EP0263962A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Improved sampled servo seek and track follow disc drive
Assignee: HP Inc
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Filing: 1987-09-04
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Granted: —
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Expires: 2007-09-04
Abstract
Abstract Method and apparatus for performing seek and track follow operations in a disc drive provides time varying acceleration and position reference signals which have the same time duration and which are developed as a function of seek length. These signal are successively simultaneously sampled at the same points in time. The sampled acceleration and position reference signals from the same points in time are simultaneously applied as a feed forward signal and a position reference signal, respectively, in the disc drive to position a magnetic head at a selected track. During a seek operation, each actual track position signal and subtrack position signal from the transducer is compared with an existing sampled position reference signal. At the end of the seek movement, track following continues under the control of the subtrack signals.
Inventors
- 👤 Vernon L. Knowles
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-01 16:18
CPC Classifications
G; G11; G11B; G11B5/00; G11B5/48; G11B5/58; G11B5/596; G11B5/59633; G11B5/59644; G11B5/54; G11B5/55; G11B5/5521; G11B5/5526; G11B5/553; G11B5/5547
Claims Analysis
Total Claims: 37
Claim 1
Independent Claim
239 words
In a magnetic disc memory drive having, magnetic memory discs, means for rotating said discs, servo code magnetically recorded in each track on said discs, means for determining a present track number, a magnetic head for each disc, and a movable member supporting each magnetic head in a position to scan an adjacent disc surface and to sense said servo code for producing servo code signals and to respond to said present track number for producing a present track position signal, a seek and track following control system, comprising: a. a track following control loop, having an output section and an input section, said output section including an actuator which is coupled to said movable member to move said member and thereby move all magnetic heads over the adjacent surfaces of said discs; b. means for coupling one magnetic head to said input section; c. means for producing a desired track position signal for said one magnetic head; d. means for producing a desired position error signal which is the difference between said desired track position signal and the track position signals of said one magnetic head; and e. means for producing a net position error signal which is the difference between said desired position error signal and the servo code signals of said one magnetic head and for coupling said net position error signal to said input section to position said one magnetic head at the desired track.
Claim 2
Dependent Claim
239 words
In a magnetic disc memory drive having, magnetic memory discs, means for rotating said discs, servo code magnetically recorded in each track on said discs, means for determining a present track number, a magnetic head for each disc, and a movable member supporting each magnetic head in a position to scan an adjacent disc surface and to sense said servo code for producing servo code signals and to respond to said present track number for producing a present track position signal, a seek and track following control system, comprising: a. a track following control loop, having an output section and an input section, said output section including an actuator which is coupled to said movable member to move said member and thereby move all magnetic heads over the adjacent surfaces of said discs; b. means for coupling one magnetic head to said input section; c. means for producing a desired track position signal for said one magnetic head; d. means for producing a desired position error signal which is the difference between said desired track position signal and the track position signals of said one magnetic head; and e. means for producing a net position error signal which is the difference between said desired position error signal and the servo code signals of said one magnetic head and for coupling said net position error signal to said input section to position said one magnetic head at the desired track.
Claim 3
Dependent Claim
146 words
Apparatus as set forth in claim 1, in which said means for producing a desired track position signal, comprises: a. means for producing a selected magnetic head signal identifying a selected mangetic head, and a requested track position signal identifying a track at which said selected magnetic head is to be positioned; b. means for producing a present track position signal indicating the present track at which said selected magnetic head is positioned; c. means responsive to said requested track position signal and said present track position signal for producing a seek signal indicative of the seek length of a seek movement from said present track to said desired track; d. means responsive to said seek signal for producing a time varying position trajectory signal; and e. means for sequentially sampling said position trajectory signal and comparing each sample with an existing present track position signal.
Claim 4
Dependent Claim
38 words
Apparatus as set forth in claim 2, in which said for producing a position trajectory signal means comprising: a. storage means for storing a plurality of different desired track position signals individually addressed by different individual seek signals.
Claim 5
Dependent Claim
46 words
Apparatus as setforth in claim 2, comprising: a. means responsive to said seek signal for producing an acceleration signal; and b. means for coupling said acceleration signal to said output section of said track following control loop to provide the primary power for driving said actuator.
Claim 6
Dependent Claim
30 words
Apparatus as setforth in claim 4, wherein said last named means comprises: a. means responsive to said acceleration signal for controlling the time rate of change of said acceleration signal.
Claim 7
Dependent Claim
54 words
Apparatus as setforth in claim 4, comprising: a. means responsive to said servo code signals of said selected magnetic head at the end of a seek movement for adjusting the gain of said acceleration signal in a sense to reduce the overshoot or undershoot of a selected magnetic head in a subsequent seek movement.
Claim 8
Dependent Claim
66 words
Apparatus as set forth in claim 6, wherein said means responsive to the servo code signals of said one magnetic head comprises: a. an off-track detector responsive to said servo code signals for producing correction signals indicative of the magnitude of track center overshoot or undershoot; and b. an adaptive gain adjustment operation responsive to said correction signals for adjusting the gain of said acceleration signal.
Claim 9
Dependent Claim
224 words
In a magnetic disc memory drive having, magnetic memory discs, means for rotating said discs, sampled servo code magnetically recorded in each track on said discs, means for determining a present track number, a magnetic head for each disc, and a movable member supporting each magnetic head in a position to scan an adjacent disc surface and to sense said servo code for producing servo code signals and to respond to said track number for producing a present track position signal, a seek and track following control system, comprising: a. a control loop, having an output section and an input section, said output section including an acutator which is coupled to said movable member to move said member and thereby move said magnetic heads over the adjacent surface of said discs; b. means for producing a time varying position trajectory signal of given time duration coupled to said input section of said control loop; c. means for producing a time varying acceleration signal having a time duration the same as that of said time varying position trajectory signal; and d. means for simultaneously coupling said time varying position trajectory signal to said input section of said control loop for positioning said actuator and coupling said acceleration signal to said output section of said control loop to provide the primary power for driving said actuator.
Claim 10
Dependent Claim
224 words
In a magnetic disc memory drive having, magnetic memory discs, means for rotating said discs, sampled servo code magnetically recorded in each track on said discs, means for determining a present track number, a magnetic head for each disc, and a movable member supporting each magnetic head in a position to scan an adjacent disc surface and to sense said servo code for producing servo code signals and to respond to said track number for producing a present track position signal, a seek and track following control system, comprising: a. a control loop, having an output section and an input section, said output section including an acutator which is coupled to said movable member to move said member and thereby move said magnetic heads over the adjacent surface of said discs; b. means for producing a time varying position trajectory signal of given time duration coupled to said input section of said control loop; c. means for producing a time varying acceleration signal having a time duration the same as that of said time varying position trajectory signal; and d. means for simultaneously coupling said time varying position trajectory signal to said input section of said control loop for positioning said actuator and coupling said acceleration signal to said output section of said control loop to provide the primary power for driving said actuator.
Claim 11
Dependent Claim
31 words
Apparatus as set forth in claim 8, wherein said last named means comprises: a. means responsive to said acceleration signal for controlling the time rate of change of said acceleration signal.
Claim 12
Dependent Claim
56 words
Apparatus as set forth in claim 1, comprising: a. means responsive to said track position signals for producing signals indicative of odd and even numbered tracks for modifying said servo code signal resulting from track crossings during a seek movement so that the servo code signal has similar characteristics for both odd and even track crossings.
Claim 13
Dependent Claim
62 words
Apparatus as set forth in claim 1, wherein: a. said track position signals comprises odd and even track indication signals and said odd and even track indication signals and said, servo code signal are combined into a single position error signal so that the control loop always has negative feedback whether a magnetic head is crossing an odd or an even track.
Claim 14
Dependent Claim
127 words
Apparatus as set forth in claim 8, in which said means for producing said time varying position trajectory signal, comprises: a. means for producing a selected magnetic head signal identifying a selected mangetic head, and a requested track position signal identifying a track at which said selected magnetic head is to be positioned; b. means for producing a present track position signal indicating the present track at which said selected magnetic head is positioned; c. means responsive to said requested track position signal and said present track position signal for producing a seek signal indicative of the seek length of a seek movement from said present track to said desired track; and d. means responsive to said seek signal for producing said time varying position trajectory signal.
Claim 15
Dependent Claim
27 words
Apparatus as set forth in claim 12, in which said last named means comprises: a. storage means for storing a plurality of different desired track position values.
Claim 16
Dependent Claim
58 words
Apparatus as set forth in claim 8, comprising: a. means responsive to the servo code signals of said selected one of said magnetic heads at the end of a seek movement for adjusting the gain of said acceleration signal in a sense to reduce the overshoot or undershoot of a selected magnetic head in a subsequent seek movement.
Claim 17
Dependent Claim
68 words
Apparatus as setforth in claim 14, wherein said means responsive to the servo code signals of said selected one of said magnetic heads, comprises: a. an off-track detector responsive to said servo code signals for producing correction signals indicative of the magnitude of track center overshoot or undershoot; and b. an adaptive gain adjustment operation responsive to said correction signals for adjusting the gain of said acceleration signal.
Claim 18
Dependent Claim
22 words
Apparatus as set forth in claim 13, comprising: a. means responsive to said acceleration signal for modifying signals from said storage means.
Claim 19
Dependent Claim
51 words
Apparatus as set forth in claim 2, in which said means for producing a time varying position trajectory signal comprises: a. means for storing a single full power position trajectory table; and b. means responsive to an addressed full power position trajectory signal for producing said time varying position trajectory signal.
Claim 20
Dependent Claim
18 words
Apparatus as set forth in claim 17, in which said last named comprises: a. a position trajectory generator.
Claim 21
Dependent Claim
52 words
Apparatus as set forth in claim 17, comprising: a. means for storing different individual acceleration values, differing seek signals addressing corresponding individual acceleration value; and b. means for coupling an addressed acceleration value to said output section of said track following control loop to provide the primary power for driving said actuator.
Claim 22
Dependent Claim
50 words
Apparatus as set forth in claim 19, in which said last named means comprises: a. an acceleration profile generator responsive to said addressed acceleration value for producing an acceleration command signal having a predetermined profile and having a time duration corresponding to that of said time varying position trajectory signal.
Claim 23
Dependent Claim
44 words
Apparatus as set forth in claim 20, comprising: a. means providing an equal number of equal sampling intervals for said addressed desired track position signal and said addressed acceleration signal; and b. means for sampling each addressed signal in the same interval of time.
Claim 24
Dependent Claim
201 words
In a disc memory drive having, memory discs, means for rotating said discs, sampled servo code recorded in each track on said discs, means for determining a present track number, a transducer for each disc, and a movable member supporting each transducer in a position to scan an adjacent disc surface and sense said servo code and respond to said present track number for producing servo code signals and a present track position signal, a seek and track following control system, comprising: a. a track following control loop, having an output section and an input section, said output section including an actuator which is coupled to said movable member to move said member and thereby move said transducers over the adjacent surface of said discs; b. means for coupling one transducer to said input section of said track following control loop; c. means for producing a seek signal indicative of seek length; d. means responsive to said seek signal for producing an acceleration profile signal coupled to said output section of said track folowing control loop; and e. means responsive to said seek signal for producing a position trajectory signal coupled to said input section of said track following control loop.
Claim 25
Dependent Claim
201 words
In a disc memory drive having, memory discs, means for rotating said discs, sampled servo code recorded in each track on said discs, means for determining a present track number, a transducer for each disc, and a movable member supporting each transducer in a position to scan an adjacent disc surface and sense said servo code and respond to said present track number for producing servo code signals and a present track position signal, a seek and track following control system, comprising: a. a track following control loop, having an output section and an input section, said output section including an actuator which is coupled to said movable member to move said member and thereby move said transducers over the adjacent surface of said discs; b. means for coupling one transducer to said input section of said track following control loop; c. means for producing a seek signal indicative of seek length; d. means responsive to said seek signal for producing an acceleration profile signal coupled to said output section of said track folowing control loop; and e. means responsive to said seek signal for producing a position trajectory signal coupled to said input section of said track following control loop.
Claim 26
Dependent Claim
151 words
In a disc drive having a motor driven actuator structure with a transducer mounted thereon, a method for controlling said actuator structure for moving said transducer over a memory disc surface and for positioning said transducer over a selected track on said memory disc surface, comprising: a. generating a time varying position trajectory signal; b. employing one transducer to generate an actual track position signal identifying the track at which said one transducer is positioned; c. algebraically combining sequentially sampled portions of said time varying position trajectory signal and sequential actual track position signals as said transducer moves to produce position error signals; d. employing said transducer to generate a subtrack position signals when said transducer is between tracks; e. algebraically combining said subtrack position signals with said position error signals to generate net position error signals; and f. employing said net position error signals to control said motor driven actuator.
Claim 27
Dependent Claim
151 words
In a disc drive having a motor driven actuator structure with a transducer mounted thereon, a method for controlling said actuator structure for moving said transducer over a memory disc surface and for positioning said transducer over a selected track on said memory disc surface, comprising: a. generating a time varying position trajectory signal; b. employing one transducer to generate an actual track position signal identifying the track at which said one transducer is positioned; c. algebraically combining sequentially sampled portions of said time varying position trajectory signal and sequential actual track position signals as said transducer moves to produce position error signals; d. employing said transducer to generate a subtrack position signals when said transducer is between tracks; e. algebraically combining said subtrack position signals with said position error signals to generate net position error signals; and f. employing said net position error signals to control said motor driven actuator.
Claim 28
Dependent Claim
24 words
The method according to claim 23, comprising: a. developing stability compensated position error signals from said net position error signals to control said actuator.
Claim 29
Dependent Claim
42 words
The method according to claim 24, comprising: a. developing an acceleration profile signal for controlling said actuator; b. algebraically combining said acceleration profile signal with said stability compensated final position error signal to produce an actuator drive signal to drive said actuator.
Claim 30
Dependent Claim
147 words
In a disc drive having a motor driven actuator structure with a transducer mounted thereon, a method for controlling said actuator structure for moving said transducer over a memory disc surface and for positioning said transducer over a selected track on said memory disc surface, comprising: a. producing a time varying acceleration signal having a profile and a time duration which is a function of a seek length; b. producing a time varying position reference signal as a function of seek length and of the same time duration as said acceleration signal; c. successively sampling signal values of said time varying acceleration and position reference signals at the same points in time; and d. successively simultaneously applying acceleration and position signal values from the same points in time to said motor driven actuator to drive said actuator and to position said actuator at a selected track, respectively.
Claim 31
Dependent Claim
147 words
In a disc drive having a motor driven actuator structure with a transducer mounted thereon, a method for controlling said actuator structure for moving said transducer over a memory disc surface and for positioning said transducer over a selected track on said memory disc surface, comprising: a. producing a time varying acceleration signal having a profile and a time duration which is a function of a seek length; b. producing a time varying position reference signal as a function of seek length and of the same time duration as said acceleration signal; c. successively sampling signal values of said time varying acceleration and position reference signals at the same points in time; and d. successively simultaneously applying acceleration and position signal values from the same points in time to said motor driven actuator to drive said actuator and to position said actuator at a selected track, respectively.
Claim 32
Dependent Claim
45 words
The method according to claim 26, comprising: a. producing an actual track position signal as said transducer crosses each track; and b. comparing each actual track position signal with an existing sampled position reference signal to produce successive position error signals for positioning said actuator.
Claim 33
Dependent Claim
20 words
The method according to claim 27, comprising: a. combining each position error signal with an existing sampled acceleration signal value.
Claim 34
Dependent Claim
36 words
The method according to claim 26, comprising: a. producing a subtrack position signal indicative of the position from a track center of said transducer; and b. combining said subtrack signal with an existing position error signal.
Claim 35
Dependent Claim
44 words
The method according to claim 26, comprising: a. producing a subtrack signal at the end of a seek movement indicative of overshoot or undershoot of a desired track; and b. modifying said acceleration signal with said subtrack signal to correct track overshoot or undershoot.
Claim 36
Dependent Claim
22 words
The method according to claim 29, comprising: a. modifying said acceleration signal with said subtrack signal to correct track overshoot or undershoot.
Claim 37
Dependent Claim
33 words
The method according to claim 26, comprising: a. shaping said acceleration signal to provide a time rate of change of the acceleration signal profile compatible with the response of said motor driven actuator.
References Cited (Backward Citations)
No citation records indexed.
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