CN101047014A

CN101047014A - Stabilization judgment method for positioning control device and positioning control device

Info

Publication number: CN101047014A
Application number: CN 200610163340
Authority: CN
Inventors: 高石和彦
Original assignee: Fujitsu Ltd
Current assignee: Fujitsu Ltd
Priority date: 2006-03-31
Filing date: 2006-12-01
Publication date: 2007-10-03

Abstract

The invention relates to a settling judgment method and position control device of position control device. In a settling judgment method for judging whether an object is settled in a target position, the settlement is judged accurately at high-speed. In a positioning device for controlling a position of an object using a position error (e) between a target position and a current position, a plurality of judgment blocks, each of which has a different judgment slice value and continuous sample count, are created in a settling judgment block for judging whether the object is settled within the positioning accuracy range of the target position, the judgment value of the position error computed by the judgment formula is judged in each judgment block each having a different judgment slice value and continuous sample count respectively, and OR of the judgment results is output. According to the settling judgment formula, settling can be judged accurately at high-speed, and both improvement of positioning accuracy and high-speed judgment can be implemented.

Description

The stabilization judgment method of position control device and position control device

Technical field

The present invention relates to stablize (settling) determination methods and position control device, this stabilization judgment method and position control device are used for being used for by actuator the position control device of movement of objects to the target location, judgment object is to be stabilized in target location, still follow to the target location, more particularly, the present invention relates to be used to reduce the required time of stable judgement and carry out stable stabilization judgment method that is used for position control device and the position control device of judging exactly.

Background technology

Be used for using movement of objects to the position control device of target location very extensive.The employed position control device of dish device needs high-precision location.Particularly for disk set and optical disc apparatus, it is of crucial importance for improving recording density that operating head (head) is positioned to target track exactly.A kind ofly be used to judge whether in the method at the positioning control of target location carried out exactly to be stablely to judge.

In the stable judgement of position control device, afterwards mobile or position change positional control parameters afterwards must satisfy the intended orientation condition in the given time.For example, for the situation of disk set, carry out the stable judgement that tracking is controlled stable judgement afterwards and followed (follow up) control period.Stable judge at these, drop in predetermined amplitude limit (slice) scope and lasting number of times during greater than predetermined number (hits) when the value of the judgment formula of position-based error continues to satisfy, judge finished stable.

As being used for this stable method of judging, the method (Japanese kokai publication hei No.04-298868) that has proposed to estimate the method (Japanese kokai publication hei No.08-106742) of next position of sampling and used the estimation position of using the observer acquisition.

Summary of the invention

In these prior aries, stable condition, especially amplitude limit and the hits of judging fixed.For example, in order to carry out stable judgement exactly, preferably amplitude limit is established height and hits is also established height.

For example, in the dish device, the width of specified data track (track), and along the radially adjoining of dish data-track is set.Therefore,, operating head shifts to adjacent track after judging, then obliterated data unexpectedly if stablizing at tracking or when following.Part that perhaps may obliterated data, and may make the S/N deterioration of record data.

And in the recovery control when the tracking of dish device being controlled or follow control, in order to improve response performance, stable judgement time should be shorter.If but it is too short to stablize judgement time, then may detect less than the residual oscillation after the tracking, and bearing accuracy can variation after stable the end.

Because the dish device needs more high capacity and more speed, becomes very crucial so stablize Rule of judgment for safety of data and more speed, but with regard to prior art, be difficult to realize simultaneously precision and high speed.

In view of above situation, an object of the present invention is, be provided for judging accurately and at high speed stable stabilization judgment method that is used for position control device and position control device.

Another object of the present invention is, is provided for a plurality of amplitude limit value and hits being set and judging stable stabilization judgment method that is used for position control device and position control device exactly according to stablizing the judgment formula high speed according to stablize judgment formula.

Another purpose of the present invention is the stabilization judgment method that is used for position control device and the position control device that are provided for improving the response performance of traveling time and improve bearing accuracy.

In order to realize these purposes, stabilization judgment method of the present invention is the stabilization judgment method in a kind of position control device, this position control device is according to the position of the control of the site error between target location and current location object, this stabilization judgment method is judged stablizing at described target location, and may further comprise the steps: the first judgment value calculation procedure, it utilizes the preset judgment formula to calculate the judgment value of described site error at each sampling; First determining step, it utilizes first to judge that hits and first judges amplitude limit value, whether judgment value is reached the described first judgement hits continuously less than described first sampling of judging amplitude limit value judge; Second determining step, its utilization is different from described first to be judged that second of hits is judged hits and is different from described first and judges that second of amplitude limit value judges amplitude limit value, whether judgment value is reached the described second judgement hits continuously less than described second sampling of judging amplitude limit value judge; And first " or " the output step, its export the judged result of described first determining step and described second determining step judged result " or ", as stablizing judged result.

Position control device of the present invention has: the positioning control module, and it controls the position of object according to the site error between target location and the current location; With stable judge module, it utilizes the preset judgment formula to calculate the judgment value of described site error at each sampling, utilize first to judge the hits and the first judgement amplitude limit value, come whether judgment value is reached described first continuously less than described first sampling of judging amplitude limit value and judge that hits judges, utilization is different from the second judgement amplitude limit value that second of the described first judgement hits is judged hits and is different from the described first judgement amplitude limit value, come whether judgment value is reached described second continuously less than described second sampling of judging amplitude limit value and judge that hits judges, and export two judged results " or ", as stablizing judged result.

In the present invention, preferably, described first determining step also have utilization less relatively described first judge that hits and relative less described first judges the step of amplitude limit value, and described second determining step also has and utilizes relatively large described second step of judging hits and the relatively large described second judgement amplitude limit value.

And preferably, the present invention also has following steps: the second judgment value calculation procedure, and it utilizes another preset judgment formula to calculate the judgment value of described site error at each sampling; The 3rd determining step, it utilizes the 3rd to judge that hits and the 3rd judges amplitude limit value, whether judgment value is reached described the 3rd judgement hits continuously less than the described the 3rd sampling of judging amplitude limit value judge; And the AND output step, its output above-mentioned " or " and the judged result of described the 3rd determining step " with ", as stablizing judged result.

And in the present invention, preferably, described the 3rd determining step also has following steps: the 4th determining step, and whether it reaches the 4th to judgment value continuously less than the 4th sampling of judging amplitude limit value is judged that hits judges; The 5th determining step, its utilization is different from the described the 4th to be judged that the 5th of hits is judged hits and is different from the described the 4th and judges that the 5th of amplitude limit value judges amplitude limit value, whether judgment value is reached described the 5th judgement hits continuously less than the described the 5th sampling of judging amplitude limit value judge; And second " or " the output step, its export the judged result of described the 4th determining step and described the 5th determining step judged result " or ", as above-mentioned judged result.

And in the present invention, preferably, described first determining step and described second determining step also have the step of utilize as judge amplitude limit value and judgement hits, described judgement amplitude limit value and judgement hits are configured to, make according to the peak swing value of the described judgment value when applying periodic disturbance at each frequency of described periodic disturbance and the maximal value of definite peak swing value ratio is limited in the intended orientation precision.

And in the present invention, preferably, described first determining step and described second determining step also have the step of utilize as judge amplitude limit value and judgement hits, described judgement amplitude limit value and judgement hits are configured to, make according in the peak swing value that applies sinusoidal wave described judgment value during as described periodic disturbance at each frequency of described periodic disturbance and the maximal value of definite peak swing value ratio is limited in the intended orientation precision.

And in the present invention, preferably, described first " or " the output step also has the step of the relevant judged result of target location that whether output and the position of operating head be stabilized in dish.

And in the present invention, preferably, described positioning control module is the target location that is positioned to dish as the operating head of object.

And in the present invention, preferably, described stable judge module judges whether described operating head is stabilized in the bearing accuracy scope of described target location.

And in the present invention, preferably, described stable judge module judges that described judgment value is less than writing amplitude limit value or less than reading amplitude limit value, the said write amplitude limit value is configured to, make according to the peak swing value of the described judgment value when applying periodic disturbance at each frequency of described periodic disturbance and the maximal value of definite peak swing value ratio, being limited in the predetermined of described operating head writes within the bearing accuracy, the described amplitude limit value that reads is configured to, and makes above-mentioned maximal value be limited in the predetermined of described operating head and reads in the bearing accuracy.

And in the present invention, preferably, described stable judge module is read operation or the write operation to coil of described operating head to dish according to operation, selects said write amplitude limit value or the described amplitude limit value that reads.

And in the present invention, preferably, described stable judge module judges at the tracking control period of described operating head whether this operating head is stabilized in described target location.

And in the present invention, preferably, described stable judge module judges whether described operating head follows to described target location.

In the present invention, being provided with a plurality of judgement amplitude limit value and continuous sampling number is used for judging stable, and utilize judgment value and continuous sampling number in the different judgement amplitude limit value to come to judge to stable, therefore, can judge stable at a high speed and exactly according to stablizing judgment formula, and can realize the raising of bearing accuracy and judgement at a high speed simultaneously.

Description of drawings

Fig. 1 is the block diagram of describing according to the position control device of the embodiment of the invention;

Fig. 2 is the figure of the structure of the magnetic recording media in the depiction 1;

Fig. 3 is the figure of the servo region in the depiction 2;

Fig. 4 is the block diagram of the positioning control system in the depiction 1;

Fig. 5 is the transformation diagram that the operating head among depiction 1 and Fig. 4 moves control;

Fig. 6 is the block diagram of the stable judging part in the depiction 4;

Fig. 7 is the block diagram of describing based on the stable judging part of first embodiment of the structure among Fig. 6;

Fig. 8 is the block diagram of describing based on the stable judging part of second embodiment of the structure among Fig. 6;

Fig. 9 is the block diagram of describing based on the stable judging part of the 3rd embodiment of the structure among Fig. 6;

Figure 10 describes according to the stable judgement of the embodiment of the invention at the maximal value of each frequency process flow diagram than computing;

Figure 11 be describe among Figure 10 at the maximal value of each frequency block diagram than computing;

Figure 12 is the figure at the maximum ratio computing of each frequency that describes among Figure 10 and Figure 11;

Figure 13 is Figure 10 in Figure 12 at the table of the maximal value ratio of each frequency;

Figure 14 is that the maximal value ratio at each frequency among Figure 10 calculates the graph of a relation in three sampling judgement periods of being obtained;

Figure 15 is that the maximal value ratio at each frequency among Figure 10 calculates the graph of a relation in five sampling judgement periods of being obtained;

Figure 16 is a frequency and the graph of a relation of maximal value ratio, and described maximal value comprises the maximal value in sampling period among Figure 14;

Figure 17 is a frequency and the graph of a relation of maximal value ratio, and described maximal value comprises the maximal value in sampling period among Figure 15;

Figure 18 is the figure that describes to be used to calculate the bearing accuracy of amplitude limit value;

Figure 19 shows the amplitude limit value of using the bearing accuracy among Figure 18;

Figure 20 is the figure that describes according to another stable judgment mechanism of the present invention;

Figure 21 is the frequency characteristic figure of describing when the judgement hits of another stable judgment formula according to the present invention is 5;

Figure 22 is the frequency characteristic figure of describing when the judgement hits of another stable judgment formula according to the present invention is 3;

Figure 23 is according to the hits of another stable judgment formula of the present invention and the graph of a relation of maximum amplitude ratio;

Figure 24 is the block diagram of describing according to another embodiment of position control device of the present invention; And

Figure 25 shows the amplitude limit value table among Figure 24.

Embodiment

Below, by the structure of position control device, stablize judgment mechanism, stablize Rule of judgment, the order of other position control device and other embodiment describes embodiments of the invention, but the invention is not restricted to these embodiment.

The structure of position control device

Fig. 1 is the block diagram of describing according to the position control device of the embodiment of the invention, Fig. 2 is the figure of the arrangement of the position signalling of the disk in the depiction 1 and track, Fig. 3 is the figure of the position signalling of the disk among depiction 1 and Fig. 2, Fig. 4 is the block diagram of the operating head position control system in the depiction 1, and Fig. 5 is the figure of the operating head position control in the depiction 1 to Fig. 4.

Fig. 1 shows the disk set as the example of position control device, and described disk set is a class dish device.As shown in Figure 1, be installed in rotating shaft 2 places of Spindle Motor 5 as the disk 4 of magnetic storage medium.Spindle Motor 5 rotating disks 4.Actuator (VCM) 1 has magnetic head 3 at its taper place, and by rotation, moving head 3 makes progress in the footpath of disk 4.

Actuator 1 is made up of the voice coil motor (VCM) that with the rotating shaft is the center rotation.In Fig. 1, two disks 4 are installed on disk set, and drive four magnetic heads 3 simultaneously by same actuator 1.Even have a disk 4, and have two magnetic heads, also can use with a kind of structure.

The discrete type operating head that magnetic head 3 is made up of read element and write element.Magnetic head 3 is made up of read element and write element, and this read element comprises magnetic resistance (MR) element that is layered on the slide block, and this write element comprises stacked write coil thereon.

The position signalling that position detecting circuit 7 reads magnetic head 3 (simulating signal) converts digital signal to.The reading and writing of read/write (R/W) circuit 10 control heads 3.Spindle Motor (SPM) driving circuit 8 drive shaft motors 5.Voice coil motor (VCM) driving circuit 6 provides drive current to voice coil motor (VCM) 1, and drives VCM1.

Microcontroller (MCU) 14 is used to detect (demodulation) current location from the digital position signal of position testing circuit 7, and calculates the VCM drive command value according to the error between current location that is detected and the target location.In other words, microcontroller 14 executing location are separated mediation servocontrol (position control).The control program of ROM (read-only memory) (ROM) 13 store M CU14.Random-access memory (ram) 12 storages are used for the data of the processing of MCU14.

Hard disk controller (HDC) 11 judges the position in the track based on the sector number of servosignal, and recording/reproducing data.Be used for the random access memory 15 interim storage reading of data of impact damper and write data.HDC11 is via interface IF and main-machine communication such as USB, ATA and SCSI.Bus 9 connects these component units.

As shown in Figure 2, disk 4 has servo region 16, be arranged in the sector of each track servo-information from outside thoughtful inner edge circumferentially be recorded in the servo region 16.Solid line among Fig. 2 shows the position that wherein records servo-information 16.

As shown in Figure 3, servo-information 16 is by magnetic recording or the position signalling (servo-information) that writes down by the mechanical patterns such as pit (pit).Position signalling comprises servo mark ServoMark, orbit number GrayCode, index Index and offset information (servo burst) PosA, PosB, PosC and PosD.Be shown in dotted line servo orbit centre among Fig. 3.

Read element by magnetic head 3 reads the position signalling among Fig. 3, and utilizes orbit number GrayCode and offset information PosA, PosB, PosC and PosD to detect magnetic head position diametrically.And, based on index signal Index, obtain magnetic head in the position that makes progress in week.

For example, the sector number when detecting index signal is made as No.0, just sector number is added up when detecting servosignal, thereby obtains the sector number of each sector of track.Benchmark when the sector number of servosignal becomes record and reproduces data.Has an index signal in the track.Sector number can be set replace index signal.

Fig. 4 is a block diagram of describing the calculating of passing through the MCU14 execution of servo-control system.As shown in Figure 4, servo-control system is come site error " e " between calculated target positions " r " and the current location " y " by computing module 20, and come calculation control amount Un by control module (Cn) 21, and drive VCM1 and 3, VCM1 and 3 is mechanical hook-ups (plant) 22.For the position of this mechanical hook-up, demodulation is from the servosignal of magnetic head 3, and calculating current location " y ", and it is fed back to computing module 20.

Stablize judge module 24 utilizations and stablize judgment formula and stable Rule of judgment (amplitude limit value and hits), " e " judges stable according to site error.For stablizing judgment formula, use e (=Y[n]) itself, perhaps use (2Y[n]-Y[n-1]), perhaps use these two.

Fig. 5 shows the example of carrying out the tracking control of actuator by the MCU14 among Fig. 1 and Fig. 4.MCU14 confirms the position of actuator to carry out servo calculating, thereby provide suitable current to VCM1 by the position detecting circuit among Fig. 17.Fig. 5 show when magnetic head 3 from the control transformation, the electric current of actuator 1, the speed of actuator (magnetic head) from beginning tracking of a certain orbital position when move the target track position, and the position of actuator (magnetic head).

In other words, in tracking control, the transformation by from coarse adjustment control, stable control and tracking Control (following control) moves to the target location with magnetic head.Coarse adjustment control is speed control basically, and stable control and tracking Control are position control basically, for stable control and tracking Control, must detect the current location of magnetic head 3.In this stable control, judge stable, and enable to read or write.In tracking Control,, then when carrying out the recovery control of orbit centre, judge stable if offset track takes place.

In order to confirm as mentioning among Fig. 2 and Fig. 3, on disk, to have write down servosignal in advance in the position like this.In other words, as shown in Figure 3, the servo mark of the reference position of indication servosignal, Gray code (gray code), the index signal of indication orbit number and the signal PosA-PosD that indicates skew have been write down in advance.Read these signals by magnetic head 3, and convert these servosignals to digital value by position detecting circuit 7.

Stablize judgment mechanism

Fig. 6 is the functional block diagram of describing according to the stable judgment mechanism of the embodiment of the invention, Fig. 7 is the functional block diagram of stable judgment mechanism of describing to utilize first embodiment of the structure among Fig. 6, Fig. 8 is the functional block diagram of stable judgment mechanism of describing to utilize second embodiment of the structure among Fig. 6, and Fig. 9 is the functional block diagram of stable judgment mechanism of describing to utilize the 3rd embodiment of the structure among Fig. 6.

As shown in Figure 6, " e " inputs to judgment formula module 50 with site error, and according to predetermined stablize judgment formula (for example, y[n]=e) in judgment formula module 50, calculate judgment value.This judgment value by Postponement module 52-1 ..., 52-m sequentially postpones.Be provided with n stable judge module 54-1,54-2 ..., 54-n.

Each stable judge module 54-1,54-2 ..., 54-n has different stable judgement hits and amplitude limit value respectively.For example, first stablizes judge module 54-1 judges judgment value y[n] and judgment value y[n-1] whether the input of these two samplings all less than first amplitude limit value, and if the input of these two samplings all less than first amplitude limit value, then be judged as stable.Like this, N stablizes judge module 54-n and judges judgment value y[n], judgment value y[n-1] ..., judgment value y[1] whether the input of this n sampling all less than the N amplitude limit value, and if the input of all samplings all less than the N amplitude limit value, then be judged as stable.

OR circuit 56 definite each stable judge module 54-1,54-2 ..., 54-n stable judged result " or ", and judged result is stablized in output.Thus, this amplitude limit value is littler and by being established forr a short time along with hits, and along with hits is bigger and established greatlyyer.Like this, can obtain stable judged result, and, also be accurately so stablize judgement owing to amplitude limit value changes according to each stable judge module according to judgment value with minimum hits.

Fig. 7 is the block diagram of stable judgement of describing to utilize first embodiment of the structure among Fig. 6, wherein be provided with and judge that hits is respectively two the stable judge module 54-1 and the 54-2 of 3 samplings and 5 samplings, and be provided with the amplitude limit value of stablizing judge module 54-1 and 54-2 at different amplitude limit A and amplitude limit B respectively at a judgment formula.

In Fig. 7, utilize same numeral indication and the identical component units of component units among Fig. 6.For example, judgment formula be (y[n]=e), and amplitude limit value A is less than amplitude limit value B.And as the back as described in Figure 19, can select suitable amplitude limit value.Thus, can obtain judged result accurately by minimum hits according to judgment value.

Fig. 8 is the block diagram of stable judgement of describing to utilize second embodiment of the structure among Fig. 6, wherein, utilize a plurality of (being two in this case) judgment formula " with " judge stable.As shown in Figure 7, in this example, be provided with it at a judgment formula A and judge that hits is respectively two the stable judge module 54-1 and the 54-2 of 3 samplings and 5 samplings, and the amplitude limit value of stable judge module 54-1 and 54-2 is arranged to different amplitude limit A and amplitude limit B respectively, judges that hits is that judge module 54-3 is stablized in one of 2 samplings and be provided with it at another judgment formula B.

In Fig. 8, utilize the identical component units of component units among same numeral indication and Fig. 6 and Fig. 7.For example, judgment formula A be (y[n]=e), and amplitude limit value A is less than amplitude limit value B.And as the back as described in Figure 19, can select suitable amplitude limit value.Judgment formula B is (2*y[n]-y[n-1]), and stable judge module 54-3 judges that at it hits is the judgment value of 2 a samplings output stabilization result during less than amplitude limit value C.

In "AND" circuit 58, determine two stable judge module 54-1 and 54-2 judged result " or " judged result of result's (" or " output of module 56) and stable judge module 54-3 " with ", and judged result is stablized in output.Equally so utilize a plurality of judgment formulas, can obtain judged result accurately by minimum hits according to judgment value.

Fig. 9 is the block diagram of stable judgement of describing to utilize the 3rd embodiment of the structure among Fig. 6, wherein, utilize a plurality of (being three in this case) judgment formula " with " judge stable.In Fig. 9, utilize same numeral indication and Fig. 6 to the identical component units of the component units among Fig. 8.

Shown in Fig. 7 and Fig. 8, in this example, be provided with it at the first judgment formula A and judge that hits is respectively two the stable judge module 54-1 and the 54-2 of 3 samplings and 5 samplings, and the amplitude limit value that will stablize judge module 54-1 and 54-2 is set as different amplitude limit value respectively (promptly, amplitude limit A and amplitude limit B), be provided with it at the second judgment formula B and judge that hits is a stable judge module 54-3 of 2 samplings, judge that hits is respectively two the stable judge module 54-4 and the 54-5 of 3 samplings and 5 samplings and be provided with it at the 3rd judgment formula C, and the amplitude limit value that will stablize judge module 54-4 and 54-5 is set as different amplitude limit value (that is, amplitude limit D and amplitude limit E) respectively.

In Fig. 9, the judgment formula A of the first judgment formula module 50 for example be (y[n]=e), and amplitude limit value A is less than amplitude limit value B.And as the back described in Figure 19, can select suitable amplitude limit value.The judgment formula B of the second judgment formula module 50-1 is (2*y[n]-y[n-1]), and stable judge module 54-3 judges that at it hits is the judgment value of 2 a samplings output stabilization result during less than amplitude limit value C.

The judgment formula C of the 3rd judgment formula module 50-2 for example be mention later (y[n]+y[n-1]+y[n-2]), and amplitude limit value D is less than amplitude limit value E.

In "AND" circuit 58, determine two stable judge module 54-1 and 54-2 judged result " or " result's (" or " output of module 56), the judged result of judge module 54-3 stablized, and the judged result of two stable judge module 54-4 and 54-5 " or " result (" or " output of module 56-1) " with ", and judged result is stablized in output.Equally so utilize a plurality of judgment formulas, can obtain judged result accurately by minimum hits according to judgment value.

Stable Rule of judgment is set

Figure 10 is a process flow diagram of describing the measurement processing of stable Rule of judgment of the present invention, Figure 11 describes the block diagram that the measurement among Figure 10 is handled, Figure 12 describes the figure that the measurement among Figure 10 and Figure 11 is handled, Figure 13 is the table that the measurement result of Figure 10 in Figure 12 is shown, Figure 14 is frequency and a peaked performance plot by each hits in the measurement among Figure 10 to Figure 17, Figure 18 describes to be used for definite figure that stablizes the allowable error of Rule of judgment, and Figure 19 is the table that the stable Rule of judgment that is provided with according to the allowable error among Figure 18 is shown.

At first, with reference to Figure 11 and Figure 12, be described measuring the overview of handling.In measuring processing, when positioning object, this object (situation at Fig. 1 is an operating head) is drawn the track with respect to the target location vibration, and converges on the target location, thereby, sine wave is used as site error.Then, change this sinusoidal wave phase place, and the value of determining stablize judgment formula is sampling having finished stable judgement after or what times of the peak swing among the sampling, thus the maximal value of definite convergent-divergent rate.Because the frequency of site error changes with tracking distance and other factors, so utilize different frequency to determine maximal value.

This measurement processing is specifically described.As shown in figure 11, frequency F and phase place Phase are indicated to sine-wave generator module 30, then sine-wave generator module 30 generates the sinusoidal wave Y with assigned frequency F and phase place Phase.Should input to judgment formula module 32 by sine wave Y, to utilize judgment formula to calculate judgment value in the predetermined sampling period.For example, this judgment formula is the value Y[n of each sampling itself], or used the value Y[n of current sampling] and the value Y[n-1 of last sampling] (2Y[n]-Y[n-1]).

By the value of Postponement module 34-1, and Postponement module 34-1 inputed to maximal value judge module 36 to the input and output of 34-m, then maximal value judge module 36 its maximal value of output Max1 to 34-m sequential delays judgment value.For the situation of Figure 12, after 5 samplings of judge module, produced a sampling of sampled point module.For the situation of 5 samplings, be provided with 4 Postponement module 34-1 to 34-m, and with 5 of judgment value sampling Y[n-4] to Y[n] input to maximal value judge module 36, thus its maximal value Max1 exported by maximal value judge module 36.

On the other hand, the sinusoidal wave Y with sine-wave generator module 30 inputs to analog waveform maximal value acquisition module 40.Obtain the maximal value Max2 of sinusoidal wave Y in the sampled point module of this analog waveform maximal value acquisition module 40 in Figure 12.

Postpone maximal value Max1 definite before the sampling of maximal value Max2 by Postponement module 38, and this maximal value Max1 is inputed to division module 42.This division module 42 determine the absolute value of maximal value Max1 and the ratio Rate of the absolute value of maximal value Max2 (=Max2/Max1).

As shown in figure 12, at a frequency F1, generated each phase place P1 to the sinusoidal wave F1 (P1) of Pn to F1 (Pn), calculated under each frequency F1 than Rate, and maximal value acquisition module 44 obtains the maximal value Rate Max of the ratio Rate of each phase place.

In other words, measure in preset judgment module (is 5 samplings at the situation among Figure 12) according to judgment formula and judge that the maximal value of the judged result of site error appears at the degree in the site error (amplitude) in subsequently the sampled point module.As shown in figure 12, in the frequency that changes sinusoidal wave (being the position error), measure the maximal value Rate (Max) of the ratio under this frequency.For example, shown in " Fn " among Figure 12, change frequency, and measure the maximal value Rate (Max) of the ratio under the above-mentioned assigned frequency.

As shown in figure 13, the maximum amplitude ratio with each frequency of obtaining like this is stored in the table.In other words, obtain the storage each frequency F (=f1, f2 ..., fn) under the table of high specific Rate (Max).

This measurement realizes by carrying out a program, and is described according to the process flow diagram among Figure 10.

(S10) frequency F will be set and be initialized as " dF ".

(S12) phase place Phase will be set and be initialized as " 0 ", and high specific Rate (Max) will be initialized as " 0 ".

(S14) generate sinusoidal wave Y=sin (2 π F+Phase).

(S16) at the hits in the judge module (situation at Figure 12 is 5 samplings), utilize above-mentioned judgment formula to calculate the sinusoidal wave Y of this generation, and determine its maximal value Max1.

(S18) determine in the sampled point module (Figure 12) maximal value Max2 according to the judge module of the sinusoidal wave Y that generates up to next sampled point.

(S20) calculate maximal value Max2 under the phase place Phase and the ratio Rate (Phase) of Max1 according to Rate (Phase)=abs (Max2/Max1).

(S22) judge that whether the ratio Rate (Phase) calculated is greater than the high specific RateMax (F) up to now under this frequency.If Rate (Phase) greater than high specific RateMax (F), then is updated to the Rate (Phase) that is calculated with high specific RateMax (F).

(S24) then,, phase place will be set be updated to (Phase+dPhase) in order to change phase place.

(S26) judge upgraded be provided with phase place Phase whether be 2 π or more than.If phase place Phase be set be not 2 π or more than, then handle and be back to step S14.

(S28) if upgraded be provided with phase place Phase be 2 π or more than, then finish this is provided with the calculating of the high specific of frequency F.Thus, frequency F will be set be updated to (F+dF), so that turn to the processing of next frequency.And judge upgraded be provided with frequency F whether be Fs (sample frequency)/2 or more than.If upgraded be provided with frequency F be Fs (sample frequency)/2 or more than, mean that then frequency F is set has reached nyquist frequency, and can not control, thereby end process.If upgraded be provided with frequency F be not Fs (sample frequency)/2 or more than, then handle being back to step S12, and calculate high specific at next frequency.

As shown in figure 13, this result of calculation is stored in the table.According to maximum amplitude ratio under each frequency and the judgement hits in the judgment formula, determine the amplitude limit of judgment formula.

Figure 14 is frequency when judging hits for " 3 " and the graph of a relation of maximum amplitude ratio MaxRate.Figure 15 is frequency when judging hits for " 5 " and the graph of a relation of maximum amplitude ratio MaxRate.Here show when judgment formula be y[n] and relation when (2*y[n]-y[n-1]).And in Figure 14 and Figure 15, when only having used sampled point, the frequency of horizontal ordinate is with the normalized frequency of sample frequency Fs for " 1 ".

This graph of a relation shows that maximum amplitude ratio changes with each frequency when using the particular decision formula, and if use different judgment formulas, then maximum amplitude ratio is also different thereupon.

Figure 16 is frequency when judging hits for " 3 " and the graph of a relation of maximum amplitude ratio MaxRate, is with the difference of Figure 14, has used the maximal value (referring to Figure 12) in the sampling portion among Figure 16, and has only used the value of sample point among Figure 14.Figure 17 is when judging hits for " 5 ", utilizes the frequency of the maximal value drafting in the sampling portion and the graph of a relation of maximum amplitude ratio MaxRate.

As Figure 16 and shown in Figure 17, at judgment formula is y[n] situation under, if judge that hits is 3 samplings, then near the zone nyquist frequency, the maximal value of maximum amplitude ratio is " 2 ", if and the judgement hits is 5 samplings, then the maximal value of maximum amplitude ratio is " 1.5 ".

This means 2 times or 1.5 times of the maximum hour offsets of the judgment value of particular decision formula.Therefore, if the allowable error of range of stability is " 1 ", in the time of then must providing maximum the amplitude limit of 2 times or 1.5 times.Therefore, by with allowable error divided by this maximum amplitude ratio, obtain optimum amplitude limit value.

Equally, at judgment formula be (2*y[n]-y[n-1]) time, if judge that hits is 3 samplings, then near the zone nyquist frequency, the maximal value of maximum amplitude ratio is " 1 ", and if judge that hits is 5 samplings, then the maximal value of maximum amplitude ratio is " 1 ".

With reference to Figure 18 and Figure 19 this is described.As shown in figure 18, situation at disk, for example, if allowable error (bearing accuracy) is set is to depart from a track width ± 0.15 with respect to orbit centre, then shown in the table among Figure 19, when judgment formula is y[n] time, if hits is 3 samplings, judge that then amplitude limit value is 0.15/2=0.075 (track), and if hits is 5 samplings, judge that then amplitude limit value is 0.15/1.5=0.10 (track).

Equally, when judgment formula is (2*y[n]-y[n-1]),, judge that then amplitude limit value is 0.15/1.0=0.15 (track) if judge that hits is 3 samplings, and if judge that hits is 5 samplings, judge that then amplitude limit value is 0.15/1.0=0.15 (track).

According to above-mentioned judgment formula, the amplitude limit value (absolute value) that in Fig. 4 and Fig. 6 stable judge module 24 in Fig. 9, is provided with hits and calculates like this.For example, if in stablizing judge module 24, A has used y[n for judgment formula], then judge that at it hits is among the stable judge module 54-1 of 3 samplings, limit spoke value A to be set to 0.15/2=0.075 (track), and judge that for it hits is the stable judge module 54-2 of 5 samplings, limit spoke value B to be set to 0.15/1.5=0.10 (track).

Equally, if use (2*y[n]-y[n-1]) at the judgment formula of the stable judge module among Fig. 8, then it judges that hits is that the limit spoke value of the stable judge module 54-3 of 2 samplings is set to 0.15/1.0=0.15 (track).

Like this, provide sine wave, determine the maximal value of the site error between next sampling and appointment sampling, and determine the maximal value of the site error between these samplings and the peaked ratio of the stable judgment formula in the judgement period as site error.When changing sinusoidal wave phase place, at each frequency determine this than maximal value.And according to than maximal value in the maximal value under each frequency, utilize allowable error to determine to specify the amplitude limit value of hits, and it is arranged on stablizes in the judge module 24.

Therefore, can optional sampling number and amplitude limit value be set according to stablizing judgment formula, and no matter the vibration frequency that imposes on the target location how, can carry out at a high speed and stablely accurately judge.

Other locating device

Figure 20 is the figure that describes another stable judgment means condition of the present invention, Figure 21 is 5 frequencies under the sampling situation and the graph of a relation of maximal value ratio, Figure 22 is 3 frequencies under the sampling situation and the graph of a relation of maximal value ratio, and Figure 23 is a graph of a relation of judging sampled value and maximal value ratio.

Figure 20 shows when making up y[n in the performance plot under 5 samplings in Figure 17] and the maximum position error when (2*y[n]-y[n-1]).Determine stable judgement among Fig. 8 by this block position error.

As Figure 16, Figure 17 and shown in Figure 20, at y[n] and the combined characteristic of (2*y[n]-y[n-1]) in, the amplitude of site error is higher at low frequency range (for example, the normalized frequency among Figure 20 " 0 " arrives " 0.1 ").

As being used for to its improved method, illustrated among Figure 21 and Figure 22 utilize first three site error of sampling earlier and method.In other words, for judgment formula used (y[n]+y[n-1]+y[n-2]).Figure 21 and Figure 22 show utilize this judgment formula calculate as mentioned above with respect to the maximal value of frequency than the time the result.

Figure 21 is at the graph of a relation of judging hits frequency and maximum amplitude ratio MaxRate for " 5 " and when having used maximal value in the sampling portion (referring to Figure 12), as Figure 16.Equally, Figure 22 is the graph of a relation that utilizes maximal value in sampling portion frequency and maximum amplitude ratio MaxRate when judging hits for " 3 ".

Among Figure 21 and Figure 22 by the characteristic of dotted line indication be to use judgment formula (y[n]+y[n-1]+y[n-2]) time the characteristic of frequency and maximal value ratio.In other words, maximal value is than lower at low frequency range.Thus, can reduce the amplitude of low frequency range.

As Figure 21 and shown in Figure 22, when use at judgment formula (y[n]+y[n-1]+y[n-2]) time, if judge that hits is 5 samplings, then the maximal value of maximum amplitude ratio at low frequency range (for example, normalized frequency among Figure 21 " 0 " is to " 0.15 ") in be " 0.6 ", if and the judgement hits is 3 samplings, then the maximal value of maximum amplitude ratio is " 0.7 " in low frequency range (for example, the normalized frequency among Figure 22 " 0.07 " is to " 0.15 ").

If as shown in figure 18 above-mentioned allowable error (bearing accuracy) (track width ± 0.15) is set, then for the situation of 5 hits, judge that limit spoke value is 0.15/0.6=0.25 (track), then, judge that limit spoke value is 0.15/0.7=0.214 (track) for the situation of 3 hits.

Figure 23 shows the inspection hits of above-mentioned three judgment formulas and the relation of maximum amplitude ratio.As shown in figure 23, according to stablizing judgment formula, maximum amplitude ratio is different values according to checking hits.

Therefore, as described in Fig. 9, will limit the spoke value to be provided with lowly, if count value greatly then will limit the spoke value to be provided with highly if count value is little as Fig. 7.

And as shown in Figure 9, even structure utilizes the stable judgment mechanism of three stable judgment formulas, thereby at low frequency range, also can judge stable at a high speed.

Figure 24 is a block diagram of describing the calculating of the servo-control system carried out by the MCU14 of second embodiment of the invention.Figure 25 shows the key diagram of table 26.In this example, when allowable error changes, the setting of stablizing Rule of judgment is depended on reading or writing dish.In other words, need accurate writing position owing to write, so this is the example that width is wide of allowing that reads than writing.

As shown in figure 24, servo-control system utilizes computing module 20 to come site error e between calculated target positions " r " and current location " y ", utilizes control module (Cn) 21 to come calculation control amount Un, and drives the VCM1 and 3 as mechanical hook-up 22.At the position of this mechanical hook-up, demodulation calculating current location y, and feeds back to computing module 20 with it from the servosignal of magnetic head 3.

Stablize judge module 24 by stablizing judgment formula and stable Rule of judgment (amplitude limit value and hits), utilize site error " e " to judge stable.For stablizing judgment formula, the use location error e (=Y[n]) itself, perhaps use (2Y[n]-Y[n-1]).Table 26 is stored amplitude limit value according to writing/read, and they are arranged on stablize in the judge module 24.

As shown in figure 25, according to Figure 16 and Figure 17, at the allowable error that writes is " ± 0.15 " and the allowable error that reads is " ± 0.30 ", and judgment formula is y[n] situation, if judge that hits is 3 samplings, the judgement amplitude limit value that then writes is 0.15/2=0.075 (track), and the judgement amplitude limit value that reads is 0.150.Equally, if judge that hits is 5 samplings, the judgement amplitude limit value that then writes is 0.15/1.5=0.10 (track), and the judgement amplitude limit value that reads is 0.20.

For judgment formula is the situation of (2*y[n]-y[n-1]), if judge that hits is 3 samplings, the judgement amplitude limit value that then writes is 0.15/1.0=0.15 (track), and the judgement amplitude limit value that reads is 0.30.Equally, if judge that hits is 5 samplings, the judgement amplitude limit value that then writes is 0.15/1.0=0.15 (track), and the judgement amplitude limit value that reads is 0.30.

Like this, can read and write at each optimum amplitude limit value and hits be set, and no matter the vibration frequency that imposes on the target location how, can be carried out the stable accurately judgement of high speed for reading and writing.Equally in this case, as Fig. 7 or shown in Figure 8, utilize a plurality of stable judge module that has different judgement hits and judge amplitude limit value can carry out stable accurately more at a high speed judgement.

Other embodiment

In the above embodiments, utilize the example of the head position device of disk set, position control device is described, but the present invention can also be applied to other dish device such as optical disc apparatus, and can be applied to other position control device at object except that the dish device.Allowable error (bearing accuracy) can adopt different values, and hits also can adopt different values.

Invention has been described above to utilize embodiment, but can by multiple mode it be made amendment in the scope of inner characteristic of the present invention, and these should not revised and get rid of outside scope of the present invention.

Be provided with a plurality of judgement amplitude limit value and continuous sampling number at stable judgement, and utilize different judgement amplitude limit value and continuous sampling number to judge stable judgment value, therefore, can judge stablely at a high speed and exactly according to stablizing judgment formula, and can realize the raising and the judgement at a high speed of bearing accuracy simultaneously.

Claims

1, the stabilization judgment method in a kind of position control device, this position control device are according to the position of the control of the site error between target location and current location object, and this stabilization judgment method judgement is stable at described target location, and may further comprise the steps:

The first judgment value calculation procedure, it utilizes the preset judgment formula to calculate the judgment value of described site error at each sampling;

First determining step, it utilizes first to judge that hits and first judges amplitude limit value, whether judgment value is reached the described first judgement hits continuously less than described first sampling of judging amplitude limit value judge;

Second determining step, its utilization is different from described first to be judged that second of hits is judged hits and is different from described first and judges that second of amplitude limit value judges amplitude limit value, whether judgment value is reached the described second judgement hits continuously less than described second sampling of judging amplitude limit value judge; And

First " or " the output step, its export the judged result of described first determining step and described second determining step judged result " or ", as stablizing judged result.

2, the stabilization judgment method in the position control device according to claim 1, wherein, described first determining step also comprises described first step of judging hits and the relative less described first judgement amplitude limit value that utilization is less relatively,

And described second determining step also comprises and utilizes relatively large described second to judge that hits and relatively large described second judges the step of amplitude limit value.

3, the stabilization judgment method in the position control device according to claim 1, this stabilization judgment method is further comprising the steps of:

The second judgment value calculation procedure, it utilizes another preset judgment formula to calculate the judgment value of described site error at each sampling;

The 3rd determining step, it utilizes the 3rd to judge that hits and the 3rd judges amplitude limit value, whether judgment value is reached described the 3rd judgement hits continuously less than the described the 3rd sampling of judging amplitude limit value judge; And

The AND output step, its output described " or " and the judged result of described the 3rd determining step " with ", as stablizing judged result.

4, the stabilization judgment method in the position control device according to claim 3, wherein, described the 3rd determining step is further comprising the steps of:

The 4th determining step, whether it reaches the 4th to judgment value continuously less than the 4th sampling of judging amplitude limit value is judged that hits judges;

The 5th determining step, its utilization is different from the described the 4th to be judged that the 5th of hits is judged hits and is different from the described the 4th and judges that the 5th of amplitude limit value judges amplitude limit value, whether judgment value is reached described the 5th judgement hits continuously less than the described the 5th sampling of judging amplitude limit value judge; And

Second " or " the output step, its export the judged result of described the 4th determining step and described the 5th determining step judged result " or ", as above-mentioned judged result.

5, the stabilization judgment method in the position control device according to claim 1, wherein, described first determining step and described second determining step also comprise the step of utilize as judge amplitude limit value and judgement hits, described judgement amplitude limit value and judgement hits are configured to, make according to the peak swing value of the described judgment value when applying periodic disturbance at each frequency of described periodic disturbance and the maximal value of definite peak swing value ratio is limited in the intended orientation precision.

6, the stabilization judgment method in the position control device according to claim 5, wherein, described first determining step and described second determining step also comprise the step of utilize as judge amplitude limit value and judgement hits, described judgement amplitude limit value and judgement hits are configured to, make according in the peak swing value that applies sinusoidal wave described judgment value during as described periodic disturbance at each frequency of described periodic disturbance and the maximal value of definite peak swing value ratio is limited in the intended orientation precision.

7, the stabilization judgment method in the position control device according to claim 1, wherein, described first " or " the output step comprises also whether the output and the position of operating head are stabilized in the step of the relevant judged result of the target location of dish.

8, a kind of position control device, this position control device comprises:

The positioning control module, it controls the position of object according to the site error between target location and the current location; With

Stablize judge module, it utilizes the preset judgment formula to calculate the judgment value of described site error at each sampling, utilize first to judge the hits and the first judgement amplitude limit value, come whether judgment value is reached described first continuously less than described first sampling of judging amplitude limit value and judge that hits judges, utilization is different from the second judgement amplitude limit value that second of the described first judgement hits is judged hits and is different from the described first judgement amplitude limit value, come whether judgment value is reached described second continuously less than described second sampling of judging amplitude limit value and judge that hits judges, and export two judged results " or ", as stablizing judged result.

9, position control device according to claim 8, wherein, the less relatively described first judgement hits of described stable judge module utilization is judged with the relative less described first judgement amplitude limit value, and is utilized relatively large described second judgement hits and the relatively large described second judgement amplitude limit value to judge.

10, position control device according to claim 8, wherein, described stable judge module utilizes another judgment formula to calculate the judgment value of described site error at each sampling, utilize the 3rd to judge hits and the 3rd judgement amplitude limit value, come whether judgment value is reached the described the 3rd continuously less than the described the 3rd sampling of judging amplitude limit value and judge that hits judges, and export described " or " and described the 3rd judged result " with ", as stablizing judged result.

11, position control device according to claim 10, wherein, whether described stable judge module reaches the 4th to judgment value continuously less than the 4th sampling of judging amplitude limit value is judged that hits judges, utilization is different from the 5th judgement amplitude limit value that the 5th of described the 4th judgement hits is judged hits and is different from described the 4th judgement amplitude limit value, whether judgment value is reached the described the 5th continuously less than the described the 5th sampling of judging amplitude limit value judge that hits judges, and export two judged results " or ", as the 3rd judged result.

12, position control device according to claim 8, wherein, described stable judge module uses as amplitude limit value and the judgement hits of judging, described judgement amplitude limit value and judgement hits are configured to, make according to the peak swing value of the described judgment value when applying periodic disturbance at each frequency of described periodic disturbance and the maximal value of definite peak swing value ratio is limited within the intended orientation precision.

13, position control device according to claim 8, wherein, described positioning control module is the target location that is positioned to dish as the operating head of described object.

14, position control device according to claim 13, wherein, described stable judge module judges whether described operating head is stabilized in the described bearing accuracy scope of described target location.

15, position control device according to claim 8, wherein, described stable judge module judges that described judgment value is less than writing amplitude limit value or less than reading amplitude limit value, the said write amplitude limit value is configured to, make according to the peak swing value of the described judgment value when applying periodic disturbance at each frequency of described periodic disturbance and the maximal value of definite peak swing value ratio, being limited in the predetermined of described operating head writes within the bearing accuracy, the described amplitude limit value that reads is configured to, and makes above-mentioned maximal value be limited in the predetermined of described operating head and reads in the bearing accuracy.

16, position control device according to claim 15, wherein, described stable judge module is read operation or the write operation to coil of described operating head to dish according to operation, selects said write amplitude limit value or the described amplitude limit value that reads.

17, position control device according to claim 13, wherein, described stable judge module judges at the tracking control period of described operating head whether this operating head is stabilized in described target location.

18, position control device according to claim 13, wherein, described stable judge module judges whether described operating head follows to described target location.