CN1252879A - Microactulor servo system in a disc drive - Google Patents
Microactulor servo system in a disc drive Download PDFInfo
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- CN1252879A CN1252879A CN98804266A CN98804266A CN1252879A CN 1252879 A CN1252879 A CN 1252879A CN 98804266 A CN98804266 A CN 98804266A CN 98804266 A CN98804266 A CN 98804266A CN 1252879 A CN1252879 A CN 1252879A
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Classifications
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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
- G11B5/58—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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- 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
- G11B5/5526—Control therefor; circuits, track configurations or relative disposition of servo-information transducers and servo-information tracks for control thereof
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- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B21/00—Head arrangements not specific to the method of recording or reproducing
- G11B21/02—Driving or moving of heads
- G11B21/10—Track finding or aligning by moving the head ; Provisions for maintaining alignment of the head relative to the track during transducing operation, i.e. track following
- G11B21/106—Track finding or aligning by moving the head ; Provisions for maintaining alignment of the head relative to the track during transducing operation, i.e. track following on disks
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- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B21/00—Head arrangements not specific to the method of recording or reproducing
- G11B21/16—Supporting the heads; Supporting the sockets for plug-in heads
- G11B21/24—Head support adjustments
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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
- 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
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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
- G11B5/58—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
- G11B5/59627—Aligning for runout, eccentricity or offset compensation
Landscapes
- Moving Of The Head To Find And Align With The Track (AREA)
- Moving Of Head For Track Selection And Changing (AREA)
- Adjustment Of The Magnetic Head Position Track Following On Tapes (AREA)
- Supporting Of Heads In Record-Carrier Devices (AREA)
Abstract
A method and apparatus position a plurality of data heads (116) relative to a plurality of surfaces (180, 182) of at least one disc (178) in a disc drive (110). One of the plurality of data heads (116) corresponds to each of the plurality of surfaces (180, 182). The data heads (116) are provided for writing information to the surfaces (180, 182) and reading information from the surfaces (180, 182). Each of the data heads (116) may be simultaneously positioned relative to the corresponding surfaces (180, 182) using embedded servo information. Information can be simultaneously transferred relative to the corresponding surfaces (180, 182) using the plurality of data heads (116). Uninterrupted sequential data transfers may also be executed without servo overhead. Further, an apparatus (110) is provided for accomplishing such servo control, as is a method of accomplishing model-based servo control.
Description
Invention field
Servo-drive system in the relate generally to disc driver of the present invention, more particularly, the present invention relates in the disc driver exploitation and the enforcement of the servo-drive system of control microactuator, to realize with respect to data transfer or realize the alphabetic data transmission or short magnetic track search can not cause servo expense a plurality of magnetic head time the on a plurality of disks of disk.
Background of invention
Typical disc driver comprises the one or more disks that are installed in axle center or the last rotation of axle.Typical disc driver also comprises by one or more sensors of hydraulic pressure air bearing supporting, flies over above each disk.Sensor and hydraulic pressure air bearing are generically and collectively referred to as data head.Driver controller is generally used for based on the order control disk drive system that receives from main system.Driver controller control disc driver from disk recovering information and with information stores on disk.
The electricity mechanical driver is operated in negative feedback, closed loop servo system.Driver moves radially data head on magnetic disk surface, carry out the magnetic track search operation, and makes sensor directly remain on the top of magnetic track on the magnetic disk surface, carries out track follow operations.
By write signal is offered data head, on magnetic disk surface, flux reversal is encoded, usually can be on disk information stores.When restore data from disk, driver controller control electricity mechanical pick-up device makes data head fly over the disk top, the flux reversal on the disk is carried out sensitivity, and produce read output signal based on these flux reversal.Then, read output signal is decoded, recover to be stored in the data on the disk, therefore be illustrated in the read output signal that provides by data head by the flux reversal representative by driver controller.
Data are being write disk neutralization from disk in the sense data, it is very important that data head accurately is positioned at magnetic track on a drum or a disk top.
In existing systems, servo operation is based on that the dedicated servo magnetic head realizes.In dedicated servo type system, servo-information is all write on the special surface of disk in the disc driver.All magnetic heads in the disc driver and the servo head that is used for the access servo-information be mechanical couplings mutually.Therefore, all magnetic heads in the dedicated servo disc driver are located based on the servo-information of reading from servo surface.Such system allows disc driver to carry out parallel read-out and write operation easily.In other words, adopt the suitable circuit in the driver controller, utilize a plurality of data heads that are installed on the driver to carry out concurrently and read and write, simultaneously the data magnetic head is positioned based on the servo-information of reading from the dedicated servo surface.
Yet track density is increasing always on the disk for many years.The track density that increases on the disk requires more high precision and more high-resolution location.Mechanical deflection in special servo system between the magnetic head can surpass a track width.Therefore, industrial sector has been seen embedded servo change in information in application-specific.
In the embedded servo system, servo-information is embedded on each lip-deep each magnetic track of each disk.Therefore, each data head home position signal is independent of other data head.Therefore, just on accessed disk surface during information, servodriver is used to each individual data magnetic head is positioned at the particular data magnetic head.The location is to utilize the embedded servo data on the magnetic track that data head flying over to realize.
Because this causes the resolution (because the location of data magnetic head is independent of other any data head) of the setting accuracy that increases and Geng Gao in position fixing process, because the track density and the machinery that increase can be met some shortcomings.One of shortcoming is the ability of utilizing a plurality of magnetic heads to carry out parallel read-out and write operation that loses in typical embedded servo system.This is because servo-drive system is based on the information location that received by individual data magnetic head, and mechanical tolerance is not suitable for other data head in high track density system is accurately located.In addition, current driver can not position the data magnetic head independently.Therefore, up to now, the embedded servo system can not carry out parallel read-out and write operation always, as simultaneously whole cylinder in the disc driver being read or write.
Also there is other shortcoming in traditional servodriver in the tradition servo-drive system.For example, call over or write operation during, the expense relevant with servo operation is to reduce an important cause of handling capacity.
This subsequence of each sequential data transfers be with head position on data track, allow Disk Drive Controller all data transfer to this magnetic track (the once circulation of disk).Then, Disk Drive Controller order servo processor switches to next magnetic head and according to the servo-information that recovers from this magnetic head servodriver is positioned.Then, servo processor moves servodriver in the electronics mode, with new head position above new data track.When new magnetic head was in place, it can continue Data transmission to the servo processor indicating control now.
Servo expense in the sequential operation is that servodriver positions the required time to next data head, this data head will write to the center of data track or sense information, on this data track it from before data head reading or read or writing information the track center position of writing information.Usually, this was about for 0.5 to 5 microsecond time.In the meantime, the sequence delivery of data is interrupted.
This expense also stops is preparing continuous unbroken data stream when disk is read and write disk.When reading and writing audio frequency and video information, perhaps this may be a significant disadvantages when data on the hard disk drive were written to CDROM being stored in.
The invention provides a kind of scheme that addresses these and other problems, and other advantage better than prior art is provided.
Brief summary of the invention
The present invention relates at the system that solves one or more the problems referred to above.
According to one embodiment of present invention, provide a kind of method of transmitting the information relevant with a plurality of surfaces of at least one disk in the disc driver.The servo-information that embedding is arranged from the teeth outwards.A plurality of data heads are provided, and each data head is corresponding to one in a plurality of surfaces.Be used to simultaneously the data magnetic head be positioned with respect to respective surfaces from lip-deep embedded servo information.Utilize a plurality of data heads, transmit information simultaneously with respect to respective surfaces.
The present invention can also control a plurality of data heads and realizes with respect to the method for respective surfaces position as a kind of.This method comprises moving based on each data head in a plurality of data heads of mobile control of other data head in a plurality of data heads.
In addition, the present invention can realize the alphabetic data transmission and realizes without any the method for servo expense basically as a kind of.
In addition, the present invention can realize as a kind of device of servo positioning of realizing in disc driver.This device comprise a plurality of outputs of a plurality of inputs, with the servo controller of a plurality of microactuators coupling.Microactuator and data head are coupled, and make each data head with respect to corresponding magnetic disk surface independently of each other and locate.In another embodiment, the present invention includes a kind of microactuator that utilizes and make the system of each data head with respect to coarse servo driver location, the coarse servo driver is used to make all data heads to locate with respect to magnetic disk surface.
The present invention further comprises the servo controller based on model of a thick driver of control and microactuator.
By reading the general introduction of the following detailed description and relevant drawings, these and other various feature and advantage of the present invention will be obvious.
The accompanying drawing summary
Fig. 1 illustrates disc driver according to an embodiment of the invention.
Fig. 2 illustrates driver assembly according to an embodiment of the invention.
Fig. 3 illustrates the Sagnetic head universal-joint assembly of the feature according to the present invention.
Fig. 4-1 illustrates the operation of microactuator according to an embodiment of the invention to 4-4.
Fig. 5 is the block scheme of a part of disc driver according to an embodiment of the invention.
Fig. 6 is the block scheme of a part of servo control circuit according to an embodiment of the invention.
Fig. 7 is the block scheme of a part of servo control circuit according to an embodiment of the invention.
Fig. 8 is the process flow diagram of explanation according to the structure of the servo control algorithm of one aspect of the invention.
Fig. 9-1 and 9-2 illustrate process flow diagram, show the operation according to the disc driver of the execution sequence data transfer of one aspect of the invention.
Figure 10 is a process flow diagram, illustrates according to track follow operations of one aspect of the invention and parallel data transmission simultaneously.
The detailed description of preferred embodiment
Fig. 1 is the planimetric map of typical disk drive 110.Disc driver 110 comprises disk capsule 112, by disk folder 114 it is installed on the spindle motor (not shown).In a preferred embodiment, disk capsule 112 comprises the single disk of a plurality of installations around central shaft 115 common rotations.Each magnetic disk surface that stores data on it has a relevant Sagnetic head universal-joint assembly (HGA) 116, attaches it on the driver assembly 118 in the disc driver 110.Driver assembly shown in Figure 1 is the type that is called the coil driver that rotatablely moves, and comprises the voice coil motor (VCM) 120 of ordinary representation.Driver assembly 118 HGA116s accompanying with it are rotated around pivot 121, make HGA 116 be positioned at the lip-deep desired data magnetic track of associative disk top.
More particularly, driver assembly 118 makes head gimbal assembly 116 usually along camber line 119 rotations around pivot 121 rotations, and this causes that each head gimbal assembly 116 is positioned at required magnetic track top on the disk capsule 112 interior magnetic disk surfaces.HGA 116 is moved into place in the outermost magnetic track of disk radius from being positioned at the most inboard magnetic track of disk radius.Each head gimbal assembly 116 has gimbals, and it has elastic force ground supporting slide block with respect to load beam, makes slide block can follow the profile of disk.Slide block comprises a sensor again, utilizes it flux reversal time number encoder, on the magnetic disk surface that is flying over and therefrom read the flux reversal number of times.
Fig. 2 is the skeleton view of driver assembly 118.Driver assembly 118 comprises base portion 122, a plurality of driver arm 126, a plurality of load beam 128 and a plurality of head gimbal assembly 116.Base portion 122 comprises a hole, and in preferred embodiment, it is pivotable around axle 121.Driver arm 126 is from base portion 122 extensions, and each arm is coupled to first end of one or two load beam 128.Load beam 128 respectively has one second end, and it is coupled to head gimbal assembly 116.
Fig. 3 illustrates the enlarged drawing of head gimbal assembly 116.Head gimbal assembly 116 comprises gimbals 130, and it has a pair of support 132 to be connected tongue piece 136 with 134 with gimbals.Head gimbal assembly 116 also comprises slide block 138, and it has a upper surface 140 and a following air bearing surface 142.Sensor 144 preferably also is positioned on the leading edge of slide block 138.Specific attached between slide block 138 and the gimbals is to realize by any required mode.Simply, in a preferred embodiment, the most handy bonding agent is connected the upper surface 140 that an adaptation lamella is coupling in slide block 138 between the lower surface of tongue piece 136 with gimbals.Adapt to lamella and allow relative transverse movement between slide block 138 and the gimbals tongue piece 136.Adaptation lamella preferably thickness is about 150 microns mylar film.In addition, gimbals connect tongue piece 136 and preferably terminate in the tail edge that has the slide block 138 that trimmer 146 is installed, and trimmer provides a surface, on this surface slide block 138 are being attached on the gimbals connection tongue piece 136.
Fig. 4-1 and 4-2 illustrate the installation trimmer 146 of slide block 138 and slide block 138 are installed to the microactuator of installing on the trimmer 146 148 and 150.Microactuator 148 and 150 preferably is used to make front surface or the edge of the conventional films process preparation of write head at slide block 138. Microactuator 148 and 150 is coupled to again on the installation trimmer 146 of slide block.Preferably, microactuator 148 is fixed on first side of slide block 138 leading edges, and microactuator 150 is fixed on the second relative side of slide block 138 leading edges.Yet, also can adopt the single microactuator that is positioned on leading edge one side.
Flexible cable assembly is preferably along the route of load beam 128 supporting slide blocks 138.Flexible cable assembly comprises the conductor that appropriate signals is applied to sensor 144, also comprises the conductor that appropriate signals is applied to microactuator 148 and 150.The electric signal that applies that is coupled to microactuator 148 and 150 by conductor makes each side of slide block 138 leading edges selectively and relative distance between the trimmer 146 is installed and enlarges and dwindle, make slide block 138 with respect to yaw axis 152 transmissions, extend to the inboard and the outside of Fig. 4-1 and 4-2 paper.Slide block 138 makes sensor 144 with respect to the transmission of yaw axis 152 and moves laterally with respect to overhanging 156 longitudinal axis, this allow read with write operation during make the microposition of sensor 144 with respect to magnetic disk surface.
In Fig. 4-1, microactuator 150 shrinks, and microactuator 148 expands, so that slide block 138 is in a clockwise direction around yaw axis 152 transmissions.In Fig. 4-2, microactuator 150 expands, and microactuator 148 shrinks so that slide block 138 with counterclockwise around yaw axis 152 transmissions.
Fig. 4-3 illustrates sensor 144 with respect to main transmission device (or voice coil motor) with respect to another structure of the microactuator of magnetic disk surface motion.In Fig. 4-3, slide block 138 overhangs body and comprises a pair of semi-girder 141 and a middle tongue piece 143 by overhanging body 139 supportings.Tongue piece 143 has relative microactuator parts 145 and 147 disposed thereon respectively with beam 141.In a preferred embodiment, microactuator 145 comprise by magnetic coil around the polarity sheet,, coil is connected to power supply in the disc driver here.Microactuator parts 147 comprise interactional magnetic piece, therefore, when one in the microactuator member 145 (by allowing electric current flow through coil) during by transmission around the polarity bending tablet, produce electromagnetic force, it causes the attraction between these microactuator member 145 relative interaction members 147.This causes semi-girder deflection, so that these two sheets are close to together.On the contrary, when making another microactuator member 145 transmissions, this causes that the cantilever amount is to another direction deflection.This transmission causes semi-girder deflection selectively on the direction of arrow magnetic head 149 expressions.
Fig. 4-4 illustrates another structure of microactuator.Fig. 4-4 is similar to Fig. 4-3, and similar project adopts corresponding numbering.Yet, only adopt 147, two microactuators 145 of an interactional microactuator element to be arranged on the end of middle tongue piece 143.Therefore, when making 145 transmissions of microactuator member selectively, adopt attractive force between the member 145 and 147 to make semi-girder 141 deflection selectively on the represented direction of arrow magnetic head 149.
Certainly, should be noted that: above at Fig. 4-1 to the description of 4-4, the microactuator member can be made of PZT material, electrostatic material, triggers and deflection according to electric capacity, fluid or heat.
Fig. 5 is the block scheme of a part of disc driver 110, and it illustrates the servo position control circuit according to one aspect of the invention.This part disc driver 110 shown in Fig. 5 comprises driver assembly 118, disk capsule 112, microactuator (stack up be called microactuator 158), prime amplifier 160, data and clock recovery circuitry 162, error-detector circuit 164, driver controller 166, data regulating circuit 168, servo control processor 170, the power amplifier 172 relevant with each head gimbal assembly and the microactuator controller of choosing wantonly 174.
As at Fig. 2 and 3 described, driver assembly 118 comprises base portion 122, and it supports a plurality of driver arms 126.Each driver arm 126 is coupled at least one load beam 128.Load beam 128 is bearing in a head gimbal assembly 116 (indicating among Fig. 3) top of corresponding magnetic disk surface 180 or 182 again separately, is used for the data of magnetic track on the accessed disk surface.Each gimbals assembly also comprises at least one microactuator 158 as mentioned above, is used for being positioned on the head gimbal assembly in the magnetic track sensor or the magnetic track of a plurality of different magnetic tracks on the disk 178.
In operation, driver controller 112 receives the command signal of autonomous system usually, and its expression is carried out access to the specific part of one or more disks 178.In response to this command signal, driver controller 166 provides position (or reference) signal 165 for servo control processor 170, and its expression driver assembly 118 is with head gimbal assembly 116 location specific cylinders thereon.Servo control processor 170 is converted to simulating signal with position signalling, it is amplified and is provided it to voice coil motor in the driver assembly 118 by power amplifier 172.In response to this analog position signal, driver assembly 118 is positioned at load beam 128 and relevant head gimbal assembly 116 thereof on the required cylinder.
In case data are recovered, provide it to error-detector circuit 164, whether its detection any error occurred and an output 167 is provided from the data of disk retaking of a year or grade.Error is proofreaied and correct in known manner by error-detector circuit 164 or driver controller 166 or the combination of the two.
During head position, driver controller 166 offers servo control processor 170 with position signalling, causes that driver assembly 118 is positioned at selected cylinder top to head gimbal assembly 116.Drive in (perhaps the embedded servo location drives) in the sector servo location, the part of each sector has positional information on the magnetic disk surface, this location information coding is read by data head thereon, and offers servo control processor 170 by read-out channel.Locating information not only provides rough positional information, and the expression data head is just flying on the particular track, and it also offers servo control processor to tuning feedback, is used for locating better.So servo control processor 170 interacts the positional information of reading from disk and the position of head gimbal assembly 116.
In a preferred embodiment, servo control processor 170 not only is used to control thick driver (voice coil motor) but also is used to control microactuator 158.In another preferred embodiment, an independent microactuator controller (or a plurality of independent microactuator controller) 174 is provided, in response to the location request signal of driver controller 166, also control microactuator 158 in response to the embedded position information of reading from disk.
For information is written on the disk, driver controller 166 not only receives and is written to the position of the information on the disk capsule 112, but also receives real data to be written.Positional information is offered servo control processor 170 (with optional microactuator controller 174) as with reference to signal, makes data head with respect to corresponding magnetic disk surface coarse localization.Then, driver controller 166 offers data regulating circuit 168 to data to be written, and it offers particular sensor on the head gimbal assembly 116 to the information of output on 169 again, thereby data can be written on the magnetic disk surface in known manner.
In preferred embodiment, microactuator 158 has the range of movement that surpasses by mechanical misalignment under the worst case between any two head stacies 116 of driver assembly 118 supportings.In a better implement example, each microactuator 158 has the track width of surpassing, and is the range of movement that surpasses a plurality of track widths better.In addition, in preferred embodiment, the read-out channel that provides in the disc driver 110 (it comprises prime amplifier 160, data and clock recovery circuitry 162 and error-detector circuit 164 in the described embodiment of Fig. 5) can receive a plurality of whiles and parallel data-signal, these data-signals are carried out parallel processing, and they are offered main system and/or driver controller 166 concurrently.In addition, in preferred embodiment, data regulating circuit 168 preferably also is suitable for a plurality of whiles and parallel write signal are offered data head, carries out simultaneously and parallel write operation.In addition, in preferred embodiment, servo controller processor 170 and optional microactuator controller 174 are suitable for simultaneously positioning signal being offered microactuator 158, simultaneously all or a plurality of at least microactuators are positioned, make a plurality of magnetic heads can be simultaneously aim at magnetic track on a plurality of magnetic disk surfaces in the disk capsule 112.
Adopt this arrangement, the present invention can realize many benefits.For example, on each magnetic head of a plurality of data heads, can realize precision positions control.This allows to carry out precision and while track following on a plurality of data heads, allow to carry out parallel read-out and write operation.In addition, because the bandwidth of the bandwidth ratio voice coil motor of microactuator operation is much higher, therefore, the invention provides the ability that increases track density on any given magnetic disk surface significantly, because it utilizes the superb mode of voice coil motor to contain the nonlinearity of bearing and the other problem that limits the track density of prior art with simplification.
In addition, because in preferred embodiment, each microactuator has the range of movement that surpasses a plurality of data tracks, microactuator itself can be used to carry out short time search operation (search operation of in the range of movement of microactuator magnetic track being searched for).Realize higher bandwidth in short searching period chien shih servocontrol, this minimizes the disturbance of disk drive structure mode.
Can be according to the present invention with any method control microactuator 158 in the several different methods.For example, control voice coil motor in the general disc driver by servo controller, servo controller can be a single input/single output (SISO) system.Input is the head position measurement result of obtaining from the servo data that embeds, and output drives voice coil motor by power amplifier 172 usually.Yet in control microactuator 158, servo-control system of the present invention must have a plurality of inputs and a plurality of output.Input comprises the head position read of (also can choose wantonly) embedded servo information that is flying over the top from magnetic head, comprises the relative position of one or more microactuators with respect to voice coil motor (or thick driver).A plurality of outputs comprise the output that drives single coarse positioning device (VCM) and N microactuator.
According to the present invention, in a preferred embodiment, can be from the SISO servo-control system to a plurality of outputs of a plurality of inputs (MIMO) servo-control system based on standard direct ratio-integration-differential (PID) control of generalization.To in PID control decentralized, an independent pid control circuit is provided for each microactuator passage, also provide one for VCM (thick driver).Fig. 6 illustrates such system.
Fig. 6 illustrates as the PID controller and is implemented to servo control processor 170, and the PID controller receives the head position 171 of all magnetic heads (magnetic head 1-magnetic head N), as its input.The output of PID controller is sent to voice coil motor 173, and it drives driver assembly (or E piece) 118.Fig. 6 also illustrates the PID of microactuator separately controller 175 (0-N) that microactuator controller 174 comprises each microactuator (0-N) that is coupled to driver assembly 118.Comprise from the head position 171 of relevant magnetic head and this magnetic head relative position 179 to the input of each microactuator PID controller 175 with respect to voice coil motor.Fig. 6 also illustrates microactuator 158 (being expressed as microactuator 0-microactuator N).Each microactuator shown in the figure and a magnetic head 181 (magnetic head 0-magnetic head N) are coupled.In addition, each microactuator has a relevant relative position sensor 183, and its responsive microactuator is with respect to the relative position of voice coil motor (or driver assembly 118).Relative position sensor 183 can comprise any right sensors, as capacitive transducer or other any suitable position transducer type.
To this structure of a plurality of data heads location, potential problems that itself exist are for simultaneously, location influence when can be subjected near other adjacent or data head to the location of a data magnetic head.The tactic pattern of high bandwidth location meeting excitation driver is vibrated or other interference with causing, this can disturb the location of adjacent data magnetic head.Therefore, in preferred embodiment of the present invention, servo control processor 170 or microactuator 174 are considered the motion of other data head on driver assembly 118.
If only for example a spot of microactuator is positioned simultaneously, can make the decentralized PID technology shown in Fig. 6 at random preferable, yet, if number is too big, so, decentralized system can provide the suboptimum servo positioning, and this may be high complexity and be difficult to tuning.
In addition, if can make the machinery separation each other of each magnetic head, so that cross-couplings can not cause enough amplitudes to produce harmful location, so this decentralized PID structure may be preferable.For example, can redesign the E piece, have rigidity and damping characteristic, make adjacent or contiguous magnetic head when each is self-align, can not interact.
Yet, not adopting this separation, each PID controller is arranged sub-optimal performance can be provided as described in Figure 6.Better arrangement preferably can comprise single servo controller, and it comprises the MIMO servo controller of implementing with digital signal processor (DSP).DSP have each magnetic head of expression head position, each microactuator relative position and come autonomous controller or from the input of the reference signal of disk drive controller 166.
Fig. 7 illustrates the embodiment that servo control processor 170 and microactuator controller 174 is merged into the single servo controller of realizing with DSP 190.Identical project has similar numbering to project shown in Figure 6.The relative position of head position that DSP 190 receives the reference signal of main systems or disk drive controller 166 and each magnetic head and the microactuator relevant with each magnetic head is as its input.Comprise each microactuator control signal relevant and offer voice coil motor from the output of DSP 190 and be used for coarse localization signal whole driver assembly 118 location with each microactuator 158.
In preferred embodiment, DSP 190 is when offering microactuator output relevant each microactuator of each magnetic head, not only consider head position and the relative position relevant, but also consider the motion (promptly considering the cross-couplings of magnetic head) of adjacent or contiguous magnetic head with each magnetic head.Adopt this method, when each magnetic head was positioned, DSP 190 will count the disturbance of tactic pattern.
DSP 190 shown in Fig. 7 has embodied the algorithm based on model preferably.Fig. 8 (for example square frame 191-199) illustrates the process flow diagram of developing a kind of method of servo-control system according to the present invention, has wherein realized DSP 190.Constructed a model first, it mainly is to describe the dynamic (dynamical) differential equation of disk drive structure.In Fig. 8, represent by square frame 192.
In tectonic model, the preferably known relevant dynamic (dynamical) accurate knowledge of driver.This knowledge preferably utilizes experience/measurement data to obtain.This category information is used for the define system Model parameter, and all these information are preferably used in the model of structure first principle (or differential equation).
Then, the uncertainty description of structure disc driver.This is illustrated by this square frame 194 of Fig. 8.The uncertainty description preferred design becomes to catch drive characteristics and the deviation relevant with a large amount of drivers.These data are used for being modified in the model of square frame 192 structures.
Then, stipulate the performance objective of system.This is by 196 expressions of square frame among Fig. 8.It is to guarantee that available instrument is compatible mutually on model and existing and the market that these targets are provided, and the exploitation that allows to the control algolithm that directly realizes with various distinct methods on disc driver reaches optimization and finalization.
At last, utilize that available optimization software makes model reach optimization on the market.This is by square frame 198 expressions among Fig. 8.
Will be appreciated that the concrete enforcement of such control system will be different and depend on the physical message of concrete application, drive parameter and definition driver.
Should be noted that except above-described these, provide the certain benefits that surpasses decentralized PID controller architecture based on the controller of model.For example, in decentralized PID controller architecture, after manufacture controller, must adopt empirical data come tuning it.Employing is based on the controller of model, adopts empirical data to design a model and from the direct synthetic controller of model.Therefore, empirical data is considered in the design phase rather than after the fabrication phase.Yet, can make the PID controller architecture carry out servo control algorithm of the present invention.
Shall also be noted that algorithm described above mainly is linear.Yet the present invention also plans to adopt nonlinear algorithm.
Fig. 9-1 and 9-2 illustrate the process flow diagram (for example square frame 200-233) of description according to the alphabetic data transmission of one aspect of the invention.In Fig. 9-1 and 9-2, show the alphabetic data transmission of the data on 6 head drivers, from cylinder 100 upper magnetic heads 3, and terminate in magnetic head 0 on the cylinder 101.In preferred embodiment, driver controller 166 (or main system) provides reference or command signal at first for servo DSP 190, and it causes that DSP 190 moves to the position that magnetic head 3 is positioned at cylinder 100 tops to driver assembly 118.This is by 201 expressions of square frame among Fig. 9-1.Utilize thick driver and microactuator on the magnetic head 3, servo DSP 190 critically is positioned at magnetic head 3 center of data track on its cylinder 100.Servo DSP 190 indicates driving governor 166 can begin data transfer then.This is by square frame 202 and 204 expressions.
During the data transfer of utilizing magnetic head 3 with respect to cylinder 100, driving governor 166 selects magnetic head 4 to enter in the servo channel.Servo DSP 190 has and relevant time of complete cycle of disk by the embedded servo data of playback head 4, regulates the microactuator relevant with magnetic head 4, at last magnetic head 4 is positioned at the center of data track on its cylinder 100.This is by square frame 206 expressions.Critically to behind magnetic head 4 location, in all the other times of the data transfer of utilizing magnetic head 3, servo DSP 190 control main transmission devices make the main transmission device be centered close to magnetic head 3 just at the center of the magnetic track that flies on the cylinder 100 and magnetic head 4 mid point between the center of the data track that flies on the cylinder 100 just.Be by square frame 208 and 210 expressions.
When driver controller 166 has been finished the data transfer of utilizing magnetic head 3, read/write passage and automatically switch to magnetic head 4 from magnetic head 3.The servo channel that circuit will be connected with magnetic head 3 automatically switches to magnetic head 5 and is connected.DSP 190 continues main transmission device and the microactuator relevant with magnetic head 4 are positioned by this way, promptly makes magnetic head 4 be located on the cylinder 100 in its data track in the heart.
When carrying out utilizing the data transfer of magnetic head 4 on cylinder 100, servo DSP 190 begins to utilize magnetic head 5 to read the relevant microactuator of embedded servo data and adjusting and magnetic head 5, magnetic head 5 critically is positioned at the top, center of its data track on the cylinder 100.Be by square frame 212 and 214 expressions.Magnetic head 5 has critically been located during the data transfer of back (when perhaps it being carried out precision positioning) and employing magnetic head 4, servo DSP 190 is centered close to mid point between data head 4 and 5 with the main transmission device.This is by square frame 216 and 218 expressions.
When driver controller 166 has been finished the data transfer of utilizing magnetic head 4, to read/write passage and automatically switch to magnetic head 5 from magnetic head 4, the servo channel that is connected with magnetic head 4 in the past then becomes with magnetic head 0 and is connected.This is by square frame 220 expressions.
DSP 190 continues main transmission device and the microactuator relevant with magnetic head 5 are positioned, make magnetic head 5 remain on its magnetic track on the cylinder 100 in the heart.When just adopting magnetic head 5 Data transmission on cylinder 100 by driver controller 166, servo DSP 190 begins to read servo data and magnetic head 0 is positioned at cylinder 101 tops from magnetic head 0.Servo DSP 190 regulates the microactuator relevant with magnetic head 0, and magnetic head 0 critically is positioned at above the center of the magnetic track relevant with its cylinder 101.This is by square frame 222 expressions.
During adopting the data transfer of magnetic head 5, servo DSP 190 makes the main transmission device move to mid point between cylinder 100 upper magnetic heads 5 and cylinder 101 upper magnetic heads 0 lentamente.When driver controller 166 is finished the data transfer that adopts magnetic head 5, read/write passage and preferably automatically switch (on the hardware) to magnetic head 0 from magnetic head 5.Utilize magnetic head 0 beginning data transfer then.This is by square frame 228 expressions.In case finish the data transfer that adopts magnetic head 0, so just finish sequence delivery.This is by square frame 230 and 232 expressions.
Figure 10 illustrates another feature of the present invention.Figure 10 has specifically illustrated (among the square frame 234-243) parallel read-out or write operation.At first, DSP 190 receives the reference signal that the specific cylinder of access is treated in expression, and mobile like this main transmission device makes all data heads be positioned at roughly on the cylinder 100.This is by 235 expressions of square frame among Figure 10.Then, all microactuator of DSP 190 control with all magnetic heads (magnetic head that perhaps all pending while parallel datas are transmitted) be centered in independently the data track relevant with cylinder 100 in the heart.In case determine the center of all magnetic heads, beginning parallel data transfer simultaneously.This is by square frame 236,238 and 240 expressions.When finishing the data transfer of all magnetic heads, finish parallel the transmission.This is by square frame 242 expressions.
The present invention includes a kind of method of transmitting the information on a plurality of surfaces of at least one disk 178 in the relevant disc driver 110.Embedded servo-information on the surface.The inventive method comprises provides a plurality of data heads 116, and each data head is corresponding to a surface in a plurality of magnetic disk surfaces.Data head 116 writes with information that the surface is gone up and sense information from the surface.Utilize the servo-information that embeds to position data magnetic head 116 with respect to respective surfaces simultaneously.Utilize a plurality of 116 whiles of data head with respect to the respective surfaces Data transmission.
In addition, in preferred embodiment, disc driver 110 comprises a thick driver (VCM), is used to make a plurality of data head 116 to locate roughly with respect to respective surfaces.Control microactuator (0-N) comprises based on the relative position of each in thick driver (VCM) and a plurality of microactuators (0-N) moves corresponding data magnetic head 116.The inventive method preferably also comprises in responsive thick driver (VCM) and a plurality of microactuators (0-N) relative position of each.
The present invention also comprises a kind of not method of break sequence data transfer that realizes, second data magnetic head 116 begun to transmit with first data head 116 during with respect to a relevant track location.In case finish the data transfer with first data head, second data magnetic head 116 just begins data transfer.During data transfer, the 3rd data magnetic head positioned with second magnetic head.Proceed like this, even stride across track boundaries, until finishing the alphabetic data transmission.
In yet another embodiment of the present invention, provide a plurality of inputs, a plurality of output servo controller 190 and be coupled with each microactuator (0-N) and thick driver (VCM).
Preferably data magnetic head 116 is controlled with adjusting and can be influenced cross-couplings between the data head 116 of location.
In addition, another aspect of the present invention comprises the realization servo control algorithm, to construct a disc driver with a plurality of data channel.Servo control algorithm is a kind of algorithm based on model of realizing in MIMO servo controller 190.
Be to be understood that, although the details of the 26S Proteasome Structure and Function of the many feature and advantage of various embodiment of the present invention and various embodiment of the present invention provides in above description, but, this disclosure only is exemplary, in the represented gamut of principle according to the present invention general meaning of each claim in by appended claims, at length can make variation, especially aspect the structure and arrangement of each several part.For example, specific element can change with specific application or disc driver, wherein realizes the present invention when not departing from the scope of the invention and spirit keeping basic identical function.
Claims (26)
1. method of controlling disc driver, described disk has a plurality of data heads, it is characterized in that in a plurality of data heads each is corresponding to respective surfaces in a plurality of surfaces of at least one disk in the disc driver, embedded servo information is arranged from the teeth outwards, disc driver further comprise one with a plurality of data heads in each microactuator that is coupled, described method comprises:
The motion of control microactuator during based on the embedded servo information of same on each respective surfaces is to control the position of a plurality of data heads with respect to corresponding magnetic disk surface, to provide a plurality of data routings that are suitable for a plurality of relatively surface while data transfer.
2. the method for claim 1 is characterized in that: control simultaneously comprises:
Based on another motion in a plurality of data heads, control in a plurality of data heads each with respect to the position of corresponding magnetic disk surface.
3. method as claimed in claim 2, it is characterized in that: the control position comprises:
Control in a plurality of data heads each with respect to the position of corresponding magnetic disk surface, to adapt in a plurality of data heads the mechanical cross-couplings between another in each and a plurality of data head.
4. method as claimed in claim 2, it is characterized in that: the control position comprises:
Based on the motion of another a plurality of data heads in a plurality of data heads, control in a plurality of data heads each with respect to the position of corresponding magnetic disk surface.
5. the method with respect to a plurality of surperficial transmission information of at least one disk in the disc driver has embedded servo information from the teeth outwards, and described method comprises:
A plurality of data heads are provided, and each data head is corresponding to information being write on the surface is gone up and from the surface a plurality of surfaces of sense information one;
The servo-information that utilize to embed makes simultaneously that each is located with respect to respective surfaces in a plurality of data heads; And
Utilize a plurality of data heads to transmit information simultaneously with respect to respective surfaces.
6. method as claimed in claim 5, it is characterized in that: disc driver comprises a plurality of microactuators, microactuator operationally is coupled to a corresponding data magnetic head in a plurality of data heads, here, and simultaneously to each positions and comprises in a plurality of data heads:
Make the motion of corresponding data magnetic head based on the control of the servo-information on respective surfaces microactuator.
7. method as claimed in claim 6 is characterized in that: the control microactuator comprises:
Based on the motion of another data head at least, the control microactuator makes the motion of corresponding data magnetic head.
8. method as claimed in claim 6 is characterized in that: disc driver comprises a thick driver that makes a plurality of data heads with respect to the respective surfaces coarse localization, and here, the control microactuator comprises:
Based on each relative position in thick driver and a plurality of microactuator, the control microactuator makes the motion of corresponding data magnetic head.
9. method as claimed in claim 8 is characterized in that: the control microactuator comprises:
The relative position of each in thick driver and a plurality of microactuator is detected.
10. method as claimed in claim 6 is characterized in that: transmission information simultaneously comprises:
Utilize a plurality of data heads simultaneously information to be written to magnetic track on the respective surfaces.
11. method as claimed in claim 6 is characterized in that: transmission information simultaneously comprises:
Utilize the magnetic track while sense information of a plurality of data heads from respective surfaces.
12. the method with respect to a plurality of magnetic disk surface sequence delivery information of at least one disk in the disc driver, described method comprises:
First data head is positioned at first magnetic track top on first magnetic disk surface;
Begin data transfer with respect to first magnetic track on first magnetic disk surface with first data head;
During first magnetic track of data transfer to first magnetic disk surface, second data head is positioned at lip-deep first magnetic track of second disk top; And
After second data head is positioned, begin data transfer with second data head with respect to lip-deep first magnetic track of second disk.
13. method as claimed in claim 12 is characterized in that further comprising:
To before first data head location, with the main transmission device a plurality of data heads are moved with respect to magnetic disk surface based on the position of first magnetic track on first magnetic disk surface; And
To behind second data head location, based on the location of the position adjustments main transmission device of the position of first data head and second data head.
14. method as claimed in claim 13 is characterized in that: begin data transfer with second data head and comprise:
After the data transfer of finishing first magnetic track on first magnetic disk surface, begin data transfer with second data head.
15. method as claimed in claim 13 is characterized in that further comprising:
During data transfer, next data head is positioned at required magnetic track top on the corresponding magnetic disk surface with second data head; And
After the data transfer of finishing first magnetic track to the second disk surface, begin data transfer with next data head with respect to required magnetic track on the corresponding magnetic disk surface.
16. method as claimed in claim 15 is characterized in that further comprising:
During with previous data head Data transmission, next data head is located with respect to magnetic track on the corresponding magnetic disk surface, and on having finished with respect to corresponding magnetic disk surface, after the data transfer of magnetic track, begin data transfer with next data head by previous data head.
17. method as claimed in claim 13 is characterized in that: first magnetic track on first magnetic disk surface here, comprises the location of second data head in first cylinder:
During with the data transfer of first data head, second data head is positioned at magnetic track top in second cylinder with respect to first magnetic track in first cylinder.
18. method as claimed in claim 13 is characterized in that further comprising:
First and second microactuators relevant with first and second data heads are provided respectively, here, the location of second data head are comprised with the location of second microactuator to second data head.
19. the servo-drive system in the disc driver, described disc driver has a plurality of data heads and a plurality of magnetic disk surface, and each data head is relevant with a magnetic disk surface, and described servo-drive system comprises:
Thick driver with a plurality of data head couplings makes a plurality of data heads locate with respect to magnetic disk surface;
The microactuator relevant with each data head; And
A plurality of inputs, a plurality of output (MIMO) servo controller offer each microactuator with output signal, control the position of related data magnetic head by the transmission of microactuator.
20. system as claimed in claim 19 is characterized in that: the MIMO servo controller comprises:
The servo controller of concentrating based on model.
21. system as claimed in claim 19 is characterized in that: the MIMO servo controller is coupled with thick driver and output signal is offered thick driver, based on the transmission of thick driver, controls the position of a plurality of data heads.
22. system as claimed in claim 19 is characterized in that: the MIMO servo controller is configured at least in part based on each position in another the motion control microactuator in the microactuator.
23. system as claimed in claim 19 is characterized in that: the top that the MIMO servo controller is configured to simultaneously a plurality of data heads are positioned at selected magnetic track on the corresponding magnetic disk surface.
24. system as claimed in claim 19 is characterized in that: the MIMO servo controller is configured to each positions in a plurality of data heads, to realize the consecutive order data transfer between data head and the corresponding magnetic disk surface.
25. system as claimed in claim 19 is characterized in that: microactuator provides the outgoing position signal, and the position of indication related data magnetic head here, is configured to the MIMO servodriver based on the location of outgoing position signal controlling microactuator to the data magnetic head.
26. system as claimed in claim 21, it is characterized in that further comprising: a plurality of relative position sensors, relative position sensor is relevant with in a plurality of microactuators each and detect the relative position of relevant microactuator with respect to thick driver, and the MIMO servo controller is configured to based on controlling the position of a plurality of data heads to detect relative position.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US4463797P | 1997-04-18 | 1997-04-18 | |
| US60/044,637 | 1997-04-18 | ||
| US08/924,552 US6768610B1 (en) | 1997-08-27 | 1997-08-27 | Microactuator servo system in a disc drive |
| US08/924,552 | 1997-08-27 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1252879A true CN1252879A (en) | 2000-05-10 |
Family
ID=26721785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN98804266A Pending CN1252879A (en) | 1997-04-18 | 1998-04-20 | Microactulor servo system in a disc drive |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JP2001522505A (en) |
| KR (1) | KR20010006528A (en) |
| CN (1) | CN1252879A (en) |
| DE (1) | DE19882321T1 (en) |
| GB (1) | GB2338821B (en) |
| WO (1) | WO1998048412A2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1819031B (en) * | 2004-12-17 | 2010-06-02 | 松下电器产业株式会社 | Systems and methods for printed-media ssw reference pattern |
| CN103678140A (en) * | 2012-09-03 | 2014-03-26 | 联想(北京)有限公司 | Method for data storage and electronic equipment |
| CN111696586A (en) * | 2019-03-15 | 2020-09-22 | 株式会社东芝 | Magnetic disk apparatus and control method thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3064336B2 (en) * | 1989-06-28 | 2000-07-12 | 株式会社日立製作所 | Information handling device and disk device |
| US5293282A (en) * | 1989-11-03 | 1994-03-08 | Conner Peripherals, Inc. | Multiple actuator disk drive |
| JP3166181B2 (en) * | 1991-02-28 | 2001-05-14 | 株式会社日立製作所 | Magnetic storage device |
| US5343347A (en) * | 1992-05-01 | 1994-08-30 | Gilovich Paul A | Magnetic disk storage module with multiple sets of actuator arms for simultaneous read/write operations at different circumferential locations within the disk stack |
| US5745319A (en) * | 1992-08-12 | 1998-04-28 | Kabushiki Kaisha Toshiba | Recording/reproducing apparatus with coarse and fine head positioning actuators and an elastic head gimbal |
| US5519605A (en) * | 1994-10-24 | 1996-05-21 | Olin Corporation | Model predictive control apparatus and method |
-
1998
- 1998-04-20 KR KR1019997009618A patent/KR20010006528A/en not_active Application Discontinuation
- 1998-04-20 GB GB9923669A patent/GB2338821B/en not_active Expired - Fee Related
- 1998-04-20 JP JP54628298A patent/JP2001522505A/en active Pending
- 1998-04-20 CN CN98804266A patent/CN1252879A/en active Pending
- 1998-04-20 DE DE19882321T patent/DE19882321T1/en not_active Withdrawn
- 1998-04-20 WO PCT/US1998/008035 patent/WO1998048412A2/en not_active Application Discontinuation
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1819031B (en) * | 2004-12-17 | 2010-06-02 | 松下电器产业株式会社 | Systems and methods for printed-media ssw reference pattern |
| CN103678140A (en) * | 2012-09-03 | 2014-03-26 | 联想(北京)有限公司 | Method for data storage and electronic equipment |
| CN111696586A (en) * | 2019-03-15 | 2020-09-22 | 株式会社东芝 | Magnetic disk apparatus and control method thereof |
| CN111696586B (en) * | 2019-03-15 | 2021-10-15 | 株式会社东芝 | Magnetic disk apparatus and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2338821B (en) | 2002-01-09 |
| GB2338821A (en) | 1999-12-29 |
| JP2001522505A (en) | 2001-11-13 |
| GB9923669D0 (en) | 1999-12-08 |
| KR20010006528A (en) | 2001-01-26 |
| DE19882321T1 (en) | 2000-04-13 |
| WO1998048412A3 (en) | 1999-02-11 |
| WO1998048412A2 (en) | 1998-10-29 |
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