JP4494665B2 - MOVING BODY POSITION CONTROL DEVICE, MOVING BODY POSITION CONTROL DEVICE BAND-STOPPING FILTER ADJUSTMENT PROGRAM, AND MOVING BODY POSITION CONTROL DEVICE LOOP GAIN ADJUSTMENT PROGRAM - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a position control device for a moving body and a program therefor, and in particular, a control signal generation unit for performing fine position control on the moving body following a seek operation to a target position for a controlled object including the moving body. In addition, the present invention relates to a position control apparatus for a moving body provided with a band rejection filter for the frequency component of the resonance mode to be controlled and a control loop gain setting portion.
[0002]
Examples of the moving body include a head mounting arm of various disk devices, robot arms and legs, and various machine members of an NC machine.
[0003]
Such a controlled object has a resonance mode unique to each product as shown in FIG. 6 (a), for example.
[0004]
The presence of this resonance mode often leads to instability of the control system and deterioration of positioning accuracy due to oscillation, etc., so the resonance mode (resonance frequency) is determined for each individual product and its actual usage environment. It is desirable to reliably estimate and compensate for the effects, and the present invention meets this need.
[0005]
[Prior art]
FIG. 6 is an explanatory diagram showing a mechanical compliance characteristic of a controlled object composed of a head mounting arm of a magnetic disk device and a voice coil motor for driving the same, and a notch filter characteristic corresponding to the controlled object.
[0006]
The gain of the mechanical compliance characteristic indicates the ratio (x / i) between the actual position x of the head and the drive current i of the voice coil motor. In the case of a head drive system of a magnetic disk device, there are large and small resonance modes in a frequency band of approximately 3 kHz or more.
[0007]
Conventionally, the above problem is avoided by inserting a band rejection filter that generates a sharp notch at the resonance mode frequency of the controlled object (in the illustrated case, approximately 5 kHz) into the control signal generator in the control loop.
[0008]
However, the resonance mode of the controlled object varies among products, and the resonance mode itself also deteriorates over time in the actual usage environment (temperature, humidity, etc.) and drive system characteristics (characteristics of the motor, transmission belt, etc.). This differs from the setting of the band rejection filter on the factory side.
[0009]
For such resonance mode variations and changes, a test signal is externally applied to the controlled object at the actual use stage, and the mechanical compliance characteristics (resonance mode) at that time are newly estimated. This is solved by adjusting the frequency characteristic (center frequency) of the blocking filter.
[0010]
[Problems to be solved by the invention]
In the case of a conventional estimation method using an external test signal, the main operation inherent to the product (for example, read / write operation of the head) cannot be executed while the test signal is being applied.
[0011]
For this reason, if the process of estimating the resonance mode of the controlled object is performed at a predetermined necessary frequency in the product use stage, there is a problem that convenience on the user side is lost.
[0012]
Therefore, in the present invention, the controlled object in the high-speed seek operation (to the target position) in the previous stage before moving to the fine position control at the target position of the moving body such as the head mounting arm, that is, in the previous stage of the main operation of the product. By determining the input / output transfer characteristics of the target and adjusting the frequency characteristics of the resonance mode rejection filter based on this, it is possible to eliminate the need for external test signals and reduce the components of the entire control system, so that the original operation of the product is not interrupted. It aims at ensuring the convenience on the user side.
[0013]
It is another object of the present invention to optimize the actual movement sensitivity of the controlled object by adjusting the control loop gain based on the input / output transfer characteristic of the controlled object in the high-speed seek operation.
[0014]
Furthermore, the object of the present invention is to improve the accuracy of the input / output transfer characteristics by performing a Fourier transform with a Hanning window function when obtaining the input / output transfer characteristics.
[0015]
[Means for Solving the Problems]
The present invention solves this problem as follows.
(1) Generation of a control signal for performing fine position control of a moving object following a seek operation to a target position for a controlled object (for example, VCM 2 and head 3 described later) including a moving object (for example, a head 3 described later). In a position control device in which a band rejection filter (for example, a notch filter 14 to be described later) for the frequency component of the resonance mode of the controlled object is provided in a unit (for example, a DSP 1 to be described later), the input of the controlled object during the seek operation is performed. A filter adjustment means (for example, a mechanical compliance characteristic estimator 15 described later) for obtaining an output transfer characteristic and adjusting the frequency characteristic of the band rejection filter based on the output transfer characteristic is provided.
(2) Generation of a control signal for performing fine position control of the moving body following a seek operation to a target position for a controlled object (for example, VCM 2 and head 3 described later) including the moving body (for example, head 3 described later). In a position control device in which a loop gain setting portion (for example, a multiplier 13 to be described later) is provided in a section (for example, a DSP 1 to be described later), an input / output transfer characteristic of the controlled object at the time of the seek operation is obtained. And gain adjusting means for adjusting the gain of the setting portion (for example, a mechanical compliance characteristic estimator 15 described later).
(3) A control signal for performing fine position control on the moving body following a seek operation to a target position for a controlled object (for example, VCM 2 and head 3 described later) including the moving body (for example, head 3 described later). The generation unit (for example, DSP 1 described later) is provided with a band rejection filter (for example, notch filter 14 described later) for the frequency component of the resonance mode to be controlled, and a loop gain setting portion (for example, multiplier 13 described later). In the position control device, a control signal generation unit that obtains an input / output transfer characteristic of the controlled object during the seek operation, adjusts a frequency characteristic of the band rejection filter based on the input / output transfer characteristic, and adjusts a gain of the setting portion Adjustment means (for example, a mechanical compliance characteristic estimator 15 described later) is provided.
[0016]
According to the present invention, as described in (1) above, the frequency characteristic (center frequency) of the resonance mode blocking filter is dynamically adjusted based on the input / output transfer characteristic of the controlled object in the seek operation to the target position, This eliminates the need for an external test signal, reduces the number of components of the entire control system, and ensures the user's convenience by preventing the original operation of the product from being interrupted.
[0017]
The input of this transfer characteristic is a drive signal (current, voltage, etc.) to be controlled, and the output is various operation signals (position, position error pos, velocity, acceleration, etc. described later) of the moving body.
[0018]
Further, as described in (2) above, the loop gain of the control system is dynamically adjusted based on the input / output transfer characteristics of the controlled object in the seek operation to the target position, so that the actual movement of the controlled object is achieved. The sensitivity is set to the optimum state.
[0019]
Further, as described in (3) above, both the center frequency of the resonance mode blocking filter and the loop gain of the control system are dynamically adjusted based on the input / output transfer characteristics of the controlled object in the seek operation to the target position. As a result, the original operation of the product is not interrupted, and the actual movement sensitivity of the controlled object is optimized.
[0020]
By dynamic adjustment of both of these, fluctuations in the gain margin of the control loop caused by the change of the center frequency of the resonance mode blocking filter are automatically adjusted.
[0021]
Furthermore, when obtaining the input / output transfer characteristic of the controlled object in the seek operation to the target position, a Fourier transform is performed by applying a Hanning window function, thereby improving the accuracy of the input / output transfer characteristic.
[0022]
The present invention is directed to a moving body position control device having such characteristics, and also includes a program for adjusting a resonance mode blocking frequency and a loop gain based on input / output transfer characteristics of a controlled object in a seek operation. set to target.
[0023]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described with reference to FIGS.
In the following embodiments, for the sake of convenience of explanation, the drive current (operating current of the voice coil motor) of the oscillating arm on which the head is mounted is controlled, and the seek operation of the head to the target track on the disk and It is premised on position control when the subsequent tracking operation is performed. Needless to say, the present invention is not limited to such a head position control.
[0024]
FIG. 1 is an explanatory diagram showing the overall configuration of the position control system.
The control main body of this system is a feed forward controller 11 and a feedback controller 12 of a DSP (Digital Signal Processor) 1, and the controlled object is a head 3 mounted on a swing arm. The swing arm is driven by the voice coil motor 2.
[0025]
here,
The feedforward controller 11 executes a seek control operation for moving the head 3 from the reference track to the target track (target position x0) based on the track selection instruction signal,
The feedback controller 12 performs a tracking control operation for maintaining the head 3 that has moved to the target track in the track-on state based on the position error signal (= x0−x) between the target position x0 and the actual position x. Further, during the seek control operation from the reference track to the target track, a tracking control operation for correcting an error between the moving target trajectory and the actual trajectory is executed.
[0026]
The drive mechanism of the swing arm by the voice coil motor 2, the seek control operation itself of the feedforward controller 11 and the tracking control operation itself of the feedback controller 12 are all well known.
[0027]
Control signals of the feedforward controller 11 and the feedback controller 12 are applied to the voice coil motor 2 through a multiplication process in the multiplier 13 and an attenuation process in the notch filter 14.
[0028]
This multiplication process is a process for adjusting the loop gain of the control system by multiplying the control signals of the controllers 11 and 12 by the gain K of the multiplier 13.
[0029]
In the attenuation process, the frequency Fc (center frequency of the notch filter 14) component of the control signal after multiplication is attenuated to compensate the resonance modes of the voice coil motor 2 and the head 3 to be controlled (FIG. 6). Reference).
[0030]
The initial set values of the gain K and the center frequency Fc are uniquely set in advance on the manufacturing side based on the transfer functions (x / i) for the voice coil motor 2 and the head 3. Note that x is the actual position of the head 3, and i is a voice coil motor driving current set by the control of the controllers 11 and 12.
[0031]
The mechanical compliance characteristic estimator 15 adjusts a deviation between the initial value and an expected value when the product is actually used.
[0032]
That is, the mechanical compliance characteristic estimator 15 uses the position error signal pos (= x0−x) and the voice coil motor drive current signal (= i) to execute the arithmetic processing of FIG. 3 and FIG. The optimum values of the gain K of the multiplier 13 and the center frequency Fc of the notch filter 14 at the time are dynamically estimated.
[0033]
The multiplier 13 and the notch filter 14 are adjusted so that K and Fc become the estimated values.
[0034]
A feature of the present invention is that the drive current itself during the seek control operation of the feedforward controller 11 is used as the voice coil motor drive current signal for the adjustment processing.
[0035]
Therefore, it is not necessary to add a dedicated signal for the adjustment, and it is not necessary to interrupt the data read / write operation for the recording medium for the adjustment. This read / write operation is after the seek control operation is finished and the head 3 is turned on to the target track.
[0036]
FIG. 2 is a configuration example of the notch filter 14 of FIG. 1, in which 141 indicates a tap delay unit, 142 indicates a coefficient multiplication unit, and 143 indicates an addition unit.
[0037]
The transfer function when the input / output of the notch filter 14 is z-converted is represented by the illustrated equation using the coefficients A 0, A 1, A 2, B 1, B 2 of each coefficient multiplier 142.
[0038]
By changing the coefficients A0, A1, A2, B1, and B2, the frequency characteristic (center frequency Fc) of the notch filter 14 is adjusted.
[0039]
FIG. 3 is an explanatory diagram showing the dynamic estimation procedure of the center frequency of the notch filter 14 of FIG. 1, and the contents thereof are as follows.
(s11) Each of the following values, Fs0 (the lower limit of the estimated frequency band) = 4.0 kHz
・ Fs1 (the upper limit of the estimated frequency band) = 6.0 kHz
・ ΔF = 0.1khz
Fs (estimated frequency) = Fs0
N (total number of samples to estimate) = 1500
・ K (sample number) = 0
・ Ts (sampling interval) = 0.1msec
Gps, Gpc, Gcs, Gcc (sin component and cos component of DTF conversion value of position error signal pos and drive current signal cur) = 0
Gtf0 (temporary transmission gain) = -1000
, And proceed to the next step. Note that the estimated frequency band (Fs0 to Fs1) is determined based on the existence status of the resonance modes of the voice coil motor 2 and the head 3 (swinging arm) to be controlled. Gtf0 (provisional transmission gain) is set to an arbitrary minimum value that cannot be taken in reality.
(s12) It is determined whether or not the seek flag “1” indicating that the seek control operation of the feedforward controller 11 is executed. If “YES”, the process proceeds to the next step. If “NO”, the process proceeds to the next step. This judgment is repeated.
(s13) An operation of “k = k + 1” is executed, and the process proceeds to the next step.
(s14) A sin component corresponding to the position error signal pos by executing the illustrated DFT transform (digital Fourier transform) using the position error signal pos, the drive current signal cur and the values of Fs, Ts, k, N Gps of cos component and Gpc of cos component and Gcs of sin component corresponding to drive current signal cur and Gcc of cos component are obtained, and the process proceeds to the next step. It should be noted that the portion “.0.5. [1-cos [2π · k / (N + 1)]]” in the GFT, Gpc, Gcs, and Gcc DFT transform equations applies a Hanning window function to the normal digital Fourier transform value. For the operation.
(s15) It is determined whether or not “k = N”, that is, whether or not the DFT transform has been completed with only the total number of samples for the current estimated frequency Fs. If “YES”, the process proceeds to the next step. If NO, return to step (s12).
(s16) By performing the illustrated calculation using the values of Gps, Gpc, Gcs and Gcc in step (s15), the so-called transfer gain Gtf of the controlled system is obtained, and the process proceeds to the next step.
(s17) It is determined whether or not “Gtf> Gtf0”, that is, whether or not the transfer gain Gtf obtained in step (s16) is larger than the maximum value after the estimation is started. If “NO”, proceed to the step (s20).
(s18) Update the value of Gtf0 with “Gtf0 = Gtf”, and proceed to the next step.
(s19) The center frequency Fc of the notch filter 14 is estimated as Fs, and the process proceeds to the next step.
(s20) It is determined whether or not “Fs = Fs1”, that is, whether or not the dynamic estimation processing of the center frequency Fc is completed over the entire range of the estimated frequency band (Fs0 to Fs1). If “NO”, the process proceeds to the next step.
(s21) “Fs = Fs + ΔF” and the estimated frequency Fs is increased by 0.1 kHz, and the process proceeds to the next step.
(s22) Each value of k, Gps, Gpc, Gcs, and Gcc is set to “0”, and the process returns to step (s12).
[0040]
By such a procedure, the frequency at which the transfer functions of the voice coil motor 2 and the head 3 (swinging arm) of the controlled part are maximized during the seek control operation of the feedforward controller 11 is obtained.
[0041]
Then, this frequency is regarded as the resonance frequency of the controlled portion, and each coefficient of the coefficient multiplier 142 in FIG. 2 is adjusted so that the center frequency Fc of the notch filter 14 becomes the frequency. A known method is used for the coefficient adjustment itself.
[0042]
FIG. 4 is an explanatory diagram showing the dynamic estimation procedure of the optimum gain of the multiplier 13 of FIG. 1, and the contents thereof are as follows.
(s31) Each of the following values, FsN (estimated frequency) = 2.0 kHz
・ GtfN (average gain at FsN) = 20db
N (total number of samples to estimate) = 1500
・ K (sample number) = 0
・ Ts (sampling interval) = 0.1msec
Gps, Gpc, Gcs, Gcc (sin component and cos component of DTF conversion value of position error signal pos and drive current signal cur) = 0
, And proceed to the next step. Note that FsN (frequency to be estimated) is preferably determined outside the range of the frequency band to be estimated (Fs0 to Fs1) in FIG. 3, but is not limited to this and may take any frequency.
(s32) It is determined whether or not the seek flag “1” indicating that the seek control operation of the feedforward controller 11 is executed. If “YES”, the process proceeds to the next step, and if “NO”, This judgment is repeated.
(s33) The operation of “k = k + 1” is executed, and the process proceeds to the next step.
(s34) By executing the illustrated DFT transform (digital Fourier transform) using the position error signal pos, the drive current signal cur and the values of Fs, Ts, k, N, a sin component corresponding to the position error signal pos Gps of cos component and Gpc of cos component and Gcs of sin component corresponding to drive current signal cur and Gcc of cos component are obtained, and the process proceeds to the next step. It should be noted that the portion “.0.5. [1-cos [2π · k / (N + 1)]]” in the GFT, Gpc, Gcs, and Gcc DFT transform equations applies a Hanning window function to the normal digital Fourier transform value. For the operation.
(s35) It is determined whether or not “k = N”, that is, whether or not the DFT conversion has been completed with only the total number of samples for the estimated frequency of 2.0 kHz. If “YES”, the process proceeds to the next step. If "", return to step (s32).
(s36) By performing the illustrated calculation using the values of Gps, Gpc, Gcs and Gcc in step (s35), the so-called transmission gain Gtf of the controlled system is obtained, and the process proceeds to the next step.
(s37) The optimum gain K of the multiplier is obtained by the arithmetic processing shown in the figure using this Gtf and the initially set GtfN, and the series of estimation processes is completed.
[0043]
This optimum gain K is set in the multiplier 13. Thereby, the so-called displacement sensitivity of the voice coil motor 2 and the head 3 (swinging arm) of the controlled portion with respect to the drive current i is adjusted to an optimum state.
[0044]
The estimation process of FIG. 4 specifies the frequency to be estimated of FIG. 3 as a single frequency, calculates the transfer gain Gtf at that time, and obtains the optimum gain K therefrom.
[0045]
3 and 4, the feedforward controller 11 sets a seek flag “1” indicating that the operation is in progress, and the mechanical compliance characteristic estimator 15 confirms this.
[0046]
Further, the number of samples obtained by one seek operation to the target track is, for example, several at a minimum and about 100 at a maximum.
[0047]
The minimum is the seek operation to the adjacent track, and the maximum is the seek operation between the innermost and outermost tracks on the disk.
[0048]
That is, N (1500) transfer gains Gtf are obtained from a plurality of seek operations for one of the frequencies to be estimated.
[0049]
FIG. 5 is an explanatory diagram illustrating an example of a frequency spectrum of the Hanning window function.
This Hanning window function has a wide dynamic range and a high frequency resolution, and has a characteristic in which side lobes (the side spread of the center frequency) are sharply cut off.
[0050]
As a method of providing the DSP 1 with a program for adjusting the frequency of the above notch filter and the gain of the multiplier,
-Store the program in the DSP1 memory or hard disk in advance.
・ Use various portable recording media that record the program.
・ Acquire programs via communication lines such as the Internet,
Can take any form.
[0051]
(Supplementary note 1) A band for a frequency component of a resonance mode of the controlled object is provided in a control signal generation unit for performing fine position control of the moving object following a seek operation to a target position for the controlled object including the moving object. In the position control device provided with the stop filter, the input / output transfer characteristic of the controlled object at the time of the seek operation is obtained, and a filter adjusting means for adjusting the frequency characteristic of the band stop filter based on this is provided. A moving body position control device.
(Supplementary Note 2) In a position control device in which a loop gain setting portion is provided in a control signal generation unit for performing fine position control of a moving object following a seek operation to a target position for a controlled object including the moving object A moving body position control device comprising gain adjusting means for obtaining an input / output transfer characteristic of the controlled object during the seek operation and adjusting a gain of the setting portion based on the input / output transfer characteristic.
(Supplementary Note 3) A band for a frequency component of the resonance mode of the controlled object is provided in a control signal generation unit for performing fine position control of the moving object following a seek operation to the target position for the controlled object including the moving object. In a position control device provided with a blocking filter and a loop gain setting portion, an input / output transfer characteristic of the controlled object at the time of the seek operation is obtained, and based on this, a frequency characteristic of the band rejection filter is adjusted, A moving body position control device comprising a control signal generation unit adjusting means for adjusting a gain of the setting portion.
(Additional remark 4) The said moving body position control apparatus of Additional remark 1 thru | or Additional remark 3 characterized by calculating | requiring the said input / output transfer characteristic by the Fourier transform which multiplied the Hanning window function.
(Supplementary note 5) Resonance mode band blocking of the controlled object provided in the control signal generation unit for performing fine position control of the moving object following the seek operation to the target position for the controlled object including the moving object In a program for adjusting a filter, the program realizes a function of obtaining an input / output transfer characteristic of the controlled object during the seek operation and adjusting a frequency characteristic of the band rejection filter based on this A band rejection filter adjustment program for a mobile body position control device, characterized in that
(Supplementary Note 6) For adjusting a loop gain setting portion provided in a control signal generation unit for performing fine position control of a moving object following a seek operation to a target position for a controlled object including the moving object In the program, the program is for causing a computer to realize a function of obtaining an input / output transfer characteristic of the controlled object during the seek operation and adjusting a gain of the setting portion based on the input / output transfer characteristic. A loop gain adjustment program for a moving body position control device.
[0052]
【The invention's effect】
Since the present invention dynamically adjusts the frequency characteristic (center frequency) of the resonance mode blocking filter based on the input / output transfer characteristic of the controlled object in the seek operation to the target position as described above, the external test signal As a result, it is possible to reduce the number of components of the entire control system and to ensure the convenience on the user side without interrupting the original operation of the product.
[0053]
Further, since the control loop gain is dynamically adjusted based on the input / output transfer characteristics of the controlled object in the seek operation to the target position, the actual movement sensitivity of the controlled object can be set to the optimum state. .
[0054]
In addition, since the center frequency of the resonance mode blocking filter and the gain of the control loop are both dynamically adjusted based on the input / output transfer characteristics of the controlled object in the seek operation to the target position, While not interrupting, the actual movement sensitivity of the controlled object can be brought into an optimum state.
[0055]
In addition, since the Fourier transform multiplied by the Hanning window function is performed when obtaining the input / output transfer characteristic of the controlled object in the seek operation to the target position, the accuracy of the input / output transfer characteristic is improved, and the resonance mode blocking filter Adjustment of the center frequency and the gain of the control loop can be executed more reliably and accurately.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing an overall configuration of a position control system according to the present invention.
FIG. 2 is an explanatory diagram showing a configuration example of a notch filter 14 according to the present invention.
FIG. 3 is an explanatory diagram showing a dynamic estimation procedure of the center frequency of the notch filter 14 according to the present invention.
FIG. 4 is an explanatory diagram showing a dynamic estimation procedure of an optimum gain of a multiplier 13 according to the present invention.
FIG. 5 is an explanatory diagram showing an example of a frequency spectrum of a Hanning window function according to the present invention.
FIG. 6 is an explanatory diagram showing a general mechanical compliance characteristic of a controlled object including a head mounting arm of a magnetic disk device and a voice coil motor for driving the magnetic disk apparatus, and a notch filter characteristic corresponding to the controlled object. .
[Explanation of symbols]
1: DSP (Digital Signal Processor)
11: Feedforward controller 12: Feedback controller 13: Multiplier 14: Notch filter 141: Tap delay unit 142: Coefficient multiplier 143: Adder 15: Mechanical compliance characteristic estimator 2: Voice coil motor (VCM)
3: Head (mounted arm)

Claims (5)

Following the seek operation to the target position with respect to the controlled object including a moving object, the control signal generator for performing a fine position control at the target position of the moving body, the frequency components of the resonant modes of the controlled object In a position control device provided with a band rejection filter for
During the seek operation, seek input-output transfer characteristic of the controlled object by using the drive current itself the controlled object as the drive current signal, the frequency characteristics of the band rejection filter based on the input-output transfer characteristic A moving body position control device comprising filter adjusting means for adjusting before shifting to fine position control . Following the seek operation to the target position with respect to the controlled object including a moving object, the control signal generator for performing a fine position control at the target position of the moving body, the position control in which a set portion of the loop gain In the device,
During the seek operation , an input / output transfer characteristic of the controlled object is obtained using the drive current itself of the controlled object as a drive current signal, and the gain of the setting portion is set to the fine position based on the input / output transfer characteristic. A moving body position control device comprising gain adjusting means for adjusting before shifting to control. Following the seek operation to the target position with respect to the controlled object including a moving object, the control signal generator for performing a fine position control at the target position of the moving body, the frequency components of the resonant modes of the controlled object In a position control device provided with a band rejection filter and a loop gain setting part for
During the seek operation , the control target drive current itself is used as a drive current signal to determine the input / output transfer characteristic of the control target, and the frequency characteristic of the band rejection filter is adjusted based on the input / output transfer characteristic And a control signal generation unit adjusting means for adjusting the gain of the set portion before shifting to the fine position control . Following the seek operation to the target position with respect to the controlled object including a moving object, provided in the control signal generating unit for performing fine positional control at the target position of the movable body, the resonance mode of the controlled object In the program for adjusting the bandstop filter,
The program obtains the input / output transfer characteristic of the controlled object using the drive current itself of the controlled object as a drive current signal during the seek operation, and determines the frequency of the band rejection filter based on the input / output transfer characteristic. a function of adjusting until control is passed to the fine position control characteristics, band-stop filter adjustment program of the mobile position control device comprising a benzalkonium is realized on the computer. Following the seek operation to the target position with respect to the controlled object including a moving object, provided in the control signal generating unit for performing fine positional control at the target position of the movable body, to adjust the setting portion of the loop gain In the program for
The program obtains the input / output transfer characteristic of the controlled object using the drive current itself of the controlled object as a drive current signal during the seek operation , and determines the gain of the setting portion based on the input / output transfer characteristic. the function to adjust until the transition to the fine position control, loop gain adjusting program of the mobile position control device comprising a benzalkonium is realized on the computer.

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