# US 8,786,974 B2 · Method and apparatus for controlling a motor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,786,974 B2 - Document ID: US8786974B2 - Status: Granted - Kind: B2 - Application number: 13/053,647 - Filed: 2011-03-22 - Published: 2011-09-29 - Granted: 2014-07-22 - Earliest claimed: 2010-03-23 - Assignees: Seagate Technology International - Applicants: Da-woon Chung - Inventors: Da-woon Chung - Web page: https://patentgrep.com/patent/US8786974B2 ## CPC - G11B 19/28: Speed controlling, regulating, or indicating (G11B19/24 takes precedence) - H02P 23/0027: {using different modes of control depending on a parameter, e.g. the speed} - G11B: INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER (recording measured values in a way that does not require playback through a transducer G01D9/00; recording or playback apparatus using mechanically marked tape, e.g. punched paper tape, or using unit records, e.g. punched or magnetically marked cards G06K; transferring data from one type of record carrier to another G06K1/18; circuits for coupling output of reproducer to radio receiver H04B1/20; gramophone pick-ups or like acoustic electromechanical transducers or circuits therefor H04R) - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS ## Abstract A method and apparatus for adaptively controlling a motor considering a state of disturbance applied to a system. The method includes changing a frequency bandwidth of a frequency response characteristic in a motor control system according to a state of disturbance applied to the motor control system, and controlling a speed of the motor by applying the changed frequency bandwidth to the motor control system. ## Claims ### Claim 1 A method of controlling a motor, comprising: changing a frequency bandwidth of a frequency response characteristic in a motor control system according to a state of a disturbance applied to the motor control system; and controlling a speed of the motor by applying the changed frequency bandwidth to the motor control system. ### Claim 2 (depends on 1) The method of claim 1, wherein the motor comprises a spindle motor for rotating a disk. ### Claim 3 (depends on 1) The method of claim 1, further comprising: determining the state of disturbance using at least one factor value based on at least one of a disturbance value detected by a shock detecting sensor, an amount of interference generated between a head and a disk, a difference between a measured speed of the motor and a target speed, and a jitter value of a spindle motor, wherein the frequency bandwidth of the frequency response characteristic in the motor control system is changed based on the determination. ### Claim 4 (depends on 1) The method of claim 1, wherein changing the frequency bandwidth comprises increasing the frequency bandwidth in proportion to an amplitude of the disturbance applied to the motor control system. ### Claim 5 (depends on 1) The method of claim 1, wherein changing the frequency bandwidth comprises setting the frequency bandwidth to a first frequency bandwidth when an amplitude of the disturbance applied to the motor control system exceeds an initially set threshold value, and otherwise setting the frequency bandwidth to a second frequency bandwidth, which is less than the first frequency bandwidth. ### Claim 6 (depends on 1) The method of claim 1, wherein changing the frequency bandwidth comprises setting the frequency bandwidth to a first frequency bandwidth while a disk drive having a ramp loading system is in a ramp loading period, and setting the frequency bandwidth to a second frequency bandwidth smaller than the first frequency bandwidth while the disk drive is in a data read or write operation period. ### Claim 7 (depends on 1) The method of claim 1, wherein changing the frequency bandwidth comprises setting the frequency bandwidth to a first frequency bandwidth until a first seek operation according to a ramp loading operation of a disk drive having a ramp loading system is completed, and setting the frequency bandwidth to a second frequency bandwidth smaller than the first frequency bandwidth after the first seek operation is completed. ### Claim 8 An apparatus for controlling a motor, comprising: a speed detector for detecting a speed of the motor; a plurality of motor controllers, each for generating a speed control signal to reach a target speed based on the detected speed of the motor, according to frequency response characteristics of different frequency bandwidths; a selector for selecting one of the plurality of motor controllers based on a disturbance that generates a load variation of the motor; and a motor driver for generating a driving current based on the speed control signal generated by the motor controller selected by the selector, and applying the generated driving current to the motor. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the selector selects a motor controller that has a frequency response characteristic of a relatively large frequency bandwidth that is proportional to an amplitude of the disturbance that generates the load variation of the motor. ### Claim 10 (depends on 8) The apparatus of claim 8, wherein the plurality of motor controllers comprise a first motor controller having a frequency response characteristic of a first frequency bandwidth, and a second motor controller having a frequency response characteristic of a second frequency bandwidth smaller than the first frequency bandwidth, and wherein the selector selects the first motor controller when an amplitude of the disturbance generating the load variation of the motor exceeds a threshold value, and selects the second motor controller when the amplitude of the disturbance generating the load variation of the motor does not exceed the threshold value. ### Claim 11 (depends on 10) The apparatus of claim 10, wherein the amplitude of the disturbance generating the load variation of the motor exceeding the threshold value comprises a ramp loading executing condition in a disk drive having a ramp loading system. ### Claim 12 (depends on 8) The apparatus of claim 8, wherein the selector selects one of the plurality of motor controllers based on a state of the disturbance determined using at least one factor value based on at least one of a disturbance value detected by a shock detecting sensor, an amount of interference generated between a head and a disk, a difference between a measured speed of the motor and a target speed, and a jitter value of a spindle motor. ### Claim 13 An apparatus for controlling a motor, comprising: a speed detector for detecting a speed of the motor; a subtractor for subtracting a speed error corresponding to a difference between the detected speed of the motor and a target speed; a speed controller for generating a speed control signal corresponding to the speed error; a filter for changing a frequency bandwidth based on a disturbance generating a load variation of the motor, and for filtering and outputting the speed control signal according to a frequency response characteristic of the changed frequency bandwidth; and a motor driving unit for generating a driving current corresponding to the speed control signal filtered and output by the filter, and for supplying the driving current to the motor. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the filter comprises a low pass filter. ### Claim 15 (depends on 13) The apparatus of claim 13, wherein the filter filters according to a frequency response characteristic of a first frequency bandwidth when an amplitude of the disturbance generating the load variation of the motor exceeds a threshold value, and filters according to a frequency response characteristic of a second frequency bandwidth smaller than the first frequency bandwidth when the amplitude of the disturbance generating the load variation of the motor does not exceed the threshold value. ### Claim 16 (depends on 15) The apparatus of claim 15, wherein the amplitude of the disturbance generating the load variation of the motor exceeding the threshold value results from a ramp loading executing condition in a disk drive having a ramp loading system. ### Claim 17 A disk drive comprising: a disk for storing information; a spindle motor for rotating the disk; a spindle motor controller for changing a frequency bandwidth based on a disturbance condition generating a load variation of the spindle motor, and generating a speed control signal based on a difference between a speed of the spindle motor and a target speed by applying a frequency response characteristic of the changed frequency bandwidth; and a spindle motor driving unit for generating a driving current corresponding to the speed control signal and applying the generated driving current to the spindle motor. ### Claim 18 (depends on 17) The disk drive of claim 17, wherein the frequency bandwidth is determined to be a first frequency bandwidth when amplitude of a disturbance changing a load of the spindle motor exceeds a threshold value, and is determined to be a second frequency bandwidth smaller than the first frequency bandwidth when the amplitude of the disturbance changing the load of the spindle motor does not exceed the threshold value. ### Claim 19 (depends on 17) The disk drive of claim 17, wherein the spindle motor controller determines the frequency bandwidth to be a first frequency bandwidth during a ramp loading executing period, wherein a head mounted on a ramp structure of the disk drive is moved onto the disk, and determines the frequency bandwidth to be in a second frequency bandwidth smaller than the first frequency bandwidth after the ramp loading executing period.