a following control when reaching near the target position is detected and executing the following control,
- wherein the step of executing the following control further comprises:
- a step of generating a target trajectory according to a difference between a control current of the seek control before the switching and a control current of the following control after the switching;
- and
- a step of executing the following control based on a two degree of freedom current observer control according to the target trajectory and the position error.
A medium storage device, comprising:
- a head for at least reading data of a storage medium;
- an actuator for positioning the head to a predetermined position of the storage medium;
- and
- a control unit for executing seek control according to a position error based on a target position of the head and a current position acquired from the head, switching to a following control when reaching near the target position is detected, and executing the following control,
- wherein the control unit generates a target trajectory according to a difference between a control current of the seek control before the switching and a control current of the following control after the switching, and executes the following control based on a two degree of freedom current observer control according to the target trajectory and the position error.
A seek control device for performing a seek control of an object to a target position using an actuator, comprising:
- a block for computing a position error based on a target position of the object and a current position of the object;
- and
- a control unit for executing seek control according to the position error, switching to a following control when reaching near the target position is detected, and executing the following control,
- wherein the control unit generates a target trajectory according to a difference between a control current of the seek control before the switching and a control current of the following control after the switching, and executes the following control based on a two degree of freedom current observer control according to the target trajectory and the position error.
Dependencies are inferred from the claim text.