JPS59119420A - Movable element positioning system - Google Patents
Movable element positioning systemInfo
- Publication number
- JPS59119420A JPS59119420A JP22837382A JP22837382A JPS59119420A JP S59119420 A JPS59119420 A JP S59119420A JP 22837382 A JP22837382 A JP 22837382A JP 22837382 A JP22837382 A JP 22837382A JP S59119420 A JPS59119420 A JP S59119420A
- Authority
- JP
- Japan
- Prior art keywords
- speed curve
- distance
- movable element
- target
- move
- 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
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/14—Control of position or direction using feedback using an analogue comparing device
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Moving Of Head For Track Selection And Changing (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
【発明の詳細な説明】
（Ｉｉ全発明技術分野
本発明は速度カーブに沿って可動素子を目標トラックへ
位置決めする手段を改善した可動素子位置決め方式に関
する。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a movable element positioning system with improved means for positioning the movable element to a target track along a velocity curve.
（２）技術の背景
従来、磁気ディスク装置におけるシーク制御でば速度制
御方式か用いられている。この制御方式は磁気ヘッドの
現在位置と目標位置との差に応して速度カーフか生成さ
れ１ このカーフ上の速度と磁気ヘッドの位置から得ら
れる位置信号の時間についての微分値、即ち速度信号と
の差をエラー信号として制御に用いる方式である。、
しかし、この方式では、現在位置から目標位置 ・
までの距離が比較的に長い場合にはほぼ満足しうる制御
をなしつるのであるが、現在位置と目標位置との距離が
短い場合には意図する制御をなし得ない。(2) Background of the Technology Conventionally, a speed control method has been used for seek control in magnetic disk drives. In this control method, a velocity curve is generated according to the difference between the current position and the target position of the magnetic head.1 The differential value with respect to time of a position signal obtained from the velocity on this curve and the position of the magnetic head is a velocity signal. This method uses the difference between the two as an error signal for control. , However, with this method, the target position is
When the distance between the current position and the target position is relatively long, satisfactory control is achieved, but when the distance between the current position and the target position is short, the intended control cannot be achieved.
このようなことから、上記制御方式の改善法が要望され
ている。For this reason, there is a need for a method for improving the above control system.
（３）従来技術と問題点 上述従来制御方式は第１図に示されるように。(3) Conventional technology and problems The conventional control method described above is as shown in FIG.
位置信号復調器１から発生される現在位置信号と目標位
置指令器２からの目標位置信号との差が関数発生器３へ
供給されてそこから速度カーフが発生される一方、上記
現在位置信号が微分器４へ供給されてそこから速度信号
が発生され、これら速度信号間の差に応答してホイスコ
イルモータ５を制御して磁気ヘッド６を目標位置へ移動
させる。The difference between the current position signal generated from the position signal demodulator 1 and the target position signal from the target position command device 2 is supplied to the function generator 3 from which a speed curve is generated. A velocity signal is generated from a differentiator 4, and in response to the difference between these velocity signals, a whirlpool coil motor 5 is controlled to move the magnetic head 6 to a target position.
このような場合、上記差ＸがＸ、の如く比較的に大きい
とヘッドが目標位置へ到達するのに、ヘッドの実際の速
度が第２図の曲線ｃ１の如く増加して速度カーブＣ２に
等しくなり、そしてヘットの速度は速度カーブＣ２に追
従して減少していき。In such a case, if the difference X is relatively large such as Then, the speed of the head decreases following the speed curve C2.
ヘッドが目標位置に達した点（Ｘ＝Ｏ）でへ、ドの速度
も零になり、ヘッドの目標位置への位置決めが達成され
る。At the point at which the head reaches the target position (X=O), the speed of both ends becomes zero, and the head is positioned at the target position.
しかしながら、上述の速度カーブは一般にＸの平方根関
数であるからＸの値が小さいほど速度カーブのｄ Ｖ／
ｄ Ｘが大き（なる。従って、近い１ヘラツクへのシー
クの場合には、第２図の曲線ｃ３の如く実際のへノド速
度が傾きの大きい速度カーブに追従できず、Ｘ＝Ｏとな
っても残留速度ＶＲが存在し、オーバーシュートが生し
ることになる。However, since the speed curve mentioned above is generally a square root function of X, the smaller the value of
d There is also a residual speed VR, which results in overshoot.
このような不具合は位置信号が連続的に得られないサン
アル値ヘッド位置決め制御では顕著に現われ、その解決
が要望されている。Such a problem appears conspicuously in the sample head positioning control in which position signals cannot be obtained continuously, and a solution to this problem is desired.
（４）発明の目的
本発明は上述したような従来方式の有する欠点に鑑みて
創案されたもので、その目的は速度カーブを用いての位
置決め制御における速度カーブに沿っての追従性を高め
て現在位置と目標位置との距離差から来る不具合を可及
的に除去しうる可動素子位置決め方式を提供することに
ある。(4) Purpose of the Invention The present invention was devised in view of the drawbacks of the conventional method as described above, and its purpose is to improve the followability along the speed curve in positioning control using the speed curve. It is an object of the present invention to provide a movable element positioning method that can eliminate as much as possible problems caused by a distance difference between a current position and a target position.
（５）発明の構成
そして、この目的は現在位置がら目標位置へ可動素子を
移動させる可動素子駆動手段を有し、該可動素子駆動手
段手段を所定の速度カーブに沿って駆動して上記可動素
子を上記目標位置へ位置決めさせる可動素子位置決め方
式において、移動しようとする距離に応答してこれに適
合した速度カーブの傾きを呈する速度カーブを設定する
速度カーブ設定手段を設け、該速度カーブ設定手段から
の出力値に応答して上記可動素子駆動手段を駆動するこ
とにより、達成される。(5) Structure of the invention And, this object has a movable element driving means for moving a movable element from a current position to a target position, and drives the movable element driving means along a predetermined speed curve to move the movable element to a target position. In the movable element positioning method for positioning the movable element to the target position, a speed curve setting means is provided for setting a speed curve exhibiting an inclination of the speed curve adapted to the distance to be moved in response to the distance to be moved, and from the speed curve setting means This is achieved by driving the movable element driving means in response to the output value of.
（６）発明の実施例
以下、添付図面を参照しながら１本発明の詳細な説明す
る。(6) Embodiments of the Invention Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings.
第３図は本発明の一実施例を示す。この実施例は第１図
従来例における関数発注器３か速度カーブ選択回路１０
と関数発生器３’ａ、３ｂ、３ｃとによって構成されて
いる点を除いて他の構成要素は同一であるので、これら
の同し構成要素には同−参！（へ番号を付してその説明
は省略する。FIG. 3 shows an embodiment of the invention. This embodiment shows the function ordering device 3 or the speed curve selection circuit 10 in the conventional example shown in FIG.
and function generators 3'a, 3b, and 3c, the other components are the same, so these same components are referred to as the same! (A number will be assigned to the item and its explanation will be omitted.)
次に、」二連のような特徴部分を有する第３図装置の動
作を説明する。Next, the operation of the apparatus shown in FIG. 3, which has a characteristic portion such as "double series", will be explained.
ヘット６の現在位置信号が位置信号復調器１から発生さ
れる一方、目標位置信号が目標位置指令器２から発生さ
れる。これら信号の差Ｘが加算器１１から発生される。A current position signal of the head 6 is generated from a position signal demodulator 1, while a target position signal is generated from a target position command device 2. A difference X between these signals is generated from an adder 11.
この差Ｘ、つまり、シークしようとするトランク数に応
じて速度カーブ選択回路１０がその差に最適の関数発注
器を選択してその関数発生器の出力を加算器］２の十人
カへ供給する。一方、上記現在位置信号が微分器４を経
て加算器１２の一人力へ現在の速度信号を供給する。Depending on this difference X, that is, the number of trunks to be sought, the speed curve selection circuit 10 selects the optimal function generator for the difference, and supplies the output of the function generator to the adder 2. do. On the other hand, the current position signal passes through the differentiator 4 and supplies the current speed signal to the adder 12.
従って、ヘット６の速度は最適の速度カーブ。Therefore, the speed of head 6 is the optimal speed curve.
例えば上記差ＸがＸｂ（第４図参照）であるならば曲線
Ｃｂ、を経て速度カーブＣｂ２の方へ増加していき１
この速度カーブＣｂ２に追従するようになる。これによ
り従来方式では生してしまう不具合は除去出来る。即ち
、Ｘ−０において残留速度は残らず、オーバーシュート
の発生は生しない。For example, if the above-mentioned difference
It comes to follow this speed curve Cb2. This makes it possible to eliminate the problems that occur with conventional methods. That is, no residual speed remains at X-0, and no overshoot occurs.
これはシークトラック数が少なくても、実際の速度と速
度カーブ４；Ｉ：ｄＶ／ｄＸの小さい点で交差し。Even if the number of seek tracks is small, the actual speed intersects with the speed curve 4 at a small point of I:dV/dX.
実際のヘッド速度が速度カーブに沿って追従し易いこと
を意味する。This means that the actual head speed can easily follow the speed curve.
上記実施例においては、シークせんとするトラック数に
応じて関数発生器を選択するように構成する場合につい
て説明したが、これらをマイクロプロセッサ及びメモリ
で代替させてもよい。この場合に２例えば速度カーブを
表わすデータを１つ用意するようにし、シークトランク
数に応した係数を上記データに掛Ｌ−１で出力して、上
述アナログ回路系と同等の効果を（Ｎるように構成する
ことも出来る。In the above embodiment, a case has been described in which a function generator is selected depending on the number of tracks to be sought, but these may be replaced by a microprocessor and memory. In this case, for example, prepare one piece of data representing a speed curve, multiply the above data by a coefficient corresponding to the number of seek trunks, and output it by L-1 to obtain the same effect as the analog circuit system described above. It can also be configured as follows.
（７）発明の効果
以上述べたように１本発明によれは、移動させたい距離
に応した速度カーブを設定しうるから２そのカーブの追
従性が向上し、移動させたい距離の長短に左右されるこ
となく１首尾よく目標位置へ位置決めをなすことが出来
る。(7) Effects of the Invention As stated above, (1) according to the present invention, it is possible to set a speed curve that corresponds to the distance you want to move, and (2) the followability of that curve is improved, and it depends on the length and shortness of the distance you want to move. It is possible to successfully position the target position without being affected.
第】図は従来装置例を示す図、第２図は第１図装置の動
作説明図、第３図は本発明の一実施例を示す図、第４図
は第３図実施例の動作説明図である。
図中、１は位置信号復調器、２は目標位置指令器、ｌＬ
１２は加算器、］０ば速度カーブ選択回路、３ａ、３ｂ
、３ｃは関数発生器、４は微分器、５はボイスコイルモ
ータ、６は磁気ヘッドである。
第１図
第２図
第３図
第４図2 is a diagram showing an example of a conventional device, FIG. 2 is an explanatory diagram of the operation of the device in FIG. 1, FIG. 3 is a diagram showing an embodiment of the present invention, and FIG. 4 is an explanation of the operation of the embodiment in FIG. It is a diagram. In the figure, 1 is a position signal demodulator, 2 is a target position command device, 1L
12 is an adder, ] 0 is a speed curve selection circuit, 3a, 3b
, 3c is a function generator, 4 is a differentiator, 5 is a voice coil motor, and 6 is a magnetic head. Figure 1 Figure 2 Figure 3 Figure 4
Claims (3)
ＩＪ動素子駆動手段を有し、該ｌ：ＩＪ動素子駆動手段
を所定の速度カーブに沿って駆動して上記可動素子を」
二記目標位置へ位置決めさせる可動素子位置決め方式に
おいて、移動させようとする距離に応答してこれに適合
した速度カーブの他きを呈する速度カーブを設定する速
度カーブ設定手段を設け。 該速度カーブ設定手段からの出力値に応答して」二記ｌ
′ｌｉＪ動素子駆動手段を駆動するようにしたことを特
徴とするＩｊＪすＪ素子位置決め方式。(1) Move the movable element from the current position to the target position
It has an IJ dynamic element driving means, and drives the IJ dynamic element driving means along a predetermined speed curve to move the movable element.
In the movable element positioning method for positioning the movable element to the target position, a speed curve setting means is provided for setting a speed curve exhibiting a speed curve other than the speed curve adapted to the distance to be moved in response to the distance to be moved. In response to the output value from the speed curve setting means,
1. An IjJ element positioning system, characterized in that it drives a liJ dynamic element driving means.
トラック数毎に関数発生器を備えて構成したごとを特徴
とする特許請求の範囲第１項記載の可動素子位置決め方
式。(2) The movable element positioning method according to claim 1, wherein the speed curve setting means includes a function generator for each number of tracks to be sought.
トラック数に応答してこれに最適の傾きを有する速度カ
ーフを算出する演算手段を備えて構成したことを特徴と
する特許請求の範囲第１項記載の可動素子位置決め方式
。(3) The speed curve setting means is configured to include calculation means for calculating a speed curve having an optimum slope in response to the number of tracks to be sought. Movable element positioning method described in section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22837382A JPS59119420A (en) | 1982-12-27 | 1982-12-27 | Movable element positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22837382A JPS59119420A (en) | 1982-12-27 | 1982-12-27 | Movable element positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59119420A true JPS59119420A (en) | 1984-07-10 |
Family
ID=16875441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP22837382A Pending JPS59119420A (en) | 1982-12-27 | 1982-12-27 | Movable element positioning system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59119420A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02162534A (en) * | 1988-12-16 | 1990-06-22 | Toshiba Corp | Information reproducing device |
| JPH05266613A (en) * | 1992-03-18 | 1993-10-15 | Sharp Corp | Seek speed control method for disc unit |
| JPH05325449A (en) * | 1992-05-20 | 1993-12-10 | Sharp Corp | Speed controller for carriage |
-
1982
- 1982-12-27 JP JP22837382A patent/JPS59119420A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02162534A (en) * | 1988-12-16 | 1990-06-22 | Toshiba Corp | Information reproducing device |
| JPH05266613A (en) * | 1992-03-18 | 1993-10-15 | Sharp Corp | Seek speed control method for disc unit |
| JPH05325449A (en) * | 1992-05-20 | 1993-12-10 | Sharp Corp | Speed controller for carriage |
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