KR100892823B1 - Optical disc apparatus and magnetic disc apparatus - Google Patents

Abstract

Means (101a) for evaluating the position control deviation and means (102a) for outputting a correction signal having the kick brake function signal set to the actuator (10) based on the evaluation result. Control is performed so as not to exceed. When playing back an optical disk having a disk physical distortion such as vibration, impact on the optical disk device, shock disturbance during eccentricity, or eccentric surface vibration, the control deviation is suppressed without losing control stability, even when the control deviation increases. Enables stable recording reproduction at all times.

Description

Optical disk device and magnetic disk device {OPTICAL DISC APPARATUS AND MAGNETIC DISC APPARATUS}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an optical disk device, and in particular, an increase in the control deviation with respect to vibration disturbances acting on the optical disk device, or physical distortion (here, refers to surface vibration in the focus direction and eccentricity in the track direction. The present invention relates to an increase in the residual positional deviation of a large optical disk, and relates to a positional control deviation suppression control method that prevents an increase in these positional control deviations and suppresses control deviation of the optical pickup.

In the conventional optical disc apparatus, various methods for maintaining the continuity of a reproduction signal when recording or reading information on an optical disc under vibrating conditions have been considered. For example, in Patent Literature 1, a memory for storing a reproduced signal is expanded, high-speed reading is performed, and the reproduced signal is stored in the memory once, and then read sequentially. In the out-of-period period, the information stored in the memory is read, and the control retry operation is performed until the information of the memory disappears, thereby enabling continuous playback even during vibration. Further, Patent Document 2 describes a method of removing an influence of disturbance vibration on optical pickup control by adding an acceleration sensor to detect vibration and adding detected vibration information to the servo loop of the optical pickup.

Patent Document 1: Japanese Unexamined Patent Publication No. Hei 5-101565 (pages 1-7, FIG. 1)

Patent Document 2: Japanese Unexamined Patent Publication No. Hei 9-27164 (pages 1-5, Fig. 1)

(Problems that the invention wants to solve)

In the conventional countermeasure for vibration as described above, for example, Patent Document 1 requires a semiconductor memory, and Patent Document 2 also requires an acceleration sensor, which causes a problem that the device becomes expensive.

(Means to solve the task)

The present invention provides light irradiation means for irradiating light to form an optical spot on an optical disk, drive means for performing a predetermined operation on the optical disk based on a drive control signal, and reflected light from the optical disk. Photoelectric conversion means for detecting relevant reflected light information, position deviation signal detection means for detecting relative position errors of the objective lens and the optical disc based on the reflected light information, and position deviation signals obtained from the position deviation signal detection means Based on evaluation results of the control signal generating means for generating a control signal for defining the control amount in the predetermined operation, the position control deviation evaluation means for evaluating the position deviation signal, and the position control deviation evaluation means. A kick signal with respect to the drive means and a brake signal subsequent thereto Correction kick brake set signal generating means for outputting a corrected kick brake set signal, addition means for adding the correction kick brake set signal and the control signal, the correction kick brake set signal generating means and the addition There is provided an optical disk apparatus comprising switch means for turning on / off the addition of the correction kick brake set signal to the control signal provided between the means.

(Effects of the Invention)

The optical disk apparatus of the present invention functions to suppress the residual deviation caused by the disk physical distortion such as eccentric surface vibration as well as the residual deviation caused by the acceleration disturbance including the shock wave acting from the outside of the system, resulting in the recording of the signal. Playback can be performed stably. In addition, since the present invention realizes the function by the digital logic circuit of the predetermined sampling frequency, it is possible to realize the function as a hard logic circuit inside the control LSI, and also constitute the F / W (firmware) of the general-purpose microcomputer. It is possible to effectively suppress the position control deviation without increasing the hardware cost.

1 is a block diagram showing Embodiment 1 of the present invention;

2 is a diagram showing the positional deviation detection characteristic of the positional deviation signal detecting means 6 in the embodiment of the present invention;

3 is a view for explaining an operating state of the first position control deviation evaluation means 101a in the first and second embodiments of the present invention;

4 is a bubble chart showing the mode transition of the first correction kick brake set signal generating means 102a according to the first and second embodiments of the present invention;

5 is an operation table showing the operation function of the first correction kick brake set signal generating means 102a according to the first and second embodiments of the present invention;

6 (a) and 6 (b) are views showing the effect in Example 1 of the present invention;

7 is a view showing the operation and effect in the first embodiment of the present invention;

8 (a) and 8 (b) are views showing the effect in Example 1 of the present invention;

9 is a block diagram showing Embodiment 2 of the present invention;

10 is a block diagram showing a phase advancing means 107 of the present invention;

11 (a) to 11 (e) are views showing the effect of the fastening means 107 of the present invention,

12 (a) and 12 (b) are views showing the effect in the second embodiment of the present invention;

13 (a) and 13 (b) are views showing the effect in the second embodiment of the present invention;

14 (a) and 14 (b) are diagrams showing the frequency characteristics of the driving means in the embodiment of the present invention;

15 (a) and 15 (b) are views showing the effect in the third embodiment of the present invention;

16 is a block diagram showing a third embodiment of the present invention;

17 is a view for explaining an operating state of the second position control deviation evaluation means 101b in the third and fourth embodiments of the present invention;

18 is a bubble chart showing the mode transition of the second correction kick brake set signal generating means 102b according to the third and fourth embodiments of the present invention;

19 is an operation table showing the operation function of the second correction kick brake set signal generating means 102b according to the third and fourth embodiments of the present invention;

20 (a) and 20 (b) are views showing the effect in the third embodiment of the present invention;

21 (a) and 21 (b) are views showing the effect in the third embodiment of the present invention;

22 is a block diagram showing a fourth embodiment of the present invention;

23 (a) and 23 (b) are views showing the effects in the fourth embodiment of the present invention;

24 (a) and 24 (b) are diagrams showing the effect in the fourth embodiment of the present invention.

(Explanation of the sign)

1: optical disc 2: light irradiation means

3: objective lens 4: photoelectric conversion element

5: half mirror 6: position deviation signal detection means

7: phase compensation means 8: addition means

9: driver amplifier 10: actuator drive coil

100: position control deviation suppression control means

101a: first position control deviation evaluation means

101b: second position control deviation evaluation means

102a: First correction kick brake set signal generating means

102b: second correction kick brake set signal generating means

103: switch means 104: internal counter

105: internal counter 107: fastening means

107a: register 107b: subtraction means

107c: amplification means 107d: addition means

An example in which the position control deviation suppression control device, which is a characteristic part of the optical disk of the present invention, is realized in a digital arithmetic function element as a digital arithmetic circuit.

(Example 1)

1 is a block diagram showing an optical disk device according to a first embodiment of the present invention.

The laser light emitted from the light irradiation means 2 including the semiconductor laser at the time of data recording or data reproduction is condensed on the optical disc 1 via the half mirror 5 and the objective lens 3. At the time of data reproduction, the light reflected from the disk 1 is input to the photoelectric conversion element 4 via the half mirror 5.

The actuator drive coil 10 is rigidly connected to the objective lens 3 (reliably connected so as to move integrally), the drive coil 10 is provided in a magnetic circuit, and the object is driven by the drive coil 10. The lens 3 can be moved in the vertical direction or the horizontal direction with respect to the disk 1. Since the objective lens 3 and the actuator drive coil 10 are rigidly connected and integrated as described above, they are collectively referred to as simply drive means hereinafter. The drive means performs a predetermined operation on the optical disc.

The position deviation signal detecting means 6 is based on the photoelectric conversion signal (reflected light information) obtained from the photoelectric conversion element 4, and the optical disc 1 and the actual objective lens 3 which are the target tracking positions of the objective lens 3. Position deviation signal S6, which is a relative position error with the position of?), Is output to the phase compensating means 7 and the first position control deviation evaluating means 101a. The detection characteristic is nonlinear in both the focus error detection system and the track error detection system. As an example, FIG. 2 shows detection characteristics of the focus error detection system. In the same figure, the horizontal axis represents actual position deviation (× 10 ⁻⁵ m), and the vertical axis represents position deviation detection system output (V). The phase compensating means 7 outputs the drive means control signal S7 to the adding means 8 based on the input signal. The addition means 8 outputs the signal which added the drive means control signal S7 and the output of the selection switch 103 mentioned later. The output of the adding means 8 is input to the driver amplifier 9, and the output thereof is supplied to the actuator drive coil 10, whereby the predetermined operation is performed. In the above, the functional blocks indicated by reference numerals 1 to 10 constitute a general position control loop.

The optical disc device of this embodiment adds the following components to the above general position control loop.

The first position control deviation evaluating means 101a has a function of evaluating the amplitude information of the position deviation signal S6, and specifically determines and evaluates whether or not the absolute value of the amplitude of S6 is less than a predetermined value. In addition, when the absolute value of amplitude of S6 is more than predetermined value, the evaluation result can also discriminate whether it crossed the threshold value of the positive (positive) side, or exceeded the threshold value of the negative (negative) side.

The first correction kick brake set signal generating means 102a is based on the evaluation result of the first position control deviation evaluation means 101a, and the evaluation result of the position control deviation evaluation means 101a is the absolute value of the amplitude of S6. The correction kick signal is output at a predetermined amplitude in a direction in which the position control deviation evaluation means 101a evaluates the result of the position control deviation evaluation means 101a until the absolute value of the amplitude of S6 becomes less than the predetermined value. Then, measure the time of application of the calibration kick signal. Immediately after the application of the correction kick signal is completed, a correction brake signal having a predetermined amplitude of reverse polarity is applied in a period equal to or less than the application time of the correction kick signal.

The selection switch 103 is for correction which is an output of the first correction kick brake set signal generating means 102a to the addition means 8 described above, based on the positional deviation suppression control ON / OFF (on / off) control signal. Controls the supply of kick brake set signals. The function of the selection switch 103 is to prevent the correction kick brake set signal from being supplied to the drive means when the conventional position control loop is not closed. The position deviation suppression control ON / OFF control signal is intended to indicate the switch-on when at least the general position control loop constituted by the function blocks 1 to 10 is closed and the position control loop is functioning. Not supplied from the whole control unit. The functional blocks 101a to 103 described above are collectively referred to as merely position control deviation suppression control means 100.

FIG. 3 is a view for explaining the operation function of the first position control deviation evaluation means 101a, and FIG. 4 is a bubble chart showing the mode transition in the first correction kick brake set signal generating means 102a. 5 shows a functional table for describing the operation in each state of the first correction kick brake set signal generating means 102a.

3 is a view for explaining the operation function of the first position control deviation evaluation means 101a, and has a function of classifying and determining the position deviation signal S6 as an input signal into three states. The figure is a figure which shows an example of the time change of the position deviation signal S6. The first position control deviation evaluating means 101a determines a positive side threshold value set to a high value for a reference potential (a potential at which the control deviation of the position control system becomes zero) and a negative side threshold value set to a low value for the reference potential. Have As shown by the lowest determination result of FIG. 3, the 1st position control deviation evaluation means 101a is a 1st state (hereinafter, "state" when S6 is less than a positive side threshold value and is larger than a negative side threshold value. &Quot; 0 "), and output a judgment result " ST0 " indicating the state " 0 ".

When S6 is equal to or greater than the plus side threshold value, it is determined as the second state (hereinafter referred to as "state" + "), and the determination result" ST1 + "indicating the state" + "is output.

When S6 is equal to or less than the negative side threshold value, it is determined as the third state (hereinafter referred to as "state"-""), and the determination result "ST1-" which shows the state "-" is output.

4 is a bubble chart showing the mode transition in the first correction kick brake set signal generating means 102a. There are five modes in total, and the determination results of the first position control deviation evaluation means 101a and the count value "COUNTER1" of the internal counter 104 are used for these five mode transitions. The operation of the internal counter 104 will be described later with reference to FIG. 5, but the operation of the mode transition will be described before.

The initial mode is an idle mode (hereinafter referred to as "idle_mode"). In this mode, when the determination result of the 1st position control deviation evaluation means 101a becomes "ST1 +", it becomes 1+ kick mode (henceforth "1 + kick_mode"), and when it becomes "ST1-", it is 1 -The mode transition to kick mode (hereinafter referred to as "1-kick mode").

In " 1 + kick_mode ", when the determination result of the first position control deviation evaluation means 101a becomes " ST0 ", the mode transition is made to the 1+ brake mode (hereinafter referred to as " 1 + brake_mode ").

In " 1-kick_mode ", when the determination result of the first position control deviation evaluation means 101a becomes " ST0 ", the mode is shifted to the 1-brake mode (hereinafter referred to as " 1-brake_mode ").

In " 1 + brake_mode ", when " COUNTER1 " becomes 0 or less, the mode transitions to " idle_mode ".

In " 1-brake_mode ", when " COUNTER1 " becomes 0 or less, the mode transitions to " idle_mode ".

5 is an operation explanatory table of the first correction kick brake set signal generating means 102a. The operation and output of the internal COUNTER1 in each transition mode are shown. COUNTER1 is reset and initialized in "idle_mode" and initialized, and counts up by 1 every 1 sampling period in "1 + kick_mode", and n (n is an integer greater than or equal to 1) every 1 sampling period in "1 + brake_mode". Count down. In addition, COUNTER1 counts up by one every one sampling period in " 1-kick_mode " and counts down n by n (n is an integer of 1 or more) every " 1-brake_mode ".

The output of the first correction kick brake set signal generating means 102a is not output in " idle_mode ", but outputs a signal nl_out of a predetermined amplitude in " 1 + kick_mode " and " 1-brake_mode " And " 1-kick_mode " outputs -nl_out.

By the above-described configuration, if the amplitude of the position deviation signal S6 exceeds a predetermined threshold (here, the positive side threshold and the negative side threshold), the correction kick signal (amplitude nl_out in the direction of decreasing the amplitude of the S6 immediately). ) Is output until S6 becomes less than the threshold value, and immediately after S6 becomes less than the threshold value, the correction kick signal and the reverse polarity correction brake signal (amplitude -nl_out in this example) are less than or equal to the application time of the correction kick signal. It becomes possible to apply a predetermined time. The function of the correction brake signal is to zero the positional deviation speed accelerated by the correction kick signal, and the correction brake signal is the correction time in the case of the present embodiment having the same amplitude and inverse polarity as the correction kick signal. It becomes 1/2 (n = 2) of the kick signal application time.

6 (a) and 6 (b) show the operation waveforms of the present invention. (A) is the case of the conventional position control system which turned off the position control deviation suppression control of this invention, and FIG. (B) is the case of turning on the position control deviation suppression control of this invention to be. In the figure, the applied acceleration G, the position deviation signal S6 (V), and the correction kick brake set signal S100 (V) from the top. This data is an example of focus control as an example of position control, and the applied acceleration is applied for the purpose of acting as a disturbance in the focus control system, the frequency 600 Hz amplitude 10G (G is the gravity acceleration), and the position deviation signal S6 represents a focus error signal. In addition, the operation sampling frequency of the position control deviation suppression control means 100 of the present invention is 600 Hz. When there is no positional control deviation suppression control of this invention, the deviation of +/- 1V with respect to applied acceleration generate | occur | produces. 2, the detection characteristic of the position deviation signal detection means 6 is shown. From the figure, with respect to the actual position deviation, the position detection characteristic of the position deviation signal detecting means 6 has a nonlinear characteristic with a limited detection range, and in this example, has a detectable range of about 12 microns. The maximum output of 1V can be obtained with a deviation of about 6㎛. From this characteristic, the range of position deviations that can be used in the actual control system ranges from -6 microns to +6 microns, and if it exceeds this, the detection sensitivity of the position control deviation detection means 6 becomes low, and the control loop gain becomes low. It causes breakage such as out of control. Therefore, in the conventional example of Fig. 6 (a), the control state is large, and as a result, not only the degradation of the reproduction signal quality and the recording signal deterioration at the time of recording, but also the limit state that causes the control system to break (out of control) It can be seen that. When the positional control deviation suppression control of the present invention is operated under the same conditions, it can be seen that the correction kick brake set signal S100 acts to make the positional deviation signal S6 small. As a result, the amplitude of the deviation signal can be suppressed to about 0.05V. This is set to ± 0.191 µm or less in terms of the actual deviation amount. This effect acts not only on the examples shown in Figs. 6 (a) and 6 (b) but also on the applied acceleration at an arbitrary frequency lower than the crossover frequency of the position control loop. The applied acceleration applies not only to acceleration disturbances such as vibration, but also to disk acceleration caused by physical distortion of the disk.

FIG. 7 is a diagram for explaining the operation of the present invention more clearly, and is an enlargement of the vertical axis of the figure of the position control deviation S6 which is the data of the center of FIG. 6 (b). In the figure, in the graph of the position control deviation S6, the plus-side threshold value and the minus-side threshold value are written in solid lines, and the timing of time exceeding both threshold values is written in dotted lines on the correction signal graph side shown below the figure. It is. In the figure, when the center position control deviation S6 becomes equal to or less than the minus-side threshold value, during the period, the correction kick signal under the figure is output toward the minus predetermined amplitude (B in the figure), and as a result, the position is instantaneously. It is understood that the increase in the control deviation S6 is suppressed. In addition, by the brake signal for correction of the predetermined amplitude immediately after the correction kick signal (A in the drawing), the position deviation speed which is the time derivative of the position deviation signal S6 becomes 0 (the same figure position deviation signal after application of the correction brake signal). Slope is 0), and the function of preventing overshooting due to the speed generated by the correction kick signal can be confirmed. On the other hand, when the position control deviation S6 becomes equal to or greater than the plus side threshold value, during the period, the correction kick signal is output to the plus side of the predetermined amplitude (B in the figure), and as a result, an increase in the instantaneous position control deviation S6 is suppressed. I can see that there is. In addition, by the brake signal for correction of the predetermined amplitude immediately after the correction kick signal (A in the drawing), the position deviation speed which is the time derivative of the position deviation signal S6 becomes 0 (the same figure position deviation signal after application of the correction brake signal). Slope is 0), and the function to prevent overshooting due to the speed generated by the correction kick signal can be confirmed. In addition, when the position control deviation S6 is between the negative side threshold value and the positive side threshold value, the correction kick brake signal S100 is not output, and the operation of the conventional conventional stable position control system is performed.

As described above, the present invention does not function when the position control deviation S6 is between the negative side threshold value and the positive side threshold value, and the operation remains unchanged from the conventional position control. It is a condition that cannot be suppressed in a conventional position control system such as excessive disk physical distortion or excessive disturbance acceleration, and as a result, the control deviation suppression control of the present invention functions only when the position control deviation S6 increases and the threshold value is exceeded. Since the correction kick signal is applied immediately after the correction kick signal so that the correction kick signal does not exceed the threshold value and the position deviation speed by the correction kick signal is zero, the position control deviation S6 is stably thresholded. It does not exceed As a result, according to the present invention, it is possible to prevent an increase in the positional deviation, even under conditions that cannot be suppressed by a conventional position control system such as excessive disk physical distortion or excessive disturbance acceleration, thereby achieving stable recording and reproduction.

8 (a) and 8 (b) are simulation results in which shock acceleration generated when the optical disk device collides with an external rigid body is simulated, and the behavior of position control deviation when this shock is applied is investigated. Figure (a) is the time behavior at the time of impact application according to the conventional position control method, and (b) is the time behavior at the time of impact application according to the present invention (operating sampling frequency is 600 Hz). It is applied acceleration G, position deviation signal S6 (V), actual position control deviation m, and correction kick brake set signal S100 (V) from the top in the figure. In this analysis, as an example, the applied acceleration assumes a rectangular wave with an amplitude of 200 G and a time width of 20 Hz, and assumes focus control as a position control system. In the conventional position control system, it is understood that the control is out of position because the position control deviation increases due to the application of an impact, and the deviation exceeds the detection limit of the position control deviation detection system. As shown in the figure (b), in the case where control deviation suppression control according to the first embodiment of the present invention is performed under the same condition as the figure (a) and the applied acceleration, the position control deviation after the application of the impact is In comparison with the related art, the temperature decreases and converges within the detection limit range of the position control deviation detection system.

In this way, the control deviation suppression control of the present invention functions even in a condition where the disturbance acceleration due to the shock becomes excessive and becomes impossible to control in the conventional position control system, and the operation is performed so that the position control deviation does not exceed the detection limit of the position deviation detection system. do. As a result, according to the present invention, it is possible to prevent an increase in the positional deviation even in a condition where a non-suppressive shock disturbance is applied in the conventional position control system, thereby achieving stable recording and reproduction. In addition, in this description, although the structure as shown in FIG. 3 to FIG. 5 was given the structure of the position control deviation suppression control means 100, it is not limited to this. It is a matter of course that any means and configuration may be used as long as the configuration can obtain an output form similar to the present description.

(Example 2)

In Example 1, the operation sampling frequency of the position control deviation suppression control means 100 was 600 Hz, and it was the example selected with the comparatively high frequency. The sampling frequency of 600 kHz is a value that can be sufficiently realized when the function of the present invention is realized by the hard logic circuit of the control LSI. However, when the function of the present invention is realized as firmware of a general purpose microcomputer, the sampling frequency is There are many cases where the limit is about 100㎑. So, in Embodiment 2, even if the operation sampling frequency of the position control deviation suppression control means 100 is set low, the structure which can exhibit an effect is demonstrated.

9 is a block diagram in the case where the operation sampling frequency of the control deviation suppression control means 100 is set low in the second embodiment of the present invention. The input signal of the control deviation suppression control means 100 is a position deviation signal S6, and the output signal is a correction kick brake set signal S100. Position control deviation S6, which is an input signal, is provided at an input terminal of A / D conversion means (for example, position control deviation suppression control means 100) that performs A / D conversion with a predetermined quantization resolution at a predetermined sampling period. Is converted into digital data, and the converted data compensates for the time delay due to discretization in the advancement means 107. Note that the functional blocks 101 to 103 are the same as the functions described in the first embodiment of the present invention, and thus description thereof is omitted.

As a result, in Example 2, in order to compensate the time delay by the sampling of the control deviation suppression control means 100 in Example 1, the expansion means 107 is newly added. FIG. 10 shows an example of using the predictive hold as an example of realizing the advancement means 107. If the input of the advance means 107 is defined as IN (k), the output is OUT (k), and the time prediction coefficient is K, and the advance means 107 is called a predictive hold, the advance means 107 is formulated as follows. can do.

out (k) = in (k) + K {in (k) -in (k-1)}

Where out (k) is the output, in (k) is the input, (k is any natural number), and K is the time prediction coefficient.

By sequentially calculating the above expression for each sampling timing, the phase of the input signal is output in the true form.

The component of FIG. 10 is as follows. The position control deviation S6 made of digital data which is an output of the A / D conversion means (not shown) is an input signal, and the input signal is a shift register 107a, a plus operation side of the subtraction means 107b, and an addition means ( 107d). The output of the shift register 107a is input to the minus operation side of the subtraction means 107b, and the output of the subtraction means 107b is multiplied by the time prediction coefficient by the amplification means 107c and input to the addition means 107d. do. The output of the addition means 107d becomes the output of the advancement means 107.

The data demonstrated about the effect of the fastening means 107 to FIG. 11 (a)-(e) is shown. This data is an example of a sampling frequency of 10 Hz. A is an input signal of the control deviation suppression control means 100, and is an input of the A / D conversion means, that is, position deviation S6. Figure b is a waveform when the time prediction coefficient is 0, i.e., without activating the advance means 107 and ignoring this. (C), (d), (e) are waveforms when the time prediction coefficients are set to 0.5, 1.0, and 1.5, respectively. In addition, for comparison and comparison, input signals are written in dotted lines in (b) to (e). As shown in (b), since the input signal is held in the 0th order by A / D conversion, the phase of the output signal is delayed by about 1/2 of the sampling period with respect to the input. It is resolved. If (d) and (e) and the time prediction coefficient are made too large, it turns out that a phase advances with respect to an input signal, and an amplitude also becomes large. In this way, it is understood that the time prediction coefficient should be set to an optimum predetermined value according to the sampling frequency of the system to be applied.

12 (a) and 12 (b) show the operation waveforms of the present invention. 12 (a) and 12 (b) are simulation results in which shock acceleration generated when an optical disk device collides with an external rigid body is simulated, and the behavior of position control deviation when this shock is applied is investigated. Since the impact is a pseudo impulse waveform, it becomes a disturbance application condition of all bands, and therefore, the weakest frequency component with respect to the disturbance in the control loop applied as the disturbance appears as a residual deviation. Therefore, it is easy to use the shock response as an evaluation of stability against disturbance. (A) shows the time behavior at the time of application of an impact when the operating sampling frequency of the position control deviation suppression control means 100 is set to 100 Hz according to the system configuration of Embodiment 1, and (b) is an embodiment of the present invention. Time behavior at the time of impact application by 2 (K = 0.5). In the figure, it is applied acceleration G, position deviation signal S6 (V), actual position control deviation m, and correction kick brake set signal S100 (V) from the top. As an example, this analysis assumes a rectangular wave with an amplitude of 200 G and a time width of 20 Hz, which is the same condition as in Figs. 8 (a) and 8 (b) of the first embodiment. I assume. In the system of Example 1, it turns out that position control deviation S6 oscillates as an impact is applied, and since the deviation exceeds the detection limit of a position control deviation detection system, control turns out. As shown in the figure (b), when the control deviation suppression control by Example 2 of this invention is performed on the same conditions as the figure (a) and application acceleration, the position control deviation after application of an impact is a position It is contained within the detection limit range of the control deviation detector and finally converges to zero. Thus, the effect of the advancement means 107 which is a functional block added in Embodiment 2 of this invention enables control operation of the stable position control deviation suppression control means 100 even if operation | movement sampling frequency is made small.

13 (a) and 13 (b) show operational waveforms of the second embodiment of the present invention under the same conditions as those of FIGS. 6 (a) and 6 (b) in the first embodiment of the present invention. In addition, the value of the time prediction coefficient is K = 0.5. The case (a) is a case of the conventional position control system which turned off the position control deviation suppression control of this invention, and the figure (b) is the case where the position control deviation suppression control of this invention was turned ON. In the figure, the applied acceleration G, the position deviation signal S6 (V), and the correction kick brake set signal S100 (V) from the top. This data is an example of focus control as an example of position control, the applied acceleration is applied for the purpose of acting as a disturbance in the focus control system, the frequency is 600 Hz amplitude 10G (G is gravity acceleration), and the position deviation signal S6 is the focus error. Indicates a signal. In addition, the operation sampling frequency of the position control deviation suppression control means 100 of the present invention is 100 Hz. When there is no positional control deviation suppression control of this invention, the deviation of +/- 1V with respect to applied acceleration generate | occur | produces. When the positional control deviation suppression control of the present invention is operated under the same conditions, it can be seen that the correction kick brake set signal S100 acts to make the positional deviation signal S6 small. As a result, the amplitude of the deviation signal can be suppressed to about 0.05V. This is set to ± 0.191 µm or less in terms of the actual deviation amount. This effect works similarly to the applied acceleration at any frequency lower than the crossover frequency of the position control loop as well as the examples shown in Figs. 13A and 13B. The applied acceleration applies not only to acceleration disturbances such as vibration, but also to disk acceleration caused by physical distortion of the disk.

As described above, in the second embodiment, even when the operation sampling frequency of the position control deviation suppression control means 100 is low, the advance means 107 provided at the input end of the position control deviation suppression control means 100 is provided. The phase delay due to sampling can be compensated for and the same effects as those described in Embodiment 1 can be obtained. In addition, in this description, although the structure of the position control deviation suppression control means 100 was made into the example as shown in FIG. 3 thru | or 5 and the structure of the fastening means in FIG. 10, it is not limited to this. Needless to say, any means and configuration may be used as long as the output form and function similar to the present description can be obtained.

(Example 3)

In Examples 1 and 2, the frequency characteristics of (position) / (drive voltage) of the drive means are examples in which the amount of phase rotation is 180 degrees (DEG) in a band of 10 Hz or more. In actual driving means, the high-pass operating characteristic may be deteriorated by the second order low pass filter characteristic due to the higher order resonance characteristic of 10 Hz or more. Therefore, in Example 3, the structure which can exhibit an effect even if it uses the drive means by which the high frequency operation characteristic by this high-order resonance characteristic was deteriorated is demonstrated.

14 (a) and 14 (b) are frequency characteristics of (position) / (force) of the mechanism element having higher order resonance in the drive means. It can be seen that Figures (a) and (b) both have higher order resonances in the band of 10 Hz or more. Figure (a) is a characteristic of the type with anti-resonance between the higher order resonance and the first-order resonance, and (b) is the characteristic of the type without it. Here, the type of (a) is called antiresonant type, and the type of (b) is called pure resonant type.

In the anti-resonant type, gain and phase characteristics only change locally near the higher-order resonant frequency, and in the band higher than the higher-order resonant frequency, the antiresonant type is equivalent to the characteristic without higher-order resonance. Therefore, the ideal driving means with no high-order resonance has almost the same movement characteristics, and high speed driving is possible without deterioration even in a band of 10 Hz or more. On the other hand, the forward resonant type has a characteristic in which the secondary LPF is connected in series with respect to the characteristic of the ideal drive means without higher-order resonance in a band above the higher-order resonance frequency. Therefore, in the band of higher order resonance or higher, the movement characteristics are significantly deteriorated, and high speed driving becomes impossible.

In the case of using the forward resonant drive means, in the conventional position control system, since the loop band is set below the higher-order resonance, this is not a problem. However, in the present invention, the drive means is driven at a high speed by means of an impulse correction kick brake signal. The function is realized by this, which is one of the major causes of performance deterioration.

15 (a) and 15 (b) are the same conditions as those in the first embodiment shown in FIG. 8 (b), and are the results when the drive means is the forward resonance type shown in FIG. 14 (b). When the drive means is anti-resonant type, the result is the same as in FIG. 8 (b). However, in the case of forward resonant type, after the shock disturbance is applied, the positional deviation does not converge as shown in FIG. It can be seen that. This is caused by a time delay occurring at a high frequency due to the frequency characteristic of the drive means. The oscillation is because the correction kick brake set signal S100 is overcontrolled and is hunting, and in order to prevent this, the amplitude of the correction kick brake set signal S100 may be set small. FIG. 15B shows the result when the absolute value of the amplitude of the correction kick brake set signal S100 is set to 64% (0.64V) of the figure (a). Oscillation disappears and it converges stably, but compared with FIG.8 (b), the position deviation amount after impact application is increasing from 2.1 micrometers to 4 micrometers. In this way, when the forward resonant type is used as the driving means, the amplitude of the correction kick brake set signal S100 is limited compared with the anti-resonant type, and thus there is a problem that the position control deviation suppression effect is deteriorated. The third embodiment of the present invention aims to realize a configuration in which the deterioration of the position control deviation suppression effect is small even when the forward resonant drive means is used.

Fig. 16 is a block diagram in the third embodiment of the present invention. The 1st position control deviation evaluation means 101a in Example 1 of this invention shown in FIG. 1 is replaced by the 2nd position control deviation evaluation means 101b, and the 1st correction kick brake set signal generation means 102a is carried out. ) Is replaced by the second correction kick brake set signal generating means 102b. In addition, since other functional blocks are the same as the function demonstrated in Embodiment 1, the description is abbreviate | omitted.

FIG. 17 is a view for explaining the operation function of the second position control deviation evaluation means 101b, and has a function of classifying and determining the position deviation signal S6 as an input signal into five states. The figure shows an example of the time change of the position deviation signal S6. The second position control deviation evaluating means 101b sets the first plus side threshold value (hereinafter referred to as "plus side threshold value 1") set to a high value with respect to the reference potential (a potential at which the control deviation of the position control system becomes zero). And a second positive side threshold value (hereinafter referred to as "plus side threshold value 2") set to a value higher than the positive side threshold value 1, and a first negative side threshold value set to a low value with respect to the reference potential ( Hereinafter, it has a "minus side threshold value 1" and a 2nd negative side threshold value (henceforth "minus side threshold value 2") set to the value lower than the said negative side threshold value 1. As shown in FIG. As the lowest determination result of FIG. 17 shows, the 2nd position control deviation evaluation means 101b is a 1st state (hereinafter, when it is larger than the positive side threshold value 1 and larger than the negative side threshold value 1). "State" 0 "", and the determination result "ST0" which shows the state "0" is output. When S6 is greater than or equal to the plus side threshold 1 and less than the plus side threshold 2, it is determined that the second state (hereinafter referred to as "state" + "") is determined, and the determination result "ST1 +" indicating the state "+" is determined. Output If S6 is equal to or less than the minus side threshold 1 and is greater than minus side threshold 2, it is determined as the third state (hereinafter referred to as "state"-""), and the determination result "ST1-" indicates the state "-". Prints " When S6 is equal to or greater than the plus side threshold value 2, it is determined as the fourth state (hereinafter referred to as "state" ++ "), and the determination result" ST2 + "indicating the state" ++ "is output. When S6 is equal to or smaller than the negative side threshold value 2, it is determined as the fifth state (hereinafter referred to as "state"-""), and the determination result "ST2-" indicating the state "-" is output.

18 is a bubble chart showing the mode transition in the second correction kick brake set signal generating means 102b. There are nine modes in total, and in these nine mode transitions, the determination result of the second position control deviation evaluation means 101b, the count value "COUNTER1" of the first internal counter 104 and the second internal counter 105 are determined. The count value "COUNTER2" is used. The operation of the first and second internal counters 104 and 105 will be described later with reference to FIG. 19, but the operation of the mode transition will be described before.

The initial mode is "idle_mode". In this mode, when the determination result of the second position control deviation evaluation means 101b becomes "ST1 +" or "ST2 +", it becomes "1 + kick_mode", and when it becomes "ST1-" or "ST2-", "1-kick_mode". As the mode transitions.

In " 1 + kick_mode ", when the determination result of the second position control deviation evaluation means 101b becomes " ST0 ", it becomes " 1 + brake_mode ", and when the determination result is " ST2 + " + kick_mode ").

In "2 + kick_mode", when the determination result of the second position control deviation evaluation means 101b becomes "ST1 +" or "ST0", the mode transition is made to the 2+ brake mode (hereinafter referred to as "2 + brake_mode"). .

In " 1-kick_mode ", when the determination result of the second position control deviation evaluation means 101b becomes " ST0 ", it becomes " 1-brake_mode " and when the determination result becomes " ST2- " 2-kick_mode ").

In "2-kick_mode", when the determination result of the second position control deviation evaluation means 101b becomes "ST1-" or "ST0", the mode transition to the 2-brake mode (hereinafter referred to as "2-brake_mode"). do.

In "1 + brake_mode", when "COUNTER1" becomes 0 or less, the mode transitions to "idle_mode".

In "2 + brake_mode", when "COUNTER2" becomes 0 or less, the mode transitions to "idle_mode".

In "1-brake_mode", when "COUNTER1" becomes 0 or less, the mode transitions to "idle_mode".

In "2-brake_mode", when "COUNTER2" becomes 0 or less, the mode transitions to "idle_mode".

19 is an operation explanatory table of the second correction kick brake set signal generating means 102b. The operation and output of the internal COUNTER1 and internal COUNTER2 in each transition mode are shown. COUNTER1 is initialized by resetting to "idle_mode" or "2 + kick_mode" or "2 + brake_mode" or "2-kick_mode" or "2-brake_mode", and initialized, "1 + kick_mode" or "1-kick_mode Count up by 1 every 1 sampling period at " 1 " or " 1 + brake_mode " or " 1-brake_mode " by n (n is an integer equal to or greater than 1) every 1 sampling period.

COUNTER2 is reset by "idle_mode" or "1 + kick_mode" or "1 + brake_mode" or "1-kick_mode" or "1-brake_mode" and initialized, and "2 + kick_mode" is also "2-kick_mode" Count up by 1 every one sampling period in " ", " n " (n is an integer equal to or greater than 1) every 1 sampling period in " 2 + brake_mode " or " 2-brake_mode ".

The output of the second correction kick brake set signal generating means 102b does not output in "idle_mode", but outputs a predetermined amplitude nl_out in "1 + kick_mode" and "1-brake_mode", and "1 + brake_mode" and In "1-kick_mode", -nl_out is printed. The predetermined amplitude nl_out * B is output in "2 + kick_mode" and "2-brake_mode", and -nl_out * B is output in "2 + brake_mode" and "2-kick_mode". In addition, B is an integer of 1 or more.

By the above-described configuration, when the amplitude of the position deviation signal S6 exceeds the first predetermined threshold value (here, the positive side threshold value 1 and the negative side threshold value 1), the first direction is immediately reduced in the direction of decreasing the amplitude of S6. The correction kick signal (amplitude nl_out) is output until it is below the threshold of S6, and immediately after S6 is below the threshold, the first correction kick signal and the first correction brake signal of reverse polarity (in this example, amplitude- nl_out) can be applied for a predetermined time equal to or less than the application time of the first correction kick signal. The function of the first correction brake signal is to set the position deviation velocity accelerated by the first correction kick signal to 0, and the first correction brake signal has the same amplitude and inverse polarity as the first correction kick signal. In this case, the application time is 1 / n (1/2 if n = 2) of the first correction kick signal application time. The operation so far is the same as that of the first embodiment, but the high frequency characteristic degradation of the drive means or the like is compensated for by the addition of the following functions.

If the amplitude of the position deviation signal S6 exceeds the second predetermined threshold (here, plus-side threshold 2 and minus-side threshold 2), the second correction kick signal (amplitude nl_out * in the direction of decreasing the amplitude of S6 immediately). B) is output until S6 becomes below a threshold value. Since B is an integer of 1 or more, when the amplitude of S6 increases, the amplitude of S6 can be prevented from increasing further in response to the large second correction kick signal corresponding thereto. Of course, if B is selected as 1, the same operation as in the correction kick signal in the first embodiment is obtained. Immediately after S6 becomes less than the threshold value, the second correction kick signal and the second correction brake signal (amplitude -nl_out * B in this example) are applied for a predetermined time equal to or less than the application time of the second correction kick signal. The function of the second correction brake signal is to zero the position deviation speed accelerated by the second correction kick signal, and the second correction brake signal has the same amplitude and reverse polarity as the second correction kick signal. In the case of the example, the application time is 1 / n (half if n = 2) of the second correction kick signal application time. In addition, the function of this second brake signal is that the first embodiment can shift to the brake processing at an earlier timing. In Embodiment 1, due to the high frequency characteristic deterioration of the drive means to be controlled, the phase rotates and becomes difficult to move in a band of 10 Hz or more. Therefore, even when a pulse-shaped driving force is applied, a time delay occurs in the high frequency region, and as a result, there is a possibility that the timing of the brake is late and the so-called hunting state is lost. In the present embodiment, since the second brake signal operates at a faster timing than the first brake signal, the second brake signal can be operated more stably than the first embodiment.

20 (a) and 20 (b) show the operation waveforms of the third embodiment of the present invention. The figure is the result of having investigated the behavior of the position control deviation in the applied acceleration conditions like FIG.15 (a) and FIG.15 (b). FIG. 20A shows a configuration similar to that of FIG. 1, that is, the configuration similar to that of the first embodiment (except that the amplitude of the correction kick brake set signal S100 corresponding to nl_out and -nl_out is 64% of the first embodiment). It is behavior and has a waveform as shown in Fig. 15B. 20B is the behavior of the third embodiment of the present invention under the same acceleration application condition. As described above, the amplitude of the correction kick brake set signal was 0.64 V in the case of FIG. 1A, but the figure (b) was 0.44 V in the absolute value of the first kick brake set signal and the second value. It is possible to set the absolute value of the amplitude of the kick brake set signal to 0.88V. As a result, since the amplitude of the signal of the correction kick brake set signal S100 can be set larger than that of (a), it can be confirmed that the value of the position control deviation S6 after the application of the impact is smaller than that of (a).

21 (a) and 21 (b) show operational waveforms of the third embodiment of the present invention under the same conditions as those of FIGS. 6 (a) and 6 (b) in the first embodiment of the present invention. Moreover, the characteristic of the drive means is a forward resonance type as shown in Fig. 14B. 21 (a) is a case where the position control system of the first embodiment of the present invention is used, and FIG. 21 (b) is a case where the position control deviation suppression control in the third embodiment of the present invention is turned ON. In the figure, the applied acceleration G, the position deviation signal S6 (V), and the correction kick brake set signal S100 (V) from the top. This data is an example of focus control as an example of position control, the applied acceleration is applied for the purpose of acting as a disturbance in the focus control system, the frequency is 600 kHz amplitude 10G (G is gravity acceleration), and the position deviation signal S6 is the focus error. Indicates a signal. In addition, the operation sampling frequency of the position control deviation suppression control means 100 of the present invention is 600 Hz. In the position control deviation suppression control according to the first embodiment of the present invention, a position deviation of ± 0.3 V is generated with respect to the applied acceleration. When the position control deviation suppression control of Embodiment 3 of this invention is operated on the same conditions, it turns out that the correction kick brake set signal S100 which consists of a total of four values acts to make position deviation signal S6 small. As a result, the amplitude of the deviation signal can be suppressed to about 0.25V. This is set to ± 0.955 µm or less in terms of the actual deviation amount. This effect works similarly to the applied acceleration at any frequency lower than the crossover frequency of the position control loop, as well as the examples shown in Figs. 21A and 21B. The applied acceleration applies not only to acceleration disturbances such as vibration, but also to disk acceleration caused by physical distortion of the disk.

As described above, in the third embodiment, even when the frequency characteristic of the driving means has a high resonance resonance characteristic of forward resonance type, which is difficult to operate at high speed, the position control deviation evaluation means and the correction kick brake set signal generating means are provided. With respect to the three-step evaluation two-value control of Example 1, the five-step evaluation four-value control can be used to obtain the effect of preventing performance deterioration due to the phase delay of the driving means. In addition, in this description, although the structure of the position control deviation suppression control means 100 was made into the example as shown in FIGS. 17-19, it is not limited to this. It is a matter of course that any means and configuration may be used as long as the output form and function similar to the present description can be obtained.

(Example 4)

In Example 3, although the drive means of the structure with which high speed operation | movement was difficult was used, the operation sampling frequency of the position control deviation suppression control means 100 was selected as a relatively high frequency with 600 Hz. The sampling frequency of 600 kHz is a sufficiently feasible value when the function of the present invention is realized by the hard logic circuit of the control LSI. However, when the function of the present invention is realized by firmware of a general purpose microcomputer, the sampling frequency is 100. The degree of ㎑ is often the limit. Therefore, in the fourth embodiment, even if the same drive means as in the third embodiment is used and the operation sampling frequency of the position control deviation suppression control means 100 is set low, a configuration that can exert the effect will be described.

Fig. 22 is a block diagram in the case of using the drive means having a structure in which high speed operation is difficult in the fourth embodiment of the present invention and setting the operation sampling frequency of the control deviation suppression control means 100 low. . The position control deviation S6, which is an input signal, is converted as digital data by A / D conversion means (not shown) that performs A / D conversion with a predetermined quantization resolution at a predetermined sampling period, and the converted data is an enhancement means 107. ) To compensate for the time delay due to discretization. Note that the functional blocks 101b to 103 are the same as the functions described in the third embodiment of the present invention, and thus description thereof will be omitted.

As a result, in Example 4, in order to compensate the time delay by the sampling of the control deviation suppression control means 100 in Example 3, the expansion means 107 shown in Example 2 is newly added. have. Since the structure, operation | movement, and function of the advancement means 107 are the same as that of Example 2, the description is abbreviate | omitted.

23A and 23B show operational waveforms of the fourth embodiment of the present invention. The figure shows the behavior of the position control deviation in the case where the operating sampling frequency of the position control deviation suppression control means 100 is set to 100 Hz under an applied acceleration condition as shown in Figs. 20 (a) and 20 (b). This is the result of investigation. FIG. 23A shows the same behavior as in FIG. 16, that is, in the case of the configuration similar to the third embodiment. Fig. 23B is the behavior of the fourth embodiment of the present invention under the same acceleration application condition. In addition, the figure (b) is time behavior at the time of impact application by time prediction coefficient (K = 1.2). In the figure, it is applied acceleration G, position deviation signal S6 (V), actual position control deviation m, and correction kick brake set signal S100 (V) from the top. As an example, this analysis assumes a rectangular wave with an amplitude of 200 G and a time width of 20 Hz, which is a condition similar to those of Figs. 20 (a) and 20 (b) of the third embodiment, and focus control as a position control system. I assume. In the system of the third embodiment, it is understood that the position control deviation S6 oscillates as the impact is applied, and the control is released because the deviation exceeds the detection limit of the position control deviation detection system. As shown in the figure (b), when the control deviation suppression control by Example 4 of this invention is performed on the same conditions as the figure (a) and application acceleration, the position control deviation after application of an impact is a position It converges within the detection limit range of a control deviation detection system, and finally converges to zero. Thus, by the effect of the advancement means 107 which is a functional block added in Embodiment 4 of this invention, even if the operation sampling frequency is made small, stable control of the position control deviation suppression control means 100 becomes possible.

24A and 24B show operational waveforms of the fourth embodiment of the present invention under the same conditions as those of FIGS. 21A and 21B in the third embodiment of the present invention. Moreover, the value of the time prediction coefficient is K = 1.2. 24A is a case of the position control system in the third embodiment of the present invention, and FIG. 24B is a case where the position control deviation suppression control in the fourth embodiment of the present invention is turned ON. In the figure, the applied acceleration G, the position deviation signal S6 (V), and the correction kick brake set signal S100 (V) from the top. This data is an example of position control and is an example of focus control. The applied acceleration is applied for the purpose of acting as a disturbance in the focus control system, the frequency is 600 Hz, the amplitude is 10G (G is the acceleration of gravity), and the position deviation signal S6 is the focus error signal. Indicates. The operation sampling frequency of the position control deviation suppression control means 100 is 600 Hz on the right side and 100 Hz on the left side. In the fourth embodiment of the present invention, in contrast to the third embodiment in the left figure, the amplitude of the position deviation signal can be equally suppressed to about ± 0.25V even though the operating sampling frequency is set low. This is set to ± 0.955 µm or less in terms of the actual deviation amount. This effect works similarly to the applied acceleration at any frequency lower than the crossover frequency of the position control loop, as well as the examples shown in Figs. 24 (a) and 24 (b). The applied acceleration applies not only to acceleration disturbances such as vibration, but also to disk acceleration caused by physical distortion of the disk.

As described above, in the fourth embodiment, the position control deviation suppression control means 100 also uses the same drive means as in the third embodiment and also when the operation sampling frequency of the position control deviation suppression control means 100 is low. The phase advancement means 107 provided at the input terminal of C) can compensate for the phase delay caused by sampling and obtain the same effects as those described in the third embodiment. In addition, in this description, although the structure of the position control deviation suppression control means 100 was made into the example as shown in FIG. 17-19, and the structure of an advancement means in FIG. 10, it is not limited to this. It is a matter of course that any means and configuration may be used as long as the configuration can obtain an output form and a function similar to the present description.

As an application example of the present invention, the present invention can be applied not only to optical pickup control of an optical disk device but also to a tracking control device of a hard disk device.

Claims (16)

Light irradiation means for irradiating light to form a light spot on the optical disc, Drive means for performing a predetermined operation on the optical disk based on a drive control signal; Photoelectric conversion means for detecting reflected light information relating to the reflected light from the optical disc; Position deviation signal detection means for detecting a relative position error between the objective lens and the optical disk based on the reflected light information; Control signal generation means for generating a control signal that defines a control amount in the predetermined operation based on the position deviation signal obtained from the position deviation signal detection means; Position control deviation evaluation means for evaluating the position deviation signal; Correction kick brake set signal generating means for outputting a correction kick brake set signal composed of a kick signal and a brake signal subsequent thereto to the drive means based on an evaluation result of the position control deviation evaluation means; Adding means for adding the correction kick brake set signal and the control signal; Switch means for turning on / off the addition of the correction kick brake set signal to the control signal provided between the correction kick brake set signal generating means and the addition means. Optical disk device comprising a. The method of claim 1, The position control deviation evaluation means, The position deviation signal is input and has a predetermined plus side threshold value and a predetermined negative side threshold value with respect to the reference potential of the position deviation signal as a determination threshold value. A first state wherein the input is between the negative side threshold and the plus side threshold, A second state wherein said input is above said plus side threshold, Having a function of determining which of the third states the input is less than or equal to the minus threshold Optical disk device characterized in that. The method of claim 2, The correction kick brake set signal generating means inputs an evaluation result of the position control deviation evaluation means, and when the determination result is the second state or the third state, the position deviation signal with respect to the driving means. Applying a correction kick signal having a predetermined height until the determination result becomes the first state in the direction in which the positional control deviation indicated by is small, and also stores a period in which it was the second state or the third state, Having a function of applying a correction brake signal having a predetermined height for a period equal to or less than the stored period, having a function of setting the position deviation speed to zero with respect to the drive means immediately after the first state Optical disk device characterized in that. The method of claim 1, And the position control deviation evaluation means evaluates the position deviation signal in five stages. The method of claim 1, The position control deviation evaluation means, The position deviation signal is input, and as a determination threshold value, a first plus side threshold value, a second plus side threshold value larger than the first plus side threshold value, and a first threshold value relative to a reference potential of the position deviation signal. Having a negative side threshold and a second negative side threshold smaller than the first negative side threshold, With respect to the input, A first state wherein the input is between the first plus side threshold and the first minus side threshold, A second state wherein the input is greater than or equal to the first plus side threshold and less than the second plus side threshold, A third state wherein the input is less than or equal to the first negative side threshold and greater than the second negative side threshold, A fourth state wherein the input is greater than or equal to the second plus side threshold, A fifth state wherein the input is less than or equal to the second negative side threshold Having the function of determining which of the Optical disk device characterized in that. The method of claim 5, wherein The correction kick brake set signal generating means uses the position control deviation evaluation result as an input, If the determination result is the second state or the third state, a correction kick signal having a first predetermined height is added until the determination result becomes the first state in a direction in which the position control deviation with respect to the driving means becomes small. And the first predetermined height which has been in the second state or the third state is stored, and the first predetermined height has a function of setting the position deviation speed to zero with respect to the drive means immediately after the first state. Has a function of applying a brake signal for a period equal to or less than the stored first period, If the determination result is the fourth state or the fifth state, the amplitude is greater than or equal to the correction kick signal of the first predetermined height in a direction in which the position control deviation indicated by the position deviation signal with respect to the drive means is reduced. Apply a correction kick signal of the set second predetermined height until the determination result becomes the second state or the third state, respectively, and also remember the second period which was the fourth state or the fifth state, A function of applying the correction brake signal of the second predetermined height to the period less than or equal to the stored second period, each having a function of setting the position deviation speed to zero with respect to the drive means immediately after the second state and the third state, respectively. Having Optical disk device characterized in that. The method of claim 1, And a phase advancing means provided at the front end of the position control deviation evaluating means and having a function of amplifying a high frequency component near the discretization frequency of the discretized position deviation signal. The method of claim 7, wherein The fastening means, out (k) = in (k) + K {in (k) -in (k-1)} Where out (k) is the output, in (k) is the input, (k is any natural number), and K is the time prediction coefficient An optical disc apparatus, characterized in that it is a predictive hold means for performing an operation represented by the equation. Magnetic disk, A magnetic head for recording or reproducing information on the magnetic disk; Drive means for performing a predetermined operation on the magnetic disk on the magnetic head based on a drive control signal; Position deviation signal detecting means for detecting a relative position error between the magnetic head and the magnetic disk based on the information obtained from the magnetic disk; Control signal generation means for generating a control signal that defines a control amount in the predetermined operation based on the position deviation signal obtained from the position deviation signal detection means; Position control deviation evaluation means for evaluating the position deviation signal; Correction kick brake set signal generating means for outputting a correction kick brake set signal composed of a kick signal and a brake signal subsequent thereto to the drive means based on an evaluation result of the position control deviation evaluation means; Adding means for adding the correction kick brake set signal and the control signal; Switch means for turning on / off the addition of the correction kick brake set signal to the control signal provided between the correction kick brake set signal generating means and the addition means. Magnetic disk device comprising a. The method of claim 9, The position control deviation evaluation means takes the position deviation signal as an input, has a predetermined plus side threshold value and a predetermined negative side threshold value with respect to a reference potential of the position deviation signal as a determination threshold value, and with respect to the input. , A first state wherein the input is between the negative side threshold and the plus side threshold, A second state wherein said input is above said plus side threshold, Having a function of determining which of the third states the input is less than or equal to the minus threshold Magnetic disk device characterized in that. The method of claim 10, The correction kick brake set signal generating means inputs an evaluation result of the position control deviation evaluation means, and when the determination result is the second state or the third state, the position deviation signal with respect to the driving means. Applying a correction kick signal having a predetermined height until the determination result becomes the first state in the direction in which the positional control deviation indicated by is small, and also stores a period in which it was the second state or the third state, Having a function of applying a correction brake signal having a predetermined height for a period equal to or less than the stored period, having a function of setting the position deviation speed to zero with respect to the drive means immediately after the first state Magnetic disk device characterized in that. The method of claim 9, And the position control deviation evaluating means evaluates the position deviation signal in five stages. The method of claim 9, The position control deviation evaluation means, The position deviation signal is input, and as a determination threshold value, a first plus side threshold value, a second plus side threshold value larger than the first plus side threshold value, and a first threshold value relative to a reference potential of the position deviation signal. Having a negative side threshold and a second negative side threshold smaller than the first negative side threshold, With respect to the input, A first state wherein the input is between the first plus side threshold and the first minus side threshold, A second state wherein the input is greater than or equal to the first plus side threshold and less than the second plus side threshold, A third state wherein the input is less than or equal to the first negative side threshold and greater than the second negative side threshold, A fourth state wherein the input is greater than or equal to the second plus side threshold, A fifth state wherein the input is less than or equal to the second negative side threshold Having the function of determining which of the Magnetic disk device characterized in that. The method of claim 13, The correction kick brake set signal generating means uses the position control deviation evaluation result as an input, If the determination result is the second state or the third state, a correction kick signal having a first predetermined height is added until the determination result becomes the first state in a direction in which the position control deviation with respect to the driving means becomes small. And the first predetermined height which has been in the second state or the third state is stored, and the first predetermined height has a function of setting the position deviation speed to zero with respect to the drive means immediately after the first state. Has a function of applying a brake signal for a period equal to or less than the stored first period, If the determination result is the fourth state or the fifth state, the amplitude is greater than or equal to the correction kick signal of the first predetermined height in a direction in which the position control deviation indicated by the position deviation signal with respect to the drive means is reduced. Apply a correction kick signal of the set second predetermined height until the determination result becomes the second state or the third state, respectively, and also remember the second period which was the fourth state or the fifth state, A function of applying a correction brake signal of the second predetermined height for a period less than or equal to the stored second period, each having a function of setting the position deviation speed to zero with respect to the drive means immediately after the second state and the third state, respectively. Having Magnetic disk device characterized in that. The method of claim 9, And a fastening means provided at the front end of said position control deviation evaluating means and having a function of amplifying a high frequency component near the discretization frequency of the discretized position deviation signal. The method of claim 15, The fastening means, out (k) = in (k) + K {in (k) -in (k-1)} (Where out (k) is the output, in (k) is the input, (k is any natural number), and K is the time prediction coefficient A magnetic disk device, characterized in that it is a predictive hold means for performing an operation represented by the equation.

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