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Publication numberCN1746982 A
Publication typeApplication
Application numberCN 200510091082
Publication date15 Mar 2006
Filing date1 Aug 2005
Priority date30 Jul 2004
Also published asCN100347753C, US7164550, US20060023342
Publication number200510091082.6, CN 1746982 A, CN 1746982A, CN 200510091082, CN-A-1746982, CN1746982 A, CN1746982A, CN200510091082, CN200510091082.6
Inventors木坂正志
Applicant日立环球储存科技荷兰有限公司
Export CitationBiBTeX, EndNote, RefMan
External Links: SIPO, Espacenet
Disk drive, positioning method for head, and servo system
CN 1746982 A
Abstract  translated from Chinese
本发明的目的是补偿可重复偏离误差而不引起伺服系统的不稳定。 Object of the present invention is to compensate for repeatable alignment tolerance without causing instability of the servo system. HDD1在伺服系统的反馈路线上具有峰值滤波器(234)。 HDD1 has a peak filter in the feedback path of the servo system (234). 设计该峰值滤波器(234)以便磁盘的旋转频率、包含在该旋转频率中的高频成分以及峰值与旋转频率和高频成分相匹配。 The design of the peak filter (234) so that the rotational frequency of the disk, the rotation frequency component and the peak frequency and high-frequency component included in the rotational frequency of the match. 所需峰值滤波器在伺服系统中的插入允许补偿由例如偏离磁道圆的事件引起的可重复偏离(RRO)误差。 Required peak filter is inserted in the servo system allows to compensate for example, round off-track incident caused repeatable deviation (RRO) error. 同样,因为系统的Nyquist曲线图满足了所需的特征,可重复偏离误差可以得到补偿且没有因该峰值滤波器的使用而引起伺服系统的不稳定。 Similarly, because of the Nyquist graphs meet the desired system characteristics, repeatable out errors can be compensated without the use of the peak filter is caused instability of the servo system.
Claims(20)  translated from Chinese
1.一种磁盘驱动器,其具有用于通过使用记录磁盘上记录的伺服信号来执行磁头的定位控制的伺服系统,该伺服系统包括:磁头定位信号发生器,用以根据从记录磁盘读出的伺服信号,来产生与该磁头的位置相关的磁头定位信号;峰值滤波器,其在多个频率中的每一个处都具有峰值,该滤波器补偿可重复偏离误差;以及控制信号输出单元,其根据磁头定位信号、参考信号、以及峰值滤波器的输出,向驱动装置输出控制信号用以移动磁头;其中,在根据伺服系统的开环传递函数的Nyquist曲线图中,当:对于峰值滤波器的除了“ω=0”之外的“ωk”的所有峰值中的每一个,Z0是点(-1,0),Z01是没有该峰值滤波器的情况下伺服系统的开环传递函数在“ωk”处的点,以及Zk是存在该峰值滤波器的情况下伺服系统的开环传递函数在“ωk”处的点,此时,由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线所形成的夹角为90或以下。 1. A disk drive having a servo system for positioning a magnetic head to perform control by using a servo signal recorded on the recording disk, the servo system comprising: a head positioning signal generator for the read out from the recording disk servo signal, to generate the head position associated head positioning signal; peak filter, at each of the plurality of frequencies has a peak, the filter compensated repeatable deviated error; and a control signal output unit, which The magnetic head positioning signal, a reference signal, and an output of the peak filter, outputs a drive control signal to the means for moving the head; wherein, in the open-loop transfer function of the servo system Nyquist graph, when: the peak filter In addition to "ω = 0" outside "ωk" all peaks each, Z0 is the point (-1,0), Z01 is the absence of the peak filter case servo system in the open loop transfer function "ωk "the open-loop case point, and Zk is the presence of the peak filter transfer function of the servo system in" point ωk "at this time, extends from the point Z0 to Z01 and Z01 point of the straight line extended to the point Zk point The angle formed by the straight line is 90 or less.
2.如权利要求1所述的磁盘驱动器,其中由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线所形成的夹角为60或以下。 1 disk drive according to claim 2., wherein the point extends from Z0 to Z01 and Z01 point of the straight line extended to the point of the angle formed by the straight line Zk point is 60 or less.
3.如权利要求1所述的磁盘驱动器,其中由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线所形成的夹角为45或以下。 1 disk drive according to claim, wherein the point extends from Z0 to Z01 and Z01 point of the straight line extended to the point of the angle formed by the straight line Zk point is 45 or less.
4.如权利要求1所述的磁盘驱动器,其中由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线所形成的夹角是0。 The disk drive of claim 1, wherein the straight line extending from the point Z0 points Z01 and Z01 point extends to the angle formed by the straight line Zk point is 0 .
5.如权利要求1所述的磁盘驱动器,其中峰值滤波器的每个峰值与记录磁盘的旋转频率的整数倍相匹配。 5. The disk drive of claim 1, the rotational frequency of each peak and the recording disk in which an integer multiple of the peak filter match.
6.如权利要求1所述的磁盘驱动器,其中:所述记录磁盘包括多个磁道且每个磁道包括M个伺服扇区,以及所述峰值滤波器根据峰值滤波器在第M个在先的扇区处的输出与从预设的第N个在先的扇区到当前扇区的移动期间输入的多个状态变量乘以加权系数获得的值之和产生输出信号。 6. The disk drive of claim 1, wherein: the recording disk comprising a plurality of tracks and each track includes M number of servo sectors, and the peak of the peak filter in the M-th filter prior a plurality of states at the output sector and during the movement from the predetermined N-th sector to the preceding current sector is multiplied by the input variable values of the weighting coefficients obtained and generate an output signal.
7.如权利要求1所述的磁盘驱动器,其中:所述记录磁盘包括多个磁道且每个磁道包括M个伺服扇区,以及所述峰值滤波器根据下面的表达式执行处理:u(n)=u(nM)+Σk=0NwkX(nk)]]>u:峰值滤波器的输出,M:一个磁道中伺服扇区的数目,w:在先设置的实数,X:伺服系统中的状态变量,以及N:在先设置的自然数,这里的∑是从“k=0到N”中选出的多个项之和。 7. The disk drive of claim 1, wherein: the recording disk comprising a plurality of tracks and each track includes M number of servo sectors, and the peak filter processing is performed according to the following expression: u (n ) = u (nM) + & Sigma; k = 0NwkX (nk)]]> u: output of the peak filter, M: the number of servo sectors in one track, w: previously set real number, X: Servo System state variables, and N: a natural number previously set, and where Σ is selected from a plurality of items of the "k = 0 to N" in.
8.如权利要求6所述的磁盘驱动器,其中每个状态变量都是根据参考信号和磁头定位信号之间差值的偏差信号。 6 disk drive according to claim 8, wherein each of the state variables are based on a deviation signal between the reference signal and the head positioning signal difference.
9.如权利要求6所述的磁盘驱动器,其中:每个状态变量都是根据参考信号和磁头定位信号之间差值的偏差信号;以及所述峰值滤波器插在偏差信号的输出和控制信号输出单元的输入之间。 9. The disk drive of claim 6, wherein: each state variable signal is based on the deviation between the reference signal and the head positioning signal difference; and the peak interpolation filter control signal and the deviation in the output signal between the input and output units.
10.如权利要求6所述的磁盘驱动器,其中:每个状态变量都是根据参考信号和磁头位置信号之间差值的偏差信号;以及所述峰值滤波器将偏差信号的输出做为输入,其中的控制信号输出单元的输出与所述峰值滤波器的输出相加。 10. The disk drive of claim 6, wherein: each state variable signal is based on the deviation between the reference signal and the head position signal difference; the deviation of the output signal as input and said peak filter, wherein the control signal output unit outputs the output of the peak filter are added.
11.一种磁盘驱动器,其具有用于通过使用记录磁盘上记录的伺服信号执行磁头位置控制的伺服系统,该伺服系统包括:磁头,用以访问具有多个磁道且每个磁道包括M个伺服扇区的记录磁盘,该磁头读取每个伺服扇区的伺服信号;峰值滤波器,根据从预设的第N个在先的扇区到当前扇区的移动期间输入的多个状态变量乘以加权系数获得的值和在第M个在先的扇区处的输出值之和输出值;以及控制信号输出单元,根据由每个伺服扇区的伺服信号确定的与磁头的位置相关的磁头定位信号、参考信号、以及峰值滤波器的输出,向驱动装置输出控制信号用以移动磁头;其中,在根据伺服系统开环传递函数的Nyquist曲线图中,当:对于峰值滤波器的除了“ω=0”之外的所有极点“ωk”中的每一个,Z0是点(-1,0),Z01是没有峰值滤波器的情况下,伺服系统的开环传递函数在点“ωk”处的点,Zk是存在峰值滤波器的情况下,伺服系统的开环传递函数在点“ωk”处的点,此时,由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线形成的夹角为90或以下。 A disk drive having a servo system for use by the head position servo control signals for performing recording on a recording disk, the servo system comprising: a magnetic head for accessing a plurality of tracks and each having a track includes servo M sector recording disk, the magnetic head reads the servo signal for each servo sector; peak filter, according to a plurality of states during the movement from the predetermined N-th sector to the preceding current sector multiply the input variables values and the weighting coefficients obtained in the output value and the output value of the M-th sector of the preceding; and a control signal output unit, according to the servo signal for each servo sector and to determine the position of the head of the head-related positioning signal, a reference signal, and the peak output of the filter, to the driving control signal output means for moving the head; wherein, in the open loop transfer function of the servo system according to Nyquist graph, when: the peak filter in addition to "ω = 0 "outside the all pole" ωk "each, Z0 is the point (-1,0), Z01 is the absence of a peak filter, the open-loop transfer function of the servo system at the point" ωk "at point, Zk is the case where there is a peak filter, the open-loop transfer function of the servo system at the point the point "ωk" at this time, to the straight line extending from the point Z0 points Z01 and Z01 point extends to the point of forming a straight line Zk angle is 90 or less.
12.如权利要求11所述的磁盘驱动器,其中由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线形成的夹角为60或以下。 12. The disk drive of claim 11, wherein the straight line extending from the point Z0 points Z01 and Z01 point extends to the angle formed by the straight line Zk point of 60 or less.
13.如权利要求11所述的磁盘驱动器,其中由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线形成的夹角为45或以下。 13. The disk drive of claim 11, wherein the straight line extending from the point Z0 points Z01 and Z01 point extends to the angle formed by the straight line Zk point is 45 or less.
14.如权利要求11所述的磁盘驱动器,其中:每个状态变量都是根据参考信号和磁头定位信号之间差值的偏差信号;以及该峰值滤波器插在偏差信号的输出和控制信号输出单元的输入之间。 14. The disk drive of claim 11, wherein: each state variable signal is based on the deviation between the reference signal and the head positioning signal difference; and the peak interpolation filter and the control signal at the output of the deviation signal output between the input unit.
15.如权利要求11所述的磁盘驱动器,其中:每个状态变量都是根据参考信号和磁头定位信号之间差值的偏差信号;以及所述峰值滤波器将偏差信号的输出做为输入,其中的控制信号输出单元的输出与所述峰值滤波器的输出相加。 15. The disk drive of claim 11, wherein: each state variable signal is based on the deviation between the reference signal and the head positioning signal difference; the deviation of the output signal as input and said peak filter, wherein the control signal output unit outputs the output of the peak filter are added.
16.如权利要求11所述的磁盘驱动器,其中:所述峰值滤波器根据下面表达式执行处理:u(n)=u(nM)+Σk=0NwkX(nk)]]>u:峰值滤波器的输出,M:一个磁道中伺服扇区的数目,w:在先设置的实数,X:伺服系统中的状态变量,以及N:在先设置的自然数,而这里的∑则是从“k=0到N”中选出的多个项之和。 16. The disk drive of claim 11, wherein: said peak filter processing is performed according to the following expression: u (n) = u (nM) + & Sigma; k = 0NwkX (nk)]]> u: Peak output filter, M: the number of servo sectors in one track, w: real number, X earlier settings: servo system state variables, and N: a natural number previously set, and where Σ is from the " k = 0 to N "and a number of selected items of.
17.一种磁盘驱动器中的磁头定位控制方法,通过使用记录磁盘上记录的伺服信号来执行磁头的位置控制,该方法包括:访问记录磁盘,该记录磁盘具有多个磁道且每个磁道包括M个伺服扇区;读出每个伺服扇区的伺服信号;以及依照由每个伺服扇区的伺服信号确定的与磁头的位置相关的磁头定位信号,参考信号,以及根据从预设的第N个在先的扇区到当前扇区的移动期间输入的多个状态变量乘以加权系数获得的值与在第M个在先的扇区处生成的峰值滤波器的输出之和的值,向移动磁头的驱动装置提供控制信号的输出;其中,在根据伺服系统的开环传递函数的Nyquist曲线图中,当:对于峰值滤波器的除了“ω=0”之外的所有极点“ωk”,Z0是点(-1,0),Z01是没有上述的峰值滤波器的情况下,伺服系统的开环传递函数在点“ωk”处的点,Zk是上述的峰值滤波器存在的情况下,伺服系统的开环传递函数在点“ωk”处的点,此时,所述Z0点位于从Z01点的邻域经过Zk点向Z01点延伸的曲线的外部。 17. A disk drive head positioning control method, performed by using a servo signal recorded on the recording disk head position control, the method comprising: accessing the recording disk, the record disk having a plurality of tracks and each track includes M servo sectors; reading out a servo signal for each servo sector; and in accordance with the head position dependent signal determined by the head positioning servo signal for each servo sector, a reference signal, and in accordance with the preset first N a preceding sector to the state of the current during the movement of the plurality of sectors by multiplying the output of the input variables and the values of the weighting coefficients obtained peak filter generated in the M-th sector of the preceding value, to moving the magnetic head driving means to provide an output control signal; wherein, in the open-loop transfer function of the servo system Nyquist graph, when: the peak filter in addition to "ω = 0" than all pole "ωk", Z0 is the point (-1,0), Z01 is the absence of said peak filter, the open-loop transfer function of the servo system point in point "ωk" at, Zk is a case where the existence of a peak filter, open-loop transfer function of the servo system at the point the point "ωk" at this time, the Z0 point located outside the neighborhood of the point from the Z01 through Z01 Zk point to point extending curve.
18.如权利要求17所述的磁盘驱动器中的磁头定位控制的方法,其中由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线形成的夹角为90或以下。 Disk drive 18. The method of claim 17 in the head positioning control, wherein the angle between the straight line extending from the point Z0 points Z01 and Z01 point extends to a straight line formed Zk point is 90 or less.
19.一种伺服系统,用以在旋转体上定位被控制的物体,该伺服系统包括:伺服信号读出器,用以读出记录在该旋转体上的伺服信号;以及具有峰值滤波器的控制器,该峰值滤波器的增益在多个频率的每个频率等于该旋转体的旋转速度的整数倍处,等于或大于规定的值,该控制器依照伺服信号、参考信号、以及峰值滤波器的输出,产生控制信号用以控制该被控制的物体的位置;其中,在根据伺服系统的开环传递函数的Nyquist曲线图中,当对于峰值滤波器的除了“ω=0”之外的所有峰值“ωk”,Z0是点(-1,0),Z01是没有峰值滤波器的情况下,伺服系统的开环传递函数在点“ωk”处的点,以及Zk是峰值滤波器存在的情况下,伺服系统的开环传递函数在点“ωk”处的点,此时,由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线形成的夹角为90或以下。 19. A servo system for positioning an object to be controlled on a rotary body, said servo system comprising: a servo signal reader for reading data recorded on a servo signal of the rotating body; and a filter having a peak controller, the peak gain of the filter at each frequency of a plurality of frequencies equal to integer multiples of the rotational speed of the rotating body is equal to or greater than a prescribed value, the controller in accordance with the servo signal, the reference signal, and a peak filter output, generating a control signal for controlling the position of the object to be controlled; wherein, in the open-loop transfer function of the servo system Nyquist graph, when the peak filter in addition to "ω = 0" in all Peak "ωk", Z0 is the point (-1,0), Z01 is the absence of a peak filter, the open-loop servo system transfer function point point "ωk" Department, as well as the case of the peak filter Zk presence open loop servo system transfer function point point "ωk" at this time, the angle extending from the point to the line Z0 and Z01 Z01 point points to the line extending Zk point formed is 90 or less.
20.如权利要求19所述的伺服系统,其中:所述旋转体包括多个磁道且每个磁道包括M个伺服扇区;以及所述峰值滤波器根据峰值滤波器在第M个在先的扇区处的输出与从预设的第N个在先的扇区到当前扇区的移动期间输入的多个状态变量乘以加权系数获得的值之和,产生输出信号。 20. The servo system of claim 19, wherein: said rotary body comprises a plurality of tracks and each track includes M servo sector; and the peak of the peak filter in the M-th filter prior output sector at variable multiplied by the weighting coefficients obtained from a preset value and the N-th sector to the prior state of the current during the movement of the plurality of sectors input, produces an output signal.
Description  translated from Chinese
磁盘驱动器、磁头定位方法和伺服系统 Disk drive, and head positioning servo system method

技术领域 FIELD

本发明涉及磁盘驱动器,磁头的定位方法,以及伺服系统。 The present invention relates to a disk drive, a magnetic head positioning method, and a servo system. 更具体而言,本发明涉及用滤波处理来补偿重复误差的磁盘驱动器,以及相关的磁头定位方法和伺服系统。 More specifically, the present invention relates to a filtering process to compensate for repeatable errors disk drive, and related methods, and head positioning servo system.

背景技术 BACKGROUND

使用不同形式的介质如光盘和磁带构成的装置被视为是数据存储装置。 Using different forms of media such as optical disks and magnetic tape apparatus is seen as constituting the data storage means. 在这些装置中,硬盘驱动器(HDD)做为存储装置在计算机中得到广泛的应用,是当前计算机系统中必不可少的存储装置之一。 In these devices, a hard disk drive (HDD) as a storage device has been widely used in the computer, the computer system is one of the indispensable storage devices. 另外,HDD不仅应用于计算机中;HDD优良的性能逐渐扩大了它们的应用,例如其作为可移动存储器在动态图像记录/再现设备、汽车导航系统、数码相机或其他产品中的使用。 Further, HDD applied not only to the computer; excellent performance HDD gradually expanded their applications such as a removable memory to the video recording / reproducing apparatus, car navigation systems, digital cameras, or other products used.

每个在HDD中使用的磁盘都有构成为同心圆形状的多个磁道,地址信息(伺服信息)和用户数据存储在每个磁道上。 Each of the plurality of tracks on the disk used in the HDD has a concentric shape configured, the address information (servo information) and user data are stored on each track. 由薄膜元件构成的磁头通过根据地址信息访问所希望的区域(地址)来读或写数据。 A thin film magnetic head elements formed by the read or write data to the address information of access to the desired area (address). 磁头固定在浮动块上,浮动块进一步固定在可摆动的托架上。 The head is fixed to the slider, the block is further secured to the floating swingable bracket. 托架由音圈电机(VCM)驱动摆动,这样磁头就能移动到磁盘上所希望的位置。 Carriage driven by a voice coil motor swing (VCM), so that the head can be moved to a desired position on the disk. VCM由VCM驱动器驱动,VCM驱动器根据控制器发出的控制数据通过提供电流来驱动VCM。 VCM from VCM driver drives, VCM driver according to the control data issued by the controller to drive the VCM by supplying current.

正如上面提到的,每个磁道都有数据区用以存储数据,以及伺服区用以存储伺服信号。 As mentioned above, each track has a data area for storing data, and a servo area for storing servo signals. 磁道ID、伺服扇区ID、脉冲模式(burst pattern)等都作为伺服数据存储在伺服区内。 Track ID, servo sector ID, pulse mode (burst pattern) so as servo servo data storage area. 磁道ID和伺服扇区ID分别用来标识磁道和伺服扇区的地址。 Track ID and servo sector ID were used to identify the track address and servo sectors. 脉冲模式包含了磁头关于磁道的相对位置的信息,并在磁道跟踪期间使用。 Pulse pattern contains information about the relative position of the head of the track, and used during track following. 每个脉冲模式是一系列区域,在所述区域中信号按固定间隔径向存储在磁盘上,一个脉冲模式由相位彼此不同的信号存储区的多个簇构成。 Each pulse pattern is a series of regions in said region signal at regular intervals in the radial direction is stored on the disk, a pulse mode phase with each other by a plurality of clusters of different signals constituting the storage area.

数据在磁盘上的读出和写入是在磁盘的旋转状态下通过用伺服信号确认磁头的位置来执行的。 Read and write data on the disk is a disk in a rotating state by confirming the location of the head with a servo signal to perform. 控制器计算已经被磁头读出的伺服信号。 The controller calculates the head has been read servo signals. 提供给VCM的电流值是根据磁头当前位置和它所希望的位置间的关系而确定的。 Current value supplied to the VCM is based on the relationship between the current position of the head and its desired position between the determined. 控制器产生控制信号DACOUT以指示计算出的电流值,并提供该电流到VCM驱动器。 The controller generates a control signal DACOUT to indicate the calculated current value, and supplies the drive current to the VCM. 在有偏差的情况下,托架被驱动用来补偿偏差并控制磁头的位置。 In the case of a deviation, the carriage is driven and controlled to compensate for deviation of the head position.

尽管通常是用伺服磁道写入器将伺服信号记录在磁盘上,但由于记录期间发生颤动等类似情况,伺服信号不总是能记录成完美的圆形。 Although usually the servo track writer servo signal recorded on the disk, but the occurrence of fibrillation or other similar situations during recording, a servo signal can not always be recorded as a perfectly circular. 特殊的误差以可重复偏离(RRO)的形式在磁道跟随期间出现。 Special error repeatable deviate (RRO) form during track following occurs. 如果RRO相当大,由于磁头(伺服系统)无法跟上该RRO,其结果是产生磁道跟随误差。 If the RRO is quite large, since the head (servo system) can not keep up with the RRO, the result is to produce the track following error. 当可重复偏离误差的频率成分被限制的时候,例如,如果该偏离仅在磁盘的旋转频率成分处才变大,众所周知,偏离能通过在伺服系统中插入具有该频率峰值的滤波器而得到补偿(例如,这种方法可参考专利文献1)。 When the frequency component repeatable deviated error is restricted, for example, only if this deviation in the rotational frequency component of the disk only becomes large, it is known, the filter can deviate from the servo system is inserted in the frequency peak having been compensated (e.g., this method can refer to Patent Document 1).

可重复偏离能通过对过去已输入的状态变量进行积分而得到补偿是大家所熟知的。 Deviation can be repeated for the state in the past has been integrating the input variable compensation is known to everyone. 因为这个方法采用的滤波器具有与可重复偏离误差的频率相关的多个峰值,所以该滤波器可以除去所有的可重复偏离误差成分。 Because this method uses a filter having a plurality of peaks and can be repeated deviated error frequency related, so that the filter can remove all of the error component can be repeated deviate.

专利文献2公开了一种技术,用以从位置误差信号(PES),即磁头位置信号和目标信号之间的偏差中除去RRO成分。 Patent Document 2 discloses a technique for position error signal (PES) from, i.e. removing RRO component head position signal and the deviation between the target signal. 从PES信号中除去RRO成分使得磁头能沿着基本上圆的路线移动,而不是沿着磁道的形状移动。 RRO component removed from the PES signal so that the head can move along a substantially circular path, rather than moving along the track shape. 由于伺服系统的操作独立于RRO,所以防止由RRO引起的磁道跟随误差的出现是可能的。 Since the operations of the servo system independent of the RRO, thus preventing track following errors caused by RRO is possible.

[专利文献1]日本专利公开号Hei 08-328664[专利参考文献2]PCT专利申请号2002-544639的日文译文发明内容然而,如果记录格式在形状方面与圆形磁道有较大偏差时,专利文献2中的技术是不能够读出磁道伺服信号的。 [Patent Document 1] Japanese Patent Publication No. Hei 08-328664 [Patent Reference 2] PCT Patent Application No. 2002-544639 of the Japanese translation of Invention However, if the recording format in the shape of a circular track with a larger deviation, patent Document 2 technology is not able to read out the track servo signal. 根据控制,有必要将PES与一函数相乘,该函数具有频率等于磁盘旋转频率的整数倍的零点。 According to the control, it is necessary to PES multiplied with a function which has a frequency equal to an integer multiple of disk rotation frequency of zero. 据此,如果存在与旋转频率同步的干扰,这个干扰是不能从RRO中分辨出来的。 Accordingly, if the interference is synchronized with the rotation frequency of the presence of this interference can not be resolved from the RRO out. 因此,跟随这样的距离是不可能的,这会导致位置误差。 Thus, following such a distance is not possible, which causes a position error. 同时,正如上面提到的,RRO成分和与旋转频率同步的干扰是可以通过在伺服系统中插入所需的峰值滤波器而被除去的。 Also, as mentioned above, RRO ingredients and synchronized with the rotation frequency interference can be achieved through the peak filter insert the required servo system is removed. 然而,这个峰值滤波器的插入,极可能导致伺服系统不稳定。 However, the peak of the filter insert, is likely to lead to the servo system instability. 如果系统变得不稳定,磁头就不能在同一位置停留,这样跟随磁道就变得不可能。 If the system becomes unstable, the head would not stay in the same position, so that it becomes impossible to follow the tracks. 例如,在专利参考文献1的技术中,相位项的选择有可能导致系统变得不稳定。 For example, the technique of Patent Reference 1, the selected phase entry may cause the system to become unstable. 同样,小增益定理作为使系统稳定的充分条件是众所周知的。 Similarly, the small gain theorem as a sufficient condition for stability of the system is known. 可是这个定理仅是定义用于稳定系统的一般充分条件的抽象法则,并没有详细指出与满足该充分条件的系统相关的设计和计算方法。 But this theorem is only an abstract definition of the law in general sufficient condition for the stability of the system, and no detailed pointed associated with satisfying the sufficient condition for the system design and calculation methods. 例如,系统设计所需要的峰值滤波器,或包括这个峰值滤波器的更具体的伺服系统并没有被描述。 For example, the peak filter system design needs, or include the more specific peak filter servo system has not been described. 所以,在实际的系统设计期间,有必要确定不会引起系统不稳定的峰值滤波器以及包括该峰值滤波器的具体伺服系统的特征。 Therefore, during the actual system design, it is necessary to determine not cause system instability and peak filter includes specific features of the peak filter servo system.

本发明是以上面的介绍为背景而做出的,本发明的目的是能够在伺服系统中跟随RRO而不会使伺服系统不稳定。 The present invention is based on the above description has been made for the background, the object of the present invention is the ability to follow the RRO without causing the servo system is unstable in the servo system. 本发明的前述的和其他目的以及新特点都将在说明书和附图的描述中更容易理解。 The foregoing and other objects and novel features of the invention will be described in the specification and drawings are easier to understand.

下面公开了解决问题的方法。 The following discloses a method of solving the problem. 在部分,若干个组成元件相关于以实施例的形式描述的组成元件。 In part, a number of constituent elements related to the constituent elements in the form of the embodiment described. 但是这些相关描述仅是用来使本发明更容易理解的,单个的元件不仅仅限于实施例的相关元件。 However, these related description are only used to make the present invention more readily understood, a single element is not limited to the embodiment of the related components.

本发明的第一个实施例是具有伺服系统的磁盘驱动器,该伺服系统通过使用记录在记录磁盘上的伺服信号执行磁头定位控制。 The first embodiment of the present invention is a disk drive having a servo system, the servo system by using the recording on the recording disk servo signals for performing head positioning control. 在该磁盘驱动器中,伺服系统进一步被划分为:磁头定位信号发生器(例如,伺服定位信号发生器231),用以从记录磁盘读出的伺服信号中产生与磁头位置相关的磁头定位信号;峰值滤波器(例如,峰值滤波器234),在多个频率处具有峰值并补偿可重复偏离;以及控制信号输出单元(例如,加法单元236和伺服控制器235的结合),向驱动装置输出控制信号,该驱动装置根据磁头定位信号、参考信号(例如,目标位置信号)和峰值滤波器的输出来移动磁头;其中,在根据伺服系统开环传递函数的Nyquist图中,当对于峰值滤波器的除了“ω=0”之外的“ωk”的所有峰值,Z0是点(-1,0),Z01是没有上述峰值滤波器的情况下伺服系统的开环传递函数在“ωk”处的点,Zk是上述峰值滤波器存在的情况下伺服系统的开环传递函数在“ωk”处的点,此时,由Z0点延伸到Z0i点的直线和Z01点延伸到Zk点的直线所形成的夹角在90度或以下。 In the disk drive, the servo system is further divided into: a head positioning signal generator (e.g., servo positioning signal generator 231) to the servo signal read out from the recording disk and the head position generated associated head positioning signal; peak filter (e.g., peak filter 234), having a peak at a plurality of frequencies and compensating repeatable deviate; and a control signal output unit (e.g., an adding unit 236 and a servo controller 235 in combination), to output the drive control means signal, the driving means according to the head positioning signal, a reference signal (e.g., target position signal) and the output of the peak filter to move the head; wherein, in the open loop transfer function of the servo system according to Nyquist diagram, when the peak filter In addition all the peaks "ωk" of "ω = 0" outside, Z0 is the point (-1,0), Z01 is the absence of the above-described ring-opening conditions peak filter transfer function of the servo system in "ωk" at the point , Zk is a case where the existence of a peak filter is servo system open loop transfer function at the point "ωk" at this time, extends from the point Z0 to Z01 Z0i point of the straight line and the point extends to the point of the straight line formed by Zk angle of 90 degrees or less. 伺服系统满足上述的条件,这能使RRO得到补偿。 Servo system satisfies the above conditions, which enables the RRO compensation. 同样,由于由从Z0i点到Zk点的直线构成的角度是90度或以下,系统的稳定性可以获得。 Also, since the angle formed by the Zk from Z0i point to point straight lines is 90 degrees or less, the stability of the system can be obtained.

由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线所形成的夹角优选为60度或以下。 To the straight line extending from the point Z0 points Z01 and Z01 point extends to the angle formed by the straight line Zk point is preferably 60 degrees or less. 由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线所形成的夹角进一步优选为45度或以下。 To the straight line extending from the point Z0 points Z01 and Z01 point extends to a straight line Zk point angle formed more preferably 45 degrees or less. 当依照上述条件限制处理负载的时候,通过这种方式可保证相位余量,系统的稳定性可以获得。 When according to the above conditions, when the processing load, stability can be assured in this way the phase margin, the system can be obtained.

由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线所形成的夹角优选为0度或以下。 To the straight line extending from the point Z0 points Z01 and Z01 point extends to the angle formed by the straight line Zk point is preferably 0 or below. 在这种情况下伺服系统的稳定性可以进一步提高。 In this case the stability of the servo system can be further improved. 另外,优选峰值滤波器的每个峰值应当与记录磁盘的旋转频率的整数倍数相一致。 Further, each peak peak filter should preferably with the rotation frequency of an integer multiple of the recording disk consistent. 这样,对RRO的更可靠的补偿变为可能。 Thus, for more reliable RRO compensation becomes possible.

优选地,记录磁盘应当包括多个磁道且每个磁道都有M个伺服扇区,峰值滤波器将根据峰值滤波器在第M个在先的扇区处生成的输出与磁头从预设的第N个在先的扇区到当前扇区的移动期间输入的多个状态变量乘以加权系数而获得的值之和,产生输出信号。 Preferably, the recording disc should include a plurality of tracks and each track has servo sectors M, the peak filter in the filter according to the peak of the M-th sector at the preceding output generated from a preset first magnetic head N previous sector to the current state during the movement of the plurality of sectors input variables obtained by the weighting factor and the sum of values to produce an output signal. 通过提供这种处理,可以容易地实现在频率等于旋转频率的整数倍处具有峰值的峰值滤波器。 By providing such a process, can be easily realized peak filter having a peak at a frequency equal to an integral multiple of the rotation frequency.

作为优选的例子,上面提到的记录磁盘应当包括多个磁道且每个磁道都有M个伺服扇区,峰值滤波器应当根据下面的表达式执行处理:u(n)=u(nM)+Σk=0NwkX(nk)]]>这里u:峰值滤波器的输出,M:一个磁道中的伺服扇区的数目,w:在先设置的实数,X:伺服系统中的状态变量,以及N:在先设置的自然数。 Preferable examples of the above-mentioned recording disk should include a plurality of tracks and each track has servo sectors M, peak filter should execute processing according to the following expression: u (n) = u (nM) + & Sigma; k = 0NwkX (nk)]]> where u: output of the peak filter, M: the number of servo sectors in a track, w: real number, X earlier settings: servo system state variables, and N: a natural number previously set. 而∑则是从“k=0到N”之间选出的多个项值之和。 And Σ is from "k = 0 to N" between the selected values and the plurality of items. 上面的状态变量可以是根据前面的参考信号和前面的位置信号之间的差值的偏差信号。 The above state variable according to the deviation signal may be a difference between the front and the front of the reference signal between the position signals.

上面的状态变量可以是根据前面的参考信号和前面的位置信号之间的差值的偏差信号,峰值滤波器可以是插在前面偏差信号的输出和前面控制信号输出单元的输入之间的元件。 The above state variables may be based on the difference between the previous deviation signal and the reference signal in front of the position signal, the peak filter may be inserted between the output and the error signal preceding the previous control signal output unit of the input element. 可选地,上述的状态变量可以是根据前面的参考信号和前面的位置信号之间的差值的偏差信号,峰值滤波器可以将前面偏差信号的输出作为输入,以及将前面控制信号输出单元的输出和峰值滤波器的输出进行相加。 Alternatively, the above-mentioned state variables may be based on the difference between the previous deviation signal and the reference signal in front of the position signal between the output of the peak filter can be in front of the deviation signal as the input, and the front of the control signal output unit output and peak filter output are summed.

本发明的第二实施例是具有伺服系统的磁盘驱动器,伺服系统通过使用在记录磁盘上记录的伺服信号来执行磁头的定位控制。 The second embodiment of the present invention is a disc drive having a servo system, the servo system by using a servo signal recorded on a recording disk to perform head positioning control. 在该磁盘驱动器中,伺服系统进一步被划分为:磁头,用来访问包含多个磁道且每个磁道包含M个伺服扇区的记录磁盘,以及读取与每个伺服扇区相关的伺服信号;峰值滤波器,根据磁头从预先设置的第N个在先的扇区到当前扇区的移动期间输入的多个状态变量(例如PES)乘以加权系数获得的值与在第M个在先的扇区处生成的峰值滤波器的输出之和,输出值;以及控制信号输出单元,依照由每个伺服扇区的伺服信号确定的与磁头位置相关的磁头定位信号、参考信号、以及峰值滤波器的输出信号,向驱动装置输出控制信号用以移动磁头;其中,在根据伺服系统的开环传递函数的Nyquist图中,当对于峰值滤波器的除了“ωk=0”之外的“ωk”的所有峰值,Z0是点(-1,0),Z01是没有上述的峰值滤波器的情况下,伺服系统的开环传递函数在“ωk”处的点,Zk是上述的峰值滤波器存在的情况下,伺服系统的开环传递函数在“ωk”处的点,此时,由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线形成的夹角为90度或以下。 In the disk drive, the servo system is further divided into: a magnetic head for accessing comprising a plurality of tracks and each track includes M recording disk servo sectors, and reading associated with each servo sector servo signal; peak filter, is multiplied by the value of the magnetic head according to the weighting coefficients obtained from the N-th set in advance to a plurality of sectors preceding the current state variable input during the movement of sector (e.g. PES) in the M-th and preceding and the output of the output value generated by the sector at the peak filter; and a control signal output unit in accordance with a servo signal from a servo sector is determined for each head position associated with the head positioning signal, a reference signal, and a peak filter The output signal to the driving control signal output means for moving the head; wherein, in the open-loop transfer function of the servo system Nyquist diagram, when the peak filter in addition to "ωk = 0" outside "ωk" of All peaks, Z0 is the point (-1,0), Z01 is the absence of the above-mentioned peak filter, the open-loop transfer function of the servo system in "ωk" at the point, Zk is the case of the presence of the above-mentioned peak filter open loop, the transfer function of the servo system in "ωk" at the point where, by the straight line extending to the point Z0 points Z01 and Z01 point extends to the angle formed by the straight line Zk point is 90 degrees or less. 伺服系统满足上述条件,而这能补偿RRO而不会使系统不稳定。 Servo system satisfying the above condition, which can compensate for RRO without causing system instability.

优选地,由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线所形成的夹角为60度或以下。 Preferably, the straight line extending from the point Z0 points Z01 and Z01 point extends to the angle formed by the straight line Zk point is 60 degrees or less. 更加优选地,由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线所形成的夹角为45度或以下。 More preferably, the straight line extending from the point Z0 points Z01 and Z01 point extends to the angle formed by the straight line Zk point is 45 degrees or less. 当依照上述条件限制处理负载的时候,通过在这种方式下保证相位余量,系统的稳定性可以获得。 When according to the above conditions, when the processing load, in this way guaranteed by the phase margin, the system stability can be obtained.

上面的状态变量可以是根据前面的参考信号和前面的位置信号之间的差值的偏差信号。 The above state variable according to the deviation signal may be a difference between the front and the front of the reference signal between the position signals. 峰值滤波器可以是前面偏差信号的输出和前面控制器的输入之间插入的元件。 Peak filter may be inserted in front of the deviation between the output and input signals of the front of the controller element. 可选地,上述的状态变量可以是根据前面的参考信号和前面的位置信号之间的差值的偏差信号,峰值滤波器可以将前面偏差信号的输出作为输入,以及将前面控制器的输出和峰值滤波器的输出进行相加。 Alternatively, the above-mentioned state variables may be based on the difference between the previous deviation signal and the reference signal in front of the position signal between the output of the peak filter can be in front of the deviation signal as the input, and the output of the front of the controller and the output of the peak filter are summed.

作为优选的例子,上述的峰值滤波器应当根据下面的表达式执行处理:u(n)=u(nM)+Σk=0NwkX(nk)]]> Preferable examples of the peak filter should execute processing according to the following expression: u (n) = u (nM) + & Sigma; k = 0NwkX (nk)]]>

这里u:峰值滤波器的输出,M:一个磁道中的伺服扇区数目,W:在先设置的实数,X:伺服系统中的状态变量,以及N:在先设置的自然数。 Here u: output of the peak filter, M: the number of servo sectors in a track, W: the preceding set of real numbers, X: Servo system state variables, and N: a natural number previously set. 而∑则是从“k=0到N”之间选出的多个项值之和。 And Σ is from "k = 0 to N" between the selected values and the plurality of items.

本发明的第三个实施例是一种磁盘驱动器中的磁头定位控制方法,旨在通过使用在记录磁盘上记录的伺服信号来执行磁头的定位控制。 A third embodiment of the present invention is a disk drive head positioning control method, aimed to perform head positioning control by using a servo signal recorded on the recording disk. 该方法包括:访问记录磁盘,该磁盘具有多个磁道且每个磁道包含M个伺服扇区;读出与每个伺服扇区相关的伺服信号;以及,依照三个因素,(1)由每个伺服扇区的伺服信号确定的与磁头位置相关的磁头位置信号,(2)参考信号,以及(3)根据磁头从预先设置的第N个在先扇区到当前扇区的移动期间输入的多个状态变量乘以加权系数获得的值与在第M个在先的扇区处生成的峰值滤波器的输出之和的值,向驱动装置提供控制信号的输出用以移动磁头;其中,在根据伺服系统的开环传递函数的Nyquist曲线图中,当对于峰值滤波器的除了“ωk=0”之外的所有极点“ωk”,Z0是点(-1,0),Z01是没有上述的峰值滤波器的情况下伺服系统的开环传递函数在“ωk”处的点,Zk是上述的峰值滤波器存在的情况下伺服系统的开环传递函数在“ωk”处的点,此时,Z0点是位于从Z01点的邻域经过Zk点向Z01点延伸的曲线外的一点。 The method comprising: accessing the recording disk, the disk having a plurality of tracks and each track includes M servo sectors; associated with each servo sector servo signal reading; and, in accordance with the three factors, (1) by each of the The servo signal of servo sectors to determine the associated head position and the head position signal, (2) a reference signal, and (3) during the movement of the sector input from the magnetic head according to a pre-set sector of the N previous to the current a plurality of state variable values of the weighting coefficients obtained by multiplying the sum of the output generated in the M-th sector of the preceding peak value of the filter, to the drive means provides an output control signal for moving the head; wherein, in According to the open-loop transfer function of the servo system Nyquist graph, when the peak filter in addition to "ωk = 0" than all pole "ωk", Z0 is the point (-1,0), Z01 is not the above-described ring-opening of the case of the peak filter transfer function of the servo system in "ωk" at the point, Zk is a case where the ring-opening of the presence of the peak filter transfer function of the servo system in "ωk" at the point where, Z0 point is the point of the curve from the Z01 Point neighborhood Zk point after point to extend outside the Z01. 依据本实施例,通过使用在第M个在先的扇区处生成的输出值和多个状态变量乘以加权系数而获得的乘积,有效补偿RRO的峰值滤波器可以在磁盘驱动器中构成。 According to this embodiment, by using the product in the M-th sector at the preceding output value and a plurality of state variables generated by the weighting factor is obtained, the effective peak RRO compensation filter may be formed in the disk drive. 同样,传递函数满足上述条件就能获得系统的稳定性。 Similarly, the transfer function can be obtained to satisfy the above conditions of stability of the system. 在方便系统稳定性设计方面,优选由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线形成的夹角设定为90度或以下。 In convenient design system stability, preferably to a straight line extending from the point Z0 points Z01 and Z01 point extends to the point of the angle formed by the straight line Zk set to 90 degrees or less.

本发明的第四实施例是一个伺服系统,用以在旋转体上定位被控制的物体,其中的伺服系统包括:伺服信号读出器,用以读出记录在旋转体上的伺服信号;以及具有峰值滤波器的控制器,该峰值滤波器的增益在各个等于旋转体的旋转速度的整数倍的频率处等于或大于规定的值,根据上面读出的伺服信号、参考信号、以及峰值滤波器的输出,控制器产生控制信号,用来控制要被控制的物体的位置;其中,在根据伺服系统的开环传递函数的Nyquist曲线图中,当对于峰值滤波器的除了“ωk=0”之外的所有“ωk”峰值中的每一个,Z0是点(-1,0),Z01是没有上述的峰值滤波器的情况下伺服系统的开环传递函数在“ωk”处的点,Zk是上述的峰值滤波器存在的情况下伺服系统的开环传递函数在“ωk”处的点,此时,由Z0点延伸到Z01点的直线和Z01点延伸到Zk点的直线形成的夹角为90度或以下。 The fourth embodiment of the present invention is a servo system for positioning an object to be controlled on a rotating body, wherein the servo system comprising: a servo signal reader for reading data recorded on the rotator of servo signal; The controller has a peak filter, the peak gain of the filter is equal to or greater than a prescribed value in each of the rotational speed of the rotating body is equal to an integer multiple of the frequency, based on the servo signal read out of the above, the reference signal, and a peak filter output, the controller generates a control signal for controlling the position of an object to be controlled; wherein, in the open-loop transfer function of the servo system Nyquist graph, when the peak filter in addition to "ωk = 0" of outside all "ωk" peaks each, Z0 is the point (-1,0), Z01 is the absence of the above-mentioned open-loop peak filter case servo system transfer function "ωk" at the point, Zk is open loop transfer function of the peak filter case of the above servo system in the presence of the point "ωk" at this time, to the straight line extending from the point Z0 points Z01 and Z01 point extends to the angle between the straight line formed by points for Zk 90 degrees or less. 伺服系统满足上述条件,并且这能补偿RRO而不会使系统不稳定。 Servo system satisfies the above conditions, and this can compensate for RRO without causing system instability.

优选地,前面的旋转体包括多个磁道且每个磁道包括M个伺服扇区,并且前面的峰值滤波器,根据峰值滤波器在第M个在先的扇区处生成的输出与从预设的第N个在先的扇区到当前扇区的移动期间输入的多个状态变量乘以加权系数获得的值之和,产生输出信号。 Preferably, the front of the rotating body comprises a plurality of tracks and each track includes M number of servo sectors, and a filter in front of the peak, the peak filter in the M-th sector at the preceding and the generated output from the preset N-th sector to the prior state of the current during the movement of the plurality of sectors input variables by the weighting factor and the obtained value, generate an output signal. 通过提供这种处理,可以方便地实现在等于旋转频率整数倍的频率处具有峰值的峰值滤波器。 By providing such a process, can be easily implemented in a frequency equal to an integral multiple of the rotational frequency of a peak having a peak filter.

依照本发明,RRO可以被跟踪而不引起伺服系统的不稳定。 According to the invention, RRO can be tracked without causing instability of the servo system.

附图说明 Brief Description

图1是显示依照本发明的硬盘驱动器的示意性结构的方框图;图2是显示依照本发明的伺服系统的结构的方框图;图3是显示依照本发明伺服系统的另一结构的方框图;图4是显示依照本发明的伺服系统处理流程的流程图;图5A、5B、5C显示的是依照本发明的伺服系统开环传递函数的Nyquist曲线图;图6显示的是依照本发明的伺服系统的开环传递函数的极点;图7是显示依照本发明的伺服系统的开环传递函数所满足的条件的Nyquist曲线图;图8A和8B是其他的Nyquist曲线图,显示了依照本发明的伺服系统的开环传递函数所满足的条件;图9仍是另一个Nyquist曲线图,显示的是依照本发明的伺服系统的开环传递函数满足的条件。 Figure 1 is a block diagram of a hard disk drive of the present invention in accordance with the schematic structure; FIG. 2 is a block diagram showing the configuration of the servo system in accordance with the present invention; FIG. 3 is a block diagram showing another configuration of the servo system in accordance with the present invention; FIG. 4 is a flow chart of the servo system in accordance with the present invention is a process flow; Fig. 5A, 5B, 5C shows the servo system in accordance with the present invention, open-loop transfer function of the Nyquist plot; Fig. 6 shows a servo system in accordance with the present invention. open loop transfer function of the pole; FIG. 7 is a transfer in accordance with the open-loop servo system of the present invention is a function of the Nyquist graphs meet conditions; Figures 8A and 8B are other Nyquist graphs showing the servo system in accordance with the present invention. The open-loop transfer function satisfies the condition; FIG. 9 is still another Nyquist graph showing the open-loop servo system in accordance with the present invention satisfies the conditions of the transfer function.

具体实施方式 DETAILED DESCRIPTION

下面描述用于本发明的一个实施例。 Described below for one embodiment of the present invention. 下面的描述涉及本发明的一个实施例,本发明不限于也不受限于下面描述的实施例。 The following description relates to an embodiment of the present invention, the present invention is not limited to also not limited to the embodiments described below. 为了说明书的简明和清楚,下面的描述和附图做了适当的省略和简化。 For simplicity and clarity of description, the following description and drawings made appropriate omitted and simplified. 同样,下面实施例中的每个部件由本领域技术人员可以容易地修改、添加、以及在本发明范围内替换都将是可以理解的。 Similarly, examples of embodiments below each component can be easily modified by those skilled in the art, add, and substitutions within the scope of the present invention will be understandable. 在每个附图中,同一部件被分配相同的标号,为了说明书的简明和清楚,重复的描述已经按要求省略。 In each of the figures, the same components are assigned the same reference numerals, for simplicity and clarity of the specification, repeated description has omitted as required.

本实施例的硬盘驱动器(HDD)在伺服系统的反馈路线上有峰值滤波器。 Hard disk drive (HDD) according to this embodiment in the feedback path of the servo system with a peak filter. 该峰值滤波器的设计,使磁盘旋转速度处和旋转速度中包含的高频成分中的增益采取规定的值或以上,尤其设计成使旋转速度、其高频成分、以及峰值相匹配。 The peak filter is designed so that high-frequency component at the disk rotational speed and the rotation speed is included in the value taken by a predetermined gain or more, especially designed so that the rotational speed, the high frequency components, and the peak match. 所需的峰值滤波器在伺服系统的插入允许补偿由于例如磁道圆度的偏差事件而导致的可重复偏离(RRO)误差。 Required peak filter is inserted in the servo system allows the compensation due to events such as track roundness deviation caused repeatable deviation (RRO) error. 同样,使用具有所需特征的峰值滤波器允许补偿可重复偏离误差而不会引起由于峰值滤波导致的伺服系统的不稳定。 Similarly, the use of a peak filter having the desired characteristics allows to compensate repeatable errors without departing from the peak due to the instability caused by the filter due to the servo system.

在此略述安装伺服系统的HDD的总体结构,用以说明依照本实施例的伺服系统。 In this outline of the overall structure of the servo system to install the HDD, for explaining the servo system in accordance with the present embodiment. 图1是显示依照本实施例的HDD1的示意性结构的方框图。 Figure 1 is a block diagram in accordance with an embodiment of the present HDD1 schematic configuration of a display. HDD1在其方框10中具有:磁盘11,其实例为旋转磁盘(记录磁盘);磁头元件部件12,其实例为磁头;臂电子元件(AE)13;主轴电机(SPM)14;以及音圈电机(VCM)15。 HDD1 block 10 in which: a magnetic disk 11, an example of a rotary disk (recording disk); magnetic head element member 12, examples of the magnetic head; arm electronics element (AE) 13; spindle motor (SPM) 14; and a voice coil Motor (VCM) 15. HDD1同样有电路板20固定在方框10外面。 HDD1 also has a circuit board 20 is fixed at 10 outside the block. 在电路板20的上面具有:读/写信道(R/W信道)21;电机驱动单元22;硬盘控制器(HDC)/MPU集成电路(HDC/MPU)23;以及RAM24。 In the above circuit board 20 includes: a read / write channel (R / W channel) 21; the motor driving unit 22; hard disk controller (HDC) / MPU integrated circuit (HDC / MPU) 23; and RAM24. 这些组成元件仅是示例;例如,它们同样可以组装在一个芯片上。 These constituent elements are merely examples; for example, they also can be assembled on a single chip.

从外部主机(未在图中示出)中得到的准备写入的数据由HDC/MPU23来接收,然后经R/W信道21和AE13由磁头元件部件12写到磁盘11上面。 From an external host computer (not shown in the figures) to be written in the data obtained by the HDC / MPU23 to receive, and then by 21 and AE13 R / W channel member 12 is written by the head element 11 above the disk. 另外,存储在磁盘11中的数据由磁头元件部件12读出,这样读出的数据经由AE13和R/W信道21从HDC/MPU输出到外部主机。 Further, data stored on disk 11 is read by the magnetic head element member 12 out, the data thus read out via AE13 and R / W channel 21 output from the HDC / MPU to the external host.

接着,在下面描述HDD1的结构元件。 Next, structural elements HDD1 is described below. 首先概述磁盘11和磁头元件部件12的驱动机制。 First, an overview of the disk 11 and the head element part of the drive mechanism 12. 磁盘11固定在SPM 14的旋转轴上面。 SPM rotary disk 11 fixed to the shaft 14 above. 该SPM14由电机驱动单元22驱动,SPM 14按所需的速度旋转磁盘11。 The SPM14 driven by the motor drive unit 22, SPM 14 according to the desired speed rotating disk 11. 磁盘11的双面都有记录表面用来记录数据,以及与每个记录表面相关的磁头元件部件12。 11 has a double-sided disk recording surface for recording data, and associated with each recording surface of the head element section 12. 每个磁头元件部件12固定在浮动块(未示出)上面。 Each magnetic head element 12 is fixed to the slider member (not shown) above. 同样,该浮动块固定在托架(未示出)上。 Similarly, the slider is fixed to the bracket (not shown). 托架固定在VCM 15上,并摆动使浮动块和磁头元件部件12在磁盘11的表面径向移动,磁头元件部件12由此可以访问所希望的区域。 The brackets to the VCM 15, and the swing block and the floating magnetic head element 12 in the surface of the disk member 11 to move radially, whereby the magnetic head element member 12 can access the desired region.

典型地,记录磁头将电信号转换成与存储在磁盘11上的数据相一致的磁场,而再现磁头将从磁盘11提供的磁场重新恢复为电信号,它们一起组成了磁头元件部件12。 Typically, the electrical signal into the recording head is consistent with the data stored on the magnetic disk 11, and the reproducing magnetic field provided by the magnetic head from the disk 11 into an electric signal restored, which together make up the magnetic head element section 12. 磁盘11的数目可以是一个或多个,记录表面可以仅由每个磁盘11的一面组成或者双面组成。 The number of the disk 11 may be one or more, the recording surface may be composed of only one side of each disk 11 or a double-sided composition. 另外,本发明的伺服系统可以应用于或是仅具有再现磁头或是仅具有记录磁头的装置。 In addition, the servo system of the present invention can be applied or only a reproducing head or a magnetic head having only a recording apparatus.

接着,下面描述电路结构。 Next, the circuit configuration is described below. AE 13从多个磁头元件部件12中选择一个要进行数据访问的磁头元件部件12,以固定的增益预先放大由选中的磁头元件部件12再现的信号,并将该再现信号发送至R/W信道21。 AE 13 to select from a plurality of magnetic head elements 12 to be part of a data access head element member 12, a fixed gain amplified signal from the previously selected reproducing magnetic head element member 12, and the reproduction signal is sent to the R / W channel twenty one. AE 13同样发送从R/W信道21中接收的记录信号至选中的磁头元件部件12。 AE 13 sends the recording signal 21 is also received in the R / W channel from the member to the selected magnetic head element 12.

R/W信道21对从主机获得的数据执行写处理。 R / W channel 21 pairs of data obtained from the execution host write process. 在写处理期间,R/W信道21将HDC/MPU 23提供的写数据调制成代码,进一步将经代码调制过的写数据转换为写信号(电流),并将这些数据提供到AE 13。 During the writing process, R / W channel 21 to write data HDC / MPU 23 to provide the modulated code, further processing the code-modulated write data into a write signal (current), and supplies the data to the AE 13. 同样,当分配数据到主机的时候,R/W信道21执行读处理。 Similarly, when allocating data to the host, R / W channel 21 executes read processing. R/W信道21在读处理期间,从AE 13接收读出信号后,放大这个信号以获得固定的幅度,然后从获得的读出信号中提取数据,并解码该数据。 R / W channel 21 during the read process, upon receiving the read signal from the AE 13, amplifies the signal to obtain a constant amplitude, and then extracts data from the read signal obtained and decodes the data. 这样读出的数据包括用户数据和伺服数据。 Data thus read out includes user data and servo data. 经解码的读出数据被分配给HDC/MPU 23。 The decoded read data is assigned to the HDC / MPU 23.

HDC/MPU 23是将HDC和MPU集成为一块芯片的电路。 HDC / MPU 23 is integrated into an HDC and MPU chip circuit. MPU依照装载在RAM 24中的微代码来操作,除了例如磁头元件部件12的定位控制、接口控制、以及缺陷管理的全部HDD1控制之外,还执行必要的数据处理。 MPU loaded in the RAM 24 in accordance with microcode to operate, in addition to the components such as the magnetic head element 12 of the positioning control, interface control, defect management, and control of all HDD1, but also performs the necessary data processing. 当HDD1开始运行时,除了在MPU上运行的微代码之外,从磁盘11或ROM(未示出)装载控制所需和数据处理所需的数据到RAM 24中。 When HDD1 starts running, in addition to the micro-code running on the MPU, from the disk 11 or a ROM (not shown) loading control and data required for the desired data processing to the RAM 24.

由R/W信道21读出的数据包括伺服数据以及用户数据。 Data from the R / W channel 21 includes a servo data read out and the user data. HDC/MPU 23执行使用伺服数据的磁头元件部件12的定位控制。 HDC / MPU 23 perform the servo data head positioning control section 12 of the element. 从HDC/MPU 23发出的控制信号(数字信号)输出到电机驱动单元22。 A control signal (digital signal) sent from the HDC / MPU 23 outputs to the motor drive unit 22. 电机驱动单元22依照控制信号的特定级别向VCM 15提供驱动电流。 Motor drive unit 22 in accordance with the control signal to provide a certain level of the driving current to the VCM 15.

接着,下面描述本实施例的HDD 1中的伺服系统。 Next, the HDD 1 is described below in the servo system of the present embodiment. 图2是显示本实施例中伺服系统结构的方框图。 Figure 2 is a block diagram of the servo system configuration of the present embodiment. R/W信道21包括伺服信道211,用以从AE 13的信号输出中提取伺服信号。 R / W channel 21 includes a servo channel 211, a servo signal for extracting a signal output from the AE 13 in. HDC/MPU 23包括:伺服定位信号发生器231,用以产生伺服定位信号;目标位置设置器232,为磁头元件部件设置目标位置;位置误差信号发生器233,根据伺服定位信号和作为参考信号从目标位置设置器232发出的目标位置信号产生位置误差信号(PES);峰值滤波器234;以及伺服控制器235,向电机驱动单元22输出数字控制信号(DACOUT),用以控制VCM 15(亦即控制VCM15的电流量)。 HDC / MPU 23 include: 231 servo positioning signal generator for generating a servo positioning signal; target position setter 232, set the target location for the head component parts; position error signal generator 233, according to the servo positioning signal and the reference signal target position signal generating a position error signal at the target position setter 232 emitted (PES); peak filter 234; and a servo controller 235, the motor driving unit 22 outputs a digital control signal (DACOUT), for controlling the VCM 15 (i.e. VCM15 control the amount of current).

每个HDC/MPU 23的内部组元都可以由硬件结构或由MPU上的微代码操作来实现。 Each HDC / MPU 23 of the internal component can be made by a hardware structure or microcode operating on the MPU is achieved. 合适的硬件/软件结构根据设计而选择。 Appropriate hardware / software architecture based on the design and selection. 执行必要处理的逻辑模块同样可以依照适当的设计由任意的硬件结构组装而成。 Perform the necessary processing logic module can also be assembled in accordance with the appropriate design made by any of the hardware architecture.

伺服信号径向记录在磁盘11上。 A servo signal recorded on the disk 11 radially. 每个伺服信号(伺服再现信号)包括间隔、伺服AGC(自动增益控制)信息、伺服地址、以及脉冲模式。 Each servo signal (servo signal reproduced) comprises a spacer, servo AGC (automatic gain control) information, a servo address, and a pulse mode. 该间隔消除了由例如转速的变化因素引起的定时误差。 The spacing eliminates timing errors due to factors such as changes in the rotational speed caused. 伺服AGC信息是用来确定受AGC控制的伺服信号增益的。 AGC servo information by the servo signal is used to determine the gain of the AGC control. 伺服地址包括柱面ID、伺服扇区号、以及其他地址信息。 The servo address includes cylinder ID, a servo sector number, address, and other information. 通过数字化特定的再现信号的幅度或其他因素的变化,脉冲模式用来执行磁头元件部件112的磁道控制(磁道跟踪),或者类似的控制。 By digitizing the amplitude of the reproduced signal changes in the specific or other factors, the pulse mode is used to perform the magnetic head element control member 112 track (track following), or a similar control.

在磁盘11上的每个伺服信号都是从磁头元件部件12中读出,通过AE 13放大,然后输入至伺服信道211。 Each servo signals on the disk 11 is read out from the head element 12 parts by AE 13 amplified, and then input to the servo channel 211. 伺服信道211在所需的控制期间内被激活并从AE 13获取伺服信号。 Servo channel 211 is activated within the required period and gain servo control signal from the AE 13. 伺服信道211,在从AE 13获取模拟伺服信号后,同样以所要求的采样频率将模拟信号转换为数字信号。 Servo channel 211, after obtaining the analog servo signal from AE 13, similarly to the desired sampling frequency analog signal into a digital signal. 伺服信道211进一步将A/D转换后的信号解码为伺服地址。 Signal decoding servo channel 211 is further A / D converted for the servo address. 这样解码得到的地址以及经A/D转换后的脉冲串信号都被传送到伺服位置信号发生器231中。 Address and the A / D converted burst signal thus decoded are transmitted to the servo position signal generator 231.

根据从伺服信道211发出的伺服信号,伺服定位信号发生器231产生伺服定位信号,用以指示磁头元件部件12的当前位置。 231 generates a servo position signal based on the servo signal from the servo channel 211 issued servo positioning signal generator for indicating the current position of the magnetic head element member 12 of. 目标位置设置器232输出目标位置信号,用以指示磁头元件部件12将移动到的目标位置。 Target position setter 232 outputs a target position signal for instructing the magnetic head element member 12 will move to the target position. 位置误差信号发生器233比较伺服定位信号和目标位置信号并产生信号(PES),用以指示当前位置相对于目标位置的偏差的大小和方向。 Comparing the position error signal generator 233 servo positioning signal and the target position signal and generates a signal (PES), for indicating the current location with respect to the magnitude and direction of the deviation of the target position. PES信号指示磁头元件部件12在磁盘11的径向方向的内部或外部与目标位置偏了多远。 PES signal indicating the head element section 12 inside or outside of the target position in the radial direction of the disk 11 is biased so far.

由位置误差信号发生器233产生的PES信号被输入到峰值滤波器234中。 PES signal generated by the position error signal generator 233 is input to the peak generated by the filter 234. 峰值滤波器234在频率等于磁盘11的旋转频率的整数倍(包括1)处有多个峰值。 Peak filter 234 at a frequency equal to the frequency of rotation of the disk 11 is an integer multiple (including 1) at a plurality of peaks. 当来自AE13的模拟信号转换成数字信号时,峰值滤波器234在所有频率小于Nyquist频率且等于旋转的整数倍处存在峰值。 When there is a peak of the analog signal from the AE13 into a digital signal, the peak filter 234 is less than the Nyquist frequency and all frequencies equal to integer multiples of the rotation.

从位置误差信号发生器233产生的信号PES,和峰值滤波器234的输出由加法单元236加在一起。 PES signal from the position error signal generator 233 generated, and the output of the peak filter 234 are added together by the addition unit 236. 加法单元236这样产生的信号随后输入到伺服控制器235中。 Signal adding unit 236 thus generated is then input to the servo controller 235. 根据信号PES以及峰值滤波器234的输出信号,伺服控制器235产生用以控制VCM 15的控制信号DACOUT。 235 generates a control signal for controlling the VCM DACOUT 15 based on the signal PES and the output signal of the peak filter 234, the servo controller. 该DACOUT信号即到电机驱动单元22的DAC的输出信号,被输入到电机驱动单元22,然后DA转换DACOUT并提供所需值的电流至VCM15。 The DACOUT signal i.e., to the DAC output signal of the motor drive unit 22, is input to the motor driving unit 22, and the DA converter DACOUT and provide the required current value to VCM15.

正如上面所述,在本实施例的伺服系统中,根据位置误差信号发生器233的PES信号和从过滤信号PES的峰值滤波器234发出的输出信号,伺服控制器235产生用于VCM 15的控制信号。 As described above, in the servo system of the present embodiment, based on the position error signal PES signal generator 233 and an output signal from the peak filter 234 of the filtered signal PES issued, the servo controller 235 generates a control for the VCM 15 of signal. 峰值滤波器234具有多个峰值,同时在频率等于旋转频率的整数倍处,还具有等于或大于规定值的增益。 Peak filter 234 having a plurality of peaks, at the same time at a frequency equal to an integer multiple of the rotation frequency, also has a value equal to or greater than the predetermined gain. 具体地,在当前的例子中,优选实施例中的峰值滤波器234在多个等于旋转频率整数倍的频率处具有峰值。 Specifically, in the present example, the preferred embodiment of the peak filter 234 is rotated in a plurality of frequencies equal to an integer multiple of the frequency of embodiment has a peak. 伺服信号中的可重复偏离误差通过在伺服系统的反馈电路中插入峰值滤波器234可以得到有效补偿。 Servo signal repeatable deviated error by inserting the peak filter in the feedback circuit of the servo system 234 can be effectively compensated.

在这种情况下,峰值滤波器的插入位置不限于位置误差信号发生器233的输出和伺服控制器235的输入之间的部分。 In this case, the insertion position is not limited to the peak filter between the input portion 235 of the position error signal generator 233 and the output of the servo controller. 代替上面的情况,如图3所示,峰值滤波器237可插在PES信号的输出部分和DACOUT的输入部分之间。 Instead of the above case, shown in Figure 3, the peak filter 237 may be interposed between the input section and the output section DACOUT of the PES signal. 根据从位置误差信号发生器233接收的PES信号,伺服控制器235产生控制信号。 According PES signal 233 received from the position error signal generator, the servo controller 235 generates a control signal. 同样,位置误差信号发生器233发出的PES信号被输入到峰值滤波器237中。 Similarly, PES signal emitted position error signal generator 233 is input to the peak filter 237. 峰值滤波器237发出的输出信号和伺服控制器235发出的控制信号都被输入到加法单元238中,加法单元238产生的信号随后作为控制信号DACOUT输入到电机驱动单元22。 Output signal and the peak filter servo controller 237 to issue a control signal 235, are input to the adder unit 238, the signal generated by the adding unit 238 is then input as a control signal DACOUT to the motor drive unit 22.

如上所述,可重复偏离误差可以通过在伺服系统的反馈信道中插入所需的峰值滤波器234或237而得到补偿。 As mentioned above, can be repeated by the peak filter out errors in the feedback channel servo system to insert the required 234 or 237 and get compensation. 下面将描述峰值滤波器234和237以及包括峰值滤波器的伺服系统的特征。 The following will describe the characteristics of the peak filter 234 and 237, and includes a peak filter servo system. 本实施例中的峰值滤波器计算在第M个在先的扇区(M是一个磁道中伺服扇区的数目,等于磁头之前的一整周)处生成的峰值滤波器的输出,与在移动到当前伺服扇区之前被读出的选出的多个伺服扇区的状态变量乘以加权系数而获得的值之和。 Example peak filter computing at the M-th previous sectors (M is the number of servo sectors in a track, the magnetic head is equal to a whole week before) generated at the output of the peak filter, and in the present embodiment the mobile the state variables are read out before the servo sector currently selected plurality of servo sectors by the weighting factor and the value obtained. 这就是说,峰值滤波器按照下面的数字表达式执行运算处理:u(n)=u(nM)+Σk=0NwkX(nk)---(1)]]>在上面的数字表达式(1)中,“u”是峰值滤波器输出,M是在一个磁道中伺服扇区的数目,“w”是在先设置的实数,X是在伺服系统中的状态变量,以及N是在先设置的自然数。 That is, the peak filter performs arithmetic processing in accordance with the following numeric expression: u (n) = u (nM) + & Sigma; k = 0NwkX (nk) --- (1)]]> In the above numeric expression (1), "u" is the peak filter output, M is the number of servo sectors in one track, "w" is a real number set previously, X is a servo system in the state variables, and N is first set of natural numbers. 而在上面表达式中的∑则是从“k=0到N”中选出的多个峰值之和。 In the above expression Σ is from "k = 0 to N" of the selected plurality of peaks and. 所选出的多个项的个数或哪一项将要选出在设计时确定。 The number of multiple items of the selected or determine which one will be selected at design time. PES信号或输出到电机驱动单元22的输出信号DACOUT作为状态变量X来使用。 PES signal to the output signal or output DACOUT motor drive unit 22 is used as the state variable X.

下面描述的是元件的例子,其功能相当于峰值滤波器234或237对在第M个在先的扇区处生成的滤波器输出,和从M个在先扇区的需要数目的状态变量(亦即在磁头的前面的一整周的结尾处),具体地即误差成分PES进行积分。 Described below is an example of element, its function is equivalent to the peak filter 234 or 237 pairs generated in the first sector of the M preceding the filter output, and from the required number of sectors preceding the M state variable ( i.e., in front of a head at the end of the entire circumference), i.e. in particular PES error component is integrated. 亦即,在前面的描述中,PES信号就相当于状态变量X。 That is, in the foregoing description, PES signal is equivalent to the state variable X. 峰值滤波器234或237执行由下面的表达式确定的运算处理:u(n)=u(nM)+Σk=0kwkPES(n-(Mk))---(2)]]>这里的K是在设计时就预设的自然数。 Peak filter 234 or 237 is executed by the following arithmetic processing to determine the expression: u (n) = u (nM) + & Sigma; k = 0kwkPES (n- (Mk)) --- (2)]]> where K is designed to preset a natural number. 同样,不同于数字表达式(1),∑表示从“k=0”到“K”的各个项之和。 Also, unlike the digital expression (1), Σ represents the "k = 0" to "K" of the sum of individual items.

这些数字表达式的Z变换被表达为“f(z)/(zM-1)”,其中的“f(z)”是“z”的所要求的函数,这个传递函数在“z”满足“zM=1”处有极点。 Z transform these numbers are expressed as expressions "f (z) / (zM-1)", where the "f (z)" is a function of "z" required, the transfer function "z" satisfy " zM = 1 "at the pole there. 如上所述,峰值滤波器234或237在磁盘11的旋转频率和高阶频率的所有位置都有峰值,因此可以在所有的频率处除去可重复偏离误差成分。 As described above, the peak filter 234 or 237 in any position of the rotation frequency of the disk 11 and has a higher order frequency peak, it is possible to remove the error component can be repeated in all deviate frequencies.

执行上述数字表达式(2)的运算处理的峰值滤波器234或237,根据与从第M个在先扇区到当前扇区的多个扇区相关的状态变量乘以加权系数获得的值与在第M个在先的扇区处生成的滤波器的输出之和,确定输出值。 Peak filter performs (2) of the said digital arithmetic operation expressions 234 or 237, in accordance with the plurality of sectors from the sector to the M-th preceding the current sector is multiplied by the value of state variables associated with weighting coefficients obtained generating in the first sector of the M outputs of the preceding and the filter output values are determined. 与从第M个在先扇区到当前扇区的多个连续扇区相关的PES信号[PES(nM)到PES(n-M+k)]在数字表达式(2)的例子中使用。 PES signal and a plurality of continuous sectors from the M-th sector to the preceding current sector associated [PES (nM) to the PES (n-M + k)] using the numeric expressions (2) of the example. 然而,如数字表达式(1)所示,具体使用与从第M个在先扇区到当前扇区的多个扇区相关的信号PES的那些部分根据设计确定。 However, as a numeric expression (1), the specific use of those portions of the signal PES and the plurality of sectors from the M-th sector to the preceding current sector is determined according to the relevant design. 例如,可以使用与从当前扇区开始的一定数目的在先扇区[PES(n)到PES(nN)]相关的信号,其在上面表达式的积分中相当于等式(2)中“Mk”到“k”的变化。 For example, a signal associated with the current sector from the beginning of a certain number of preceding sectors [PES (n) to the PES (nN)], which is equivalent to the integral of the above expression (2) in the equation " Mk "to" k "changes. 伺服系统通过数字处理确定控制信号DACOUT,并且在比旋转频率更高阶的频率中,仅那些低于Nyquist频率的才会成为问题。 The servo system is determined by the digital processing control signals DACOUT, and higher order than the rotation frequency of the frequency, only those below the Nyquist frequency will become a problem.

在M>3的系统中具有K=3的值的峰值滤波器234或237在下面示出作为依照上述表达式(2)的元件的例子。 Filter having a peak value of K = 3 at M> 3, the system 234 or 237 as shown below in accordance with the above expression (2) is an example of element. 峰值滤波器234依照下面的数字表达式(3)执行运算处理:u(n)=u(nm)+WM-3PES(n-M+3)+WM-2PES(n-M+2) (3)+WM-1PES(n-M+1)+wMPES(nM)这相当于M>3以及f(z)被赋值给三次多项式的情况。 Peak filter 234 in accordance with the following numeric expressions (3) to perform arithmetic processing: u (n) = u (nm) + WM-3PES (n-M + 3) + WM-2PES (n-M + 2) (3 ) + WM-1PES (n-M + 1) + wMPES (nM) which corresponds to M>, and the case f (z) is assigned to a cubic polynomial of 3. 更具体地,上面数字表达式(3)的Z变换给出f(z)如下: More specifically, the above numeric expression (3) gives the Z-transform f (z) as follows:

U(z)=z-MU(z)+WM-3Z3-MPES(z)+…+WMz-MPES(z)U(z)=(WM-323+…+WM)PES(z)/(zM-1)(4)f(z)=wM-3z3+wM-2Z2+wM-1z+wM下面参考图4的流程图来描述处理的例子,在该例中,峰值滤波器234在图2的系统中执行数字表达式(3)的运算。 U (z) = z-MU (z) + WM-3Z3-MPES (z) + ... + WMz-MPES (z) U (z) = (WM-323 + ... + WM) PES (z) / (zM -1) (4) f (z) = wM-3z3 + wM-2Z2 + wM-1z + wM example below with reference to a flowchart of FIG. 4 described process, in this example, the peak filter 234 in FIG. 2 execution system (3) the number of arithmetic expressions. 在第S11步等待移动到扇区(i)之后,系统在第S12步中获取在扇区(i)被读出的PES(n)。 After the step S11 to wait for the mobile sector (i), the system acquisition in the sector is read out (i) in step S12 in PES (n). 通过执行在第S13步数字表达式中表达的运算处理,峰值滤波器234使用获取到的PES(n)来计算U(n)。 By performing arithmetic processing in step S13 digital expression expression, the peak filter 234 using the acquired PES (n) to calculate U (n). 在步骤S14中,加法单元256将峰值滤波器234的U(n)输出与PES(n)相加,然后输出Y(n)。 In step S14, the adder unit 256 of the peak filter 234 of U (n) output and PES (n) are added, then the output Y (n). 在步骤S15中,伺服控制器235从Y(n)生成控制信号DACOUT并将该信号输出至电机驱动单元22。 In step S15, the servo controller 235 generates from Y (n) DACOUT control signal and outputs the signal to the motor drive unit 22.

这个时候防止峰值滤波器234执行上面的运算处理而使伺服系统变得不稳定是有必要的。 This time the peak filter 234 to prevent the execution of the above arithmetic processing leaving the servo system becomes unstable is necessary. 任何滤波器的插入有可能会导致系统变得不稳定。 Insert any filters may cause the system to become unstable. 为了保证伺服系统稳定,有必要插入所需特征的峰值滤波器。 In order to ensure a stable servo system, it is necessary to insert a peak filter with the desired characteristics. 为了像在本例中那样添加过去的状态变量,峰值滤波器234或237中添加的项的数目(K的值)和每项的系数“w”需要适当设置以便满足所需的特征。 To add to the past state variables like as in the present example, the number (K value) in the peak filter 234 or 237 and add the entry for each of the coefficients "w" require appropriate set so as to satisfy desired characteristics. 保持系统稳定的峰值滤波器234或237,设计包括这个峰值滤波器的伺服系统的方法,以及伺服系统和峰值滤波器应满足的特征将在下面描述。 To keep the system stable peak filter 234 or 237, including the design of the peak filter servo system method, and the servo system and the features to be satisfied by the peak filter will be described below.

通过使用Nyquist曲线图可以确定峰值滤波器234或237应满足的特性。 By using the graph to determine the peak Nyquist filter 234 or 237 should satisfy characteristics. 取峰值滤波器234或237的传递函数为F(z),伺服控制器235的传递函数为C(z),以及从伺服控制器235的输出到伺服定位信号发生器231的输出的传递函数为P(z)。 234 or 237 takes a peak filter transfer function F (z), the transfer function of the servo controller 235 is C (z), and an output from the servo controller 235 to the servo positioning signal generator 231 outputs the transfer function P (z). 图2的伺服系统中的开环传递函数H1被表达为H1=PC(1+F),以及图3的伺服系统中的开环传递函数H2被表达为H2=P(C+F)。 The servo system of Figure 2 in the open loop transfer function H1 is expressed as H1 = PC (1 + F), and FIG. 3 of the servo system in the open loop transfer function H2 is expressed as H2 = P (C + F).

在没有插入峰值滤波器234或237的伺服系统中,开环传递函数H表达为H3=PC。 Peak filter is not inserted in the servo system 234 or 237, the open loop transfer function H is expressed as H3 = PC. 当“z”如图5A所示从0变为2π时,开环传递函数H3(=PC)的Nyquist曲线图(矢量轨迹)得到了例如这样的曲线,其看起来就像是如图5B所示(这条曲线仅是例中轨迹的部分)。 When "z" as shown in FIG time from 0 to 2π, 5A open-loop transfer function H3 (= PC) of the Nyquist plot (vector locus) obtained e.g. such curves, which looks like FIG. 5B shown (only a portion of this curve in the track of the embodiment). 在具有插入本实施例中的峰值滤波器234或237的系统中,开环传递函数H1或H2的Nyquist曲线图发生改变,例如,从如图5B所示的H3的曲线,变为图5C所示的这样的曲线。 In the present embodiment having the insertion of the peak filter system 234 or 237, the open loop transfer function H1 or H2 Nyquist graphs of change, e.g., from H3 curve shown in FIG. 5B, FIG. 5C becomes illustrates such a curve.

因为峰值滤波器234或237在每个频率等于磁盘11旋转频率整数倍处具有峰值,在每个频率等于旋转频率的整数倍处的邻域内该Nyquist曲线图发生改变。 As the peak filter 234 or 237 at each frequency is equal to an integer multiple of the frequency of the disk 11 is rotated at a peak, in the neighborhood of each frequency equal to integer multiples of the rotational frequency of the Nyquist graphs change. 由峰值滤波器234或237生成的一个频率值(极点值“Z01”)处的矢量轨迹在图5C中显示。 Vector locus generated by the peak filter 234 or 237 to a frequency value (pole value "Z01") at display in Figure 5C. 实际上,Nyquist曲线图在每个频率等于旋转频率整数倍的邻域内都发生改变。 Indeed, Nyquist frequency equal to the graph at each integer multiple of the rotational frequency of the neighborhood has changed.

峰值滤波器234或237的传递函数F,在单位圆上具有等于旋转频率的整数倍频率“ωi”的多个极点“Zi”。 Peak filter transfer function F 234 or 237, on the unit circle having a frequency equal to an integral multiple of the rotational frequency "ωi" plurality of poles "Zi". 当这样的每一个极点被视为是稳定的极点时,如果开环传递函数H1或H2(或峰值滤波器234、237的传递函数)生成的矢量轨迹环绕复平面上的点Z0(-1,0)的次数没有增加,那么系统可以是稳定的。 When each such pole is considered to be stable when the poles, if the open loop transfer function H1 or H2 (234,237 or peak filter transfer function) generated the vector locus on the complex plane surrounding the point Z0 of (-1, 0) the number of times does not increase, the system can be stable. 在图5C的例子中,环绕在Z0(-1,0)点的矢量轨迹的计数没有增加。 In the example of FIG. 5C, around the Z0 (-1,0) counting point vector locus does not increase. 在每个频率等于旋转频率的整数倍处,满足上述所需条件时系统是稳定的。 When each frequency is equal to an integer multiple of the frequency of rotation, required to meet the above conditions the system is stable.

稳定系统的上述条件可以从幅角原理或从向控制系统应用该原理的Nyquist稳定性判据推导得出。 The above conditions can be derived from a stable system of principles or argument from Nyquist stability criterion to control the application of the principle of derivation. 根据幅角原理,当圆周C中的函数Q(z)的零点的数目(亦即在H变为零处的“z”点的数目)和Q(z)的极点的数目(亦即在1/Q发散处的“z”点的数目)分别取为Z和P时,并且两者都包括重复次数,借助于Q通过重复圆周C生成的曲线在前向方向上(顺时针)旋转(PZ)周。 According argument principle, when the circumference C of the function Q (z) of the number of zero (i.e. the H becomes zero at the "z" number of points), and the number of poles of Q (z) (i.e., in a When the number of points / Q diverging at "z") were taken as Z and P, and includes both the number of repetitions, by means of Q generated by repeating the circumference C curve in the forward direction (clockwise) (PZ ) weeks.

当频率从0变化到2π时,z变换的“z”围绕单位圆旋转一整周。 When the frequency is changed from 0 to time 2π, z transform "z" around the unit circle rotate a full week. 依据Nyquist的稳定性判据,当“z”绕单位圆旋转一整周时,零点的数目和极点的数目之间的差别,在系统的特征方程[1+H(z)]的单位圆中,是依照H(z)绕点(-1,0)的次数来确定的。 According to Nyquist stability criterion, when the "z" around the unit circle rotating a full week, the difference between the number of poles and the number of zeros in the system characteristic equation [1 + H (z)] of the unit circle , is in accordance with H (z) about the point (-1,0) is the number of times determined. 当预先知道极点的位置,从旋转的次数确定了单位圆中的极点的数目,假定和以度数确定的一样多的所有的零点都存在于单位园中时,该系统是稳定的。 When the pole position known in advance, from the number of rotations to determine the number of poles of the unit circle, assuming as much of the time in order to determine the degree of zeros are present in all units of the garden, and the system is stable.

在本实施例中,峰值滤波器234或237的传递函数F在单位圆上具有多个极点“zi”,并且每个极点“zi”都被视为是稳定的极点。 In the present embodiment, the peak filter transfer function F 234 or 237 having a plurality of poles "zi", and each pole "zi" are considered to be stable poles on the unit circle. 这就是说,当传递函数F如下表达时F=f(z)ZM-1---(5)]]>峰值滤波器234的传递函数F的每个极点“zi”处的矢量轨迹依下获得:F(zi)=f(Z)ZM-r]]>(从r<1到r→1) (6)作为例子,图6显示了在单位圆上的一个极点“Z0”。 That is, when the transfer function F is expressed as follows F = f (z) ZM-1 --- (5)]]> lower peak filter transfer function F by a vector trajectory of each pole "zi" at 234 get: F (zi) = f (Z) ZM-r]]> (from r <1 to r → 1) (6) As an example, Figure 6 shows a pole on the unit circle "Z0". 如图6所示,在单位圆中,极点“Z0”是作为无限接近单位圆的值(从r<1到→1)来计算的。 As shown in Figure 6, the unit circle, the pole "Z0" is infinitely close to the unit circle as the value (from r <1 to → 1) to be calculated.

如果极点在“z”的矢量轨迹(单位圆)内,为了使系统稳定,通过峰值滤波器234或237的插入,使开环传递函数关于(-1,0)的旋转次数应当保持不变是有必要的。 If the pole at "z" vector locus (unit circle) within, in order to make the system stable, by inserting the peak filter 234 or 237, so that the open-loop transfer function of the number of rotations about the (-1,0) should be maintained necessary. 换句话说,如图5C所示,H(z)关于(-1,0)点的旋转次数不应当随“z”在单位圆上的轨迹增加是有必要的。 In other words, FIG. 5C, H (z) about the (-1,0) is rotated with the number of points should not be "z" on the unit circle to increase the track is necessary. 1/(ZM-1)的矢量轨迹在频率满足ZM=1处趋向无穷远。 1 / (ZM-1) in the frequency vector locus satisfies ZM = 1 处 tends to infinity. 所以,即使矢量轨迹从远离(-1,0)点开始,由于存在轨迹接近点(-1,0)的可能性,系统易于变得不稳定。 Therefore, even if the vector away from the trajectory (-1,0) point, due to the (-1,0) the possibility that the track near points, the system is easy to become unstable. 在本实施例的设计方法中,在数字表达式(2)中表达的多项式中的项的数目,以及每个项的系数“w”都被设定,这样峰值滤波器234或237或包括滤波器的系统满足了上述的特征。 In the designing method of this embodiment, the numeric expressions (2) the number of items in the polynomial expression, and each item of the coefficient "w" are set, so that the peak filter 234 or 237 or comprising filtering the system meets the above-described characteristics.

如上所述,通过使用峰值滤波器234或237生成的H(z)的轨迹不应当围绕Z0(-1,0)是稳定的条件。 As described above, by using the track peak filter H (z) of 234 or 237 should not be generated around the Z0 (-1,0) is a stable condition. 这里,对于峰值滤波器的中心频率“zk”,在峰值滤波器234或237没有插入的情况下,取传递函数(例如上面提到的H3)的值为Z01,以及在峰值滤波器234或237插入的情况下,取传递函数(例如上述的H1或H2)的值为Zk。 Here, the center frequency of the peak filter "zk", in the case of the peak filter 234 or 237 is not inserted, whichever is the transfer function (e.g., the above-mentioned H3) value of Z01, and at the peak filter 234 or 237 When inserted, taking the transfer function (e.g., the above-mentioned H1 or H2) value Zk. 如图7所示,在由点Z0和Z01确定的直线上,如果点Zk位于Z0点穿过Z01点另一端,在峰值滤波器234或237插入的情况下,传递函数生成远离Z0方向的矢量轨迹。 7, at the point Z0 and Z01 determined by a straight line, if the point Zk point Z0 through Z01 point located at the other end, in the case of the peak filter 234 or 237 is inserted, the transfer function generates a vector of a direction away from the Z0 trajectory. 因此,当Zk处在满足上述条件的位置上时,可以可靠地形成稳定的系统。 Therefore, when the position Zk in satisfying the above conditions, the formation can be reliably stable system.

下面描述满足如图7所示条件的峰值滤波器234的传递函数,作为例子使用图2所示的组件(传递函数H1)。 The following describes the condition shown in Figure 7 the peak value of the filter transfer function 234, as an example of using the component shown in Figure 2 (transfer function H1). 下面的数字表达式参考图2和图7得到满足:Zk=PC(1+F)=Z01(1+F)=Z01+λ(Z01-Z0) (7)λ>0因此:F=&lambda;(Z01-Z0)Z01---(8)]]>是峰值滤波器234的所期望的传递函数。 The following mathematical expression with reference to Figures 2 and 7 are met: Zk = PC (1 + F) = Z01 (1 + F) = Z01 + λ (Z01-Z0) (7) λ> 0 and therefore: F = & lambda; (Z01-Z0) Z01 --- (8)]]> is the peak of the desired filter transfer function 234.

峰值滤波器234的相位可以在下面指定。 Peak phase filter 234 can be specified below. 这里,峰值滤波器234的传递函数F如下表达:F=f(Z)ZM-1---(9)]]> Here, a peak 234 of the filter transfer function F is expressed as follows: F = f (Z) ZM-1 --- (9)]]>

考虑峰值的在下面中心频率处的相位:Zk=exp(jω0k)(&omega;0:2&pi;M,]]>k:从1到M/2的整数)为了计算传递函数F的幅角,如下面取代数字表达式(9)的分母ZM-1→ZM-r (11)然后计算经r→1在中心频率处获得的收敛值,在中心频率处得到∠F(Zk)≈∠f(Zk) (12)在这个数字表达式中,/F表示F的幅角。 Considering a peak at a phase below the center frequency of: Zk = exp (jω0k) (& omega; 0: 2 & pi; M,]]> k: an integer of 1 to M / 2 from a) to calculate the transfer argument function F as follows surface substituent numeric expressions (9) of the denominator ZM-1 → ZM-r (11) is then calculated by r → convergence value 1 obtained at the center frequency to obtain ∠F (Zk) ≈∠f (Zk at the central frequency ) (12) in this digital expression, / F representation F of argument. 从数字表达式8和12之间的关系得出下面的表达式:&angle;f(Zk)=&angle;(Z01-Z0)Z01---(13)]]>具有插入的峰值滤波器234的稳定系统可以通过确定函数“f(z)”来构成,以便数字表达式(13)在磁盘11的旋转频率和所有它的高次谐波处应当保留。 8 and 12 derived from the relation between the numeric expression following expression: & angle; f (Zk) = & angle; (Z01-Z0) Z01 --- (13)]]> has a peak filter 234 is inserted stabilization system can determine the function "f (z)" to form, so the digital expression (13) in the rotation frequency of the disk 11, and all of its high-order harmonics should be retained. 关于增益,可以假设为例如小的值,在这种情况下,滤波器在窄频率波段中操作并显示所期望的特性。 On the gain, it can be assumed, for example, a small value, in this case, the filter operation in a narrow frequency band and displays the desired properties. 尽管“ω=0”的相位不是由上面的表达式确定的,由于仅通过NFB(负反馈)来稳定积分项,因此相位是可以为零的。 Although "ω = 0" is not determined by the phase of the above expression, since only by NFB (negative feedback) to stabilize the integral term, so that the phase is zero.

尽管足够稳定的系统可以在磁盘11的旋转频率以及所有它的高频谐波处保留数字表达式(13)来构成,但是函数“f(z)”的阶数需要增加才能满足上面的条件。 Although the system can be sufficiently stable to retain numeric expressions (13) at a rotational frequency of the disk 11 as well as all of its high-frequency harmonics to form, but the function "f (z)" in order to meet the need to increase the above condition. 增加阶数使得运算处理复杂并且电路规模或计算的时间增加。 Increasing order of complexity and time such that the arithmetic processing circuit scale is increased or calculated. 为了构成稳定系统,上述的条件是最优选的。 In order to form a stable system, the conditions described above is most preferred. 然而并不是必须的,上述条件不总是被满足来保证系统的稳定性。 However, is not necessary, the above-mentioned conditions are not always satisfied to ensure stability of the system. 假定峰值滤波器234满足下面的条件,尽管系统稳定性降低,系统所需的稳定性还是可以满足的。 Assume that the peak filter 234 satisfies the following conditions, although at a reduced stability of the system, the system or to meet the required stability.

关于峰值滤波器234的中心频率“kω0”,当“kω0+q”(q→0)得到渐进性质时,考虑由峰值滤波器234的传递函数F生成的矢量轨迹允许&angle;(k&omega;0+q)=&angle;f(Zk)zM-1=&angle;f(Zk)ej(k&omega;0+q)M-1]]>&ap;&angle;f(Zk)jqM=&angle;F(k&omega;0)-&pi;2---(14)]]>从数字表达式(12)和“j(虚数)=exp(jπ/2)”之间的关系获得。 About the peak filter center frequency 234 "kω0", when "kω0 + q" (q → 0) to obtain a progressive nature, generated by considering the peak filter transfer function F 234 of the vector locus allows & angle; (k & omega; 0+ q) = & angle; f (Zk) zM-1 = & angle; f (Zk) ej (k & omega; 0 + q) M-1]]> & ap; & angle; f (Zk) jqM = & angle; F (k & omega; 0 ) - & pi; 2 --- (14)]]> (12) and "j (imaginary) = exp (jπ / 2)" the relationship between the figures obtained from the expression. 这就是说,在中心频率“kω0”邻域内的峰值滤波器234的传递函数F的幅角是90度偏离于中心频率“kω0”处的传递函数F的幅角。 That is to say, at the peak filter center frequency "kω0" neighborhood of the transfer function F of the web 234 is 90 degrees offset from the angle of the argument of the transfer function F of the center frequency "kω0" at. 图8显示的是在“kω0”邻域内开环传递函数H的矢量轨迹的延伸方向。 Figure 8 shows in the extending direction "kω0" neighborhood of the open loop transfer function H of the vector trajectory. 在“kω0”的邻域内,该开环传递函数H的矢量轨迹(开环传递函数F在“kω0”邻域内生成的矢量轨迹)在垂直于连接Z01和Zk的直线的方向上从Z01的邻域延伸。 In "kω0" the neighborhood of the open-loop transfer function H of the locus vector (open loop transfer in the "kω0" neighborhood vectors generated locus function F) perpendicular to the straight line connecting the Z01 and Z01 Zk of a direction from ortho domain extension.

为了使系统稳定,有必要使开环传递函数H的矢量轨迹不围绕Z0(-1,0)点并且Z0应当在曲线(轨迹)的外部,该曲线从Z01邻域内的点延伸经过Zk到另一个邻近的点。 In order to make the system stable, it is necessary that the open-loop transfer function H vector locus does not enclose Z0 (-1,0) and Z0 should point outside curve (trajectory) of the curve from point Z01 neighborhood extending through Zk to another an adjacent point. 如果如图8A所示,在连接Z01和Zk的直线的垂直方向上,从Z01延伸的直线位于Z0下面,即,在Z0和Zk之间,则这个条件是能得到满足的。 If 8A, in the vertical direction of the connecting line Z01 and Zk, extending from the linear Z01 Z0 located beneath, i.e., between Z0 and Zk, then this condition can be satisfied. 相反地,如果如图8B所示,在连接Z01和Zk的直线的垂直方向上,从Z01延伸的直线位于Z0上面,则系统变得不稳定。 Conversely, if as shown in Figure 8B, the straight line connecting the Z01 and Zk vertical direction, extending from the linear Z01 Z0 located above, the system becomes unstable. 如果如图9所示,由从Z0延伸到Z01的直线“c”和从Z01延伸到Zk的直线“a”构成的角“φ”是90度或以下,系统可以因此而稳定。 If as shown in Figure 9, by a straight line extending from Z0 to Z01 of the "c" and the straight line extending from the Z01 Zk to the "a" The angle "φ" is 90 degrees or below, the system can thus be stabilized. 换句话说,改变数字表达式(7)为Zk=PC(1+F)=Z01(1+F)=Z01+λ(Z01-Z0)ejφ(15)λ>0然后计算在F的“kω0”处的幅角得到: In other words, changing the numeric expression (7) for Zk = PC (1 + F) = Z01 (1 + F) = Z01 + λ (Z01-Z0) ejφ (15) λ> 0 then calculated F's "kω0 "argument to get at:

&angle;(Zk)=&lt;(Z01-Z0)Z01+&phi;---(16)]]>如果φ是90度或以下,系统是可以稳定的。 & Angle; (Zk) = & lt; (Z01-Z0) Z01 + & phi; --- (16)]]> If φ is 90 degrees or less, the system is stable. 假设下面的数字表达式(17)被满足,取数字表达式(13)的右边为“a”,能使系统稳定:|∠F(kω0)-α|≤90 (17)可是,如果开环传递函数H的矢量轨迹接近Z0(-1,0),系统的稳定性将减少。 Assuming the following mathematical expression (17) is satisfied, taking digital expression (13) to the right to "a", to make the system stable: | ∠F (kω0) -α | ≤90 (17) However, if the open loop transfer function H of the vector locus close to Z0 (-1,0), the stability of the system will be reduced. 另外,在伺服系统中存在相位余量是很重要的。 In addition, there is a phase margin in the servo system is very important. 在伺服系统的设计期间,将相位余量设定为30度是优选方案。 During the design of the servo system, the phase margin is set to 30 degrees preferred embodiments. 因此,优选地,由连接Z01和Zk的直线“a”和连接Z0和Z01的直线“c”组成的角“φ”应当是60度或以下(|∠F(kω0)-a|≤60度)。 Thus, preferably, Z01 and Zk by a straight line connecting the "a" and a straight line connecting Z0 and Z01 "c" formed angle "φ" should be 60 degrees or less (| ∠F (kω0) -a | ≤60 ). 更进一步,这种需求有可能发生:扩展峰值宽度以加快峰值滤波器的收敛。 Further, this demand is likely to occur: the peak width extensions to accelerate the convergence of the peak filter. 如果是这种情况,则因为初始频率特性受到影响,30度的相位余量有可能减少。 If this is the case, then since the initial frequency characteristics are affected, the phase margin of 30 degrees is possible to reduce. 保留较大的相位余量因此更为优选。 Retain large phase margin and therefore more desirable. 因此,进一步优选地,由连接Z01和Zk的直线“a”和连接Z0和Z01的直线“c”组成的角“φ”应当是45度或以下(|∠F(kω0)-a|≤45度)。 Therefore, further preferably, Z01 and Zk by a straight line connecting the "a" and a straight line connecting Z0 and Z01 "c" formed angle "φ" should be 45 degrees or less (| ∠F (kω0) -a | ≤45 degrees). 这些条件在磁盘11的旋转频率以及所有它的高次谐波(“kω0”)处被满足。 These conditions at a rotational frequency of the disk 11 as well as all its higher harmonics ("kω0") is satisfied at. 由点Z0和Z01确定的直线上,如果点Zk穿过点Z01在点Z0的另一端,角“φ”则是0度。 The point Z0 and Z01 determined by a straight line passing through the point if the point Zk Z01 Z0 at the other end point, the angle "φ" is 0 degrees. 正如上面描述的,当幅角的条件表达式用联立不等式表达时,峰值滤波器234的项的数目以及每项的系数可以用LMI(线性矩阵不等式)确定。 As described above, when the argument expressed in conditional expressions simultaneous inequalities, as well as the number of the peak filter coefficients for each of the 234 items can be determined by LMI (linear matrix inequality). 峰值滤波器234根据这样预定的值执行滤波处理。 According to such a peak filter 234 performs a filtering process a predetermined value. 因为是公知技术而省略LMI的说明,例如,[Stephen Boyd,等,“系统与控制理论中的线性矩阵不等式”,1994,SIAM]。 Because it is a known technique LMI descriptions are omitted, for example, [Stephen Boyd, et al, "Systems and Control Theory LMI", 1994, SIAM].

尽管上面的描述已经作为例子与开环传递函数H1[PC(1+F)]一同给出,系统的稳定性在相似条件下可以通过使用开环传递函数H2[P(C+F)]同样地获得。 Although the above description has been used as an example of transfer function of the open loop H1 [PC (1 + F)] are given together, the stability of the system under similar conditions can open loop transfer function H2 using [P (C + F)] also access. 对于开环传递函数H2,下面的表达式保留:Zk=P(C+F)=Z01+λ(Z01-Z0) (18) For the open loop transfer function H2, the following expression is reserved: Zk = P (C + F) = Z01 + λ (Z01-Z0) (18)

λ>0因此:F=&lambda;(Z01-Z0)P---(19)]]>是峰值滤波器234的最优选的传递函数。 λ> 0 and therefore: F = & lambda; (Z01-Z0) P --- (19)]]> is most preferred peak filter 234 transfer function. 在这种情况下幅角的要求是:&angle;(Zk)=&angle;(Z01-Z0)P---(20)]]>如上所述,根据本实施例中的HDD,在保持伺服系统稳定性的同时有效补偿RRO是有可能的。 In this case the requirements of the argument is: & angle; (Zk) = & angle; (Z01-Z0) P --- (20)]]> As described above, according to the present embodiment, the HDD, the servo system in holding stability while effectively RRO compensation is possible. 虽然,在本实施例中,HDD可以执行数据的读和写处理,但是本发明同样可提供给再现装置用来仅执行再现操作。 Although, in this embodiment, HDD can perform read and write processing of data, but the present invention is equally supplied to the reproducing apparatus for performing only reproducing operation. 尽管本发明特别地用于磁盘存储装置,但它仍可以应用于其他形式的存储装置,例如用于光处理存储数据的光学存储装置,或应用于被控制的其他物体的伺服系统。 Although the present invention is particularly useful in a disk storage device, but it can still be applied to other forms of storage devices, such as optical storage devices for storing data of light management, or other objects applied to the servo system to be controlled.

Classifications
International ClassificationG11B21/10, G11B5/596
Cooperative ClassificationG11B5/59627
European ClassificationG11B5/596E
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