JPH0695744A - Linear pulse motor control means - Google Patents

Abstract

PURPOSE:To improve the characteristic of a position control system in a device having a linear driving part using a linear actuator, especially, a device requiring precise control like an optical disk. CONSTITUTION:The control means of a linear pulse motor 100 is provided with a thrust disturbance compensating means 130 which takes a current command value and a position detection value as the input and obtains an estimated value of the thrust disturbance based on the linear pulse motor 100 and a model simulating the load of the linear pulse motor 100 and corrects the current command value to cancel the thrust disturbance estimated value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear pulse motor which is linearly driven, and relates to a driving device which requires precise positioning or reduces acceleration fluctuation. Those which are required to have these functions are mainly drive devices such as linear movement elements in information equipment, printer head feeding, optical disk device head feeding, and magnetic disk device head feeding.

[0002]

2. Description of the Related Art Conventionally, as a linearly driving actuator for head feeding of an optical disk device, a voice coil motor or a rotary motor in which a ball screw is combined is used. Linear pulse motors are being used because of their advantages in increasing thrust. As a description example of a linear pulse motor used for a linear movement element in an information device, for example, the Institute of Electrical Engineers of Japan Magnetex Research Group, Material No. MAG-87-4
6, "Examination of performance calculation method of PM type linear pulse motor"
See (1987.6.12) for details.

[0003]

The above-mentioned prior art is intended to improve the drive characteristics by optimizing the geometrical shapes of the stator and the mover of the linear pulse motor. However, in this method, a linear pulse motor optimally designed for each purpose of use must be used as a driving device for various information processing devices. For example, the drive characteristics change even if the load changes. Generally, there is a so-called mass-production effect that the price of parts becomes cheaper as they are mass-produced, but with this method, it is necessary to deal with many kinds of products, and it is difficult to reduce the price by the mass-production effect.

Also, the control characteristics are not always satisfactory.

Therefore, it is an object of the present invention to improve the characteristics of the linear pulse motor not by the geometrical shape but by the control so as to ensure versatility and have better control characteristics.

[0006]

The above-mentioned problems are solved by a driven body to be linearly moved, and a plate-shaped permanent body connected to the driven body and having N and S poles alternately magnetized in the moving direction. A permanent magnet type linear pulse motor including a magnet, a stator having teeth and a coil wound around it, a linear guide that supports the driven body, and a position sensor, and a position detection value commanded by the position sensor. A linear pulse comprising position control means for adjusting the current command value of the linear pulse motor so as to match the value, and linear pulse motor drive means for controlling the thrust of the linear pulse motor based on the current command value. In the motor control means, the current command value and the position detection value are input, and the thrust disturbance of the linear pulse motor and the load of the linear pulse motor are simulated based on a model. Seeking value is realized by the linear pulse motor control means comprising comprises a thrust disturbance compensation means for correcting the current command value so as to cancel the estimated disturbance value.

[0007]

Function: Position control means for adjusting the current command value of the linear pulse motor so that the position detection value by the position sensor matches the position command value; and linear control for controlling the thrust of the linear pulse motor based on the current command value. In addition to the pulse motor driving means, the current command value and the position detection value are further input, and the estimated value of the thrust disturbance is obtained based on a model that simulates the linear pulse motor and the load of the linear pulse motor. By providing the thrust disturbance compensating means for correcting the current command value so as to cancel the disturbance estimated value, not only the position characteristic with respect to the position command value,
Since the position characteristic with respect to the thrust disturbance can also be controlled, it becomes easy to construct a linear pulse motor control system according to each purpose.

[0008]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a conceptual block diagram of an embodiment of a linear pulse motor control device according to the main part of the present invention.

Here, the linear pulse motor 100 includes a driven body 101 to be linearly moved and the driven body 1.
01, and a permanent magnet 102 on a plate in which N and S poles are alternately magnetized in the moving direction, a stator 103 having teeth and wound with a coil, and a linear guide for supporting the driven body. 1
04 and a position sensor 105.

In order to drive the linear pulse motor 100, it has a position control means 110 and a linear pulse motor drive means 120. The position control means 110 is
The current command value 143 of the linear pulse motor 100 is adjusted so that the position detection value 142 of the position sensor 105 matches the position command value 141. In addition, the linear pulse motor driving means 120 is configured so that the current command value 14
The thrust of the linear pulse motor 100 is controlled based on 3.

At a minimum, it is possible to drive the linear pulse motor with the configuration described above. However, in the field where precise position control and acceleration control are required, the above configuration is not sufficient. The reason is described below.

The linear pulse motor of the present invention uses a permanent magnet. By using a permanent magnet,
Although there is an advantage that the thrust that can be generated can be increased per volume of the actuator, on the other hand, there is a problem that the thrust fluctuation is large. For example, in the case of the linear pulse motor 100 shown in FIG. 1, when the mover 102 uses a permanent magnet, a magnetic attraction force acts between the mover 102 and the stator 103.

This magnetic attraction force periodically changes depending on the relative distance between the magnetized position of the mover 102 and the position of the teeth of the stator 103. For this reason, a periodic thrust variation with respect to the position occurs.

This thrust fluctuation is called detent force. In the case of a linear pulse motor, the influence of the detent force is much larger than that of a motor that performs rotary motion. The influence of the detent force on the positioning will be described later.

The feature of the present invention resides in that a thrust disturbance compensating means 130 is provided in addition to the above-mentioned structure. Less than,
The configuration of the thrust disturbance compensating means 130 will be described.

The disturbance compensating means 130 uses the position detection value 142 and the current command value 143.

The position detection value 142 is input to the load input inverse model 132. Here, based on a preset correlation function between the load input and the position including the inertial mass of the linear pulse motor, the position detection value 14
A load input estimate 144 corresponding to 2 is calculated.

The current command value 143 is input to the linear pulse motor thrust model 131. Here, the generated thrust estimated value 145 is calculated by multiplying the current command value 143 by a preset thrust constant.

The difference between the load input estimated value 144 and the generated thrust estimated value 145 is used as a thrust disturbance estimated value 146 and is input to the linear pulse motor thrust inverse model 133. The linear pulse motor thrust reverse model 133 divides the thrust disturbance estimated value 146 by the thrust constant, and after the calculation by the filter 134, subtracts it from the output of the position control means 110 as the correction value 147 of the current command value to calculate the voltage. to correct.

The thrust disturbance compensating means 130 estimates a detent force generated inside the linear actuator 100 or a thrust disturbance generated outside the linear actuator 100 and affecting the linear actuator 100, and outputs a correction signal for canceling it. It occurs. By including the thrust disturbance compensating means 130, it is possible to realize position control with higher accuracy and less change in acceleration.

FIG. 2 shows an example of a block diagram of a control system according to the present invention. The features of this control system will be described using this.

The linear pulse motor which is the object of the present invention is adopted for the purpose of downsizing and thinning of information equipment. Therefore, the size of the motor is very small, and the influence of the induced electromotive force generated when the mover is moving and the coil inductance are so small that they can be ignored. Therefore, the linear pulse motor 100 has the mover 102 shown in FIG.
A block diagram can be written as shown in FIG. 2 by using the drive unit mass M obtained by adding the mass of the driven body 101 and the mass of the driven body 101. Here, s is a Laplace operator, which means a differential operation.

The linear pulse motor drive means 120 can be represented as a block that multiplies the thrust constant Kf.

The position control means comprises a subtraction element for subtracting the position detection value 142 from the position command value 141 and a compensator 111. In the figure, the compensator 111 exemplifies a phase lead-lag compensating element which is widely used at present.

The position control means 110, the linear pulse motor driving means 120, and the linear pulse motor 10 are as described above.
When 0 is modeled, the thrust disturbance compensating means 130 can be designed.

The linear pulse motor thrust model 131 is
It is set as a block having exactly the same characteristics as the linear pulse motor drive means 120. Load input inverse model
132 is set as the reciprocal of the mathematical model of the linear pulse motor 100. Linear pulse motor thrust reverse model 1
33 is set as the reciprocal of the linear pulse motor thrust model.

The filter 134 is usually a first-order low-pass filter. At this time, the thrust disturbance can be compensated at a frequency lower than the corner frequency of the low-pass filter.
This means that if the corner frequency of the low-pass filter is made sufficiently large, almost all possible disturbances can be compensated, but due to the adverse effect of high-frequency noise, the corner frequency of the low-pass filter is empirically tens of Hz. Is known to be the limit.

However, in the actual use of the linear pulse motor, there is a demand that the thrust disturbance should be suppressed at a frequency higher than the break frequency of the commonly used low pass filter.

The present invention is characterized by using a filter that suppresses only the thrust disturbance of a certain specific frequency at a frequency higher than the corner frequency of the low-pass filter. This makes it possible to realize thrust disturbance compensating means that minimizes the adverse effects of high frequency noise.

The design concept of the filter having the above characteristics will be described below.

Now, let us say that the position command value 141 is u, the thrust disturbance is D, and the position output is y. The position output y is the distance that the driven body 101 has actually moved, and the position detection value 14
2 is a value obtained by reading the position output y with the position sensor 105. In the present invention, the sensor error is considered to be very small,
The position detection value 142 and the position output y are not distinguished.

Here, the characteristic of the position output y with respect to the position command value u when the thrust disturbance compensating means 130 is not used,
y _null | _{D = 0} . Further, the characteristic of the position output y with respect to the thrust disturbance D when the thrust disturbance compensating means 130 is not used is y _null | _{u = 0} . The characteristic of the position output y with respect to the position command value u when the thrust disturbance compensating means 130 is used is y _obs | _{D = 0} . Further, the thrust disturbance compensating means 130
The characteristic of the position output y with respect to the thrust disturbance D when is used is y _obs | _{u = 0} .

When the relationship among the position command value u, the thrust disturbance D, and the position output y is calculated in the control system shown in this figure,
The following equation is obtained.

[0035]

[Equation 1]

[0036]

[Equation 2]

From Equation 1, it is understood that the thrust disturbance compensating means 130 does not change the characteristic of the position output y with respect to the position command value u.

According to equation 2, thrust disturbance compensating means 1
It can be seen from 30 that the characteristic of the position output y with respect to the thrust disturbance D can be designed by the transfer function F (s) of the filter.

In order to more easily write the equation 2, the characteristic ratio R
To introduce. This is defined as Equation 3,
This is an index showing the effect of the thrust disturbance compensating means 130.

[0040]

[Equation 3]

With this definition, the equation 2 can be expressed as the equation 4.

[0042]

[Equation 4]

That is, it is understood that R may be designed so that the gain becomes small at the frequency where the influence of the thrust disturbance is desired to be small.

As an example for explanation, consider the case where a linear pulse motor is used as an actuator for driving a head of an optical disk. Hereinafter, this actuator will be referred to as a "coarse actuator".

Various thrust disturbances are applied to the course actuator. For example, the above-mentioned detent force, thrust force fluctuation caused by power source noise affecting the linear pulse motor driving means 120, or thrust disturbance to the course actuator caused by acceleration fluctuation caused by disk eccentricity, etc.

Of these, the frequency of acceleration fluctuations due to power supply noise and disk eccentricity is known or can be easily calculated. For example, the power supply noise is mainly 50 Hz in eastern Japan, and the acceleration fluctuation due to the disk eccentricity has the reciprocal of the disk rotation speed as the basic cycle. Therefore, as shown in Equation 4, if 1-F (s) has a characteristic that the gain is small at the frequency of the generated thrust disturbance, the influence of these thrust disturbances is different from that of the original control system. Can be smaller than

From this, the filter is designed as shown in the equation (5). This is designed to reduce the influence of thrust disturbance in the low frequency region and at a certain specific frequency.

[0048]

[Equation 5]

This filter comprises a first-order high-pass filter having a corner frequency of ω _h , a transfer element including a time delay element, a subtraction element for subtracting from 1, and a first-order low-pass filter having a corner frequency of ω _l. And a filter.

Here, ω _h is a limit frequency at which thrust disturbance of an unspecified frequency can be suppressed, and usually,
It is set to 0 Hz.

T is introduced to suppress the thrust disturbance of a specific frequency, and is set as the reciprocal of the frequency. For example, in order to suppress the thrust disturbance of 60 Hz,
T is set to 1/60 seconds, or about 16.7 ms.

Ω _l is a low-pass filter provided to correct the control characteristic deterioration in the high frequency region.

Among the filters expressed by the equation 5, the high-pass filter section functions to reduce the gain in the low frequency region. That is, it works to suppress the thrust fluctuation in the low frequency region. The transfer element including the time delay element functions to reduce the gain of the specific frequency. The principle will be described below with reference to FIG.

It is now assumed that a sinusoidal disturbance D (t) having a period T exists. If the current time is t ₀ , time t ₀ −
At T, a disturbance having the same magnitude as t ₀ occurs.
Further, at time t ₀ -T / 2, the disturbance has the same absolute value as t ₀ and the sign is opposite.

This is expressed by equations as shown in equations 6 and 7.

[0056]

[Equation 6]

[0057]

[Equation 7]

Therefore, in order to remove D (t)
Alternatively, it can be understood that the equation 9 should be executed.

[0059]

[Equation 8]

[0060]

[Equation 9]

However, since the signal of frequency 0 is also removed in Eq. 8, it can be seen that it is better to use Eq.

If the time delay width is l, the time delay is

[0063]

[Outer 1]

It can be represented by Therefore, a filter that removes a component of a certain frequency and its integral multiple frequency can be expressed as in Equation 10 where T is its period.

[0065]

[Equation 10]

The reason why the whole is halved is to adjust the gain to 1 at frequency 0.

By multiplying the transfer element including the time delay element and the first-order high-pass filter obtained as described above, the characteristic that the gain is small in the low frequency region and the specific frequency can be obtained. . When the characteristic ratio R is set in this way, the filter characteristic F (s) to be used can be set by the equation 4. However, when the filter thus obtained is actually used, the characteristic changes drastically in a high frequency region, and in practice, an oscillation phenomenon easily occurs. Therefore, a filter that has been further low-pass filtered is used as the overall filter.

FIG. 4 shows a block diagram when the filter shown in Expression 5 is used. In addition, FIGS.
Is a characteristic of the position output y with respect to the thrust disturbance D calculated under various conditions. However, the control parameters are
The one shown in Table 1 is used.

FIG. 5 shows the characteristics when the thrust disturbance compensating means is not provided. FIG. 6 shows the characteristics when a first-order low-pass filter is used as the filter. FIG. 7 shows the characteristics when the thrust disturbance compensating means as shown in FIG. 4 is provided.

As can be seen from the above, compared with FIG. 5, the gain for the disturbance can be reduced in the low frequency region in FIG. 6, and in the low frequency region and the specific frequency in FIG. In particular, in FIG. 7, it can be seen that the gain of the position output with respect to the disturbance can be reduced to some extent not only at the set frequency, that is, 60 Hz, but also at a frequency that is an integral multiple thereof. In general, when there is a disturbance of a specific frequency, there is also a disturbance of its harmonics, so it can be seen that this characteristic has ideal characteristics in order to suppress periodic disturbance.

Further, when the thrust disturbance compensating means is not provided, the gain of the position output with respect to the disturbance remains at a constant value in the low frequency region as shown in FIG. this is,
This means that a steady deviation remains due to disturbance, which is not convenient for precise position control. However, as shown in FIGS. 6 and 7, by providing the thrust disturbance compensating means,
It is possible to reduce the gain of the position output with respect to the disturbance in the low frequency region. Therefore, by using the thrust disturbance compensating means according to the present invention, the steady-state deviation can be reduced.

Up to this point, the method of configuring the thrust disturbance compensating means by the signal from the position sensor has been described, but it is also possible to adopt another configuration. For example, a speed sensor may be provided and the thrust disturbance compensating means may be configured based on the information. It is also possible to use a correction means that does not depend on the thrust disturbance compensating means based on the thrust disturbance estimated value. For example, even if the position disturbance is estimated and the correction is performed based on the estimated position disturbance, there is no practical problem. Based on this idea, FIG. 8 shows an example of the linear pulse motor control means configured by using the position disturbance estimation means.

The control system shown in FIG. 4 and the control system shown in FIG. 8 have the same mathematical form, but in FIG. 4, the thrust disturbance is directly estimated, and in FIG. It has a configuration in which it is estimated by replacing it with a dimension. Due to these structural differences, different effects will appear. For example, the control system shown in FIG. 4 has an advantage that the correction signal is added at a position closer to the output, so that the processing is simple and the response is fast. On the other hand, the control system shown in FIG. 8 has an advantage that it is resistant to noise because it does not include a differential element.

Any of these may be used to realize the precise position control which is the object of the present invention, but the control system of FIG. 4 is mainly used in the case where a high speed response is required, and that of FIG. It is desirable to use the control system in a situation where noise resistance is required.

[0075]

The driven body to be moved linearly,
A plate-shaped permanent magnet connected to the driven body and having N and S poles alternately magnetized in the moving direction, a stator having teeth and a coil wound around it, and a linear guide for supporting the driven body. A permanent magnet type linear pulse motor comprising a position sensor, position control means for adjusting a current command value of the linear pulse motor so that a position detection value by the position sensor matches a position command value, and the current command value In a linear pulse motor control means comprising a linear pulse motor drive means for controlling the thrust of the linear pulse motor based on the above, the linear pulse motor is inputted with the current command value and the position detection value. A thrust disturbance that obtains an estimated value of the thrust disturbance based on a model that simulates the load of the motor and the linear pulse motor, and corrects the current command value so as to cancel the estimated thrust disturbance value. By providing the compensation means, not only the position output characteristic with respect to the position command signal but also the position output characteristic with respect to the thrust disturbance can be controlled independently, so that the position control system is less susceptible to the disturbance. Can be constructed, and accordingly, precise position control can be performed using a linear actuator.

Further, since the thrust disturbance compensating means has a low-pass filter provided on the output side of the linear pulse motor thrust inverse model, the adverse effect of noise can be eliminated.

Further, the transfer function for the filter processing is
Subtract 1 from the transfer function obtained by multiplying the transfer function of the first- or higher-order high-pass filter by the transfer function that reduces the gain of the frequency or frequency band of at least one of the periodic thrust disturbance and power supply noise generated from the target device. It is possible to construct a control system that can suppress the influence of a device that is position-controlled by a linear pulse motor, even if it has a factor that induces a periodic disturbance. .

Also, by having a speed sensor,
The disturbance can be estimated with higher accuracy, and the performance of the position control system is improved.

Further, by using the control system having the position disturbance compensating means, it is possible to construct a control system resistant to noise.

[Brief description of drawings]

FIG. 1 is a conceptual diagram of the present invention.

FIG. 2 is a block diagram of a control system according to the present invention.

FIG. 3 is a diagram showing a method for removing a periodic disturbance.

FIG. 4 is a block diagram of a control system according to the present invention.

FIG. 5 is a view showing a response characteristic of a position y with respect to a disturbance D (without thrust disturbance compensating means).

6 is a response characteristic of a position y with respect to a disturbance D (using a primary low-pass filter). FIG.

FIG. 7 is a response characteristic diagram of a position y with respect to a disturbance D (using the control system of FIG. 4).

FIG. 8 is a diagram showing an example of a control system using position disturbance compensating means.

[Explanation of symbols]

100 ... Linear pulse motor, 105 ... Position sensor, 1
10 ... Position control means, 120 ... Linear pulse motor drive means, 130 ... Thrust disturbance compensation means, 131 ... Linear pulse motor thrust model, 132 ... Load input inverse model, 13
3 ... Linear pulse motor thrust reverse model, 134 ... Filter.

Claims (14)

[Claims] 1. A driven body to be linearly moved, a plate-shaped permanent magnet connected to the driven body and having N and S poles alternately magnetized in the moving direction, and a coil having teeth. A permanent magnet type linear pulse motor including a wound stator, a linear guide that supports the driven body, and a position sensor, and a linear pulse motor that matches a position detection value of the position sensor with a position command value. A linear pulse motor control means for controlling the thrust of the linear pulse motor based on the current command value, and a position control means for adjusting the current command value of the linear pulse motor control means. Inputting a current command value and the position detection value, obtaining an estimated value of thrust disturbance based on a model simulating the linear pulse motor and the load of the linear pulse motor, and estimating the thrust disturbance Linear pulse motor control means comprising comprises a thrust disturbance compensation means for correcting the current command value so as to cancel the. 2. The thrust disturbance compensating means according to claim 1, wherein the current command value is input, and the current command value is multiplied by a preset thrust constant to obtain an estimated thrust value of the linear pulse motor. A linear pulse motor thrust model and the position detection value are input, and the load corresponding to the position detection value is set based on a preset correlation function between the load input including the inertial mass of the linear pulse motor and the position. An input load inverse model for obtaining an input estimated value, a difference between the load input estimated value and the linear pulse motor generated thrust estimated value is input as a thrust disturbance estimated value, and the thrust disturbance estimated value is divided by the thrust constant to obtain the A linear pulse motor thrust reverse model for obtaining a correction value of a current command value of a linear pulse motor, and a thrust outside which subtracts the correction value of the current command value from the current command value Linear pulse motor control means, characterized in that it comprises a compensation means. 3. The linear pulse motor control means according to claim 2, wherein the thrust disturbance compensating means comprises a low-pass filter provided on the output side of the linear pulse motor thrust inverse model. 4. Position control means for adjusting the current command value of the linear pulse motor so that the position detection value of the linear pulse motor matches the position command value, and input control of the linear pulse motor based on the current command value. Estimation of thrust disturbance based on a linear pulse motor drive means for controlling the amount, a model obtained by inputting the current command value and the position detection value, and simulating the load of the linear pulse motor and the linear pulse motor A linear value comprising a thrust disturbance compensating means for obtaining a value, obtaining a correction value for the current command value so as to cancel the thrust disturbance estimated value, and correcting the current command value with a value obtained by filtering the correction value. In an information recording device having a pulse motor control means, the transfer function related to the filter processing is the transfer function of a high-pass filter of a first order or higher, It is characterized in that the transfer function obtained by multiplying the transfer function for reducing the gain of the frequency or frequency band of at least one of the periodic thrust disturbance generated by the recording device and the power supply noise is set to a function obtained by subtracting 1 from the transfer function. Linear pulse motor control means. 5. A model according to claim 1, which has a speed sensor, inputs the current command value and the speed detection value, and simulates the linear pulse motor and a load of the linear pulse motor. Linear pulse motor control means comprising a thrust disturbance compensating means for obtaining an estimated value of the thrust disturbance and correcting the current command value so as to cancel the estimated disturbance value. 6. The thrust disturbance compensating means according to claim 5, wherein the current command value is input, and the current command value is multiplied by a preset thrust constant to obtain an estimated thrust value of the linear pulse motor. A linear pulse motor thrust model and the speed detection value are input, and based on a correlation function between the load input and the speed including the preset inertia mass of the linear pulse motor, the load corresponding to the speed detection value. An input load inverse model for obtaining an input estimated value, a difference between the load input estimated value and the linear pulse motor generated thrust estimated value is input as a thrust disturbance estimated value, and the thrust disturbance estimated value is divided by the thrust constant to obtain the Linear pulse motor thrust reverse model for obtaining correction value of current command value of linear pulse motor and thrust disturbance for adding correction value of current command value to the current command value Linear pulse motor control means, characterized in that it comprises a amortization means. 7. The linear pulse motor control means according to claim 6, wherein the thrust disturbance compensating means has a low-pass filter provided on the output side of the linear pulse motor thrust inverse model. 8. The speed sensor according to claim 4, further comprising:
Input the current command value and the speed detection value, obtain an estimated value of thrust disturbance based on a model simulating the linear pulse motor and the load of the linear pulse motor, and cancel the estimated thrust disturbance value. In the information recording apparatus having linear pulse motor control means, which comprises a thrust disturbance compensating means for obtaining a correction value of the current command value and correcting the current command value with a value obtained by filtering the correction value. The transfer function of the filtering is a transfer function of a high-pass filter of a first order or higher, and a transfer function that reduces the gain of at least one of frequency and frequency band of periodic thrust disturbance and power source noise generated by the information recording device. Linear pulse motor control means characterized in that the transfer function obtained by multiplication is set to a function obtained by subtracting 1 from the transfer function. 9. A driven body to be linearly moved, a plate-shaped permanent magnet connected to the driven body and having N and S poles alternately magnetized in the moving direction, and a coil having teeth. A permanent magnet linear pulse motor including a wound stator, a linear guide that supports the driven body, and a position sensor, and a linear pulse motor that matches a position detection value of the position sensor with a position command value. A linear pulse motor control means for controlling the thrust of the linear pulse motor based on the position command value, and a position control means for adjusting the current command value of the linear pulse motor control means. The position command value and the position detection value are input, and the thrust force is calculated based on the transfer function of the position control means, the linear pulse motor and a model simulating the load of the linear pulse motor. , Or a linear disturbance comprising at least one of a thrust disturbance compensating means for obtaining an estimated value of the position disturbance, and correcting the position command value so as to cancel the estimated disturbance value or the position disturbance estimated value, or a position disturbance compensating means. Pulse motor control means. 10. The thrust disturbance compensating means according to claim 9, wherein the position command value is input, and the position command value is preset with a transfer function of the position control means and a preset thrust constant. The position observer for multiplying the load including the inertial mass of the linear pulse motor, performing the integration twice, and outputting the position estimation value, and the position estimation value by subtracting the position estimation value from the position detection value. A linear pulse motor control means comprising: a position disturbance estimation means for obtaining a disturbance estimation value; and a thrust disturbance compensation means for subtracting the position disturbance estimation value from the position command value as a correction value of the position command value. 11. The position disturbance compensating means according to claim 10, wherein the output side of the position disturbance estimating means comprises:
A linear pulse motor control means having a low-pass filter. 12. Position control means for adjusting a current command value of the linear pulse motor so as to match a position detection value of the linear pulse motor with a position command value, and input control of the linear pulse motor based on the current command value. A linear pulse motor drive means for controlling the amount, the position command value and the position detection value are input, and the transfer function of the position control means, the linear pulse motor and the load of the linear pulse motor are simulated. A thrust disturbance or an estimated value of the position disturbance is obtained based on the model, the thrust disturbance estimated value, or the correction value of the position command value is calculated so as to cancel the estimated position disturbance value, and the correction value is filtered. In the information recording apparatus having the linear pulse motor control means including the thrust disturbance compensating means for correcting the position command value by The transfer function related to the processing is obtained by multiplying the transfer function of a high-pass filter of first order or more by a transfer function that reduces the gain of at least one of the frequency and the frequency band of the periodic thrust disturbance and power source noise generated by the information recording device. A linear pulse motor control means, wherein the transfer function is set to a function obtained by subtracting 1 from the transfer function. 13. The method according to claim 4, claim 8, or claim 12.
, The correction value of the current command value is set to D1, and a signal obtained by performing a high-pass filter process of a first order or higher on D1 is set to D1.
2 and D2 is a signal obtained through a dead time element that is delayed by a certain time l in D2, D4 is a signal obtained by adding D2 and D3, and a signal obtained by multiplying D4 by 0.5 is When D5 is set, a signal obtained by subtracting D5 from D1 is set as D6, and a signal obtained by low-pass filtering D6 is set as D7, the current command value is corrected by subtracting D7 from the current command value. Linear pulse motor control means comprising thrust disturbance compensation means. 14. A linear circuit according to claim 13, wherein the time delay amount l of the dead time element is set to T / 2, where T is the period of the disturbance of the specific frequency generated by the information recording apparatus. Pulse motor control means.