Data storage device re-qualifying state estimator while decelerating head

Abstract

A data storage device is disclosed comprising a disk comprising a plurality of tracks defined by servo sectors, a head, and a servo controller configured to servo the head over the disk based on an estimated state generated by a state estimator. The servo controller is configured to execute a seek operation to seek the head over the disk and recover from a servo fault during the seek operation by generating an initial state estimate of the head at the beginning of the servo fault, and decelerating the head open-loop using a model-based deceleration control in response to the initial state estimate. While decelerating the head, the state estimator is re-qualified before the head reaches zero velocity, and after re-qualifying the state estimator and before the head reaches zero velocity, a seek operation is executed to seek the head to a target track closed-loop using the state estimator.

Description

BACKGROUND

Data storage devices such as disk drives comprise a disk and a head connected to a distal end of an actuator arm which is rotated about a pivot by a voice coil motor (VCM) to position the head radially over the disk. The disk comprises a plurality of radially spaced, concentric tracks for recording user data sectors and servo sectors. The servo sectors comprise head positioning information (e.g., a track address) which is read by the head and processed by a servo controller to control the actuator arm as it seeks from track to track.

FIG. 1 shows a prior art disk format 2 as comprising a number of servo tracks 4 defined by servo sectors 6₀-6_N recorded around the circumference of each servo track. Each servo sector 6_i, comprises a preamble 8 for storing a periodic pattern, which allows proper gain adjustment and timing synchronization of the read signal, and a sync mark 10 for storing a special pattern used to symbol synchronize to a servo data field 12. The servo data field 12 stores coarse head positioning information, such as a servo track address, used to position the head over a target data track during a seek operation. Each servo sector 6_i, further comprises groups of servo bursts 14 (e.g., N and Q servo bursts), which are recorded with a predetermined phase relative to one another and relative to the servo track centerlines. The phase based servo bursts 14 provide fine head position information used for centerline tracking while accessing a data track during write/read operations. A position error signal (PES) is generated by reading the servo bursts 14, wherein the PES represents a measured position of the head relative to a centerline of a target servo track. A servo controller processes the PES to generate a control signal applied to a head actuator (e.g., a voice coil motor) in order to actuate the head radially over the disk in a direction that reduces the PES.

When seeking the head across the disk, a servo fault may occur due to loss of synchronization to the servo sectors, a large deviation in the estimated servo states of the servo controller, detecting instability of the servo controller, etc. When a servo fault is detected, the prior art quickly decelerates the head to zero velocity using, for example, a double integrator model-based open loop control. After the head reaches zero velocity, a state estimator is re-qualified based on the servo sectors, and the seek is completed.

FIG. 4A illustrates an example velocity/position phase plane for a seek operation executed by a prior art servo controller. In this example, the seek is performed using a just-in-time (JIT) control which typically reduces acoustic noise as compared to a minimum-time seek control. If a servo fault does not occur, the servo states will follow the arcuate trajectory 15 shown in FIG. 1. If a servo fault occurs, for example, when the head reaches position 17, the servo controller quickly decelerates the head to zero using a minimum-time seek control such that the servo states follow the steep deceleration trajectory 19. After the head reaches zero velocity, the servo controller re-qualifies the state estimator, and then completes the seek after accelerating to a relatively low coast velocity 21. Decelerating the head to zero velocity in minimum time when a servo fault is detected such that the servo states follow a steep deceleration trajectory may excite resonances in the servo controller which can increase acoustic noise, or cause other issues, such as poor seek settle, command time-out, or even an off-track write. In addition, a significant error in the estimated servo states used to initialize the double integrator model-based open loop control may cause a high-speed runaway condition which may damage the head due to the actuator arm colliding with a crash stop.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a prior art disk format comprising a plurality of servo tracks defined by servo sectors.

FIG. 2A shows a data storage device in the form of a disk drive according to an embodiment comprising a head actuated over a disk.

FIG. 2B is a flow diagram according to an embodiment wherein a servo controller recovers from a servo fault by re-qualifying a state estimator while decelerating the head.

FIG. 2C shows a servo controller according to an embodiment comprising a model-based open-loop deceleration control used when recovering from a servo fault.

FIG. 3 is a flow diagram according to an embodiment wherein if the re-qualification of the state estimator is verified while decelerating the head during a servo fault, the servo controller seeks the head to a target track closed-loop using the state estimator.

FIG. 4A shows a prior art technique for recovering from a servo fault by decelerating the head to zero using a steep deceleration trajectory that may excite resonances in the servo controller which can increase acoustic noise, or cause other issues, such as poor seek settle, command time-out, or even an off-track write.

FIG. 4B shows an embodiment for recovering from a servo fault by decelerating the head using a model-based just-in-time (JIT) control and wherein the state estimator is re-qualified and verified before the head reaches zero velocity.

DETAILED DESCRIPTION

FIG. 2A shows a data storage device in the form of a disk drive according to an embodiment comprising a disk 16 comprising a plurality of tracks 18 defined by servo sectors 20₀-20_N, a head 22, and a servo controller 24 configured to servo the head over the disk based on an estimated state generated by a state estimator 26 (FIG. 2C). The servo controller 24 is configured to execute the flow diagram of FIG. 2B wherein a seek operation is executed to seek the head over the disk (block 28). When a servo fault occurs during the seek operation (block 30), a recover operation is executed by generating an initial state estimate of the head at the beginning of the servo fault (block 32), and decelerating the head open-loop using a model-based deceleration control in response to the initial state estimate (block 34). While decelerating the head, the state estimator is re-qualified before the head reaches zero velocity (block 36), and after re-qualifying the state estimator and before the head reaches zero velocity, a seek operation is executed to seek the head to a target track closed-loop using the state estimator (block 38).

In the embodiment of FIG. 2A and 2C, a read signal 40 emanating from the head 22 while reading the servo sectors 20₀-20_N is demodulated at block 42 to measure at least one state 44 of the servo system (e.g., the position of the head 22 relative to the disk 16). The measured state 44 is processed by a suitable closed-loop servo control 46 which generates a control signal 48 applied to a voice coil motor (VCM) 50. The VCM 50 rotates an actuator arm 52 about a pivot in order to actuate the head 22 radially over the disk during seeking and tracking operations. When servoing the head 22 over the disk 16, one or more of the servo sectors 20₀-20_N may be unreadable due, for example, to a defect on the disk 16. When a servo sector is unreadable, the state estimator 26 may generate an estimated state 54 of the head 22 based on the previous measured states 44 and the previous control signal 48 applied to the VCM 50. The estimated state 54 may be used in place of the measured state 44 in order to maintain acceptable servo performance even when one or more of the servo sectors 20₀-20_N are unreadable.

When seeking the head across the disk, a servo fault may occur due to loss of synchronization to the servo sectors, a large deviation in the estimated servo states of the servo controller, detecting instability of the servo controller, etc. When a servo fault is detected, the state estimator 26 may need to be re-qualified since the servo fault may corrupt the integrity of the state estimator 26. As described above with reference to FIG. 4A, when a servo fault occurs the prior art may quickly decelerate the head to zero velocity using, for example, a double integrator model-based open-loop control. After the head reaches zero velocity, the state estimator is re-qualified based on the servo sectors, and the seek is completed. However, decelerating the head to zero based on a steep deceleration trajectory may excite resonances in the servo controller which can increase acoustic noise, or cause other issues, such as poor seek settle, command time-out, or even an off-track write. To overcome the drawbacks of the prior art servo fault recovery technique shown in FIG. 4A, in one embodiment when a servo fault occurs the state estimator 26 is re-qualified while decelerating the head and before the velocity of the head reaches zero as described above with reference to the flow diagram of FIG. 2B.

FIG. 3 is a more detailed flow diagram according to an embodiment which extends on the flow diagram of FIG. 2B, wherein when a servo fault occurs (block 30) during a seek operation, an initial estimate state 54 is generated (block 32), for example, based on the last trusted output of the state estimator 26 before the servo fault occurred. The initial state estimate is used to decelerate the head using the model-based open loop control 55, and concurrently the state estimator is re-qualified (block 36). For example, the state estimator may be re-qualified based on the measured states 44 of the head when attempting to resynchronize to the servo sectors. After re-qualifying the state estimator, the re-qualification is verified (block 56), for example, by comparing the estimated states 54 to the measured states 44 over a number of servo sectors and verifying that the difference is within an acceptable margin.

If the state estimator fails the verification (block 58), the servo controller 24 generates a first interim velocity estimate (block 60) using the model-based open-loop deceleration control 55. If the first interim velocity estimate is greater than a threshold at block 62, then there is still a chance the state estimator 26 may be successfully re-qualified and so the flow diagram is repeated from block 34 in order to continue decelerating the head using the model-based open-loop deceleration control 55. However if the first interim velocity estimate is less than the threshold at block 62, it is assumed the state estimator 26 has entered an unrecoverable state and therefore the servo controller is re-initialized. In one embodiment, a second interim velocity estimate is generated based on a back electromotive force (BEMF) voltage of the VCM 50 (block 64) which is used to servo the head closed-loop in order to re-initialize the servo controller (block 66). The second interim velocity estimated may be generated in any suitable manner, such as by measuring a frequency of zero-crossings in the periodic BEMF voltage generated by the VCM 50.

If the state estimator passes the verification at block 58, the servo controller 24 switches from the model-based open loop control 55 to the closed-loop control 46 in order to seek the head to a target track (block 68) using the measured states 44 generated by reading the servo sectors as well as the estimated states 54 generated by the state estimator 26 if needed. Accordingly in this embodiment, when recovering from a servo fault the servo controller 24 shown in FIG. 2C may switch from the model-based open-loop deceleration 55 to the closed-loop control 46 before the velocity of the head reaches zero which may ameliorate the prior art drawbacks described above with reference to FIG. 4A.

FIG. 4B shows example seek profiles (velocity/position phase plane) according to an embodiment when executing a seek operation which may be compared to the prior art seek profiles shown in FIG. 4A. If a servo fault occurs during a seek, for example, when the head reaches position 70, the servo controller switches to the model-based open-loop control 55 and begins decelerating the head along trajectory 72. While decelerating the head along trajectory 72, the servo controller may successfully re-qualify and validate the state estimator, and therefore switch to the closed-loop control 46. In the example of FIG. 4B, after switching to the closed-loop control 46 the servo controller may continue decelerating the head along trajectory 72 until the head reaches a first target velocity 74. When the head reaches the first target velocity (which is greater than zero), the servo controller may switch from decelerating the head to accelerating the head to a second target velocity 76 (a relatively low coast velocity), and then finish the seek operation by moving the head toward the target track at the coast velocity. The example embodiment shown in FIG. 4B for recovering from a servo fault may improve the performance of the disk drive by reducing resonance excitation and acoustic noise, improving seek settle, and/or avoiding command time-outs and an off-track writes.

In the embodiment of FIG. 4B, further improvements in servo fault recovery may be attained by designing the model-based open-loop control 55 to decelerate the head according to a model-based just-in-time (JIT) control. That is, the model-based open-loop control 55 may be designed so that the servo fault deceleration trajectories such as shown in FIG. 4B may follow an arcuate trajectory similar to a normal seek trajectory so as to avoid the sharp transitions in the prior art deceleration trajectories as shown in FIG. 4A. Similarly after the head decelerates to the first target velocity 74 in FIG. 4B, the acceleration trajectories for accelerating the head toward the coast velocity 76 may comprise a more arcuate, JIT type trajectory so as to further improve performance when recovering from a servo fault.

In the example embodiment of FIG. 4B, the servo controller recovers from a servo fault by decelerating the head to the first target velocity 74, and then finishes the current seek operation by seeking the head to the original target track of the seek. In another embodiment, the servo controller may recover from a servo fault by decelerating the head to the first target velocity 74, and then seeking the head to a different target track. This embodiment may be useful, for example, when the disk drive needs to perform an emergency operation such as parking the heads on a ramp during a free-fall event, or it may improve performance by allowing the current access command to be aborted in favor of a different access command (e.g., as determined by a rotational position optimization (RPO) algorithm).

Any suitable control circuitry may be employed to implement the flow diagrams in the above embodiments, such as any suitable integrated circuit or circuits. For example, the control circuitry may be implemented within a read channel integrated circuit, or in a component separate from the read channel, such as a disk controller, or certain operations described above may be performed by a read channel and others by a disk controller. In one embodiment, the read channel and disk controller are implemented as separate integrated circuits, and in an alternative embodiment they are fabricated into a single integrated circuit or system on a chip (SOC). In addition, the control circuitry may include a suitable preamp circuit implemented as a separate integrated circuit, integrated into the read channel or disk controller circuit, or integrated into a SOC.

In one embodiment, the control circuitry comprises a microprocessor executing instructions, the instructions being operable to cause the microprocessor to perform the flow diagrams described herein. The instructions may be stored in any computer-readable medium. In one embodiment, they may be stored on a non-volatile semiconductor memory external to the microprocessor, or integrated with the microprocessor in a SOC. In another embodiment, the instructions are stored on the disk and read into a volatile semiconductor memory when the disk drive is powered on. In yet another embodiment, the control circuitry comprises suitable logic circuitry, such as state machine circuitry.

While the above examples concern a disk drive, the various embodiments are not limited to a disk drive and can be applied to other data storage devices and systems, such as magnetic tape drives, solid state drives, hybrid drives, etc. In addition, some embodiments may include electronic devices such as computing devices, data server devices, media content storage devices, etc. that comprise the storage media and/or control circuitry as described above.

The various features and processes described above may be used independently of one another, or may be combined in various ways. All possible combinations and subcombinations are intended to fall within the scope of this disclosure. In addition, certain method, event or process blocks may be omitted in some implementations. The methods and processes described herein are also not limited to any particular sequence, and the blocks or states relating thereto can be performed in other sequences that are appropriate. For example, described tasks or events may be performed in an order other than that specifically disclosed, or multiple may be combined in a single block or state. The example tasks or events may be performed in serial, in parallel, or in some other manner. Tasks or events may be added to or removed from the disclosed example embodiments. The example systems and components described herein may be configured differently than described. For example, elements may be added to, removed from, or rearranged compared to the disclosed example embodiments.

While certain example embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the inventions disclosed herein. Thus, nothing in the foregoing description is intended to imply that any particular feature, characteristic, step, module, or block is necessary or indispensable. Indeed, the novel methods and systems described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions and changes in the form of the methods and systems described herein may be made without departing from the spirit of the embodiments disclosed herein.

Claims

1. A data storage device comprising: a disk comprising a plurality of tracks defined by servo sectors;a head; anda servo controller configured to servo the head over the disk based on an estimated state generated by a state estimator, wherein the servo controller is configured to execute a seek operation to seek the head over the disk and recover from a servo fault during the seek operation by at least:generating an initial state estimate of the head at the beginning of the servo fault;decelerating the head open-loop using a model-based deceleration control in response to the initial state estimate;while decelerating the head, re-qualifying the state estimator before the head reaches zero velocity; andafter re-qualifying the state estimator and before the head reaches zero velocity, seeking the head to a target track closed-loop using the state estimator.

2. The data storage device as recited in claim 1, wherein the model-based deceleration control comprises a model-based just-in-time (JIT) control.

3. The data storage device as recited in claim 1, wherein the servo controller is further configured to recover from the servo fault by verifying the re-qualification of the state estimator.

4. The data storage device as recited in claim 3, wherein when the state estimator passes the verification, the servo controller is further configured to recover from the servo fault by seeking the head to the target track closed-loop based on the state estimator and the servo sectors.

5. The data storage device as recited in claim 3, wherein when the state estimator fails the verification, the servo controller is further configured to recover from the servo fault by: using the model-based deceleration control to generate a first interim velocity estimate of the head; andwhen the first interim velocity estimate of the head exceeds a threshold, continuing the decelerating of the head open-loop using the model-based deceleration control.

6. The data storage device as recited in claim 5, wherein when the first interim velocity estimate of the head is less than the threshold, the servo controller is further configured to recover from the servo fault by re-initializing the servo controller.

7. The data storage device as recited in claim 6, further comprising a voice coil motor (VCM) configured to actuate the head over the disk in response to a control signal generated by the servo controller, wherein the servo controller is further configured to recover from the servo fault by: generating a second interim velocity estimate of the head based on a back electromotive force (BEMF) voltage generated by the VCM; andre-initializing the servo controller based on the second interim velocity estimate.

8. A method of operating a data storage device, the method comprising: servoing a head over a disk based on an estimated state generated by a state estimator, andrecovering from a servo fault during a seek operation by at least: generating an initial state estimate of the head at the beginning of the servo fault;decelerating the head open-loop using a model-based deceleration control in response to the initial state estimate;while decelerating the head, re-qualifying the state estimator before the head reaches zero velocity; andafter re-qualifying the state estimator and before the head reaches zero velocity, seeking the head to a target track on the disk closed-loop using the state estimator.

9. The method as recited in claim 8, wherein the model-based deceleration control comprises a model-based just-in-time (JIT) control.

10. The method as recited in claim 8, further comprising recovering from the servo fault by verifying the re-qualification of the state estimator.

11. The method as recited in claim 10, wherein when the state estimator passes the verification, the method further comprises recovering from the servo fault by seeking the head to the target track closed-loop based on the state estimator and the servo sectors.

12. The method as recited in claim 10, wherein when the state estimator fails the verification, the method further comprises recovering from the servo fault by: using the model-based deceleration control to generate a first interim velocity estimate of the head; andwhen the first interim velocity estimate of the head exceeds a threshold, continuing the decelerating of the head open-loop using the model-based deceleration control.

13. The method as recited in claim 12, wherein when the first interim velocity estimate of the head is less than the threshold, the method further comprises recovering from the servo fault by re-initializing a servo controller.

14. The method as recited in claim 13, further comprising recovering from the servo fault by: generating a second interim velocity estimate of the head based on a back electromotive force (BEMF) voltage generated by a voice coil motor; andre-initializing a servo controller based on the second interim velocity estimate.