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 embedded servo sectors. The embedded 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 velocity of the actuator arm as it seeks from track to track.
An air bearing forms between the head and the disk due to the disk rotating at high speeds. Since the quality of the write/read signal depends on the fly height of the head, conventional heads (e.g., a magnetoresistive heads) may comprise an actuator for controlling the fly height. Any suitable fly height actuator may be employed, such as a heater which controls fly height through thermal expansion, or a piezoelectric (PZT) actuator. It is desirable to determine the appropriate fly height actuator control signal (e.g., appropriate current applied to a heater) that achieves the target fly height for the head.
a1·cos(2πn1k/N)+b1·sin(2πn1k/N)
where a1 and b1 are coefficients and 2πn1k/N represents a frequency of a first repeatable disturbance in the fly height of the head 4. In an embodiment disclosed below, the coefficients a1 and b1 are initialized to nominal values (e.g., determined for a family of disk drives) and then adapted within each disk drive toward optimal values.
In the embodiment of
In the embodiment of
In the embodiment of
In one embodiment, N in feedforward equation 44 of
In one embodiment, the scalar n1 in the feedforward equation 44 of
In an embodiment shown in
a1(k+1)=a1(k)−g1·e(k)·cos(2πn1k/N)
b1(k+1)=b1(k)−g1·e(k)·sin(2πn1k/N)
where g1 is a gain and e(k) comprises a difference between the measured fly height and the target fly height. Any suitable gain g1 may be employed in the embodiments of the present invention to achieve a desired bandwidth while maintaining stability. In one embodiment, a nominal gain is determined for a family of disk drives which may be tuned or adapted for each individual disk drive.
In one embodiment, the control circuitry 6 adapts the coefficients a1 and b1 during a calibration procedure which may be executed one time, such as during manufacturing, or periodically such as every time the disk drive is powered on. In another embodiment, the control circuitry 6 may adapt the coefficients a1 and b1 continuously while the disk drive is operating normally which may help compensate for changes in environmental conditions, such as ambient temperature. In an embodiment shown in
a1(k+1)=a1(k)−g1·e(k)·cos(2πn1k/N+φ1)
b1(k+1)=b1(k)−g1·e(k)·sin(2πn1k/N+φ1)
where φ1 represents a phase of the first repeatable disturbance.
a2·cos(2πn2k/N)+b2·sin(2πn2k/N)
where a2 and b2 are coefficients and 2πn2k/N represents a frequency of a second repeatable disturbance in the fly height of the head. In one embodiment, the control circuitry adapts the coefficients a2 and b2 as shown in
Any suitable repeatable disturbance frequency may be attenuated by the feedforward signals. In one embodiment, n1 is a first multiple of a once around frequency of the disk, and n2 is a second multiple of the once around frequency of the disk, where n2 is greater than n1. For example, in one embodiment n1=1 and n2=2 such that the fundamental frequency and the next harmonic of the repeatable disturbance are attenuated. However, as illustrated in
In one embodiment, the coefficients a and b of the feedforward equation (s) are generated for each head/disk combination. In one embodiment, a single set of coefficients a and b may be generated for an entire disk surface, and in another embodiment, multiple sets of coefficients a and b are generated corresponding to multiple radial locations of the disk, such as over multiple zones of the disk surface. As the head transitions into a new zone, the corresponding coefficients a and b are loaded into the feedforward equation (s).
Any suitable control circuitry may be employed to implement the flow diagrams in the embodiments of the present invention, 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 steps 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 an SOC.
In one embodiment, the control circuitry comprises a microprocessor executing instructions, the instructions being operable to cause the microprocessor to perform the steps of 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.
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