Storage apparatus, control method, and control device of storage apparatus

A storage apparatus comprising

• a seek control unit which moves a head to a vicinity of a target track of a storage medium by coarse control of a rotary actuator and then switches the control to fine control so as to position the head to the target track;
• a rotation disturbance compensation control unit which adds a rotation disturbance vibration detection signal detected based on an acceleration velocity sensor to the seek control unit as a compensation signal so as to cancel out a rotation disturbance vibration component;
• and
• a compensation control switching unit which sets the rotation disturbance compensation control unit to be either enabled or disabled, switches the enabling or disabling setting state of the rotation disturbance compensation control unit to the opposite setting state when a fine seek error, in which the head position is not moved into a predetermined fine completion error range with respect to the target track, is determined even when predetermined time is elapsed during the fine control, and continues the fine control.

A control method of a storage apparatus comprising

• a seek control step of moving a head to a vicinity of a target track of a storage medium by coarse control of a rotary actuator and then switching the control to fine control so as to position the head to the target track;
• a rotation disturbance compensation control step of adding a rotation disturbance vibration detection signal detected based on an acceleration velocity sensor to the seek control step as a compensation signal so as to cancel out a rotation disturbance vibration component;
• and
• a compensation control switching step of setting the rotation disturbance compensation control step to be either enabled or disabled, switching the enabling or disabling setting state of the rotation disturbance compensation control step to the opposite setting state when a coarse seek error, in which the head position is out of a predetermined fine switch error range with respect to the target track, is determined at the end of the coarse control by the seek control step, and causes the seek control step to perform seek again.

A control method of a storage apparatus including

• a seek control step of moving a head to a vicinity of a target track of a storage medium by coarse control of a rotary actuator and then switching the control to fine control so as to subject the head to seek control to the target track;
• a rotation disturbance compensation control step of adding a rotation disturbance vibration detection signal detected based on an acceleration velocity sensor to the seek control step as a compensation signal so as to cancel out a rotation disturbance vibration component;
• and
• a compensation control switching step of setting the rotation disturbance compensation control step to be either enabled or disabled, switching the enabling or disabling setting state of the rotation disturbance compensation control step to the opposite setting state when a fine seek error, in which the head position is not moved into a predetermined fine completion error range with respect to the target track, is determined even when predetermined time is elapsed during the fine control by the seek control step, and continues the fine control.