CN112086110B - 磁盘装置 - Google Patents

磁盘装置 Download PDF

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CN112086110B
CN112086110B CN202010000205.5A CN202010000205A CN112086110B CN 112086110 B CN112086110 B CN 112086110B CN 202010000205 A CN202010000205 A CN 202010000205A CN 112086110 B CN112086110 B CN 112086110B
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transfer function
magnetic disk
actuator
gain
estimation value
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松泽卓治
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Toshiba Corp
Toshiba Electronic Devices and Storage Corp
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    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B5/00—Recording by magnetisation or demagnetisation of a record carrier; Reproducing by magnetic means; Record carriers therefor
    • G11B5/48—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed
    • G11B5/54—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head into or out of its operative position or across tracks
    • G11B5/55—Track change, selection or acquisition by displacement of the head
    • G11B5/5521—Track change, selection or acquisition by displacement of the head across disk tracks
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    • G11B5/58—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head for the purpose of maintaining alignment of the head relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following
    • G11B5/596—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head for the purpose of maintaining alignment of the head relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following for track following on disks
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    • G11B5/55—Track change, selection or acquisition by displacement of the head
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    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
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    • G11B5/48—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed
    • G11B5/4806—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed specially adapted for disk drive assemblies, e.g. assembly prior to operation, hard or flexible disk drives
    • G11B5/4873—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed specially adapted for disk drive assemblies, e.g. assembly prior to operation, hard or flexible disk drives the arm comprising piezoelectric or other actuators for adjustment of the arm
    • G—PHYSICS
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    • G11B5/54—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head into or out of its operative position or across tracks
    • G11B5/55—Track change, selection or acquisition by displacement of the head
    • G11B5/5521—Track change, selection or acquisition by displacement of the head across disk tracks
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    • G—PHYSICS
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    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
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    • G11B5/48—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed
    • G11B5/54—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head into or out of its operative position or across tracks
    • G11B5/55—Track change, selection or acquisition by displacement of the head
    • G11B5/5521—Track change, selection or acquisition by displacement of the head across disk tracks
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    • G11B5/48—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed
    • G11B5/54—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head into or out of its operative position or across tracks
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    • G11B5/5521—Track change, selection or acquisition by displacement of the head across disk tracks
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    • G11B5/5547—"Seek" control and circuits therefor
    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B5/00—Recording by magnetisation or demagnetisation of a record carrier; Reproducing by magnetic means; Record carriers therefor
    • G11B5/48—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed
    • G11B5/54—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head into or out of its operative position or across tracks
    • G11B5/55—Track change, selection or acquisition by displacement of the head
    • G11B5/5521—Track change, selection or acquisition by displacement of the head across disk tracks
    • G11B5/5552—Track change, selection or acquisition by displacement of the head across disk tracks using fine positioning means for track acquisition separate from the coarse (e.g. track changing) positioning means
    • G11B5/5556—Track change, selection or acquisition by displacement of the head across disk tracks using fine positioning means for track acquisition separate from the coarse (e.g. track changing) positioning means with track following after a "seek"
    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B5/00—Recording by magnetisation or demagnetisation of a record carrier; Reproducing by magnetic means; Record carriers therefor
    • G11B5/48—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed
    • G11B5/54—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head into or out of its operative position or across tracks
    • G11B5/55—Track change, selection or acquisition by displacement of the head
    • G11B5/5521—Track change, selection or acquisition by displacement of the head across disk tracks
    • G11B5/5582—Track change, selection or acquisition by displacement of the head across disk tracks system adaptation for working during or after external perturbation, e.g. in the presence of a mechanical oscillation caused by a shock

Abstract

实施方式提供能够准确地求出微型致动器的增益的磁盘装置。实施方式的磁盘装置具备：第1致动器，使包括磁头的磁头部进行动作；第2致动器，在磁盘上在磁盘的半径方向上调整磁头的位置；及控制部，根据第2致动器的增益推定值和测定第1传递函数时向第2致动器的输入电压振幅来决定测定第2传递函数时的输入振幅，基于第1传递函数和第2传递函数来算出第2致动器的增益推定值，利用该算出的增益推定值来更新增益推定值。

Description

磁盘装置
关联申请
本申请享受以日本专利申请2019-110485号(申请日：2019年6月13日)为基础申请的优先权。本申请通过参照该基础申请而包括基础申请的全部内容。
技术领域
实施方式涉及磁盘装置。
背景技术
已知有搭载有使磁头在磁盘的半径方向上微小地进行动作的微型致动器的磁盘装置。通过在读出/写入时微型致动器使磁头微小地进行动作，能够将磁头相对于磁盘准确地定位。在搭载有这样的微型致动器的磁盘装置中，为了进行磁头的定位控制，需要针对每个磁头掌握微型致动器的增益(输入输出比)。
但是，在磁盘装置中，一般未搭载测定微型致动器的位移的传感器。于是，为了推定微型致动器的增益，有时采用将测定到的第1传递函数增益除以测定到的第2传递函数增益来推定微型致动器的增益的方法。
在磁盘装置中，有时因传递函数测定时的激振振幅而在传递函数的增益产生变化。在像这样在增益产生了变化的情况下，在推定微型致动器的增益时，有时会产生误差。
发明内容
实施方式提供能够准确地求出微型致动器的增益的磁盘装置。
一实施方式的磁盘装置具备：第1致动器，使包括磁头的磁头部进行动作；第2致动器，在磁盘上在所述磁盘的半径方向上调整所述磁头的位置；及控制部，根据所述第2致动器的增益推定值和测定第1传递函数时向所述第2致动器的输入电压振幅来决定测定第2传递函数时的输入振幅，基于所述第1传递函数和所述第2传递函数来算出所述第2致动器的增益推定值，利用该算出的增益推定值来更新所述增益推定值。
附图说明
图1是示出实施方式的磁盘装置的构成的一例的框图。
图2是用于说明该实施方式的第1传递函数的测定处理的图。
图3是用于说明该实施方式的第2传递函数的测定处理的图。
图4是示出该实施方式的增益推定处理的一例的流程图。
图5是示出该实施方式的历史记录信息的一例的图。
具体实施方式
以下，参照附图对实施方式进行说明。此外，公开只不过是一例，发明不受以下的实施方式中记载的内容所限定。本领域技术人员能够容易想到的变形当然包含于公开的范围。为了使说明更清楚，在附图中，有时也将各部分的尺寸、形状等相对于实际的实施方式变更而示意性地示出。在多个附图中，对对应的要素标注相同的附图标记，有时也省略详细的说明。
(第1实施方式)
图1是示出关于实施方式的磁盘装置1的构成的一例的框图。
磁盘装置1由头盘组件(head-disk assembly：HDA)10、头放大器集成电路(以下，记为头放大器IC)16及片上系统(SOC)20构成。
HDA10具有磁盘11、主轴马达(SPM)12、臂13及作为第1致动器的音圈马达(VCM)PV。磁盘11通过SPM12而旋转。在臂13的前端安装有加载梁14，在加载梁14的前端安装有磁头15。臂13通过VCMPV的驱动而将磁头15移动控制至磁盘11上的指定的位置。而且，在臂13的前端部的加载梁14的安装部附近配置有一对压电元件(例如，Pb(Zr，Ti)O3)即PM。通过向一对压电元件PM施加电压而左右的压电元件分别以相反相位伸缩，使加载梁14的前端的磁头15在磁盘11上的半径方向(穿磁道方向)上位移，由此，在磁盘11上在磁盘11的半径方向上调整磁头15的位置。这样，实现在成为第1级的VCM驱动的臂的前端附加作为第2致动器的压电元件驱动的加载梁而得到的两级致动器。以下，压电元件PM称作微型致动器(以下，也简称作“MA”)PM。
磁头15是读出头元件和写入头元件在1个滑块上分离安装的构造。读出头元件将记录于磁盘11的数据读出。写入头元件向磁盘11写入数据。
头放大器IC16具有读出放大器及写入驱动器。读出放大器将由读出头元件读出的读出信号放大，并向读出/写入(R/W)通道22传送。另一方面，写入驱动器将与从R/W通道22输出的写入数据相应的写入电流向写入头元件传送。
SOC20包括作为控制部的微处理器(CPU)21、R/W通道22、盘控制器23及定位控制器CV。CPU21是驱动的主控制器，执行经由定位控制器CV而进行磁头15的定位的伺服控制及经由头放大器IC16而进行的数据的读出/写入控制。R/W通道22包括执行读出数据的信号处理的读出通道和执行写入数据的信号处理的写入通道。盘控制器23执行控制主机系统(未图示)与R/W通道22之间的数据传送的接口控制。此外，定位控制器CV可以作为硬件来实现，也可以作为软件(固件)来实现。
存储器24包括易失性存储器及非易失性存储器。例如，存储器24包括由DRAM构成的缓冲存储器及快闪存储器。在存储器24的非易失性存储器中存储CPU21的处理所需的程序等及进行了后述的微型致动器PM的增益推定处理的情况下的该处理结果(历史记录信息，参照图5)。该处理结果构成为能够从磁盘装置1向外部输出。此外，该处理结果也可以不存储于存储器24，只要存储于磁盘装置1内的任一存储区域即可。
接着，一边参照图2、图3一边对传递函数的测定处理进行说明。
图2是用于说明使微型致动器PM进行了动作时的传递函数的测定处理的图。此外，图2中，y表示示出磁头15的位置的头位置信号，yV表示示出VCMPV的位置的VCM位置信号，yM表示微型致动器PM的位移，uM表示微型致动器PM的输入电压，e表示位置误差信号，r表示目标值。在此，头位置信号y、VCM位置信号yV、微型致动器的位移yM的单位是磁道或半径方向的距离，微型致动器的输入电压uM的单位设为伏特。
将目标值r设为零，从端子31将位置误差信号e向定位控制器CV输入。当定位控制器CV输出向VCMPV输入后，VCMPV将VCM位置信号yV向端子32输入。另一方面，当微型致动器PM的输入电压uM向微型致动器PM输入后，微型致动器PM将微型致动器PM的位移yM向端子32输入。从端子32将头位置信号y向磁头15(在图2中图示省略)输入，并且向端子31输入。
图2所示的从微型致动器PM的输入电压uM到头位置信号y为止的传递函数(以下，称作“第1传递函数”)的增益G1能够通过以下的(1)式来求出。
Figure BDA0002352757660000041
图3是用于说明不使微型致动器PM动作而输入干扰时的传递函数的测定处理的图。此外，在图3中，y表示头位置信号，yV表示VCM位置信号，e表示位置误差信号，r表示目标值，这与图2的情况是同样的。d是干扰，d的单位是磁道或半径方向的距离。
将目标值r设为零，从端子31将位置误差信号e向定位控制器CV输入。当定位控制器CV输出向VCMPV输入后，VCMPV将VCM位置信号yV向端子32输出。另一方面，对端子32输入干扰d。从端子32将头位置信号y向磁头15(在图3中图示省略)输入，并且向端子31输入。
图3所示的从干扰d到头位置信号y为止的传递函数(以下，称作“第2传递函数”)的增益G2能够通过以下的(2)式来求出。
Figure BDA0002352757660000051
在此，微型致动器PM的增益(以下，也称作“MA增益”)能够通过将上述的(1)式除以(2)式来求出，具体而言，能够通过以下的(3)式来求出。
Figure BDA0002352757660000052
图4是示出推定MA增益的增益推定处理的一例的流程图。该增益推定处理例如在磁盘装置设置于计算机等后，在每个预定的定时执行。预定的定时在本实施方式中设为每当经过预定的期间时执行。另外，也可以不是每当经过预定的期间，而是在任意的定时或产生了预定的事件的定时下执行MA增益的增益推定处理。也就是说，执行增益推定处理的定时能够任意设定。而且，在磁盘装置1包括多个磁头15的情况下，针对每个磁头15执行增益推定处理。
CPU21如在上述的图2中说明那样测定第1传递函数(ST101)。由此，能够通过上述的(1)式来求出第1增益。接着，CPU21将变量i设定为0(ST102)。接着，CPU21判定是否存在微型致动器PM的增益(MA增益)的初始值即MA增益初始值α0(ST103)。在此，对MA增益初始值α0采用设计值或从多个同型的磁盘装置取得的测定值的平均值。另外，是否存在MA增益初始值α0的判定例如基于在存储器24的预定区域中是否保存有MA增益初始值α0的数据而执行。
在判定为存在微型致动器PM的增益的MA增益初始值α0的情况下(ST103：是)，CPU21对干扰|d|设定MA增益初始值α0|uM|(ST104)。另外，在判定为不存在微型致动器PM的MA增益初始值α0的情况下(ST103：否)，CPU21任意设定干扰|d|(ST105)。此外，此时的MA增益初始值α0能够根据|d|/|uM|而求出(ST106)。
当如以上这样设定微型致动器PM的MA增益初始值α0后，接着，CPU21对变量i加上1(ST107)，测定第2传递函数(ST108)。由此，能够通过上述的(2)式来求出第2增益。接着，CPU21根据上述的(3)式也就是|第1传递函数|/|第2传递函数|来求出微型致动器PM的MA增益推定值αi(ST109)。换言之，根据增益G1/增益G2来求出MA增益推定值αi。
接着，CPU21判定是否|αi-α0|<预定值ε(ST110)。在此，预定值ε设为充分小的任意的值。在判定为不是|αi-α0|<预定值ε的情况下(ST110：否)，CPU21将干扰|d|设定为αi|uM|(ST111)。然后，处理返回步骤ST107的处理。由此，执行上述的步骤ST107到ST110的处理。通过这样反复处理，能够求出比预定值ε小的合适的MA增益推定值αi。然后，在判定为|αi-α0|<预定值ε的情况下(ST110：是)，由于求出了合适的MA增益，所以CPU21结束该处理。
测定第1传递函数时的微型致动器PM的输入电压uM也就是振幅依赖于实际动作时的微型致动器PM的输入电压。因而，以与微型致动器PM的振幅对应的方式，通过图4的处理来求出干扰d。这样，通过使干扰d的振幅与微型致动器PM的增益测定时的微型致动器PM的位移yM实质上相等，能够减少由传递函数测定时的激振振幅引起的测定误差。此外，在多频率下推定微型致动器PM的增益的情况下，针对该多个频率的每个频率执行微型致动器PM的MA增益推定处理即可。
图5是示出MA增益的推定处理的处理结果(历史记录信息)T的一例的图。如上所述，处理结果T例如存储于存储器24内的预定区域。
如图5所示，在处理结果T中，日期时刻与在该日期时刻下执行了MA增益的推定处理时的各磁道或磁盘11的半径方向的距离即位置(位置A、位置B、…、位置N)处的αi的值(例如，X11、X12、…、X1N)建立了对应。
另外，该处理结果T构成为，能够基于来自磁盘装置1的外部(例如主机系统(图示省略))的指示而向主机系统输出。也就是说，在CPU21从主机系统接收到处理结果T的输出指示的情况下，CPU21将存储于存储器24的处理结果T读出，经由盘控制器23而向主机系统输出处理结果T。由此，操作主机系统的用户能够确认进行微型致动器PM的增益的推定处理而得到的处理结果T。
此外，在本实施方式中，以磁盘装置1将图5所示的处理结果T存储于存储器24的情况进行了说明，但也可以构成为不将处理结果T作为历史记录存储于存储器24。
此外，虽然说明了本发明的一些实施方式，但这些实施方式作为例子而提示，并非意在限定发明的范围。这些新颖的实施方式能够以其他各种方式来实施，能够在不脱离发明的主旨的范围内，进行各种省略、置换、变更。这些实施方式及其变形包含于发明的范围、主旨，并且包含于权利要求书所记载的发明及其均等的范围。

Claims (7)

1.一种磁盘装置，具备：
第1致动器，使包括磁头的磁头部进行动作；
第2致动器，在磁盘上在所述磁盘的半径方向上调整所述磁头的位置；及
控制部，根据所述第2致动器的增益推定值和测定第1传递函数时向所述第2致动器的输入电压振幅来决定测定第2传递函数时的输入振幅，基于所述第1传递函数和所述第2传递函数来算出所述第2致动器的增益推定值，利用该算出的增益推定值来更新所述增益推定值，
所述第1传递函数是从所述第2致动器的输入电压到所述磁头的位置信号为止的传递函数，所述第2传递函数是从干扰到所述磁头的位置信号为止的传递函数。
2.根据权利要求1所述的磁盘装置，
具备存储在预定的定时下被更新的所述增益推定值的历史记录信息的存储器。
3.根据权利要求2所述的磁盘装置，
存储于所述存储器的所述增益推定值的历史记录信息构成为，能够基于来自外部的指示而输出。
4.根据权利要求1～3中任一项所述的磁盘装置，
测定所述第2传递函数时的输入振幅是所述第2致动器的所述增益推定值与测定所述第1传递函数时向所述第2致动器的输入电压振幅之积。
5.根据权利要求1～3中任一项所述的磁盘装置，
所述增益推定值的初始值是预定的设计值或多个预定的测定值的平均值。
6.根据权利要求1～3中任一项所述的磁盘装置，
所述增益推定值的初始值是基于使用任意的干扰的值而测定到的所述第2传递函数的增益的值。
7.根据权利要求1～3中任一项所述的磁盘装置，
所述控制部直到基于所述第1传递函数和所述第2传递函数而算出的所述第2致动器的所述增益推定值收敛于预定值为止，进行更新所述增益推定值的处理。
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