CN1294569C - Compensation structure and method for positioning of laser head module track search - Google Patents
Compensation structure and method for positioning of laser head module track search Download PDFInfo
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- CN1294569C CN1294569C CNB021495688A CN02149568A CN1294569C CN 1294569 C CN1294569 C CN 1294569C CN B021495688 A CNB021495688 A CN B021495688A CN 02149568 A CN02149568 A CN 02149568A CN 1294569 C CN1294569 C CN 1294569C
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- speed
- signal
- rail
- control signal
- laser beam
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Abstract
The present invention relates to a compensating structure and a method for track seeking and positioning of a laser head module. The quantity of direct current steady state errors included in an error speed signal in a closed circuit controlling path is used for compensating the influence caused by the laser head module when the laser head module is not horizontally placed; a feedforward controller is used for detecting the direct current steady state errors; when the direct current steady state errors deviate from a normal value, the track spanning speed of the laser head module is compensated until the direct current steady state errors reach the normal value. By using the present invention, the problems that the number of tracks which span over a disk sheet is bigger (or smaller) than that of target tracks because the laser head module is not horizontally placed, and thus, the time of the whole track seeking action is prolonged, or the track seeking positioning of the laser head module is a failure when the interference is too strong can be solved.
Description
Technical field
The present invention relates to a kind of laser beam modulation head assembly and seek the collocation structure and the method for rail location, refer to that especially a kind of compensation when laser beam modulation head assembly is put because of non-level is to influence collocation structure and the method that it seeks the rail location because gravity closes.
Background technology
Please refer to Fig. 1, its illustrate is the block schematic diagram of seeking the rail location structure of existing laser beam modulation head assembly.Seek in the rail location structure at existing laser beam modulation head assembly, a pre-set velocity signal (this pre-set velocity can be a predetermined voltage) at first is provided.And comparer 14 provides a speed error signal (this velocity error is and strides the rail error signal, Tracking Error Signal) to microprocessor 17 after can comparing pre-set velocity signal and feedback speed signal.Microprocessor 17 calculates behind these speed error signals and the result to be exported to feedback controller 19 and to produce a speed control signal by feedback controller (this speed control signal is and strides rail control signal, Tracking Control Effort Signal) to laser beam modulation head assembly 12, so laser beam modulation head assembly 12 can move with the actual rail speed of striding according to speed control signal; And measure the actual rail rate signal of striding by measuring appliance 13.And the actual rail speed of striding can be via becoming the feedback speed signal after adjustable gain (gain) 24 weightings.
In general, seeking in the rail location structure in speed error signal of laser beam modulation head assembly is bound to comprise direct current steady-state error (steady state error, e inevitably
Ss).And in the prior art, this direct current steady-state error can be done suitable control by microprocessor 17, so can not influence the speed control of laser beam modulation head assembly.That is, when CD-ROM drive is put in level, though the speed of laser beam modulation head assembly when quickening or slow down, the size of this direct current steady-state error all can be identical, also is e
Ss+=e
Ss-(+representative is quickened, and-representative is slowed down).Therefore, microprocessor 17 can be eliminated the direct current steady-state error that causes when CD driver horizontal is put easily, and then makes laser beam modulation head assembly realize seeking the function of rail location fast.
Yet, when CD-ROM drive is vertically being put or various angle when putting, laser beam modulation head assembly in seeking the rail process, its move inertia can because the non-level of CD-ROM drive put and be affected.For instance, stride the rail direction when identical when the vergence direction of CD-ROM drive and laser beam modulation head assembly, the striding rail speed and will influence at this component of striding on the rail direction because of gravity inevitably of laser beam modulation head assembly, and same situation also takes place when the vergence direction of striding rail direction and laser head machine is inequality.Therefore, can cause laser beam modulation head assembly quickening the big or small inequality of when slowing down direct current steady-state error, also be e
Ss+≠ e
Ss-Situation send out.And existing microprocessor 17 not way eliminate these direct current steady-state errors fully, so the speed control signal that feedback controller 19 is produced can comprise the direct current steady-state error of not offsetting fully as yet or offset most direct current steady-state error, thereby cause laser beam modulation head assembly to be subjected to external force interference improperly, when interference is excessive, cause laser beam modulation head assembly to seek the rail failure even.
In a word, because the non-level of the CD-ROM drive situation (demand) of putting is more and more frequent, what influence that laser beam modulation head assembly strides rail speed may be also more and more higher.(the direct current steady-state error e when also, CD driver horizontal is put when the rail speed of striding of laser beam modulation head assembly causes direct current steady-state error in the speed error signal to depart from out a normal value for above-mentioned reasons
Ss+Or e
Ss-), may cause disc track number that laser beam modulation head assembly crosses over greater than (or less than) target track number, elongate the whole time of seeking the rail action, and then CD-ROM drive is affected.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of laser beam modulation head assembly to seek the collocation structure and the method for rail location.Utilize the adding of a feedforward controller, make that the direct current steady-state error in the speed error signal maintains a normal value, and when the direct current steady-state error departs from normal value, promptly can carry out the compensation that laser beam modulation head assembly is striden rail speed.Whereby, laser beam modulation head assembly of the present invention is striden the collocation structure and the method for seeking the rail location and will striden the rail speed convergence to lighting apparatus component to expectation value in the short period relatively in the mode of dynamically progressively revising.
For reaching above-mentioned purpose, the present invention proposes the collocation structure that a kind of laser beam modulation head assembly is sought the rail location, include: the calculation process controller, it comprises a microprocessor and a feedback controller, make this microprocessor be used for receiving pre-set velocity signal and feedback speed signal subtraction speed error signal afterwards, after this microprocessor calculates this speed error signal, the result is exported to this feedback controller and exports first speed control signal by this feedback controller; Feedforward controller is used for the inbound pacing error signal, and produces the second speed control signal according to the direct current steady-state error in the speed error signal; Laser beam modulation head assembly moves with the actual rail speed of striding according to the totalling of first speed control signal and second speed control signal, and can detect the actual rail rate signal of striding by a measuring appliance; And adjustable gain, be used for receiving and weighting this actually stride the rail rate signal and this actual result who strides the rail rate signal of weighting offered this microprocessor.
For reaching above-mentioned purpose, the present invention also proposes the compensation method that a kind of laser beam modulation head assembly is sought the rail location, strides the operation of rail speed in order to the compensation laser beam modulation head assembly with actual, includes the following step: detect and actually stride rail speed, and export the actual rail rate signal of striding; Deducting actual after the weighting with the pre-set velocity signal strides the rail rate signal and obtains speed error signal; Output first speed control signal after the processing speed error signal; Output one second speed control signal after the direct current steady-state error in the processing speed error signal; And the actual rail speed of striding that changes laser beam modulation head assembly according to the totalling of first speed control signal and second speed control signal; Wherein, when this direct current steady-state error departed from a normal value, this second speed control signal can continue to produce, till this direct current steady-state error reaches this normal value.
Reach technology, means and the effect that predetermined purpose is taked for further understanding the present invention, see also following about detailed description of the present invention and accompanying drawing, yet accompanying drawing only provide with reference to and usefulness is described, be not to be used for the present invention is limited.
Description of drawings
Fig. 1 is the block schematic diagram of seeking the rail location structure of existing laser beam modulation head assembly; And
Fig. 2 seeks the block schematic diagram of the collocation structure of rail location for laser beam modulation head assembly of the present invention.
Embodiment
See also Fig. 2, Fig. 2 seeks the block schematic diagram of the collocation structure 50 of rail location for laser beam modulation head assembly of the present invention.The present invention proposes a feed forward type controller 55 in order to the direct current steady-state error in the detection speed error signal under existing structure, the direct current steady-state error when acceleration and deceleration is inequality moves when a normal value, also is out-of-level the putting of CD-ROM drive of this moment.
Laser beam modulation head assembly of the present invention is sought in the collocation structure 50 of rail location, and a pre-set velocity signal (this pre-set velocity can be a predetermined voltage) at first is provided.And comparer 54 provides a speed error signal (this velocity error is and strides the rail error signal, TrackingError Signal) to microprocessor 57 after can comparing pre-set velocity signal and feedback speed signal.After microprocessor 57 calculates this speed error signal the result is exported to feedback controller 59 and produces one first speed control signal (this speed control signal is and strides rail control signal, Tracking Control Effort Signal) by feedback controller.And also inbound pacing error signal of feedforward controller 55 of the present invention, and how much produce the second speed control signal according to the direct current steady-state error in the speed error signal, totalizer 62 is then exported the totalling of first speed control signal and second speed control signal, and input laser beam modulation head assembly 52, therefore laser beam modulation head assembly 52 promptly can move with the actual rail speed of striding, and measures the actual rail rate signal of striding by measuring appliance 53.And the actual rail speed of striding can be via becoming the feedback speed signal after adjustable gain 64 weightings.And feedforward controller of the present invention promptly is in order to compensate when the non-level of CD-ROM drive is put the influence that is caused of direct current steady-state error.
For instance, (I) at pre-set velocity signal during (speed error signal be on the occasion of) greater than the feedback speed signal, when the direct current steady-state error excessive, represent the underspeed of laser beam modulation head assembly 52, therefore need on the occasion of the second speed control signal add up, can make that so laser beam modulation head assembly 52 speed are faster, reduce the direct current steady-state error to normal value and reach.Otherwise, too small when the direct current steady-state error, represent the excessive velocities of laser beam modulation head assembly 52, need this moment the second speed control signal of negative value to add up, so can make laser beam modulation head assembly 52 speed descend, increase the direct current steady-state error to normal value and reach.(II) at the pre-set velocity signal during less than the feedback speed signal (speed error signal is a negative value), when the direct current steady-state error excessive, represent the speed of laser beam modulation head assembly 52 too fast, therefore need the second speed control signal of negative value to add up, so can make laser beam modulation head assembly 52 speed descend, reduce the direct current steady-state error to normal value and reach.Otherwise, too small when the direct current steady-state error, represent the speed of laser beam modulation head assembly 52 slow excessively, this moment need on the occasion of the second speed control signal add up, so can make laser beam modulation head assembly 52 speed rise, increase the direct current steady-state error to normal value and reach.And be under the normal value in the direct current stable state, microprocessor 57 can make laser beam modulation head assembly realize seeking the function of rail location fast.Compensate and feedforward controller 55 of the present invention is the actual rail speed of striding at laser beam modulation head assembly 52, make CD-ROM drive when non-level is put, also can reach the direct current steady-state error of normal value.
In the present invention, feedforward controller 55 can continue to produce second speed control signal 56 and compensate first speed control signal, up to pre-set velocity signal and feedback speed signal (the actual rail rate signal of striding of the laser beam modulation head assembly 52 that measuring appliance 53 is measured, 64 weightings form through adjustable gain) relatively afterwards the direct current steady-state error in the speed error signal reach till the normal value.Because the possibility that laser beam modulation head assembly 52 non-levels are put is more and more higher, stride the carrying out that rail moves considering that laser beam modulation head assembly 52 influences because of gravity, be used for the inbound pacing error signal so add a feedforward controller 55, and the direct current steady-state error in the signal does not produce second speed control signal 56 according to this.When feedforward controller 55 not being set, revise the rail speed of striding of laser beam modulation head assembly 52 as only utilizing feedback controller 59, will be not normal value because of the steady-state error (steadystate error) of system, make laser beam modulation head assembly 52 stride rail speed and demand is not inconsistent.The feedforward controller of setting up 55 can help originally not comprise that this system that feedovers controller 55 can obtain required laser beam modulation head assembly 52 and stride rail speed.It is to adjust according to the situation of reality that measured actual of measuring appliance 53 strides the adjustable gain 64 that the rail rate signal feeds back to the closed loop of comparer 54, also can directly be used as the feedback speed signal with the actual rail rate signal of striding, also be that adjustable yield value is 1.Feedforward controller 55 of the present invention in addition all can be realized by firmware (firmware) with feedback controller 59, make CD-ROM drive maker have bigger degree of freedom to come the rail speed of striding of laser beam modulation head assembly 52 is compensated.
Because seeking the collocation structure 50 of rail location, laser beam modulation head assembly has steady-state error inevitably, simultaneously consider laser beam modulation head assembly 52 when non-level is put because gravity at non-horizontal direction component to direct current steady-state error and actual influence of striding rail speed, will make that laser beam modulation head assembly actual when carrying out long distance tracking (long seek) strides rail speed and desired pre-set velocity is not inconsistent.Be used for the feedforward controller 55 of inbound pacing error this moment equally, can produce the second speed control signal according to the direct current steady-state error and compensate first speed control signal in order to revise the actual rail speed of striding of laser beam modulation head assembly 52, and can little by little coincide, and produce the direct current steady-state error of a normal value with desired pre-set velocity.Because the stride rail speed of laser beam modulation head assembly 52 when long distance tracking is to realize with stage by stage acceleration one constant speed one and ways of deceleration, so when the non-level of CD-ROM drive is put, each speed stage all might be because above-mentioned former thereby be not inconsistent with pre-set velocity, in the case, feedforward controller 55 will continue real estate master second speed control signal 56 and be compensated, and strides rail speed till the back direct current steady-state error that produces of feedback reaches normal value up to laser beam modulation head assembly 52 actual.In other words, feedforward controller 55 equals a newly-increased control path, and whether the rail speed of striding of monitoring laser head assembly 52 is normal at any time, and it is done suitable compensation.Then the present invention just can reduce in real time because laser beam modulation head assembly 52 non-levels are put the related product master's of institute external force interference, allows the control strong more (robust) of whole laser beam modulation head assembly 52.
Feedforward controller 55 be direct current steady-state error in the detection speed error signal producing a second speed control signal 56 based on voltage signal, this second speed control signal 56 will input to first speed control signal 61 (the being similarly a voltage signal) totalling of totalizer 62 and feedback controller 59 outputs in order to input to laser beam modulation head assembly 52 progressively to adjust the actual rail speed of striding of laser beam modulation head assembly 52.When the result of pre-set velocity signal and the comparison of feedback speed signal makes that the direct current steady-state error reaches a normal value, feedforward controller 55 will stop to produce main second speed control signal 56, activates once more when this laser beam modulation head assembly 52 causes the direct current steady-state error to depart from normal value because external force in various degree disturbs once again.
Than prior art, laser beam modulation head assembly of the present invention is sought the collocation structure and the method for rail location, be to utilize writing of firmware that the control of feedforward controller path is provided in addition, although make that the direct current steady-state error can depart from normal value when non-level is put, but add after this feedback controller, can laser beam modulation head assembly when carrying out long distance tracking to any external force that may suffer from disturb (since the non-level of disc player put produce, perhaps other factors produces) bigger resistibility arranged, even that is to say exist to disturb change that laser beam modulation head assembly strides rail speed because of, but its actual rail speed of striding still can be corrected gradually to being consistent with the value of wanting.
The above only is preferred embodiment of the present invention, and is all according to equivalence modification and variation that the present invention did, all should belong to the covering scope of patent of the present invention.
Claims (7)
1. a laser beam modulation head assembly is sought the compensation system that rail is located, and it is characterized in that it includes:
One calculation process controller, it comprises a microprocessor and a feedback controller, make this microprocessor be used for receiving a pre-set velocity signal and a feedback speed signal subtraction speed error signal afterwards, after this microprocessor calculates this speed error signal, the result is exported to this feedback controller and exports one first speed control signal by this feedback controller;
One feedforward controller is used for receiving this speed error signal, and produces a second speed control signal according to the direct current steady-state error in this speed error signal;
One laser beam modulation head assembly actual is striden the operation of rail speed according to the totalling of this first speed control signal and this second speed control signal with one, and can be detected an actual rail rate signal of striding by a measuring appliance; And
One adjustable gain, be used for receiving and weighting this actually stride the rail rate signal and this actual result who strides the rail rate signal of weighting offered this microprocessor.
2. laser beam modulation head assembly as claimed in claim 1 is sought the compensation system of rail location, it is characterized in that when this direct current steady-state error departs from a normal value, this feedforward controller will continue to produce this second speed control signal, till this direct current steady-state error arrives this normal value.
3. laser beam modulation head assembly as claimed in claim 1 is sought the compensation system of rail location, it is characterized in that this feedforward controller and this feedback controller are to be realized by a firmware.
4. laser beam modulation head assembly as claimed in claim 1 is sought the compensation system of rail location, it is characterized in that this laser beam modulation head assembly is that non-level is put.
5. laser beam modulation head assembly as claimed in claim 1 is sought the compensation system of rail location, it is characterized in that this first speed control signal and this second speed control signal are a voltage signal.
6. compensation method that laser beam modulation head assembly is sought the rail location moves with the actual rail speed of striding in order to compensate a laser beam modulation head assembly, includes the following step:
Detect this and actually stride rail speed, and export an actual rail rate signal of striding;
Deduct with a pre-set velocity signal that after the weighting this is actual strides the rail rate signal and obtain a speed error signal;
Export one first speed control signal after handling this speed error signal;
Export a second speed control signal after handling the direct current steady-state error in this speed error signal; And
Change this actual rail speed of striding of this laser beam modulation head assembly according to the totalling of this first speed control signal and this second speed control signal;
Wherein, when this direct current steady-state error departed from a normal value, this second speed control signal can continue to produce, till this direct current steady-state error reaches this normal value.
7. laser beam modulation head assembly as claimed in claim 6 is sought the compensation method of rail location, it is characterized in that, also comprises the following steps;
This speed error signal be on the occasion of situation under, when this direct current steady-state error during greater than this normal value, the adding of this first speed control signal and this second speed control signal always in order to increase this actual rail speed of striding;
This speed error signal be on the occasion of situation under, when this direct current steady-state error during less than this normal value, the adding of this first speed control signal and this second speed control signal always in order to reduce this actual rail speed of striding;
At this speed error signal is under the situation of negative value, when this direct current steady-state error during greater than this normal value, and the adding of this first speed control signal and this second speed control signal always in order to reduce this actual rail speed of striding; And
At this speed error signal is under the situation of negative value, when this direct current steady-state error during less than this normal value, and the adding of this first speed control signal and this second speed control signal always in order to increase this actual rail speed of striding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021495688A CN1294569C (en) | 2002-11-14 | 2002-11-14 | Compensation structure and method for positioning of laser head module track search |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021495688A CN1294569C (en) | 2002-11-14 | 2002-11-14 | Compensation structure and method for positioning of laser head module track search |
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| Publication Number | Publication Date |
|---|---|
| CN1501366A CN1501366A (en) | 2004-06-02 |
| CN1294569C true CN1294569C (en) | 2007-01-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB021495688A Expired - Fee Related CN1294569C (en) | 2002-11-14 | 2002-11-14 | Compensation structure and method for positioning of laser head module track search |
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| CN (1) | CN1294569C (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101149936B (en) * | 2006-09-22 | 2010-11-10 | 鸿富锦精密工业（深圳）有限公司 | Optical drive track-seeking system and method |
| CN102169699B (en) * | 2010-02-26 | 2013-06-12 | 联咏科技股份有限公司 | Long-distance trace seeking control system and method for optical information regenerating and recording system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5220546A (en) * | 1990-09-28 | 1993-06-15 | International Business Machines Corporation | Operating optical disk drives including calibrating a tracking error signal |
| US5519605A (en) * | 1994-10-24 | 1996-05-21 | Olin Corporation | Model predictive control apparatus and method |
| US6154424A (en) * | 1998-02-27 | 2000-11-28 | Mediatek, Inc. | Control device of a pickup head for locating the track position |
-
2002
- 2002-11-14 CN CNB021495688A patent/CN1294569C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5220546A (en) * | 1990-09-28 | 1993-06-15 | International Business Machines Corporation | Operating optical disk drives including calibrating a tracking error signal |
| US5519605A (en) * | 1994-10-24 | 1996-05-21 | Olin Corporation | Model predictive control apparatus and method |
| US6154424A (en) * | 1998-02-27 | 2000-11-28 | Mediatek, Inc. | Control device of a pickup head for locating the track position |
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| Publication number | Publication date |
|---|---|
| CN1501366A (en) | 2004-06-02 |
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