Claims
- 1. A method of acceleration-based track seeking servo control of a disk drive, comprising moving a transducer to a target track by a track seeking control using an acceleration trajectory of a function where acceleration change is zero at the start and end of track seeking.
- 2. The method of claim 1, wherein the acceleration trajectory is characterized in that acceleration and deceleration are symmetrical.
- 3. The method of claim 1, wherein a profile of the acceleration trajectory includes an acceleration period and a deceleration period, each including a period where acceleration change is zero.
- 4. The method of claim 3, wherein the acceleration trajectory is obtained by integrating a jerk equation j(t) as follows,
- 5. An apparatus of acceleration-based track-seeking servo control of a hard disk drive, having a transducer, the apparatus comprising:
a seek trajectory generator to calculate a design position value, a design velocity value, and a design acceleration value by using an equation of an acceleration trajectory where acceleration change is zero at a start and an end of track seeking in a track seek mode; a state estimator to determine an actual position value, an actual velocity value, and an actual acceleration value used for the transducer to move across the hard disk drive; a first summing unit to calculate a first difference between the actual position value and the design position value; a position control gain compensator to multiply the first difference by a predetermined position gain for position compensation to obtain a position compensation value; a second summing unit to add the design velocity value to the position compensation value, and to calculate a second difference between the actual velocity value and the addition result; a velocity control gain compensator to multiply the second difference by a predetermined velocity gain for velocity compensation to obtain a velocity compensation value; a third summing unit to add the design acceleration value to the velocity compensation value, and to calculate a third difference between the actual velocity value and the addition result; an acceleration control gain compensator to multiply the third difference by a predetermined acceleration gain of acceleration compensation to obtain an acceleration compensation value; and an actuator to generate a current supplied to a voice coil in accordance with the acceleration compensation value.
- 6. The apparatus of claim 5, wherein the acceleration trajectory is characterized in that acceleration and deceleration are symmetrical.
- 7. The apparatus of claim 5, wherein a profile of the acceleration trajectory includes an acceleration period and a deceleration period, each including a period where acceleration change is zero.
- 8. A disk drive comprising:
a disk to store predetermined information; a spindle motor to rotate the disk; a transducer to write information to and to read information from the disk; an actuator to move the transducer across a surface of the disk; and a controller to control the actuator to move the transducer from a current track to a target track using an acceleration trajectory where acceleration change is zero at a start and an end of track seeking in a track seek mode.
- 9. The disk drive of claim 8, wherein an acceleration and a deceleration of the acceleration trajectory are symmetrical.
- 10. The disk drive of claim 8, wherein the acceleration trajectory has a profile such that an acceleration period and a deceleration period each include a period where acceleration change is zero.
- 11. A computer readable medium having a computer program code stored thereon to move a transducer to a target track by a track seeking control using an acceleration trajectory where acceleration change is zero at a start and an end of track seeking in a track seek mode.
- 12. The computer readable medium of claim 11, wherein the acceleration trajectory is characterized in that acceleration and deceleration are symmetrical.
- 13. The computer readable medium of claim 11, wherein the acceleration trajectory has a profile such that an acceleration period and a deceleration period each include a period where acceleration change is zero.
- 14. A method of acceleration-based track seeking servo control of a disk drive, wherein a transducer is moved to a target track by a track seeking control that supplies a voice coil with current according to a function where an acceleration change is zero at the start and end of track seeking in a track seek mode.
- 15. The method of claim 14, wherein a trajectory of the current is characterized in that acceleration and deceleration are symmetrical.
- 16. The method of claim 14, wherein the trajectory of the current has a coast period where a constant current is used during specific periods of an acceleration period and a deceleration period, respectively.
- 17. A disk drive comprising:
a disk to store predetermined information; a spindle motor to rotate the disk; a transducer to write information to and to read information from the disk; an actuator to move the transducer across a surface of the disk; and a controller to control the actuator to move the transducer from a current track to a target track by supplying a voice coil with current according to a function where an acceleration change is zero at a start and an end of track seeking in a track seek mode.
- 18. The disk drive of claim 17, wherein a trajectory of the current is characterized in that acceleration and deceleration are symmetrical.
- 19. The disk drive of claim 17, wherein the trajectory of the current has a coast period where a specific current is used during constant periods of an acceleration period and a deceleration period, respectively.
- 20. A computer program product comprising a computer readable medium having stored thereon a computer program code to move a transducer to a target track by a track seeking control that supplies a voice coil with current according to a function where an acceleration change is zero at a start and an end of track seeking in a track seek mode.
- 21. The computer program product of claim 20, wherein a trajectory of the current is characterized in that acceleration and deceleration are symmetrical.
- 22. The computer program product of claim 21, wherein the trajectory of the current has a coast period where a specific current is used during constant periods of an acceleration period and a deceleration period, respectively.
- 23. A method of acceleration-based track seeking servo control of a disk drive, wherein a transducer is moved via a voice coil along a target track by a track seeking control using an acceleration trajectory of a function where acceleration value change is zero at the start and end of track seeking, the method comprising:
determining an acceleration compensation value, which is based upon a difference between a design acceleration value of the transducer and an actual acceleration value of the transducer; amplifying the acceleration compensation value; and changing an amount of current supplied to the voice coil according to the amplified acceleration compensation value.
- 24. The method according to claim 23, further comprising changing an acceleration of movement of the transducer after the amount of current supplied to the voice coil is changed.
- 25. The method according to claim 23, wherein the determining comprises:
determining a position compensation value, which is based upon a difference between a design position value of the transducer and an actual position value of the transducer; determining a velocity compensation value, which is based upon a difference between a design velocity value of the transducer, an actual velocity value of the transducer, and the position compensation value; and adding the velocity compensation value to the design acceleration value and subtracting an actual acceleration value of the transducer from the addition result.
- 26. The method according to claim 25, wherein the determining a velocity compensation value comprises:
adding a design velocity value to the position compensation value and subtracting an actual velocity value from the addition result; and multiplying a difference between the design velocity value and the actual velocity value by a velocity gain.
- 27. The method according to claim 25, wherein the determining a position compensation value comprises:
subtracting an actual position value from a design position value; and multiplying a difference between the actual position value and the design position value by a position gain.
- 28. The method of claim 23, wherein the acceleration trajectory is characterized in that acceleration and deceleration are symmetrical.
- 29. The method of claim 23, further comprising a profile of the acceleration trajectory includes an acceleration period and a deceleration period, each including a period where acceleration change is zero.
- 30. The method of claim 29, wherein the acceleration trajectory is obtained by integrating a jerk equation j(t) as follows,
- 31. An apparatus for acceleration-based track-seeking servo control of a transducer of a hard disk drive having a voice coil, the apparatus comprising:
a seek trajectory generator to calculate a design position value, a design velocity value, and a design acceleration value via an acceleration trajectory equation where acceleration change is zero at a start and an end of track seeking in a track seek mode; a state estimator to determine actual position, velocity, and acceleration values of the transducer as the transducer moves during the acceleration-based track-seeking; a three-stage summing and multiplying unit to obtain an acceleration compensation value, which is based upon the actual position, velocity, and acceleration values, and represents a difference between the actual acceleration value and a design acceleration value; and an actuator to generate a current supplied to the voice coil in accordance with the acceleration compensation value.
- 32. The apparatus according to claim 31, wherein the acceleration trajectory is characterized in that acceleration and deceleration are symmetrical.
- 33. The apparatus according to claim 31, further comprising a profile of the acceleration trajectory includes an acceleration period and a deceleration period, each including a period where acceleration change is zero.
Priority Claims (1)
Number |
Date |
Country |
Kind |
2003-31540 |
May 2003 |
KR |
|
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the priority of Korean Patent Application No. 2003-31540, filed on May 19, 2003, in the Korean Intellectual Property Office, the disclosure of which is hereby incorporated by reference in its entirety.