JPH09265748A - Rotary disk type storage device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make an information recording device using a rotation disk high in recording density by recovering a low-area gain in positioning control of a head and achieving a high positioning accuracy. SOLUTION: A first position information concerning a head position is detected from a servo signal recorded on a disk, and further, information on either of a relative displacement between a shaft and a bearing or a relative speed or an acceleration is detected as a second information on the head position. By using an operation signal 31 (head drive signal) which processed the 2nd position information and the 1st position information at a positioning compensator 16, an operation of power estimation observer led from a frictional force model with frictional force estimation device 15 is performed, and a frictional force is estimated. This frictional force estimation result corrects a positioning compensatory signal 25 outputted from the positioning compensator 16.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an information storage device, such as a magnetic disk device or an optical disk device, for recording information on a rotating disk or reproducing information from the rotating disk.
Also, the present invention relates to a servo information writing device for writing servo information in a magnetic disk device, and particularly to a technique for causing a head for recording or reproducing information on a disk to follow a target track.

[0002]

2. Description of the Related Art There are linear actuators called a direct acting type and rotary actuators called an oscillating type as a positioning mechanism for a head actuator of a magnetic disk device or the like, both of which are guided by a rolling bearing. The demand for precise positioning of the head has become more stringent with the miniaturization and higher recording density, and the non-linear friction generated in the rolling bearing portion caused by the minute position fluctuation of the actuator has become a problem. For details, see Yoshikawa (Toshiba) et al.'S lecture at JSME (Proceedings of the 72nd Ordinary General Meeting of the Japan Society of Mechanical Engineers (IV) 19-20). This phenomenon is caused by the existence of an area (rolling friction area) where the friction force depends on the displacement due to elastic deformation of the contact surface between the rolling element and the raceway in the minute rotation area of the rolling elements such as bearing balls and rollers. Has become.

Conventionally, as a method for compensating an external force including a frictional force, there is a method described in Japanese Patent Application Laid-Open No. 3-30156. In this technique, information on the position of the head is detected from the servo information recorded on the disk surface, and a head position signal is obtained. Then, there is a method in which the head position signal and the motor drive signal are input and the external force is compensated by an external force estimating means including an observer for estimating the position and the speed.

Further, in Japanese Patent Laid-Open No. 63-42073, the rotational angular acceleration signal around the pivot axis is fed back to the head positioning control system, so that the resonance caused by the elastic deformation of the pivot portion is greatly suppressed, and the high precision is achieved. There is disclosed a control device for positioning the head. In this controller, it comprises means for feeding back acceleration to suppress resonance peaks.

[0005]

Since the rolling-out frictional force described above has a characteristic such that it is supported by a viscoelastic body such as a spring force and a viscous frictional force, it depends on the actuator mass, the spring constant and the viscous friction coefficient. 2 with a determined natural frequency and damping ratio
It shows the characteristics of the next system, and the gain becomes constant in the region below the natural frequency, which deteriorates the positioning accuracy. Further, since the gradient of the frictional force with respect to the displacement has a non-linearity that becomes steeper as the displacement becomes smaller, the smaller the displacement becomes, the higher the natural frequency becomes and the smaller the damping ratio becomes. This tendency tends to become more prominent in synergy with the decrease in mass due to downsizing, and in order to improve the positioning accuracy, it is important to recover the gain in the region below the natural frequency by compensating the frictional force.

In the technique disclosed in Japanese Patent Laid-Open No. 3-30156, since the head position signal is detected from the servo information recorded on the disk surface, the disk vibration is superimposed on the original head position. . In order to estimate the frictional force more accurately, information on the relative displacement or relative velocity between the shaft and the bearing, the acceleration, or the position, velocity or acceleration of the head support system integrated with the head actuator is required.

Further, in the technique disclosed in Japanese Patent Laid-Open No. 63-42073, the rotational angular acceleration signal about the pivot axis is fed back to the head positioning control system, but the information on the external force generated in the actuator is fed back. Not configured. Therefore, the technique disclosed in the above publication does not have a configuration for recovering the loss of the low-frequency gain caused by the frictional force in the rolling friction region.

As described above, in the magnetic disk device, which is becoming more compact and has a higher recording density, the occurrence of friction at the bearing portion causes the low-frequency gain at the time of minute positioning to become insufficient, thereby lowering the positioning accuracy. .

It is an object of the present invention to recover the low band gain in the positioning control of the head and realize a high positioning accuracy, thereby achieving a high recording density in an information recording apparatus using a rotating disk.

[0010]

In order to achieve the above object, according to the present invention, first position information relating to the position of the head is detected from servo information recorded on a disk, and further relative displacement between a shaft and a bearing is detected. Or relative velocity, or acceleration,
Alternatively, information on any one of the position, speed, and acceleration of the head support system integrated with the head actuator is detected as the second position information regarding the head position.

In order to reduce the error between the target position for positioning the head and the position of the head, a position error signal which is the difference between the head target position and the first position information is input to the phase compensator. A head driving signal is obtained by adding a frictional force compensation signal, which will be described later, to the output of the phase compensator, thereby compensating the frictional force and driving the head. At this time, the frictional force compensation signal can be obtained by calculating the force estimation observer derived from the frictional force model using the second position information and the head drive signal (operation signal).

The head drive signal (operation signal) includes a component for compensating an external force and a component for driving an actuator for head movement. The head drive signal (operation signal) and also for head movement are included. The frictional force can be estimated by performing calculation using the second position information including the component that drives the actuator.

As a result, the frictional force can be estimated and compensated, and the lowering of the low frequency gain due to the viscoelastic characteristic of friction can be compensated.

The preferred embodiments of the present invention will be listed below.

(1) A head for detecting at least information from a disc for recording information, an actuator having a rolling element and a bearing surface for guiding the rolling element, and driving the head in the radial direction of the disc, the disc Position detecting means for detecting the relative positional relationship between the head and the disk based on the servo information detected by the head and outputting a position signal, and positioning compensating means for processing the position signal and outputting a positioning compensation signal. And a sensor for detecting a physical quantity relating to the motion state of the actuator, and a frictional force estimating means for estimating a frictional force generated in a bearing portion of the actuator, and the positioning compensation signal is corrected based on the estimated frictional force. And a frictional force compensating means for generating an operation signal for driving the actuator, wherein the frictional force estimating means is Estimating the friction force using the operation signal and the output of the sensor.

(2) In (1), the sensor detects any one of displacement, speed, and acceleration of the actuator with respect to a support body that supports the actuator.

(3) In (1) or (2), the frictional force compensating means comprises a low-pass filter and a high-pass filter, and the operation signal is input to the low-pass filter and the output of the sensor is input to the high-pass filter. , The positioning compensation signal is corrected by a signal obtained by adding the outputs of the respective filters.

(4) In (3), the characteristics of each filter are as follows: the equivalent mass m of the actuator, the equivalent spring constant k when elastic deformation of the rolling element and the bearing surface is assumed to be a spring element, and It is determined by using the equivalent viscous friction coefficient c when the elastic deformation of the moving body and the bearing surface is assumed to be viscous friction.

(5) In any one of (1) to (4), a friction model for estimating the friction force generated in the bearing portion of the actuator based on the output of the sensor is provided, and the friction estimated by this friction model is provided. The operation signal is corrected based on the force.

(6) A head for detecting at least information from a disk for recording information, an actuator having a rolling element and a bearing surface for guiding the rolling element, and driving the head in the radial direction of the disk, Based on the servo information detected by the head, the position detecting means for detecting the relative positional relationship between the head and the disk and outputting a position signal, a sensor for detecting a physical quantity related to the motion state of the actuator, and the position signal And a control means for outputting an operation signal based on the sensor output, wherein the rotation disk type storage device drives the actuator based on the operation signal, wherein the control means processes the position signal. Positioning compensation function that outputs a positioning compensation signal and estimates the frictional force generated in the bearing part of the actuator. A frictional force estimation function, a frictional force compensation function for correcting the positioning compensation signal based on the estimated frictional force, and generating the operation signal, and using the output of the sensor and the operation signal. Estimate the friction force.

(7) A magnetic disk incorporated in a spindle motor, a magnetic head for recording and reproducing information on the magnetic disk, a rolling element and a bearing surface for guiding the rolling element, and the magnetic head is the magnetic disk. Head having a head support that is movably supported in the radial direction of
A base on which the disk assembly is mounted, servo information writing means for generating servo information to be written on the magnetic disk of the head disk assembly, and writing this servo information using the magnetic head of the head disk assembly, A sensor that detects a relative positional relationship of the magnetic head with respect to the base and outputs a position signal; a head drive motor that drives the head support;
Positioning control for processing the position signal to generate an operation signal for driving the head drive motor, and performing positioning control for holding the magnetic head at a predetermined position with respect to the base based on the operation signal. A servo information writing device including means, wherein the positioning control means processes the position signal and outputs a positioning compensation signal, and a friction force generated in a bearing portion of the head support. A frictional force estimating means for estimating the frictional force, and a frictional force compensating means for correcting the positioning compensation signal based on the estimated frictional force to generate an operation signal for driving the head drive motor. The means estimates the frictional force using the output of the sensor and the operation signal.

(8) In (7), the sensor detects any one of displacement, velocity and acceleration of the head support with respect to the base.

(9) In (7) or (8), the frictional force compensating means includes a low-pass filter and a high-pass filter, and inputs the operation signal to the low-pass filter and the output of the sensor to the high-pass filter, respectively. , The positioning compensation signal is corrected by a signal obtained by adding the outputs of the respective filters.

(10) In (9), each of the filters has an equivalent spring whose characteristics are equivalent mass m of the magnetic head and head support, and elastic deformation of the rolling elements and the bearing surface as spring elements. The constant k and the equivalent viscous friction coefficient c when the elastic deformation of the rolling elements and the bearing surfaces are assumed to be viscous friction are determined as parameters.

(11) In any one of (7) to (10), a friction model for estimating the frictional force generated in the bearing portion of the head support based on the output of the sensor is provided, and the friction model is estimated. The operation signal is corrected based on the friction force.

(12) A magnetic disk incorporated in a spindle motor, a magnetic head for recording and reproducing information on the magnetic disk, a rolling element and a bearing surface for guiding the rolling element, and the magnetic head is the magnetic disk. A base for mounting a head disk assembly having a head support that is movably supported in a radial direction, and servo information to be written on a magnetic disk of the head disk assembly, and the servo information is generated by the servo information. Servo information writing means for writing using a magnetic head of a head disk assembly, a sensor for detecting a relative positional relationship of the magnetic head with respect to the base and outputting a position signal, and a head drive motor for driving the head support. When,
Positioning control for processing the position signal to generate an operation signal for driving the head drive motor, and performing positioning control for holding the magnetic head at a predetermined position with respect to the base based on the operation signal. A servo information writing device including means, wherein the positioning control means processes a positioning compensation function for processing the position signal and outputs a positioning compensation signal, and a friction force generated in a bearing portion of the head support. A frictional force estimation function for estimating, and a frictional force compensation function for correcting the positioning compensation signal based on the estimated frictional force to generate an operation signal for driving the head drive motor. The function estimates the frictional force using the output of the sensor and the operation signal.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIG.

FIG. 1 is a block diagram of a magnetic disk device to which the head positioning control of the present invention is applied. Servo signals are recorded on the disk 1, and the servo signals read by the head 2 are amplified by an amplifier 7 and then demodulated by a demodulation circuit 8.
Sent to In the demodulation circuit 8, the main position error signal PESN
(Not shown) Sub position error signal PE having a phase difference of 90 degrees from PE
An SQ (not shown) is created, and from these error signals, a position error signal 21 whose polarity is adjusted according to the track number is created and output.

The created position error signal 21 is taken into the compensation signal generating means 34 by the AD converter 12 at a constant sampling interval. Further, the track crossing pulse generation circuit 18 receives the position error signal 26 and generates the track crossing pulse 22 at the boundary between adjacent tracks. Further, the difference counter 19 has a track crossing pulse 22.
Is counted and the number 23 of digital remaining tracks up to the target track is output.

When the controller 20 issues the movement command 24 to the positioning compensator 16, the positioning compensator 16 outputs the positioning compensation signal 25. As a method of calculating the positioning compensation signal 25, for example, MEE & DANIEL "MA
Various methods are known in addition to those described in GNETIC RECORDING ", Vol. 2, McGraw-Hill, pp. 53-84.

The one described in the above-mentioned document receives the position error signal 26, the number of remaining digital tracks 23, and the track crossing pulse 22 as input, and the speed for the seek operation until the head 2 reaches near the target track. It is calculated by the control system, and the following control operation is performed by the position control system after the target track is approached. In the present embodiment, the positioning compensation signal 25
It is also possible to perform the calculation of.

Friction force estimator 15 for estimating and compensating for friction force
Is an amplifier 6 that amplifies a displacement sensor output 27 from a rotational displacement sensor (not shown) installed in the pivot bearing unit,
The AD converter 13 receives the displacement information 29 taken in at a constant sampling interval and the operation signal 31 as an input and performs an operation to generate an external force compensation signal 30. The operation signal 31 obtained by adding the external force compensation signal 30 and the positioning compensation signal 25 by the adder 17 is output to the drive circuit 5 by the DA converter 14. The drive current 32 output from the drive circuit 5 is input to the voice coil motor 4 to drive the head 2 and position it at a predetermined position. The calculation performed by the frictional force estimator 15 will be described in detail below.

FIG. 2 is a block diagram showing an equivalent functional block diagram of the head control system of the embodiment of FIG. The block diagram in the friction estimator 15 is described by a transfer function of a discrete time system, and z-1 is an operator that means a delay of 1 sample. The other components are expressed as a transfer function in a continuous time system. The Laplace operator is s, the moment of inertia about the pivot axis of the actuator equipped with the head 2 is J, and the gain of the drive circuit 5 is Ka ( A / V), the gain of the voice coil motor 4 is Kt (N · m / A), the rotation angular velocity is θ (rad / s), and the rotation angle is θ (rad). The radius from r (m), the gain from the head position to the head position signal is Kp (V / m), and the gain from the rotation angle to the rotational displacement information 28 is Ks (V / rad). The gain is gadp (count / V), the gain of the AD converter 13 is gadt (count / V), and the gain of the DA converter 14 is gda.
It is expressed as (V / count). In addition, a model in which rolling-out frictional force acts is represented by Fc45. The head position signal 21 is obtained as a signal obtained by adding Kp times the track position fluctuation (runout) D1 to the head position x.

Next, the coefficients LA2, LA3, LB1, LB of the discrete compensator
2, LB3, HA2, HA3, HB1, HB2, HB3 calculation is described. Here, K1 = gda * ka * kt and K2 = Ks * gadt.

[0035]

[Equation 1]

[0036]

[Equation 2]

For the above equation, s is obtained by, for example, the bilinear transformation method.
Substituting the polynomial of z with the polynomial of z, that is, substituting the sampling time into T, substituting equation 3 into equation 1 and equation 2,
When organized

[0038]

(Equation 3)

Equations 4 and 5 are obtained.

[0040]

(Equation 4)

[0041]

(Equation 5)

The coefficients of the denominators of Expressions 4 and 5 and the respective terms of z of the numerator correspond to the coefficients of each block in FIG. Ζ in Equation 1 and Equation 2
And ω represent the estimated speed of the observer and the damping ratio. l1 and l2 are determined from ζ and ω by the following equation.

[0043]

(Equation 6)

[0044]

(Equation 7)

K and c are a spring constant and a viscous friction coefficient when the rolling-out frictional force is assumed to be a viscoelastic force, and are calculated from the natural frequency ωp and the damping ratio ζp obtained by measuring the frequency characteristic of the mechanical system. c = 2 ・ J ・ ζp ・ ωp, k = J ・ ωp2
Ask by

Next, the following control calculation will be described with reference to the block diagram of FIG. 2 and the flowchart of FIG.
In particular, the calculation of the external force compensation signal in the friction force estimator will be described in detail, and the calculation in the positioning compensator will not be described.

STEP100: Sample (at the time of k sampling)
Positioning compensation signal 25V from the position error signal 21Y1 (k)
Calculate (k).

STEP 101: The operation signal 31U (k) is calculated from V (k) and the external force compensation signal 30W (k-1) one sample before.

STEP 102: The DA converter 14 outputs the operation signal 31 to the drive circuit.

STEP103: Displacement information 2 at the time of k sampling
Multiply 9Y2 (k) by gain HB1 and add HPX1 (k) to HPX (k)
Get.

STEP 104: Multiply the operation signal 31U (k) by the gain LB1 and add LPX1 (k) to obtain LPX (k).

STEP105: HPX (k) and LPX (k) are added to obtain an external force compensation signal 30W (k).

STEP106: The result of multiplying Y2 (k) by HB2 is HPX
The result of multiplying (k) by HA2 is added, and then HPX2 (k) is added to obtain HPX1 (k + 1).

STEP107: The result of multiplying Y2 (k) by HB3 is HPX
HPX2 (k + 1) by adding the result of multiplying (k) by HA3
Get.

STEP108: LPX (k) is obtained by multiplying U (k) by LB2.
Is multiplied by LA2, and the result is added to LPX2 (k) to obtain LPX1 (k + 1).

STEP109: LPX (k) is obtained by multiplying U (k) by LB3.
LPX2 (k + 1) is obtained by adding the result of multiplying by LA3.

STEP110: Return to STEP100.

The above is the calculation algorithm of the magnetic disk following controller at the time of k sampling.

Next, the execution of the estimation calculation of the external force compensation signal W will be described. It is desirable that the calculation and compensation operation of W should always be performed before the movement of the head, but in order to estimate W from the start of movement of the head, it is possible to estimate the head position on all tracks accompanying movement, CP with long operation word length
U or a CPU that performs floating point arithmetic is required.
As a result, it will be expensive. Therefore, even with an inexpensive CPU that performs fixed-point arithmetic, as a method of suppressing disturbance and vibration during the reading and writing of data on the target track, the estimating means is operated from several tracks before the target track, and before reading and writing data. There is a method of operating the correction means. For example, when the estimating means is operated from one track before the target track and the correcting operation is performed from one quarter track before the target track, the calculation range of the estimating means is only for calculating one track, so an inexpensive fixed point A CPU can also bring out sufficient performance.

Here, what effect is obtained when the above calculation algorithm is applied to the magnetic disk following control system is described by determining the frequency response of the open loop from the track position fluctuation D1 (runout) to the head position X. It shows based on (it shows the following characteristic to a target track).

FIG. 4 is a frequency characteristic (mechanical characteristic) of the magnetic disk mechanism system when there is a rolling-out frictional force, and is a characteristic from U to X when there is no frictional force estimator in FIG. For each mechanical characteristic, the vibration amplitude is 0.05, 0.1,
The values are changed to 0.2, 0.5 and 1.0 μm. It can be seen that the smaller the vibration amplitude, the higher the natural frequency of the controlled object and the smaller the damping. The friction estimation observer for this controlled object is the observer poles ω = 2 ・ π ・ 2000, ζ = 4, and the characteristic of the controlled object is ωp = 2 ・
It was designed with π · 90 and ζp = 0.3. The positioning compensator is composed of a proportional element and a derivative element that ensures stability, and is designed with a zero-cross frequency of 550Hz. Sampling time is 5
It was set to 0 μs.

At this time, the open loop from D1 to X is obtained as shown in FIG. According to this, the loss of the low-frequency gain due to the rolling-out friction is recovered as a whole, and the peak of the natural frequency disappears. The effect of the observer is 0.
In the range of 2 to 1.0 μm, the low frequency gain is recovered at 40 dB / dec, and it has a characteristic of 1 / s2 without friction. Below 0.1 μm, the effect gradually diminishes, but no peak that seems to be the natural frequency appears. The zero-cross frequency is 550Hz as designed.

According to this method, the amplitude is 1.0 μm and the frequency is 10 Hz.
Since the open-loop gain has 49 dB for the track position fluctuation of, the tracking error can be 3.5 nm or less.
On the other hand, unlike the present method, the actuator displacement is not used as the observer position signal, but the conventional method that uses the position signal detected by the head as the observer position signal is used to determine the open-loop frequency characteristic from runout D1 to head position X. The obtained one is shown in FIG. According to this, the peak of the natural frequency due to the rolling-out frictional force appears as it is, and the gain recovery in the low frequency range is only 20 dB / dec and 1 / s. The zero-cross frequency is 70
It is 0Hz, which is 150Hz higher than the designed value. If this value is left as it is, the peak frequency of the complementary sensitivity function becomes high, and it becomes necessary to readjust the gain of the positioning compensator. Up to this point, in the design of the friction estimation observer, ωp and ζp have been designed, but as a normal disturbance observer, ζp = 0 and ωp = 0 may be designed.

By the way, although the shape of the rotation angle sensor has not been specified so far, for example, the bearing rotation angle
If it is necessary to have two-phase position signals with a sine wave of one cycle and different phases of 90 degrees per 1 mrad, if the radius of the encoder plate attached to the pivot shaft is 5 mm, it is necessary to draw the position signal of 0.5 μm cycle as a pattern. There is. In this case, the number of pulses on the encoder plate is 6300 pulses per rotation. In order to form such a fine pattern, a reflective film is provided by aluminum vapor deposition on a disk surface having pits at a desired pitch by a stamper by a method used in a compact disk device, and an amount of reflected light is determined by an optical pickup device. A position signal is obtained by detecting with. However, an optical pickup device may require a focusing controller. The results obtained from the optical disc are applied to these sensor systems. Instead of performing focusing control, the structure may be such that the optical pickup is brought into contact with the pattern surface through a protective layer such as a transparent substrate and a lubricant.

Japanese Unexamined Patent Publication No. 7-218239 discloses that "a grid pattern is provided on the rotating wheel side of a bearing, and a light source and a photodetection element are provided in opposition to the grid pattern to periodically change the output of the photodetection element with rotation. The rotation angle can be detected from the surface. When high resolution is required, it is effective to directly pattern by chemical etching or laser marking. It is possible to improve S / N by providing "." You may use such a method.

As another method of using light, there is a method of combining a mirror mounted on an actuator and a laser length measuring device.

Up to this point, the method of using light for position detection was considered, but there is also a method of using a magnetic pattern as a position signal. With this method, the head for magnetic pattern detection is always in contact with the pattern, and focus control need not be considered unlike in the case of light. However, in order to secure sliding resistance, it is necessary to provide a protective layer and a lubricating layer on the pattern. As a magnetic head, it rotates at a low speed, so MR
It is necessary to use a head.

In the compensation signal generating means 34 of FIG. 1, after the position error signal 21 and the displacement information 28 are converted from analog signals to digital signals by the AD converters 12 and 13,
The processing for converting the operation signal 31 from the digital signal to the analog signal by the DA converter 14 is performed by a hard means composed of an electric circuit or the like, or a DSP (digital signal) used exclusively for a microcomputer or control. -It can also be performed by processing the program with a signal processor or the like. 7 and 10 described later
In the case of using the velocity information 53 and the acceleration information 59 instead of the displacement information 28, the same applies.

The second embodiment of the present invention will be described with reference to FIG.

FIG. 7 is a block diagram of a magnetic disk device to which the head positioning control of the present invention is applied. The displacement sensor output signal 27, the displacement information 28 obtained by amplifying the displacement sensor output signal 27 by the amplifier 6, and the friction force estimator 15 for estimating the friction force are different from those of the first embodiment.
And speed information 5 obtained by amplifying it with the amplifier 6.
3 and the frictional force estimator 55.

The changed portion will be described in detail below.

Friction force estimator 55 for estimating and compensating for friction force
Includes a speed sensor output signal 52 from a rotation angular velocity sensor (not shown) installed in the pivot bearing unit.
And the incorporation speed information 54 is obtained by the AD converter 13 at a constant sampling interval. The speed information 54 and the operation signal 31 are input to the frictional force estimator 55, and the calculation is performed to calculate the external force compensation signal 30.

Next, details of the calculation performed in the frictional force estimator 55 will be described. The block diagram of FIG. 8 is the equivalent functional block diagram of the head control system of the second embodiment, similar to that shown in FIG. In the first embodiment, the gain Ks (V / rad) from the rotation angle to the rotational displacement information 28 and the gain ga of the AD converter 13 from the displacement information 28 to 29.
The block diagram of the frictional force estimator 15 is removed from dp (count / V), and instead, the gain Kv (Vs / rad) from the rotational angular velocity to the rotational angular velocity information 53 and the AD from the velocity information 53 to 54
Gain gadv (count / V) of converter 13 and friction force estimator 5
5 has been added.

Next, the calculation of the coefficients LB1, LB2, LA2, HB1, HB2, HA2 of the discrete compensator shown in the frictional force estimator 55 will be described. Here, K1 = gda * ka * kt and K2 = Kv * gadv.

[0075]

(Equation 8)

[0076]

[Equation 9]

For the above equation, for example, by the bilinear transformation method, s
By substituting the polynomial of z into the polynomial of z, that is, substituting the sampling time into T and substituting the equation 3 into the equations 8 and 9, the equations 10 and 11 are obtained.

[0078]

(Equation 10)

[0079]

[Equation 11]

The coefficients of the denominators of Expressions 10 and 11 and the respective terms of z of the numerator correspond to the coefficients of each block in FIG. Formula 8, Formula 9
L1 of is a parameter for arranging poles that determines the speed of estimation of the observer, and the pole of the observer is-(c / m + l1 / m) (rad / s). k and c are the spring constant and viscous friction coefficient when the rolling-out frictional force is assumed to be viscoelastic force, and the natural frequency ω obtained by measuring the frequency of the mechanical system
It can be obtained from p and the damping ratio ζp by c = 2 · J · ζp · ωp and k = J · ωp2.

Next, the calculation of the external force compensation signal in the frictional force estimator will be described with reference to the block diagram of FIG. 8 and the flowchart of FIG. This calculation calculates V (k) calculated from the position signal 21Y1 (k) sampled this time (at the time of k sampling) and the operation signal 31U (k) from the external force compensation signal 30W (k-1), and the DA converter 14 Operation signal 3 to the drive circuit by
It is performed after 1 is output.

STEP200: Speed information 5 at the time of k sampling
Multiply 4Y3 (k) by gain HB1 and add HPX1 (k) to HPX (k)
Get.

STEP201: The operation signal 31U (k) is multiplied by the gain LB1 and LPX1 (k) is added to obtain LPX (k).

STEP202: HPX (k) and LPX (k) are added to obtain an external force compensation signal 30W (k).

STEP 203: HPX is the result of multiplying Y3 (k) by HB2.
The result of multiplying (k) by HA2 is added to obtain HPX1 (k + 1).

STEP204: LP (k) is the result of multiplying U (k) by LB2.
The result of multiplying by LA2 is added to obtain LPX1 (k + 1).

The above is the calculation algorithm in the frictional force estimator 55 at the time of k sampling.

A third embodiment of the present invention will be described with reference to FIG.

FIG. 10 is a block diagram of a magnetic disk device to which the head positioning control of the present invention is applied. The displacement sensor output signal 27, the displacement information 28 obtained by amplifying the displacement sensor output signal 27 by the amplifier 6, and the friction force compensator 15 for estimating the friction force are the acceleration sensor output signal 58 and the acceleration sensor output signal 58. The friction information estimator 61 replaces the acceleration information 59 obtained by amplifying it by the amplifier 6.

The changed portion will be described in detail below.
The frictional force estimator 61 that estimates and compensates the frictional force includes a rotational angular acceleration sensor (not shown) installed in the pivot bearing unit.
Amplification of the acceleration sensor output signal 58 from
The AD converter 13 obtains the taken-in acceleration information 60 at constant sampling intervals. The acceleration information 60 and the operation signal 31 are input to the friction force estimator 61, and the external force compensation signal 30 is calculated.

Details of the calculation performed in the frictional force estimator 61 will be described. The block diagram of FIG. 11 is the equivalent functional block diagram of the head control system of the third embodiment, similar to that shown in FIG. In the first embodiment, the gain Ks (V / rad) from the rotation angle to the rotational displacement information 28 and the gain gadp of the AD converter 13 from the displacement information 28 to 29 are given.
(count / V) and the block diagram of the frictional force estimator 15 are removed. Instead, the gain Ka (Vs2 / rad) from the rotational angular acceleration to the rotational angular acceleration information 59 and the AD from the acceleration information 59 to 60 A gain gada (count / V) of the converter 13 and a frictional force estimator 61 are added.

Next, the coefficients LB1 and HB1 in the friction force estimator will be described. Here, K1 = gda * ka * kt and K2 = Ka * gada.
At this time

[0093]

(Equation 12)

[0094]

(Equation 13)

Next, the calculation of the external force compensation signal in the frictional force estimator will be described with reference to the block diagram of FIG. 11 and the flowchart of FIG. This calculation calculates V (k) from the position signal 21Y1 (k) sampled this time (at the time of k sampling), and the calculation of the operation signal 31U (k) from V (k) and W (k-1) ends. , After the operation signal is output to the drive circuit by the DA converter 14.

STEP 300: The acceleration information 60Y4 (k) at the time of k sampling is multiplied by the gain HB1 to obtain HPX (k).

STEP 301: The operation signal 31U (k) is multiplied by the gain LB1 to obtain LPX (k).

STEP302: Add HPX (k) and LPX (k) to obtain an external force compensation signal 30W (k).

The above is the calculation algorithm in the frictional force estimator 61 at the time of k sampling.

A fourth embodiment of the present invention will be described with reference to FIG. FIG. 13 is an equivalent functional block diagram of the head control system of the fourth embodiment. The motion direction detector 62, the non-linear friction model 63, and the adder 64 are used in the first embodiment.
Has been newly added. Movement direction detector 6
In 2, the difference ΔY2 (k) = Y2 (k) −Y2 (k−1) between Y2 (k) of the current sampling and Y2 (k−1) of the previous sampling is calculated, and the code is output. In the non-linear friction model 63, Y2 (k) and s
The frictional force estimated value fe is obtained by calculating the following formula using ign (△ Y2 (k)).

[0101]

[Equation 14]

[0102]

(Equation 15)

In the above equation, Y2 ′ is Y2 immediately before the direction of movement is reversed.
, Z is the distance traveled after the direction of motion is reversed, fc 'is the absolute value of fe when the direction of motion is reversed, and fmax is the maximum value of rolling friction. The sign of fe is negative when sign (△ Y2 (k-1)) <0 to sign (△ Y2 (k)) ≥ 0, and sign (△ Y2 (k-
When 1))> 0 and sign (△ Y2 (k)) ≦ 0, it becomes positive.
The coefficients a0, b0, c0, d0 in Expression 15 may be determined using the least squares method or the like based on the experimental results of the relationship between displacement and force. The coefficient of the observer's discrete compensator is designed under the condition of c = k = 0. The fe estimation algorithm is completed by inserting the following STEP120 to STEP125 between STEP101 and STEP102 of the arithmetic algorithm of the first embodiment.

STEP120: Calculate sign (ΔY2 (k)) = sign (Y2 (k) -Y2 (k-1)) STEP121: if sign (ΔY2 (k)) ・ sign (ΔY2 (k-1)) ≦ 0 then
Y2 '= Y2 (k-1), fc' = fe (k-1) STEP122: if sign (ΔY2 (k)) ・ sign (ΔY2 (k-1)) ≤ 0 and s
ign (ΔY2 (k-1)) <0 then signfc <0 else if sign (ΔY2 (k)) ・ sign (ΔY2 (k-1)) ≦ 0 and sign
(ΔY2 (k-1))> 0 thensignfc> 0 STEP123: Calculate equation 14 STEP124: Calculate equation 15 STEP125: fe (k) = signfc ・ fe The above is the calculation algorithm at the time of k sampling.

In the above embodiments, the application examples relating to the magnetic disk device have been shown. As a fifth embodiment, application to a servo signal writing device will be described.

The servo signal (information) writing device has at its base a magnetic disk incorporated in a spindle motor, a magnetic head for recording / reproducing information on / from this magnetic disk, a rolling element and a bearing surface for guiding the rolling element. A device for writing servo information by fixing a head disk assembly (assembly) having a head support that has the magnetic head movably in the radial direction of the magnetic disk. This servo information is generally written by a magnetic head on the head disk assembly, but a clock head provided in the servo signal writing device pre-records the clock signal on the magnetic disk of the head disk assembly. , Servo information is written based on this clock signal. Further, while the position of the magnetic head on the head / disk assembly is detected by a laser length measuring device or the like, positioning control is performed at a predetermined track position, and a feeding mechanism for moving the magnetic head to the next track position is provided. . In some cases, the servo information is recorded by a magnetic head provided in the servo signal writing device. Further, there is a pattern generator that generates a servo pattern, and some of the pattern generators can set patterns so that various servo information can be recorded.

In the magnetic disk, a difference signal between the servo signal recorded on the disk and the head position was obtained as a positioning signal. However, in the servo signal writing device, the position of the actuator on which the head is mounted is directly measured by a laser length meter or the like. It detects and positions and writes servo signals. Therefore, the position signal obtained is the information of the absolute position of the head, and is equal to the signal used for the frictional force compensation in the above-described first and fourth embodiments. It can be applied as it is.

FIG. 14 is a functional block diagram of a servo signal writing device equipped with the same frictional force estimator as in the first embodiment. Here, what is different from the first embodiment is the positioning compensator 70.
The input signal to is composed of the actuator position signal 29 and the movement command 69. The calculation and calculation algorithm of the coefficient of the compensator of the frictional force estimator 15 is the first embodiment
Is the same as

FIG. 15 shows the same frictional force estimator 6 as in the fourth embodiment.
5 is a functional block diagram of a servo signal writing device including the device 5. FIG. Here, what is different from the fourth embodiment is the positioning compensator 7
The input signal to 0 consists of the actuator position signal 29 and the movement command 69. Also, the friction force estimator 6
The calculation and calculation algorithm of the coefficient of the compensator of FIG.

The apparatus described in each of the above-described embodiments or the control method using the same can be similarly implemented in an optical disk apparatus in which the magnetic disk is an optical disk and the magnetic head is an optical head having optical means.

[0111]

According to the present invention, the information on the position of the first head is detected from the servo signal recorded on the disk, and further, the relative displacement between the shaft and the bearing, the relative speed or the acceleration, or the head actuator. The information on any one of the position, velocity, or acceleration of the integrated head support system is used as the information on the second head position, and the friction force is calculated using the second information on the head position and the head drive signal. By calculating the force estimation observer derived from the model, it becomes possible to estimate and compensate the frictional force, recover the low range gain in the head positioning control, and realize high positioning accuracy.
It is possible to increase the recording density in an information recording device using a rotating disk.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a first embodiment of the present invention.

FIG. 2 is a functional block diagram of the first embodiment of the present invention.

FIG. 3 is a calculation flowchart example of a frictional force estimator 15.

FIG. 4 shows frequency characteristics (mechanical characteristics) of a control target having rolling-out friction.

FIG. 5 is a frequency characteristic diagram of the control system of the present invention.

FIG. 6 shows frequency characteristics when a position error signal is used as an observer input.

FIG. 7 is a configuration diagram of a second embodiment of the present invention.

FIG. 8 is a functional block diagram of the second embodiment.

9 is an example of a calculation flowchart of a frictional force estimator 55. FIG.

FIG. 10 is a configuration diagram of a third embodiment of the present invention.

FIG. 11 is a functional block diagram of a third embodiment.

FIG. 12 is a calculation flowchart of the third embodiment.

FIG. 13 is a functional block diagram of a fourth embodiment.

FIG. 14 is an example of a functional block diagram of a fifth embodiment.

FIG. 15 is an example of a functional block diagram of a fifth embodiment.

[Explanation of symbols]

1 ... Disk, 2 ... Head, 5 ... Head drive circuit, 8 ...
Position signal demodulation circuit, 9 ... Ball bearing, 10 ... Pivot bearing outer ring, 11 ... Bearing inner ring, 15 ... Friction force estimator, 16 ... Positioning compensator.

Claims (12)

[Claims] 1. A head for detecting at least information from a disk for recording information, an actuator having a rolling element and a bearing surface for guiding the rolling element, and driving the head in the radial direction of the disk, Position detecting means for detecting a relative positional relationship between the head and the disk based on servo information detected by the head and outputting a position signal; and positioning compensating means for processing the position signal and outputting a positioning compensation signal. A sensor for detecting a physical quantity related to a motion state of the actuator, and a friction force estimation means for estimating a friction force generated in a bearing portion of the actuator, and correcting the positioning compensation signal based on the estimated friction force. A frictional force compensating means for generating an operation signal for driving the actuator, the frictional force estimating means, Rotating disk-type storage device and estimates the friction force using the operation signal and the output of the serial sensor. 2. The rotating disk storage device according to claim 1, wherein the sensor detects any one of displacement, speed, and acceleration of the actuator with respect to a support body supporting the actuator. Storage device. 3. The rotating disk storage device according to claim 1, wherein the frictional force compensating means includes a low-pass filter and a high-pass filter, wherein the operation signal is a low-pass filter and the output of the sensor is a high-pass filter. A rotary disk type storage device characterized in that the positioning compensation signal is corrected by a signal obtained by adding the outputs of the respective filters to each. 4. The rotary disk storage device according to claim 3, wherein each filter has an equivalent mass of an actuator, and an equivalent spring when the elastic deformation of the rolling element and the bearing surface is assumed to be a spring element. A rotary disk storage device, wherein a constant and an equivalent viscous friction coefficient when elastic deformation of rolling elements and bearing surfaces are assumed to be viscous friction are determined as parameters. 5. The rotating disk storage device according to claim 1, further comprising a friction model for estimating a frictional force generated in a bearing portion of the actuator based on an output of the sensor. A rotary disk type storage device, characterized in that the operation signal is corrected based on the frictional force estimated in. 6. A head for detecting at least information from a disc for recording information, an actuator having a rolling element and a bearing surface for guiding the rolling element, and driving the head in the radial direction of the disc, and from the disc. Based on the servo information detected by the head, the relative position relationship between the head and the disk is detected, position detecting means for outputting a position signal, a sensor for detecting a physical quantity related to the motion state of the actuator, the position signal A rotary disk type storage device comprising: a control unit that outputs an operation signal based on the sensor output, and that drives the actuator based on the operation signal, wherein the control unit processes the position signal. Positioning compensation function that outputs a positioning compensation signal, and estimates the frictional force generated in the bearing portion of the actuator A frictional force estimation function, a frictional force compensation function for correcting the positioning compensation signal based on the estimated frictional force, and generating the operation signal; and using the output of the sensor and the operation signal, A rotating disk storage device characterized by estimating a frictional force. 7. A magnetic disk incorporated in a spindle motor, a magnetic head for recording and reproducing information on and from the magnetic disk, a rolling element and a bearing surface for guiding the rolling element, and the magnetic head is provided on the magnetic disk. A base on which a head disk assembly having a head support movably in a radial direction is mounted, and servo information to be written on a magnetic disk of the head disk assembly is generated, and the servo information is generated by the head. Servo information writing means for writing using the magnetic head of the disk assembly, a sensor for detecting a relative positional relationship of the magnetic head with respect to the base and outputting a position signal, and a head drive motor for driving the head support. , Processing the position signal to generate an operation signal for driving the head drive motor, A positioning control means for performing positioning control so as to hold the magnetic head at a predetermined position with respect to the base based on an operation signal of the servo information writing device, wherein the positioning control means comprises: Positioning compensating means for processing a position signal and outputting a positioning compensating signal, and frictional force estimating means for estimating a frictional force generated in the bearing portion of the head support are provided, and the positioning compensation is performed based on the estimated frictional force. A frictional force compensating unit that corrects the signal to generate an operation signal for driving the head drive motor, and the frictional force estimating unit estimates the frictional force using the output of the sensor and the operation signal. A servo information writing device. 8. The servo information writing apparatus according to claim 7, wherein the sensor detects any one of displacement, speed and acceleration of the head support with respect to the base. 9. The servo information writing device according to claim 7, wherein the frictional force compensating means includes a low-pass filter and a high-pass filter, the operation signal being a low-pass filter, and the output of the sensor being a high-pass filter. A servo information writing device, characterized in that the positioning compensation signal is corrected by a signal obtained by adding the outputs of the respective filters. 10. The servo information writing apparatus according to claim 9, wherein the characteristics of each filter are assumed to be equivalent mass of a magnetic head and a head support and elastic deformation of a rolling element and a bearing surface as a spring element. And the equivalent spring constant of
A servo information writing device, characterized in that the elastic deformation of a rolling element and a bearing surface is determined with a parameter of an equivalent viscous friction coefficient assuming a viscous friction. 11. The servo information writing device according to claim 7, further comprising a friction model for estimating a frictional force generated in a bearing portion of the head support based on an output of the sensor, and the friction model. A servo information writing device, wherein the operation signal is corrected based on a frictional force estimated by a model. 12. A magnetic disk incorporated in a spindle motor, a magnetic head for recording / reproducing information on / from the magnetic disk, a rolling element and a bearing surface for guiding the rolling element, and the magnetic head is mounted on the magnetic disk. A base on which a head disk assembly having a head support movably in a radial direction is mounted, and servo information to be written on a magnetic disk of the head disk assembly is generated, and the servo information is generated by the head. Servo information writing means for writing using the magnetic head of the disk assembly, a sensor for detecting a relative positional relationship of the magnetic head with respect to the base and outputting a position signal, and a head drive motor for driving the head support. Processing the position signal to generate an operation signal for driving the head drive motor, A servo information writing device comprising: a positioning control unit that performs a positioning control so as to hold the magnetic head at a predetermined position with respect to the base based on the operation signal. It has a positioning compensation function of processing a position signal and outputting a positioning compensation signal, and a frictional force estimation function of estimating a frictional force generated in the bearing portion of the head support, and the positioning compensation is performed based on the estimated frictional force. A frictional force compensation function for correcting a signal to generate an operation signal for driving the head drive motor, wherein the frictional force estimation function estimates the frictional force using the output of the sensor and the operation signal. A servo information writing device.