JPS58194171A - Head driving and controlling system of magnetic disc device - Google Patents

Head driving and controlling system of magnetic disc device

Info

Publication number
JPS58194171A
JPS58194171A JP7472282A JP7472282A JPS58194171A JP S58194171 A JPS58194171 A JP S58194171A JP 7472282 A JP7472282 A JP 7472282A JP 7472282 A JP7472282 A JP 7472282A JP S58194171 A JPS58194171 A JP S58194171A
Authority
JP
Japan
Prior art keywords
profile
speed
time
speed profile
seek
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP7472282A
Other languages
Japanese (ja)
Inventor
Ichiro Araki
一郎 荒木
Shigemasa Yoshida
茂正 吉田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Computer Basic Technology Research Association Corp
Original Assignee
Computer Basic Technology Research Association Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Computer Basic Technology Research Association Corp filed Critical Computer Basic Technology Research Association Corp
Priority to JP7472282A priority Critical patent/JPS58194171A/en
Publication of JPS58194171A publication Critical patent/JPS58194171A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G11INFORMATION STORAGE
    • G11BINFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B5/00Recording by magnetisation or demagnetisation of a record carrier; Reproducing by magnetic means; Record carriers therefor
    • G11B5/48Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed
    • G11B5/58Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head for the purpose of maintaining alignment of the head relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following
    • G11B5/596Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head for the purpose of maintaining alignment of the head relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following for track following on disks

Landscapes

  • Moving Of Head For Track Selection And Changing (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Velocity Or Acceleration (AREA)

Abstract

PURPOSE:To set an optimum speed profile individually for each device, by performing calibration seek at the start of operation of a magnetic disc device. CONSTITUTION:The calibration seek is executed at the start of operation of a device, the time is counted at an optimum profile generator 9, and an electronic tachometer outputs a signal to stop the counting when the head speed is reduced to zero. Thus, the optimum profile generator 9 detects a lagged time T, the value of T is substituted in a particular equation to obtain the value of a compensated time constant C, and the speed profile is set again. In the seek operation afterward, the optimum speed profile for each device is attained by using the speed profile set again.

Description

【発明の詳細な説明】 この発明は平方根関数に基づく速度プロフィール設定法
を用いる磁気ディスク装置において最適な速度プロフィ
ールを設定するための方法に関するものである。
DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for setting an optimal speed profile in a magnetic disk drive that uses a speed profile setting method based on a square root function.

第1図は従来の磁気ディスク装置において使用されてい
るヘッド位置決め糸のサーボ・システムを示しているブ
ロック−である。まず、ヘッドン目欅位黄へ移動させる
ための動作命令を速[70フイ一ル発生器口)に入力す
ると、目標位置と現在位置との距離差に応じて速度指示
信号が出力として得られ、さらにヘッドの現在の速度を
示す速度信号と〃(1算されて、パワー・アンプ(3)
に対する入力信号が作り出される。
FIG. 1 is a block diagram showing a head positioning thread servo system used in a conventional magnetic disk device. First, when an operation command to move the head to the yellow position is input to the speed [70 file generator port], a speed instruction signal is obtained as an output according to the distance difference between the target position and the current position. Furthermore, the speed signal indicating the current speed of the head is added to the power amplifier (3).
An input signal is created for.

ここで、モード・スイッチ(21はヘッドがシーク・モ
ード中は(2a)*に接続さnているので、パワー・ア
ンプ131からは入力信号に相当する電流が出力さn、
モータ14+ (D *動電流となる。そして、モータ
141にて電流からカへ変換さnてポジショナ(5)を
駆動しヘッドを移動させて、現在11γ置X。V変化さ
せる。次に、目標トラック位1ivxTと現在位置X。
Here, since the mode switch (21) is connected to (2a)* when the head is in the seek mode, the power amplifier 131 outputs a current corresponding to the input signal.
The motor 14+ (D*becomes a dynamic current.Then, the motor 141 converts the current into force, drives the positioner (5), moves the head, and changes the current 11γ position by X.V. Next, the target Track position 1ivxT and current position X.

との減算を行なって1位置lia差X0を検出する。1 position lia difference X0 is detected.

このx8が位置検出器(7)に入力さnて位鎗誤走信号
として出力された後、電子タコメータ(81によって速
Ul!号Kf換される。
After this x8 is input to the position detector (7) and outputted as a pinion error signal, the speed is changed by the electronic tachometer (81).

一方1位置誤差x0が速fプロフィール発生器11+に
入力されると所定の速度指示信号が出力され。
On the other hand, when one position error x0 is input to the speed f profile generator 11+, a predetermined speed instruction signal is output.

以後ヘッドが目標位置に到達するまで、すなわち位置誤
差xeが04Cなるまで前記動作を繰り返す。
Thereafter, the above operation is repeated until the head reaches the target position, that is, until the position error xe becomes 04C.

従来のこの種装置は、速度10フイールの設定に際しモ
ータ(4)に存在するインダクタンス成分に起因する電
流反転時に対する遅れ時間を補償するために、またモー
タ(4)の製造上のバラツキや温度亥化によるインダク
タンス成分の変化による影響およびその他の要因等を考
慮してあらかじめ十分な余裕を見込んだ画一的な速度プ
ロフィールン設足していたので1個々の装置において最
適な速度プロフィールを得ることができないという欠点
があつ次。
Conventional devices of this type are designed to compensate for the delay time for current reversal caused by the inductance component present in the motor (4) when setting the speed of 10 fills, and to compensate for manufacturing variations and temperature increases in the motor (4). Because a uniform speed profile was set up in advance with sufficient margin in consideration of the effects of changes in inductance components due to changes in inductance and other factors, it was not possible to obtain an optimal speed profile for each individual device. There is another drawback.

この発明は前記欠点ケ解決するため、装置の動作開始時
VCfj#短時間制御を行なうべくあらかじめ設定した
基本となる理想的連間プロフィールに従ってキャリブレ
ーション・シーフケ実行し、目標とする最短時間からの
遅j時聞Z検出してこの運n1時間の要素ン平方根関数
の中に導入して速度プロフィールを再設定することによ
って9個々の装置において最適な速度プロフィールケ設
定できるようにしたものであり、以下図面について詳細
に股間する。第2図は速度10フイールl示す図であり
9図中の曲MvF1が基本と′ケるプロフィールである
。このプロフィールvF、と位a1xの関係はvF、−
J2五 で与えらn/!:IoLかし、$際ににモータ141 
K存在するインダクタンス成分のため、モータ(4)の
tfi切換え時期がlcの時点よりも遅れるので、速度
プロフィールは曲1NvF2のようになる。このプロフ
ィールvF2と位ff1xの関係は ■F2=J面7西r z −)− で与えられる。したがって、その遅n時間に相当するだ
け移動距*は長くなり次式で示す△Xだけ△X ” X
l  :lCO 余計に移動することになる。そこで、電流切換えの遅n
特間を補償するために新しく速度プロフィールケ曲線v
F3と設定すむ、げ、あたかも当初投ずした基本プロフ
ィールvF、を実行しているかのように見なすことがで
きる。このプロフィールvF3と位置Xの関係は 稍=届十(αc)′2−αC で4兄らnる。これを実現するためには次式ケ満足する
ように補償時ず数cy定めればよい。
In order to solve the above-mentioned drawbacks, the present invention executes calibration and checking according to the basic ideal continuous profile set in advance to perform VCfj# short-time control at the start of operation of the device, and calculates the delay from the target minimum time. By detecting j time and Z and introducing this luck into the square root function of n1 time elements and resetting the speed profile, it is possible to set the optimal speed profile for each individual device, as shown below. Crotch drawings in detail. FIG. 2 is a diagram showing 10 speeds, and the song MvF1 in FIG. 9 is the basic profile. The relationship between this profile vF, and position a1x is vF, -
Given by J25 n/! : IoL, motor 141 at $
Because of the inductance component present in K, the tfi switching timing of the motor (4) is delayed from the lc timing, so the speed profile becomes like the song 1NvF2. The relationship between this profile vF2 and position ff1x is given by: ■F2=J plane 7 west r z -)-. Therefore, the moving distance * becomes longer by the amount corresponding to the delay n time, and becomes △X ''X as shown by the following formula.
l: lCO You will have to move more. Therefore, the current switching delay n
In order to compensate for the special time, a new velocity profile curve v
After setting F3, it can be viewed as if the basic profile vF originally set was being executed. The relationship between this profile vF3 and the position In order to realize this, it is sufficient to set the compensation time by several cy so that the following equation is satisfied.

C−6177M(ここで、v、Fi最高速度である。)
−01次に、第3図はヘッドの速度と経過時間との関係
を示すものである。まずヘッドは時刻1=0において加
速され始め1時刻t、で最高速度VMK達し圧抜時刻t
2まで定速走行をし、以vkV1減速さnて時刻t4で
目標位置に到達することになる。
C-6177M (Here, v, Fi is the maximum speed.)
-01 Next, FIG. 3 shows the relationship between head speed and elapsed time. First, the head begins to accelerate at time 1=0 and reaches the maximum speed VMK at time 1, t, at pressure release time t.
The vehicle travels at a constant speed until t4, then decelerates by vkV1, and reaches the target position at time t4.

ところが、実際には前述したようにモータのインダクタ
ンス成分が存在するために電流反転の時間が遅れ1時刻
t=t27)−T(TVi連れ時間)までに最高速度で
定速走行し、その後減速され始ぬて時刻1=15におい
てヘッドの速度が0になる。才なわらず速WLFioと
はならず、そのまま走灯し図中の日。に相当する量だけ
余計に打き過ぎることになる。し友がって、011式と
の関係から次式が成立する。
However, in reality, as mentioned above, due to the presence of the inductance component of the motor, the time for current reversal is delayed and the vehicle runs at a constant speed at the maximum speed by 1 time t = t27) - T (time taken by TVi), and then decelerates. At the start time 1=15, the speed of the head becomes 0. However, it did not turn into a fast WLFio, and the lights continued to run on the day shown in the figure. This results in overshooting by an amount corresponding to . Accordingly, the following equation holds true from the relationship with equation 011.

c−8o/ VM     −Qυ ま友、当然のことなから8.” 82であることは自明
である。
c-8o/ VM -Qυ Mayu, of course 8. ” It is obvious that the number is 82.

よって1個々の装置において動作開始時にキャリブレー
ション・シークを行なって遅れ時間Tを釧足することに
よって、袖偵時足数Cを遅れ時間Tの関数として表わす
ことができれは9個々の装置において最短時間制御ン実
現する最適な速度10フイールを設定することが可能と
なる。ここで。
Therefore, by performing a calibration seek at the start of operation in each device and adding up the delay time T, it is possible to express the number of foot scans C as a function of the delay time T. It becomes possible to set the optimum speed of 10 speeds to achieve control in the shortest time. here.

81と82は各々次式で表わせる。81 and 82 can be respectively expressed by the following equations.

S、 =T (z(t3−t2)−T)vM/2(t4
−t2) −as82”(j4  E5) VM/2(
t4  t2)    13ところで、 B、= 82
であるからaz式=63式とおいてし、ヲ求めると以下
の式で求まる。
S, =T (z(t3-t2)-T)vM/2(t4
-t2) -as82"(j4 E5) VM/2(
t4 t2) 13By the way, B, = 82
Therefore, if we set az formula = 63 formula and find wo, we can find the following formula.

t5 =t4 + T −厘t4 t2 )    −
0404141式ラミへ代入して以下の関係式から8゜
を求める。
t5 = t4 + T - t4 t2 ) -
0404141 Formula Rami is substituted to find 8° from the following relational expression.

8o=VMT−8゜ よって、09式とaS式とから したがって、補償時間CをtIe式にて足まる値として
速度プロフィールy!1′再設定すれば、最短時間制御
を実現する最適な速度プロフィールを個々の装FIIt
独自に決定できる。
8o=VMT-8° Therefore, from the 09 formula and the aS formula, the speed profile y! is calculated by setting the compensation time C to the value added by the tIe formula. 1' By resetting, the optimum speed profile to realize the shortest time control can be set for each equipment FIIt.
You can make your own decisions.

次に、第4図はこの発明を実施した一例であって、(9
)は最適プロフィール発生器である。まず。
Next, FIG. 4 shows an example of implementing this invention, with (9
) is the optimal profile generator. first.

itの動作開始時にキャリブレーション、シークを行な
い、最適プロフィール発生器(9)にて時刻の計時をす
る一′7i、電子タコメータではヘッドの速、暖が0に
なった時点で計時を止めるための信号馨出力する。それ
により、最適プロフィール発生器(9)では遅rt時間
Tを検出し、そのTの値tQe式に代入してCの値を求
めて速度プロフィールを再設市し、以後のシーク動作で
はその再設足した速度プロフィール!用いることにより
1個々の装置において鍍適な速度プロフィールを有する
ことが可能となる。
Calibration and seek are performed at the start of operation, and the time is measured using the optimum profile generator (9). Outputs a signal. As a result, the optimal profile generator (9) detects the slow rt time T, substitutes the value of T into the tQe formula to obtain the value of C, and re-establishes the speed profile. Added speed profile! By using this, it becomes possible to have an appropriate velocity profile in one individual device.

以上のように、この発明に係る磁気ディスク装置のヘッ
ド駆動制御方式は、装置の動作開始時にキャリブレーシ
ョン・シークを行なうことによって1個々の装置独自に
最適な速度プロフィールをずめることができ、モータの
インダクタンス成分の影響による電流反転時の遅れや個
々の装W%有のバラツキ%を吸収して、常に均一な性能
を発揮し得る磁気ディスク装置を実現できる効果を有す
る。
As described above, the head drive control method for a magnetic disk device according to the present invention can set an optimal speed profile unique to each device by performing calibration seek at the start of operation of the device. This has the effect of absorbing the delay in current reversal due to the influence of the inductance component of the motor and the variation in W% among individual devices, thereby realizing a magnetic disk device that can always exhibit uniform performance.

【図面の簡単な説明】[Brief explanation of drawings]

第1図は従来の磁気ティスフ装mにおけるヘット°位置
決め系のサーボ・システムを構成するブロック図、第2
図は速度プロフィール発生器から出力さnる速度プロフ
ィールケ示す図、第3図はシーク時の速度と経過時間の
関係を表わす説明図。 第4図はこの発明の実施例を示すブロック図である。 (1)・・・速度プロフィール発生器、(2)・・・モ
ードスイッチ、(31・・・パワー・アンプ、(4j・
・・ボイス・コイル−モータ、(5)・・・ポジショナ
、(61・・・ローパス・フィルター、(7)・・・位
置検出器、(8)・・・電子タコメータ、(9I・・・
最適プロフィール発生器。 なお1図中同一符号は同一′を文は相当部分ケ示す。 代理人  葛 野 信 −
Figure 1 is a block diagram configuring a servo system for head positioning in a conventional magnetic tisf mount.
This figure shows a speed profile output from a speed profile generator, and FIG. 3 is an explanatory diagram showing the relationship between speed and elapsed time during seek. FIG. 4 is a block diagram showing an embodiment of the invention. (1)...Speed profile generator, (2)...Mode switch, (31...Power amplifier, (4j.
...Voice coil-motor, (5)...Positioner, (61...Low pass filter, (7)...Position detector, (8)...Electronic tachometer, (9I...
Optimal profile generator. Note that the same reference numerals in Figure 1 indicate the same parts. Agent Shin Kuzuno −

Claims (1)

【特許請求の範囲】[Claims] ヘッドのシーク動作を制御する場合の速度制御プロフィ
ールに平方根関数を用いる磁気ディスク装置において、
あらかじめ設ずした基本速度プロフィールに従ってキャ
リブレーション・シーク動作7行ない、あらかじめ算出
しておいたシーク完了最短時間からの遅れ時間を検出し
、この遅れ時間から最適な速度プロフィールを再設定し
、以後の動作においては上記最適速度プロフィールを使
用することt特徴とする磁気ディスクv装置のヘッド駆
動制御方式。
In a magnetic disk device that uses a square root function in the speed control profile when controlling the seek operation of the head,
Perform seven calibration seek operations according to the basic speed profile set in advance, detect the delay time from the pre-calculated minimum seek completion time, reset the optimal speed profile from this delay time, and perform subsequent operations. A head drive control method for a magnetic disk device is characterized in that the optimum speed profile is used.
JP7472282A 1982-05-04 1982-05-04 Head driving and controlling system of magnetic disc device Pending JPS58194171A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP7472282A JPS58194171A (en) 1982-05-04 1982-05-04 Head driving and controlling system of magnetic disc device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP7472282A JPS58194171A (en) 1982-05-04 1982-05-04 Head driving and controlling system of magnetic disc device

Publications (1)

Publication Number Publication Date
JPS58194171A true JPS58194171A (en) 1983-11-12

Family

ID=13555394

Family Applications (1)

Application Number Title Priority Date Filing Date
JP7472282A Pending JPS58194171A (en) 1982-05-04 1982-05-04 Head driving and controlling system of magnetic disc device

Country Status (1)

Country Link
JP (1) JPS58194171A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61110214A (en) * 1984-11-05 1986-05-28 Yoshida Kogyo Kk <Ykk> Device for controlling opening width of automatic door
EP0378327A2 (en) * 1989-01-10 1990-07-18 Fujitsu Limited Automatic adjustment system for servo circuit of a magnetic disk apparatus
JPH03260969A (en) * 1990-03-12 1991-11-20 Fujitsu Ltd Positioning control system
US6041033A (en) * 1996-12-18 2000-03-21 Matsushita Electric Industrial Co., Ltd. Disk holding device
EP1895517A3 (en) * 2006-08-30 2008-10-01 Fujitsu Limited Servo data demodulation

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5085785A (en) * 1973-12-08 1975-07-10
JPS5383716A (en) * 1976-12-29 1978-07-24 Fujitsu Ltd System for positioning magnetic device
JPS5564662A (en) * 1978-11-08 1980-05-15 Toshiba Corp Self-compensator for magnetic disk memory unit

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5085785A (en) * 1973-12-08 1975-07-10
JPS5383716A (en) * 1976-12-29 1978-07-24 Fujitsu Ltd System for positioning magnetic device
JPS5564662A (en) * 1978-11-08 1980-05-15 Toshiba Corp Self-compensator for magnetic disk memory unit

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61110214A (en) * 1984-11-05 1986-05-28 Yoshida Kogyo Kk <Ykk> Device for controlling opening width of automatic door
EP0378327A2 (en) * 1989-01-10 1990-07-18 Fujitsu Limited Automatic adjustment system for servo circuit of a magnetic disk apparatus
JPH03260969A (en) * 1990-03-12 1991-11-20 Fujitsu Ltd Positioning control system
US6041033A (en) * 1996-12-18 2000-03-21 Matsushita Electric Industrial Co., Ltd. Disk holding device
EP1895517A3 (en) * 2006-08-30 2008-10-01 Fujitsu Limited Servo data demodulation
US7463439B2 (en) 2006-08-30 2008-12-09 Fujitsu Limited Control device, storage device, storage medium, servo data demodulation method, repeatable velocity error measuring device, and computer product

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