JPS6129912A - Actuator control method of magnetic disc device - Google Patents

Actuator control method of magnetic disc device

Info

Publication number
JPS6129912A
JPS6129912A JP15067184A JP15067184A JPS6129912A JP S6129912 A JPS6129912 A JP S6129912A JP 15067184 A JP15067184 A JP 15067184A JP 15067184 A JP15067184 A JP 15067184A JP S6129912 A JPS6129912 A JP S6129912A
Authority
JP
Japan
Prior art keywords
actuator
motor
sensor
head
reference position
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
JP15067184A
Other languages
Japanese (ja)
Inventor
Kiyoshi Takeuchi
清 竹内
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.)
Tokico Ltd
Original Assignee
Tokico Ltd
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 Tokico Ltd filed Critical Tokico Ltd
Priority to JP15067184A priority Critical patent/JPS6129912A/en
Publication of JPS6129912A publication Critical patent/JPS6129912A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/40—Open loop systems, e.g. using stepping motor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42213—Position overshoot, axis still moves after stop

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Moving Of Head For Track Selection And Changing (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

PURPOSE:To prevent overshoot and to attain positioning with high accuracy by driving forward an actuator to set it to a reference position after driving reverse the actuator once when a head reference position is passed. CONSTITUTION:A control circuit 4 drives forward a step motor (actuator) 1 until a sensor 3 is turned on started from the excitation of the phase A. When the sensor 3 is set, the circuit 4 reverse the motor 1 by a predetermined N-step. Then the motor 1 is driven forward slowly again, a shield plate 2 sets the sensor 3 and when the exciation of the phase of the motor 1 is applied to the phase A, the motor 1 is stopped. Thus, a head is stopped to a reference position (0 track). Since the motor 1 is reversed as soon as the sensor 3 is set, the position shift due to overshoot and out of synchronism is suppressed to a very small value even if the actuator is forward at a high speed.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、ステップモータ等、磁気ディスク装置の磁
気ヘッド駆動用アクチュエータに適用して好適な磁気デ
ィスク装置のアクチュエータ制御方法に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an actuator control method for a magnetic disk device, which is suitable for application to an actuator for driving a magnetic head of a magnetic disk device, such as a step motor.

〔従来技術〕[Prior art]

近年パルス技術の発展にともない２ステツプモータが広
く普及している。これは、フィードバック制御を行わな
くても（すなわち、開ループ制御で）十分な精度が得ら
れるため、制御回路が簡単化されるという特徴がある。With the development of pulse technology in recent years, two-step motors have become widespread. This is characterized in that the control circuit is simplified because sufficient accuracy can be obtained without performing feedback control (that is, with open-loop control).

〔発明が解決しようとする問題点〕[Problem that the invention seeks to solve]

ところで、磁気ディスク装置のヘッドをステップモータ
等のアクチュエータによって高速駆動し、所定の位置（
以下、基準位置という）で止めようとすると、オーバー
シュートしたり、メカエンドに衝突して異音を発すると
いう問題があつ７’Ｃ１１この発明は、上記問題点を解
決し、迅速かつ高精度の位置決めを行うことのできる磁
気ディスク装置のアクチュエータ制御方法を提供するも
のである。By the way, the head of a magnetic disk drive is driven at high speed by an actuator such as a step motor, and the head is moved to a predetermined position (
If you try to stop at the reference position (hereinafter referred to as the reference position), there are problems such as overshooting or colliding with the mechanical end and producing abnormal noise.7'C11 This invention solves the above problems and enables quick and highly accurate positioning. An object of the present invention is to provide an actuator control method for a magnetic disk device that can perform the following steps.

〔問題点を解決するための手段〕[Means for solving problems]

上記問題点を解決するために、この発明は、ヘッドが基
準位置を通過したときに、このヘッドを駆動するステッ
プモータ等のアクチュエータを−たん逆駆動した後、再
び正駆動して前記ヘッドを基準位置に停止させることを
特徴とする。In order to solve the above problems, the present invention provides that when a head passes a reference position, an actuator such as a step motor that drives the head is reversely driven and then forwardly driven again to set the head as a reference position. It is characterized by being stopped at a certain position.

〔作用〕[Effect]

上記方法によれば、ヘッドが基準位置を通過した直後に
、アクチュエータに逆方向の力が作用するので、高速駆
動してもオーバーシュートを防ぐことができる。また、
逆駆動後、再び正駆動することにより低速運転中に基準
位置の決定を行うので、精度の高い位置決めを行うこと
ができる。According to the above method, a force in the opposite direction is applied to the actuator immediately after the head passes the reference position, so overshoot can be prevented even when the head is driven at high speed. Also,
After reverse driving, the reference position is determined during low-speed operation by performing forward driving again, so highly accurate positioning can be performed.

〔実施例〕〔Example〕

以下１図面を参照して本発明の詳細な説明する。 The present invention will be described in detail below with reference to one drawing.

第１図は本発明の一実施例の構成を示すプロンク図であ
る。この図において、１は２相励磁力式によって運転さ
れるｑ相のステップモータであり、図示せぬ駆動機構に
よって磁気ディスク装置のヘッドを駆動するものである
。このステップモータ１の相励磁パターンとしては、各
相に応じて、Ａ。FIG. 1 is a pronk diagram showing the configuration of an embodiment of the present invention. In this figure, reference numeral 1 denotes a q-phase step motor operated by a two-phase excitation force type, which drives the head of a magnetic disk device by a drive mechanism (not shown). The phase excitation pattern of this step motor 1 is A according to each phase.

Ｂ、Ｃ，ＩＩ種類の相励磁パターンが存在し、相励磁パ
ターンを７つずらす毎に、前記ヘッドの位置が／トラフ
２分移動するようになっている。そして、ステップモー
タ１の軸に固定された一条の遮へい板２がセンサ（フォ
トインタラプタ）３を遮断しくこのときセンサ３がオン
したと呼ぶ）、かつＡ相励磁のときに、前記ヘッドが基
準位置すなわちθトラック上に位置するように構成され
ている。There are B, C, and II types of phase excitation patterns, and each time the phase excitation pattern is shifted by seven, the position of the head moves by two minutes/trough. Then, a strip of shielding plate 2 fixed to the shaft of the step motor 1 blocks the sensor (photointerrupter) 3 (at this time, the sensor 3 is said to be turned on), and when the A-phase excitation is performed, the head is at the reference position. That is, it is configured to be located on the θ track.

本発明は、この基準位置に、いかに迅速かつ正確にヘッ
ドを持ってくるかという問題を解決しようとするもので
あるが、この制御を行うのが制御回路４である。すなわ
ち、制御回路４は、各相励磁パターンを形成し、駆ｔＪ
Ｊ回路５を介してステップモータ１を駆動制御し、以下
に詳述するようにセンサ３の出力と相励磁パターンとに
裏ってヘッドを基準位置にセントするとともに、これを
所望のトランクへ移動させる。The present invention attempts to solve the problem of how to bring the head to this reference position quickly and accurately, and the control circuit 4 performs this control. That is, the control circuit 4 forms each phase excitation pattern and drives tJ.
The step motor 1 is driven and controlled via the J circuit 5, and as described in detail below, the head is centered in the reference position based on the output of the sensor 3 and the phase excitation pattern, and the head is moved to the desired trunk. let

次に、第２図のフローチャートを参照して本実施例の動
作、すなわち、ヘッドを基準位置にセットする動作につ
いて説明する。Next, the operation of this embodiment, ie, the operation of setting the head at the reference position, will be explained with reference to the flowchart of FIG.

（１）第１段階（ステップＳＰ１〜５Ｐ４）制御回路４
はＡ相励磁上り始め（ステップ５ＰＩ）、センサ３がオ
ンとなるまで、すなわち遮へい板２がセンサ３を遮断す
るまで（ステップＳＰ２．５Ｐ４）、ステップモータ１
を正転（第１図のＸ方向へ回転）させる（ステップＳＰ
２　）。(1) First stage (steps SP1 to 5P4) control circuit 4
The A phase excitation starts to rise (step 5PI), and the step motor 1
(rotate in the X direction in Figure 1) (step SP
2).

（２）第２段階（ステップＳＰ５〜５Ｐ６）センサ３が
オンになると、制御回路４は、予め定められたＮステッ
プだけステップモータ１を逆転（第１図のＹ方向へ回転
）させる。ここでＮステップとは、税調を考慮し、遮へ
い板２がセンサ３を抜は出すために十分なステップ数と
する。(2) Second stage (steps SP5 to 5P6) When the sensor 3 is turned on, the control circuit 4 reversely rotates the step motor 1 (rotates in the Y direction in FIG. 1) by a predetermined N steps. Here, N steps is a sufficient number of steps for the shielding plate 2 to remove the sensor 3 in consideration of tax regulations.

（３）第３段階（ステップＳＰ７〜５ｐｓ）次に、ステ
ップモータ１を再びゆっくりと正転させ（ステップＳＰ
？）、遮へい板２が再びセンサ３をオンとし、かつステ
ップモータ１の相励磁がＡ相励磁となった時点でステッ
プモータ１を停止させる。これによってヘッドが基準位
置（θトラック）に停止する。(3) Third stage (step SP7 to 5 ps) Next, the step motor 1 is slowly rotated forward again (step SP
? ), the shielding plate 2 turns on the sensor 3 again, and the step motor 1 is stopped when the phase excitation of the step motor 1 becomes A-phase excitation. This causes the head to stop at the reference position (θ track).

本実施例によれば、センサ３がオンすると同時にステッ
プモータ１を逆転するため、高速で正転させてもオーバ
ーシュートや脱調による位置ずれを極めて小さく抑える
ことができる。また、メカエンドがセンサ３の近傍にあ
っても衝突することがない。According to this embodiment, since the step motor 1 is reversely rotated at the same time as the sensor 3 is turned on, positional deviations due to overshoot and step-out can be kept to an extremely small level even if the step motor 1 is rotated forward at high speed. Further, even if the mechanical end is located near the sensor 3, there will be no collision.

なお、上記第λ段階においては、ステップモータ１がＮ
ステップ逆転した時点で再び正転に切換えるようにした
が、これに代えて、センサ３がオフになった時点で正転
に切換えるようにしてもよい（第２図ステップＳＰ６の
欄の括弧内参照）。Note that in the above λ-th stage, the step motor 1 is
Although the step is changed to forward rotation again when the step is reversed, instead of this, the changeover may be made to change to forward rotation when the sensor 3 is turned off (see the parentheses in the column of step SP6 in Figure 2). ).

この方法によれば、センサ３オフで直ちに正転に入るの
で、時間の短縮を図ることができる。According to this method, the normal rotation starts immediately when the sensor 3 is turned off, so that the time can be shortened.

また−上記実施例においては、ステップモータとして回
転型のものを使用したが、リニアステップモータにも適
用できることは勿論である。Furthermore, in the above embodiments, a rotary type step motor is used, but it goes without saying that a linear step motor can also be used.

さらに、一般のモータにも適用することができ゛る。こ
の場合は、上記ステップＳＰＩは不用となり、また、ス
テップＳＰ８ではセンサオンのみをチェックすれば済む
。Furthermore, it can also be applied to general motors. In this case, step SPI is unnecessary, and it is sufficient to check only whether the sensor is on in step SP8.

また、センサとしてはフォトイノタラゲタの他、リミッ
トスイッチなど他のものでもよく、遮へい板もレバーな
どに代えることができる。また、遮へい板の取り付は位
置もモータ軸に直結する方法に限定されない。Further, the sensor may be other than the Photo Inotarageta, such as a limit switch, and the shielding plate may be replaced with a lever or the like. Further, the mounting position of the shielding plate is not limited to the method of directly connecting it to the motor shaft.

〔発明の効果〕〔Effect of the invention〕

以上説明したように、この発明は、ヘッドが基準位置を
通過したときに、ステップモータなどのアクチュエータ
を−たん逆駆動し、その後再び正駆動して前記ヘッドを
前記基準位置にセットするようにしたので、ヘッドの位
置決めを迅速かつ正確に行うことができる。また、オー
バーシュートなどを小さく抑えられるので、メカエンド
に衝突して異音を発するといった不都合を除去すること
ができる。As explained above, in the present invention, when the head passes the reference position, an actuator such as a step motor is driven in reverse, and then driven forward again to set the head at the reference position. Therefore, the head can be positioned quickly and accurately. In addition, since overshoot can be suppressed to a small level, inconveniences such as collisions with mechanical ends and abnormal noises can be eliminated.

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

第１図は本発明の一実施例の構成を示すブロック図、第
２図は同実施例の動作を示すフローチャー　１−である
。 １・・・・・・ステップモータ（アクチュエータ）、２
・・・・・・遮へい板、３・・・・・・センサ（検出手
段）。FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention, and FIG. 2 is a flowchart 1- showing the operation of the embodiment. 1...Step motor (actuator), 2
...shielding plate, 3... sensor (detection means).

Claims (1)

【特許請求の範囲】[Claims] アクチュエータによって駆動されるヘッドが基準位置を
通過したときに検出信号を出力する検出手段を有してな
る磁気ディスク装置のアクチュエータ制御装置において
、前記検出信号が出力された時点で前記アクチュエータ
を逆方向に駆動する第１の過程と、予め定められた量逆
駆動した時点あるいは前記検出信号オフの時点で前記ア
クチュエータを再び正方向に駆動する第２の過程と、そ
の後前記検出信号が再び出力されたときに、この検出信
号に基づいて前記基準位置に前記ヘッドを停止させる第
３の過程とを有することを特徴とする磁気ディスク装置
のアクチュエータ制御方法。In an actuator control device for a magnetic disk device, the actuator control device for a magnetic disk drive includes a detection means for outputting a detection signal when a head driven by an actuator passes a reference position, and the actuator is moved in a reverse direction when the detection signal is output. a first process of driving the actuator; a second process of driving the actuator in the forward direction again at the time when the actuator is reversely driven by a predetermined amount or when the detection signal is turned off; and after that, when the detection signal is output again. and a third step of stopping the head at the reference position based on the detection signal.
JP15067184A 1984-07-20 1984-07-20 Actuator control method of magnetic disc device Pending JPS6129912A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP15067184A JPS6129912A (en) 1984-07-20 1984-07-20 Actuator control method of magnetic disc device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP15067184A JPS6129912A (en) 1984-07-20 1984-07-20 Actuator control method of magnetic disc device

Publications (1)

Publication Number Publication Date
JPS6129912A true JPS6129912A (en) 1986-02-12

Family

ID=15501929

Family Applications (1)

Application Number Title Priority Date Filing Date
JP15067184A Pending JPS6129912A (en) 1984-07-20 1984-07-20 Actuator control method of magnetic disc device

Country Status (1)

Country Link
JP (1) JPS6129912A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02263214A (en) * 1989-03-10 1990-10-26 Hitachi Ltd Movable position controller
JPH03164812A (en) * 1989-11-22 1991-07-16 Matsushita Electric Ind Co Ltd Linear actuator controller
JPH0438775A (en) * 1990-06-02 1992-02-07 Asahi Optical Co Ltd Initial position controller for read head
JPH05242592A (en) * 1992-03-02 1993-09-21 Teac Corp Disk device
JP2003099130A (en) * 2001-09-21 2003-04-04 Ricoh Co Ltd Positioning device for traveling object

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5642807A (en) * 1979-09-17 1981-04-21 Komatsu Ltd Original point resetting method of nc machine tool
JPS5785103A (en) * 1980-11-15 1982-05-27 Ricoh Co Ltd Stop position control system of travelling object
JPS57191709A (en) * 1981-05-20 1982-11-25 Ricoh Co Ltd Controlling system for stopping moving material at home position

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5642807A (en) * 1979-09-17 1981-04-21 Komatsu Ltd Original point resetting method of nc machine tool
JPS5785103A (en) * 1980-11-15 1982-05-27 Ricoh Co Ltd Stop position control system of travelling object
JPS57191709A (en) * 1981-05-20 1982-11-25 Ricoh Co Ltd Controlling system for stopping moving material at home position

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02263214A (en) * 1989-03-10 1990-10-26 Hitachi Ltd Movable position controller
JPH03164812A (en) * 1989-11-22 1991-07-16 Matsushita Electric Ind Co Ltd Linear actuator controller
JPH0438775A (en) * 1990-06-02 1992-02-07 Asahi Optical Co Ltd Initial position controller for read head
JPH05242592A (en) * 1992-03-02 1993-09-21 Teac Corp Disk device
JP2003099130A (en) * 2001-09-21 2003-04-04 Ricoh Co Ltd Positioning device for traveling object

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