WO2007132911A1 - 位置決め制御装置、及び、光ディスク装置 - Google Patents
位置決め制御装置、及び、光ディスク装置 Download PDFInfo
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- WO2007132911A1 WO2007132911A1 PCT/JP2007/060095 JP2007060095W WO2007132911A1 WO 2007132911 A1 WO2007132911 A1 WO 2007132911A1 JP 2007060095 W JP2007060095 W JP 2007060095W WO 2007132911 A1 WO2007132911 A1 WO 2007132911A1
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- natural vibration
- frequency
- filter
- optical disk
- positioning control
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- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B7/00—Recording or reproducing by optical means, e.g. recording using a thermal beam of optical radiation by modifying optical properties or the physical structure, reproducing using an optical beam at lower power by sensing optical properties; Record carriers therefor
- G11B7/08—Disposition or mounting of heads or light sources relatively to record carriers
- G11B7/09—Disposition or mounting of heads or light sources relatively to record carriers with provision for moving the light beam or focus plane for the purpose of maintaining alignment of the light beam relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following
- G11B7/0946—Disposition or mounting of heads or light sources relatively to record carriers with provision for moving the light beam or focus plane for the purpose of maintaining alignment of the light beam relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following specially adapted for operation during external perturbations not related to the carrier or servo beam, e.g. vibration
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- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B7/00—Recording or reproducing by optical means, e.g. recording using a thermal beam of optical radiation by modifying optical properties or the physical structure, reproducing using an optical beam at lower power by sensing optical properties; Record carriers therefor
- G11B7/08—Disposition or mounting of heads or light sources relatively to record carriers
- G11B7/09—Disposition or mounting of heads or light sources relatively to record carriers with provision for moving the light beam or focus plane for the purpose of maintaining alignment of the light beam relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following
- G11B7/0908—Disposition or mounting of heads or light sources relatively to record carriers with provision for moving the light beam or focus plane for the purpose of maintaining alignment of the light beam relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following for focusing only
Definitions
- the present invention relates to a positioning control device, and more particularly to a positioning control device that causes a moving member to follow a target position of a target member.
- the present invention also relates to an optical disc apparatus, and more particularly, to an optical disc apparatus having a control mechanism for causing a laser focused beam spot to follow a target position of an information recording layer or an information recording track of an optical disc medium.
- Optical disc apparatuses that record and reproduce information by irradiating a laser beam to an optical disc medium that is a disc-shaped information carrier are widely used.
- a focus follow-up control that performs high-precision focus control in response to surface deflection of an optical disc medium and a track that performs high-precision follow-up control of a laser focused beam spot to an information recording track for recording / reproducing information.
- follow-up control is performed.
- the information recording density of optical disk media has been increased and the information recording / reproducing speed has been increased (high speed), and more accurate control is required for these tracking controls.
- the laser light source has a shorter wavelength and the information recording track for recording / reproducing information has become narrower.
- ⁇ This is because it is necessary to perform tracking control of the laser focused beam spot with high accuracy for reproduction.
- the focus tracking accuracy and track tracking accuracy required by the physical standard of HD DVD (High Density DVD) using a blue-violet laser as the laser light source reach 80 nm or less and 14 nm or less, respectively.
- the acceleration speed of the optical disk medium itself to be position-tracked is necessary for stable information recording / reproduction.
- a positioning control device with higher follow-up performance in response to increased fluctuations is required. The inventor conducted the following analysis on such a positioning control device.
- the loop gain of the positioning control system is increased, and the response frequency band of the control loop is increased. By making it higher, the following accuracy and performance can be improved.
- the characteristics of the drive mechanical system that drives the moving member there is a problem that sufficient accuracy and performance cannot often be secured.
- a method for compressing an error by using a surface fluctuation of a disc-shaped information carrier or a regularity of a position variation of a recording track can be considered. That is, since the vertical movement of the disk surface of the optical disk medium or the position fluctuation of the disk track is caused by the rotation of the optical disk medium, these components are mainly synchronized with the rotation of the optical disk medium.
- the moving member laser light collection beam spot with respect to the target member can be obtained by using the positional deviation signal before one or several rotations. Can be improved.
- the vertical movement of the disk surface or the position variation of the disk track does not necessarily include only the component synchronized with the rotation of the disk, but there is also a component asynchronous with the rotation of the disk. It becomes a hindrance to the tracking accuracy and performance of the control system.
- the vertical movement and position fluctuation of the disk surface asynchronous to the disk rotation, the fluctuation caused by the natural vibration of the target member caused by the vibration mode of the optical disk medium caused by the disturbance force acting on the optical disk medium.
- Patent Document 1 and Patent Document 2 described above is effective for position fluctuations synchronized with the rotation of the disk-shaped information carrier, but is not synchronized with rotation of the disk-shaped information carrier. For these components, there is a problem that it is difficult to improve the followability of the moving member and the followability is deteriorated. Summary of the Invention
- the present invention solves the above-described problems of the prior art, and even when the natural vibration is generated in the disk-shaped target member due to disturbance or the like, and the variation in the target position of positioning increases, It is an object of the present invention to provide a positioning control device that can follow the target position of the target member well.
- An object of the present invention is to provide an optical disc apparatus capable of following the above.
- a positioning control device is a positioning control device that causes a moving member to be positioned to follow a target position of a disk-shaped target member, the target position and the movement
- a position error detector that detects a relative position error with respect to a member and outputs it as a position error signal, and a filter that passes the position error signal; And a filter that amplifies and outputs a signal component in the vicinity of the natural vibration frequency of one mode, and driving means that drives the moving member based on the output of the filter.
- a positioning control device is a positioning control device that causes a moving member to be positioned to follow a target position of a disk-shaped target member, the target position and the movement
- a position error detector that detects a relative position error with a member and outputs it as a position error signal, and estimates a natural vibration frequency of at least one mode selected from the natural vibration modes of the target member.
- a driving means for driving the moving member is provided.
- the optical disk apparatus of the present invention is an optical disk apparatus that records and reproduces information by irradiating a focused beam spot on an optical disk medium, and the information recording layer or information recording track of the optical disk medium and the light focusing
- a position error detector that detects a relative position error with respect to the beam spot and outputs it as a position error signal, and a natural vibration mode of the optical disc medium
- a frequency estimator that estimates and outputs the natural vibration frequency of at least one mode selected from the above, and a filter that passes the position error signal, and is in the vicinity of the natural vibration frequency output by the frequency estimator.
- a driving means for driving the focused beam spot based on the output of the filter.
- FIG. 1 is a block diagram showing a part of an optical disk device including a positioning control device according to a first embodiment of the present invention.
- FIG. 2 is a schematic diagram showing various natural vibration modes in an optical disk medium.
- FIG. 3 is a table showing the vibration frequency of each natural vibration mode shown in FIG.
- FIG. 4 is a graph showing the relationship between the rotation frequency of the optical disk medium and the natural vibration frequency in each natural vibration mode.
- FIG. 5 is a block diagram showing a positioning control system.
- FIG. 6 A and 6B are Bode diagrams showing filter characteristics.
- FIG. 7 A and 7B are Bode diagrams showing the frequency characteristics of a round transfer path of the positioning control system.
- FIG. 8 A and 8B are Bode diagrams showing compression characteristics of relative position errors of the positioning control system.
- FIG. 12 is a block diagram showing a part of an optical disk device including a positioning control device according to a second embodiment of the present invention.
- FIG. 13 is a graph showing the relationship between the thickness of the optical disk medium and the natural vibration frequency.
- FIG. 14 is a waveform diagram showing operation waveforms of respective parts during thickness measurement.
- FIG. 15 A and 15B are Bode diagrams showing characteristics of a filter.
- FIG. 16 A and 16B are Bode diagrams showing frequency characteristics of one-round transmission paths of the positioning control system.
- FIG. 17 A and 17B are Bode diagrams showing compression characteristics of relative position errors of the positioning control system.
- FIG. 18 is a graph showing the relationship between the thickness of the optical disk medium and the natural vibration frequency.
- FIG. 1 shows a part of the configuration of an optical disc apparatus including a positioning control apparatus according to a first embodiment of the present invention.
- the optical disc apparatus 100 includes a position error signal calculation circuit 105, an A / D converter 107, a filter 108, a stabilization compensator 109, a D / A converter 110, a drive amplifier 111, an optical head 115, a spindle motor 117, and a filter coefficient setting circuit. 121, a rotation period detection circuit 122, and a spindle motor controller 123.
- the optical head 115 includes a photodetector 104, a focus actuator 112, an objective lens 113, and a laser light source 114.
- the photodetector 104, the position error signal calculation circuit 105, and the AZD converter 107 include a positioning target position Xi of the optical disc medium 101 that is a target member, and a laser beam collection beam spot (a combination of laser beams) that is a moving member.
- the stabilization compensator 109, the DZA converter 110, the drive amplifier 111, and the focus actuator 112 constitute a drive unit that displaces the position of the laser focused beam spot 103.
- the driving means, the position error detector, and the filter 108 are used to cause the position of the laser light collection beam spot 103 to follow the information recording layer 102, which is the target position for positioning the optical disc medium 101.
- a control system is configured.
- the optical disc medium 101 is a single-sided single-layer optical disc medium conforming to, for example, the HD DVD standard, and has a disk-like shape with a nominal diameter of 120 mm and a nominal thickness of 1.2 mm. . It has a structure in which two substrates made of 6mm polycarbonate are bonded together.
- a protective film, a phase change recording film, and a reflective film are laminated in the case of a recording optical disc medium.
- a reflective film and a protective film are laminated on information pits formed on the substrate.
- the phase change of the information recording layer 102 The position of the recording film and the position of the information pit are the target positions for positioning. This positioning target position changes in the direction of the optical axis 116 due to surface vibration or natural vibration of the optical disc medium 101.
- the laser beam output from the laser light source 114 is converged by the objective lens 113 and irradiated onto the optical disk medium 101.
- a blue-violet semiconductor laser having a wavelength of 405 nm is used for the laser light source 114.
- the NA (numerical aperture) of the objective lens 113 is 0.65.
- the laser focused beam spot 103 is displaced by driving the objective lens 113 in the optical axis direction 116 of the laser beam by the focus actuator 112.
- the return light signal from the optical disk medium 101 is converted into an electric signal by the photodetector 104 via the objective lens 113 and input to the position error signal calculation circuit 105.
- the position error signal calculation circuit 105 generates a force error signal 106 representing a relative position error in the optical axis direction 116 between the laser focused beam spot 103 and the information recording layer 102 from the output signal of the photodetector 104. Extract and output.
- a knife edge method, an astigmatism method, or the like is generally used for detection of the focus error signal 106.
- the photodetector 104 outputs a signal corresponding to focus error signal detection by, for example, a knife edge method.
- the focus error signal 106 output from the position error signal calculation circuit 105 corresponds to a relative position error Xe between the position Xo of the laser focused beam spot 103 and the position XI of the information recording layer 102.
- the focus error signal 106 is converted into a digital signal by the AZD converter 107 and then output to the filter 108.
- the filter 108 receives the focus error signal 106 converted into a digital signal by the AZD converter 107 and outputs the focus error signal 106 to the stability compensation device 109.
- the filter 108 amplifies and outputs a component in the vicinity of the natural vibration frequency of at least one natural vibration mode selected from the natural vibration modes of the optical disc medium 101 of the focus error signal 106.
- the filter coefficient of the filter 108 is controlled by a filter coefficient setting circuit 121 described later. It is.
- the stability key compensator 109 performs gain adjustment processing and phase compensation processing on the output of the filter 108.
- the output signal of the stability compensator 109 is converted to an analog signal by the DZA converter 110 and then output to the drive amplifier 111.
- the drive amplifier 111 amplifies and outputs the output signal of the DZA converter 110 and drives the focus actuator 112 in the optical axis direction 116.
- the optical disk medium 101 is clamped on the spindle motor 117.
- the spindle motor 117 rotates the optical disc medium 101 around the spindle motor rotation shaft 119 at a predetermined rotation speed (cycle) in a predetermined rotation direction.
- the hall sensor 118 attached to the spindle motor 117 outputs a rotation angle pulse signal (FG signal) 120 corresponding to the rotation angle of the spindle motor 117, in other words, corresponding to the rotation angle of the optical disc medium 101.
- the hall sensor 118 outputs a pulse signal of 18 cycles per rotation of the spindle motor 117 as the FG signal 120.
- the spindle motor controller 123 controls the rotation of the spindle motor 117 so that the cycle of the FG signal 120 becomes a predetermined cycle.
- the rotation period detection circuit 122 receives the FG signal 120, counts the time interval of every 18 periods of the FG signal 120 with a clock signal and a counter circuit (not shown), and information on the number of rotations of the optical disc medium 101 Is output to the filter coefficient setting circuit 121. However, in an initial state such as immediately after the optical disk device 100 is turned on, the rotation period detection circuit 122 outputs “the number of rotations 0 ⁇ to the filter coefficient setting circuit 121.
- the filter coefficient setting circuit 121 is a rotation period detection circuit. Based on the rotation speed information output from 122, the natural vibration frequency of the optical disc medium 101 is estimated and output to the filter 108, and the coefficient of the filter 108 is set, and the filter coefficient setting circuit 121 changes the rotation speed information. Each time, the coefficient of the filter 108 is sequentially changed based on the changed rotation number information.
- optical disk medium that conforms to the physical standards of HD DVD, DVD (Digital Versatile Disk), and CD (Compact Disc) as an optical disk medium.
- Optical disk media conforming to this physical standard is a hollow medium with a nominal diameter of 120 mm, a nominal inner diameter of 15 mm, and a nominal thickness of 1.2 mm. It has a disc shape and is mainly composed of polycarbonate.
- the optical disk medium has the natural vibration mode shown in FIG.
- the natural vibration mode of the optical disk medium shown in the figure is excited by external vibration or impact applied to the optical disk apparatus even when the optical disk medium is not rotating.
- the center of gravity of the optical disk medium itself is unbalanced, the unbalanced force generated around the rotation axis of the spindle motor, the frictional force between the optical disk medium and air, etc.
- the tracking performance of the laser focused beam spot decreases due to the natural vibration of the excited optical disk medium.
- FIG. 3 shows the vibration frequencies of the natural vibration modes shown in FIG. However, Fig. 3 shows the natural vibration frequencies when the optical disk medium is not rotating. If the optical disk medium has only the primary natural vibration mode such as the (0, 1) mode or (1, 1) mode, its natural vibration frequency is low, so it is not necessary to widen the control band of the positioning control system. Also,
- FIG. 4 shows the relationship between the rotation frequency of the optical disk medium and the natural vibration frequency. This figure shows the change of the natural vibration frequency with respect to the rotation frequency of the optical disk medium in the natural vibration mode from (2, 1) mode to (7, 1) mode shown in FIG.
- the rotational frequency of an optical disk medium varies depending on the operation status of the optical disk apparatus.
- the linear velocity of the information recording position of the optical disk medium is almost constant.
- the rotational frequency of the optical disk medium changes by a factor of about 2 due to the change in the radial position of the laser focused beam spot in the optical disk medium.
- the rotation frequency of the optical disk medium is almost constant, the rotation frequency is constant, but depending on the quality of the recorded / reproduced information, the information is recorded / reproduced.
- the speed of rotation of the optical disk medium changes when the operation is performed with the double speed setting changed.
- the maximum number of revolutions is limited to about lOOOOrpm due to the mechanical strength of optical disk media.
- Figure 5 shows a block diagram of the positioning control.
- the target position of the target member 201 corresponding to the optical disk medium 101 in FIG. 1 is XI
- the displacement (movement amount) of the moving member 203 corresponding to the laser focused beam spot 103 in FIG. 1 is Xo.
- These are input to the subtractor 205.
- the transfer characteristic of the system from the moving amount Xo of the moving member to the position error signal Xe is normalized by 1 for the sake of simplicity.
- the drive unit 211 corresponds to the stability compensation unit 109, the D / A converter 110, the drive amplifier 111, and the focus actuator 112 shown in FIG. 1, and drives the moving member 203.
- the filter 208 corresponds to the filter 108 in FIG. 1, and represents the transfer function of the filter 208 by F (s), where s is a Laplace operator.
- 0 (a, b) Indicates the natural frequency (Hz) of each natural vibration mode illustrated.
- the above equation 1 is an infinite series product and cannot be realized as it is. However, in practice, it is not necessary to improve the tracking performance of the positioning control system for all natural vibration modes. By increasing the tracking performance with respect to the mode, a practically sufficient effect can be obtained.
- the dominant vibration modes are (2, 1) mode, (3, 1) mode, and (4, 1) mode shown in FIG. It was determined in advance by comparing the power spectrum of the vibration amplitude of the optical disk medium measured with the laser Doppler vibrometer, and positioning control was applied to these three natural vibration modes. In this case, the above formula 1 is transformed into the following formula 2.
- the filter 208 having the transfer function F (s) defined by the above equation 2 can be realized as a finite-order filter.
- this transfer function F (s) the natural vibration frequency of the numerator polynomial and the denominator polynomial is made equal to the natural vibration frequency of the optical disk medium as the target member 201, and ⁇ n (a, b)> ⁇ d (a b)
- the filter 208 includes components in the vicinity of the natural vibration frequency of the three preselected natural vibration modes of the optical disk medium. Each is amplified and output. Therefore, by appropriately determining the frequency characteristics of the driving means 211 so that the control system of FIG. 5 including the filter 208 is stable, this positioning control mechanism allows the target member 201 asynchronous with the rotation of the disk-shaped information carrier. The followability of the moving member 203 can be improved with respect to the position variation component.
- the filter 208 of the above formula 2 is a filter for improving the tracking performance of the positioning control with respect to the natural vibration of the optical disk medium when the optical disk medium rotates!
- Equation 2 can be modified as shown in Equations 3-1 and 3-2 below. Good.
- f is the rotation frequency (Hz) of the optical disk medium
- C is s l (a, b)
- f and f ⁇ are approximately equal.
- the center frequency that improves the tracking control tracking performance changes according to the rotation frequency of the optical disk medium. Therefore, by using the filter 208 of such a transfer function F (s), the tracking performance of the positioning control is improved even with respect to the natural vibration of the optical disk medium when the optical disk medium as the target member 201 is rotating. it can.
- the transfer characteristic P (s) of a system in which the focus actuator 1 1 2 and the drive amplifier 1 1 1 are connected in series in the optical disc apparatus 100 of the present embodiment is approximated by the following equation 4. it can.
- the transfer function C (z) of the stability compensator 109 is expressed by the following equation (5).
- Equation 5 z represents the advance operator, and Z [] represents the Z transformation with 0th-order hold.
- the sampling frequency for Z conversion was 4 X 10 5 Hz.
- Equation 3-1 The transfer function F (s) of the filter 108 is the above Equation 3-1. However, since the filter 108 is a digital signal filter, Equation 3-1 is
- the filter coefficient setting circuit 121 estimates ⁇ by the following equation 6-2 based on the rotation speed information (f) output from the rotation period detection circuit 122, and outputs this to the filter 108.
- FIGS. 6A and 6B show Bode diagrams of the filter 108, respectively.
- Fig. 6A shows the relationship between frequency and gain
- Fig. 6B shows the relationship between frequency and phase.
- the natural vibration frequency of (2, 1) mode is 541 Hz
- the natural vibration frequency of (3, 1) mode is 835 Hz. It can be seen that the focus error signal 106 input to the filter 108 is amplified in the vicinity of each frequency of 119 OHz, which is the natural vibration frequency of the (4, 1) mode.
- the frequency characteristics of the transmission path are also shown as graphs 43 and 44.
- the frequency characteristics of the path from the positioning target position Xi to the relative position error Xe that is, the compression characteristics of the relative position error of the positioning control system are shown in Figs.
- the tracking performance of the positioning control system can be evaluated as better as the gain is lower, as shown in the gain diagrams shown in FIGS. 8A and 8B.
- the filter 108 amplifies the vicinity of the natural vibration frequency ( It can be seen that the control band of the positioning control system and the margin of stability in the positioning control system are almost unchanged between the cases (Graphs 41 and 42) and not (Graphs 43 and 44). 8A and 8B, the tracking control capability of the positioning control system is improved by about 10 dB in the frequency region near the natural vibration frequency of the optical disk medium 101 by individually amplifying the vicinity of the natural vibration frequency with the filter 108. You can see that. As described above, in this embodiment, even when the fluctuation of the target position for positioning increases due to the natural vibration of the optical disc medium 101, the laser focused beam spot 103 is made to accurately follow the target position for positioning. It is possible to provide a positioning control device that can be used.
- the rotation period detection circuit 122 detects this, and the filter coefficient setting circuit 121 changes the filter characteristics of the filter 108 based on the rotation speed change.
- filter 108 uses the (2, 1) mode natural vibration frequency of 647 Hz, the (3, 1) mode natural vibration frequency of 976 Hz, and the (4, 1) mode natural vibration frequency.
- the focus error signal 106 is amplified in the vicinity of each frequency of 1264 Hz.
- the filter coefficient setting circuit 121 constitutes a frequency estimator.
- the compression characteristics of the relative position error of the positioning control system are shown in Figs. 11A and 11B with graphs 81 and 82, respectively.
- the laser focused beam spot 103 is accurately placed at the target position for positioning the optical disk medium 101. It can be seen that a positioning tracking device can be provided.
- the filter 108 is a unique characteristic of the optical disc medium 101.
- the frequency components in the vicinity of the natural vibration frequency of the natural vibration mode preselected from the vibration modes are individually amplified.
- the components near the natural frequency of (2, 1) mode, (3, 1) mode, and (4, 1) mode, for example, are not collectively amplified in the vicinity of the natural frequency.
- the filter 108 may be a filter constituted by the following formulas 7-1 and 7-2.
- the phase characteristics of the filter are higher than in the case of individually amplifying the natural vibration frequency.
- the frequency characteristics of the rounding transmission path of the positioning control system and the compression characteristics of the relative position error are shown as graphs 45 and 46 in FIGS. 7A and 7B and as graphs 55 and 56 in FIGS. 8A and 8B, respectively.
- the tracking performance in the frequency region near the frequency where the gain is OdB in the frequency characteristic of the loop transmission path (that is, the control band frequency) is greatly reduced. It will be.
- the filter 108 amplifies each component near the natural vibration frequency of the natural vibration mode selected from the natural vibration modes of the optical disk medium 101, so that Even when the fluctuation of the target position for positioning increases, the laser focused beam spot 103 can be accurately followed to the target position.
- FIG. 12 shows a part of the configuration of an optical disc device including the positioning control device according to the second embodiment of the present invention.
- the optical disk device 100a of the present embodiment has a thickness detection circuit 191, a selector 193, a ramp waveform, in addition to the configuration of the optical disk device 100 (FIG. 1) of the first embodiment. It has a generator 194.
- the thickness detection circuit 191, the selector 193, and the ramp waveform generator 194 constitute thickness measuring means.
- tolerance is allowed in the outer diameter.
- the diameter is ⁇ 0.3 mm and the thickness of the user data area is +0.30 mm.
- a tolerance of 0.06mm is allowed.
- the natural vibration frequency of an optical disk medium varies depending on the external dimensions. In particular, the ratio of tolerance to the nominal thickness is larger than the ratio of tolerance to the nominal diameter. Change is something that cannot be ignored.
- FIG. 13 shows the relationship between the thickness of the optical disk medium and the natural vibration frequency.
- changes in the natural vibration frequency with respect to the thickness of the optical disc medium are shown for the natural vibration modes from (2, 1) mode to (7, 1) mode shown in FIG.
- FIG. 13 shows the natural vibration frequency when the optical disk medium is not rotating.
- the natural vibration frequency of each mode of the optical disk medium changes as the thickness of the optical disk medium increases, and even if the thickness of the optical disk medium is within the tolerance range, Due to individual differences, the natural vibration frequency becomes a different value.
- the thickness of the optical disc medium 101 is measured by the thickness detection circuit 191, and the natural vibration frequency corresponding to the detected thickness is estimated by the filter coefficient setting circuit 195.
- the ramp waveform generator 194 continuously moves the laser focused beam spot 103 during the thickness measurement in a range including the first surface 196 on the optical head 115 side of the optical disk medium 101 and the second surface 197. A signal for generating the signal is generated.
- the thickness detection circuit 191 observes the focus error signal 106 and measures the distance between the first surface 196 and the second surface 197 of the optical disk medium 101, that is, the thickness of the optical disk medium 101. .
- the operation for detecting the thickness of the optical disc medium 101 will be described in detail.
- the working distance of the objective lens 113 that is, the end surface of the objective lens frame when the laser focused beam spot 103 is focused on the target position for positioning the information recording layer 102, and the first table of the optical disc medium 101
- the distance to surface 196 shall be 1.5 mm.
- the photodetector 104 is adapted to detect a focus error signal by the knife edge method.
- Laser focused beam spot 103 When the laser focused beam spot 103 moves across the surface 196, 197 of the optical disc medium 101 or the information recording layer 102, the focus error signal 106 has an S-shaped A waveform is observed, and at other locations, the value is substantially constant.
- the first surface 196 side force of the optical disc medium 101 is also moved to the second surface 197 side at a speed determined by the laser focused beam spot 103, and the first surface 196 and the second surface 197 are moved.
- the thickness information of the optical disc medium 101 can be obtained by measuring the detection time interval of the focus S-shaped corresponding to the surface 197 of the optical disk.
- FIG. 14 shows operation waveforms of the respective parts during thickness measurement.
- a system controller (not shown) that performs integrated control of the operation of the optical disc apparatus 100a instructs the execution of measurement of the thickness of the optical disc medium 101.
- the thickness detection circuit 191 causes the selector 193 to select the output of the ramp waveform generator 194 and instructs the ramp waveform generator 194 to output data for thickness measurement.
- the ramp waveform generator 1 94 receives the signal corresponding to the position on the optical head 115 side of the first surface 196 of the optical disk medium 101 in accordance with the positional force of the laser focused beam spot 103 in the optical axis direction 116. DataO) is output.
- This DataO is input to the D / A converter 110 via the selector 193 and converted to an analog value. Thereafter, the drive amplifier 111 drives the force actuator 112 based on the analog value, so that the laser beam is focused at a position closer to the optical head 115 than the first surface 196 of the optical disk medium 101.
- Ramp waveform generator 194 outputs DataO at the thickness measurement start time (time tO), and then outputs ramp waveform 1001 that changes at a constant rate as time elapses. Is gradually moved from the optical head 115 side to the optical disc medium 101 in the direction of the force.
- the thickness detection circuit 191 receives the focus error signal 106 converted into digital data by the AZD converter 107 and observes the focus S-shaped signal. If the laser focusing beam spot 103 still reaches the first surface 196 of the optical disc medium 101! /, !, the focus error signal 106 takes a DC value and the focus S-shaped signal is observed. Not
- the laser focused beam spot 103 is driven by the output signal of the ramp waveform generator 194, and the laser focused beam spot 103 is moved to the first surface 196 of the optical disc medium 101 at time tl. , And passes through the surface 196, a focus S signal 1002 is observed in the focus error signal 106.
- the thickness detection circuit 191 operates a counter (not shown) that performs counting based on the clock signal, and starts measuring time. For example, when the thickness detection circuit 191 detects that the value of the focus error signal 106 becomes 0 or more after the value becomes equal to or less than a predetermined threshold value dO, it determines that the focus S-shaped signal has been observed.
- Laser focused beam spot 103 force When the optical disk medium 101 moves from the first surface 196 to the second surface 197 side and is between the first surface 196 and the information recording layer 102, a focus error occurs. Signal 106 is a DC value. After that, at time t2, when the laser focused beam spot 103 reaches the information recording layer 102 and passes through the information recording layer 102, the focus S-shaped signal 1003 is observed. After that, at time t3, when the laser focused beam spot 103 reaches the second surface 197 of the optical disk medium 101 and passes through the second surface 197, the focus S signal 1004 is observed in the force error signal 106. Is done.
- the thickness measurement end position is a position where the objective lens 113 does not come into contact with the first surface 196 of the optical disk medium 101 with a margin, and the laser focused beam spot 103 is located behind the second surface 197. If you set it to a position.
- the focus S-shaped signal is observed at a total of three locations of the first and second surfaces 196 and 197 and the information recording layer 102. Is done. Among them, the second focus S-shaped signal 1003 observed at time t2 corresponds to the information recording layer 102, and the thickness detection circuit 191 has the focus S-shaped signal 10 04 observed at time t3. To stop the counter. The count value of the counter corresponds to the time between time tl and time t3, and the thickness of the optical disk medium 101 is detected based on this time.
- the time for outputting the data O force of the ramp waveform generator 194 to Datal is set sufficiently longer than the longest time constant of the system of Equation 4 above.
- the time difference t3-tl was determined to be approximately proportional to the thickness of the optical disk medium 101. Accordingly, the thickness detection circuit 191 calculates a value proportional to (t3 ⁇ tl) from the optical disk medium 10. It is assumed that the thickness information of 1 is output to the filter coefficient setting circuit 195 as td.
- the thickness detection circuit 191 When the thickness of the optical disc medium 101 is measured, the thickness detection circuit 191 outputs the thickness information to the filter coefficient setting circuit 195. However, the thickness detection circuit 191 outputs an initial value of 1.2 mm as thickness information in an initial state such as when the optical disk device 100a is powered on.
- the filter coefficient setting circuit 195 estimates the natural vibration frequency of the optical disc medium 101 based on the thickness information output from the thickness detection circuit 191 and the rotation speed information output from the rotation period detection circuit 122, and filters 108 Set the coefficient of.
- the filter coefficient setting circuit 195 sequentially changes the coefficient of the filter 108 based on the updated thickness information and rotation speed information every time the thickness information is updated or the rotation speed information is updated. To do.
- the filter coefficient setting circuit 195 approximates the change of the natural vibration frequency with respect to the thickness shown in Fig. 13 by a linear function, and estimates the natural vibration frequency of each mode according to the following equation 2-2. To do.
- Equation 8-2 t is the thickness (mm) of the optical disk medium 101, and C is the light d 0 (a, b) in FIG.
- the natural vibration frequency of each mode is approximately equivalent to the natural vibration frequency estimated by the filter coefficient setting circuit 121 of the first embodiment shown in Equation 6-2.
- the characteristic of the filter 108 is This is the same between the embodiment and the second embodiment.
- the graphs are shown as graphs 111 and 112 in FIGS. 15 (a) and 15 (b), respectively.
- the natural error frequency of the (2, 1) mode of the focus error signal 106 is 688 Hz. It is difficult to individually amplify the components in the vicinity of the (3, 1) mode natural vibration frequency of 1033 Hz and the (4, 1) mode natural vibration frequency of 1474 Hz. .
- the characteristics are shown by graphs 121 and 122 in FIGS. 16 (a) and 16 (b), respectively.
- the compression characteristics of the relative position error of the positioning control system are shown in graphs 131 and 132 in FIGS. 17 (a) and 17 (b), respectively.
- the components near the natural vibration frequency of the natural vibration mode selected from the natural vibration modes of the optical disk medium 101 are individually set. As a result of the amplification, it is understood that the laser focused beam spot 103 can accurately follow the target position even when the fluctuation of the target position of positioning increases due to the natural vibration of the optical disc medium 101.
- the filter coefficient setting circuit 195 estimates the natural vibration frequency according to the thickness of the optical disc medium 101 and the rotation speed, and sets the filter characteristics of the filter 108 based on the estimated natural vibration frequency.
- the laser focused beam spot 103 is moved from the first surface 196 of the optical disc medium 101 to the second surface 197, and is based on the time difference that has passed through the both.
- the force obtained by measuring the thickness of the optical disc medium 101 is not limited to this.
- HD high-density polyethylene
- DVD and DVD optical disc media conforming to physical standards have a structure in which two 0.6 mm-thick substrates are bonded together, so the thickness of optical disc media is practically twice the thickness of one substrate. It becomes the value.
- the thickness detection circuit 191 since the time t2—tl corresponds to the thickness from the first surface 196 of the optical disc medium 101 to the information recording layer 102, that is, the substrate thickness, the thickness detection circuit 191 records information at time t2. After observing the focus S-shaped signal 1003 corresponding to the layer 102, a value proportional to (t2-tl) X2 can be output as the thickness information td. In this case, it is possible to shorten the time required to acquire the thickness information without having to move the laser focused beam spot 103 to the second surface 197.
- the optical disk medium 101 is assumed to be a single-sided single-layer optical disk medium compliant with the HD DVD standard, and is not limited to this, and is configured as a multilayer medium. Also good.
- the optical disk medium 101 has two 0.6 mm-thick polycarbonate substrates each having an information recording layer, and the information recording layer is on the inside.
- the two information recording layers have an intermediate layer made of an ultraviolet curable resin required for bonding.
- the thickness of the optical disk medium may be calculated based on the time difference between the first focus S-shaped signal and the fourth focus S-shaped signal corresponding to both surfaces.
- the time difference between the first focus S-shaped signal and the fourth focus S-shaped signal was calculated.
- the thickness of the optical disk medium was calculated, but practically, the thickness from the substrate surface to the information recording layer was calculated. Then, the thickness of the optical disk medium may be calculated from these and the thickness between the two information recording layers.
- the time difference between the first focus S-shaped signal and the second focus S-shaped signal is obtained.
- the surface force of the optical disk medium is obtained to the thickness of the information recording layer, and the third time from the second focus S-shaped signal.
- the thickness of the intermediate layer between the information recording layers was determined from the time difference from the focus S-shaped signal, and the thickness from the surface to the information recording layer was doubled. It can be the thickness of the optical disk medium.
- the thickness of the optical disk medium can be measured in the same manner for an optical disk medium conforming to the CD standard having a structure in which an information recording layer is laminated on a substrate made of polycarbonate having a nominal thickness of 1.2 mm. .
- an optical disc medium conforming to the CD standard if the laser beam spot is moved from the outside of one surface of the optical disc medium to the information recording layer along the optical axis direction, And the information recording layer, the focus S-shaped signal is observed twice. The value proportional to the time difference between the two focus S-shaped signals is the thickness of the optical disk medium.
- optical DVD media such as HD DVD, DVD, CD, etc., mainly composed of polycarbonate having a nominal diameter of 120 mm and a nominal thickness of 1.2 mm have been described.
- the nominal thickness is not limited to this.
- the present invention can be applied to an optical disk medium having a nominal diameter of 80 mm.
- the optical disc medium has a power that includes the same nominal diameter and nominal thickness as HD DVD, such as a Blu-ray disc, but the main component is not only polycarbonate.
- Such an optical disk medium can also be applied.
- Blu-ray discs have a nominal disc diameter of 120mm and a nominal thickness of 1.2mm. Force Nominal thickness 1.
- 1. 1mm polycarbonate substrate with a nominal thickness of 0.1mm UV curable resin Since it has a structure in which the cover layer is laminated, the hardness of the optical disk medium is different from that of an optical disk medium conforming to a standard such as HD DVD.
- FIG. 18 shows the relationship between the thickness of the optical disk medium and the natural vibration frequency of each natural vibration mode.
- an optical disk medium compliant with physical standards such as HD DVD shown in FIG.
- the specific vibration frequency of Blu-ray discs enclosed by a rectangle 1802 was added to the relationship between the thickness of the film and the natural vibration frequency.
- the Blu-ray disc is the same thickness as HD DVD and other optical discs, and the inherent vibration frequency of each mode of the stiff Blu-ray disc is experimentally about 1.09 times thicker. This is equivalent to the natural vibration frequency of an optical disc such as an HD DVD. Therefore, if the optical disc medium to be recorded and reproduced is a Blu-ray disc, the horizontal axis (thickness) of the optical disc such as HD D VD is multiplied by 1 / 1.09 as shown in FIG. In other words, the natural vibration frequency of each mode of the Blu-ray disc is estimated from the thickness of the optical disc medium. By doing so, the focused beam spot can be made to accurately follow the information recording layer even for the Blu-ray disc.
- the control information recorded in advance on the optical disc medium is read and recorded / reproduced. It is common to determine which physical standard an optical disk medium conforms to. Using the information obtained at this time, the natural vibration frequency to be amplified by the filter 108 (Fig. 1, Fig. 12) is set according to the type of the physical standard to be recorded and reproduced, or the thickness of the optical disc medium is set. It is also possible to determine how to detect the length. This also applies to the case where the present invention is applied to an optical disk medium having a nominal diameter of 80 mm.
- the positioning control device of the present invention can be used in combination with conventional techniques, for example, the technique described in Patent Document 1 and the technique described in Patent Document 2. That is, the configuration of each of the embodiments described above improves the tracking performance of the laser focused beam spot with respect to the natural vibration of the optical disk medium asynchronous with the rotation of the optical disk medium, and at the same time described in Patent Document 1 and Patent Document 2. With the same configuration as the technology, it is possible to improve the follow-up performance to the position fluctuation synchronized with the rotation of the optical disk medium.
- the force configured to control the filter coefficient of the filter 108 by the filter coefficient setting circuit 121 is not limited to this.
- the number of revolutions of the optical disk when recording / reproducing information is Is preset It becomes a certain value.
- the natural vibration frequency of the optical disk medium can be approximated to a constant value, so even if the coefficient of the filter 108 is fixed based on this approximate value, the followability is sufficiently improved in practice. it can. That is, the tracking performance of the positioning control system can be improved even when the filter coefficient setting circuit 121 and the rotation period detection circuit 122 in FIG. 1 are not used.
- the positioning control device in the information recording layer 102 of the optical disc medium 101, spiral-shaped guide grooves called pregroups are formed in the radial direction of the optical disc in the case of an optical disc medium for recording.
- information pit rows are arranged in a spiral shape in the radial direction of the optical disc.
- the optical disc apparatus scans the focused beam spot 103 of the laser along the information recording track such as the guide groove and the pit row (track following control), thereby transmitting information to the information recording layer of the optical disc medium 101.
- the variation of the target position due to the natural vibration of the optical disc medium 101 described in the first embodiment has not only the component in the optical axis 116 direction but also the component in the optical disc radial direction, as in the first embodiment.
- the position error detector is, for example, a push pull method or a DPD (Differential). Based on the (Phase Detection) method, a track error signal, which is a relative position error in the radial direction of the optical disc between the information recording track as the positioning target position and the laser focused beam spot 103, is detected and output to the filter 108.
- the driving means is configured by using a track actuator instead of the force actuator 112, and by the outputs of the stabilization compensator 109, the DZ A converter 110, the drive amplifier 111, and the drive amplifier 111, By driving the objective lens 113 in the radial direction of the optical disk, the laser focusing beam spot 103 is displaced in the radial direction of the optical disk.
- the laser focused beam spot is obtained by the filter 108, the position error detector, and the driving means.
- the positioning control system is configured to follow the information recording track, which is the target position for positioning the optical disk medium 101, with the position of the base 103.
- the transfer characteristic of the system in which the track actuator and the drive amplifier 111 are connected in series is expressed by the equation (4) indicating the transfer characteristic of the system in which the focus actuator 112 and the drive amplifier 111 are connected in series. And substantially the same frequency characteristics. Therefore, the track follow-up control device is configured as described above, and the frequency characteristics of the filter 108 and the stability compensation device 109 included in the drive means are determined in the same manner as in the first embodiment. Track following performance can be improved.
- the force shown for the example in which the target member is an optical disk medium and the positioning control device is mounted on the optical disk device is not limited to this.
- the positioning control device of the present invention can be mounted on a hard disk device and applied to a track following control device for a magnetic head in the hard disk device.
- the natural vibration frequency of the hard disk that is the target member and the mechanical characteristics of the voice coil motor that drives the magnetic head that constitutes the drive member can be discussed in the same manner as in the case of the optical disk device.
- the position obtained by amplifying the signal component in the vicinity of the natural vibration frequency of at least one mode selected by the medium force of the natural vibration mode of the target member by the filter may be driven based on the error signal to cause the moving member to follow the target position of the target member. In this way, even when the target member is excited in the natural vibration mode by an external force or the like and the target position fluctuates at the frequency of the natural vibration mode, the moving member can follow the target position with high accuracy.
- the filter may be configured to amplify a component in the vicinity of the natural vibration frequency of at least one natural vibration mode among the secondary and higher natural vibration modes of the target member. By amplifying the natural vibration frequency component close to the control band frequency of the positioning control system with the filter, the followability of the moving member to the target position can be improved without widening the control band.
- the filter can be configured to individually amplify each component near the natural vibration frequency of a plurality of natural vibration modes selected from the natural vibration modes of the target member. In this case, the followability of the moving member to the target position can be improved as compared with a case where a plurality of natural vibration frequencies are amplified together.
- the frequency estimator estimates a natural vibration frequency of at least one natural vibration mode of the secondary or higher natural vibration mode of the target member. Configuration can be adopted.
- the frequency estimator estimates and outputs the natural vibration frequency of a plurality of natural vibration modes selected from the natural vibration modes of the target member, and the frequency estimator estimates the filter. It is possible to adopt a configuration that amplifies each of the components near the multiple natural vibration frequencies individually.
- the positioning control device further includes a rotation speed information acquisition unit that acquires rotation speed information of the disk-shaped target member around the rotation axis, and the frequency estimator includes: A configuration in which the natural vibration frequency is estimated based on the rotation speed information can be employed. In this case, even when the rotation speed of the target member changes and the natural vibration frequency changes accordingly, the moving member can be accurately set to the target position by changing the natural frequency component amplified by the filter according to the rotation speed. It can follow well.
- the positioning control device further includes thickness measuring means for acquiring information on the thickness of the disk-shaped target member, and the frequency estimator includes the thickness information.
- the thickness of the medium is determined by the standard, but in reality, there may be individual differences in the thickness of the medium due to manufacturing variations or the like. Even in such a case, the moving member can accurately follow the target position by measuring the thickness of the target member and estimating the natural vibration frequency corresponding to the measured thickness with the frequency estimator.
- the optical disc medium further includes a rotation number information acquisition unit that acquires rotation number information about the rotation axis of the optical disc medium, and the frequency estimator is based on the rotation number information.
- a configuration for estimating the vibration frequency can be employed.
- a thickness meter for acquiring information on the thickness of the optical disc medium
- the frequency estimator may further include a measuring unit that estimates a natural vibration frequency of the optical disk medium based on the thickness information.
- the moving member is driven based on the position error signal obtained by amplifying the signal component near the natural vibration frequency of the natural vibration mode of the target member with a filter, and the moving member is moved to the target member.
- the target position may be followed. In this way, even when the target member is excited in the natural vibration mode by an external force or the like and the target position fluctuates at the frequency of the natural vibration mode, the moving member can follow the target position with high accuracy.
- the focused beam spot is driven based on a position error signal obtained by amplifying a signal component in the vicinity of the natural vibration frequency of the natural vibration mode of the optical disk medium with a filter, and the focused beam spot is used as a target of the optical disk medium. You may make it follow a position. In this way, even when the optical disk medium is excited in the natural vibration mode by an external force or the like and the target position fluctuates at the frequency of the natural vibration mode, the focused beam spot is made to follow the target position of the optical disk medium with accuracy. be able to.
- the frequency estimator estimates the natural vibration frequency of at least one selected mode of the natural vibration mode of the optical disk medium, and the vicinity of the estimated natural vibration frequency.
- the focused beam spot may be driven based on the position error signal obtained by amplifying the signal component by a filter to cause the focused beam spot to follow the target position of the optical disk medium. In this way, even when the optical disk medium is excited in the natural vibration mode by an external force or the like and the target position fluctuates at the frequency of the natural vibration mode, the focused beam spot follows the target position of the optical disk medium with good accuracy. Can be made.
- the natural vibration frequency of an optical disk medium may fluctuate depending on factors such as the rotational speed, but by estimating the fluctuation of the natural vibration frequency with a frequency estimator and changing the frequency amplified by the filter, Even when the vibration frequency fluctuates, the focused beam spot can follow the target position of the optical disk medium with good accuracy.
- the frequency estimator estimates the natural vibration frequency of at least one selected mode of the natural vibration mode of the target member, and the estimated natural vibration frequency. Position error obtained by amplifying nearby signal components with a filter
- the moving member may be driven based on the signal to cause the moving member to follow the target position of the target member. In this way, even when the target member is excited in the natural vibration mode by an external force or the like and the target position fluctuates at the frequency of the natural vibration mode, the moving member can follow the target position with high accuracy.
- the natural vibration frequency of the target member may fluctuate depending on factors such as the rotational speed of the target member, but the frequency estimator estimates the fluctuation of the natural vibration frequency and changes the frequency amplified by the filter. Thus, even when the natural vibration frequency fluctuates, the moving member can follow the target position with high accuracy.
- the positioning control device and the optical disc apparatus of the present invention are not limited to the configuration of the above exemplary embodiment. Those with various modifications and changes are also included in the scope of the present invention.
- the present invention provides a transducer for recording and reproducing a signal on a disc-shaped information carrier, such as a focus tracking control device or a track tracking control device of a laser focused beam spot in an optical disk device. It can be applied to a device that follows positioning.
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- Optical Recording Or Reproduction (AREA)
Abstract
Description
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JP2008515597A JP5136410B2 (ja) | 2006-05-17 | 2007-05-17 | 位置決め制御装置、及び、光ディスク装置 |
US12/301,188 US8179753B2 (en) | 2006-05-17 | 2007-05-17 | Positioning control unit and optical disk drive |
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JP2006138032 | 2006-05-17 | ||
JP2006-138032 | 2006-05-17 |
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PCT/JP2007/060095 WO2007132911A1 (ja) | 2006-05-17 | 2007-05-17 | 位置決め制御装置、及び、光ディスク装置 |
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US (1) | US8179753B2 (ja) |
JP (1) | JP5136410B2 (ja) |
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US8665552B2 (en) * | 2010-07-12 | 2014-03-04 | Hewlett-Packard Development Company, L.P. | Controlling positions of storage media heads |
KR20120019019A (ko) * | 2010-08-24 | 2012-03-06 | 삼성전자주식회사 | 외란 보상 방법 및 장치와 이를 적용한 디스크 드라이브 및 저장매체 |
JP5836628B2 (ja) * | 2011-04-19 | 2015-12-24 | キヤノン株式会社 | 制御系の評価装置および評価方法、並びに、プログラム |
JP2013235638A (ja) * | 2012-05-10 | 2013-11-21 | Funai Electric Co Ltd | 光ディスク装置 |
JP6966978B2 (ja) * | 2018-06-22 | 2021-11-17 | オークマ株式会社 | 工作機械用モータ駆動装置 |
JP7348526B2 (ja) * | 2020-03-02 | 2023-09-21 | シンフォニアテクノロジー株式会社 | 共振抑制制御装置 |
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GB1577132A (en) * | 1976-03-19 | 1980-10-22 | Rca Corp | Compensation apparatus for a servo system with periodic command signals |
DE3678311D1 (de) * | 1985-02-15 | 1991-05-02 | Hitachi Ltd | Optisches plattengeraet. |
US5144581A (en) * | 1989-02-09 | 1992-09-01 | Olympus Optical Co., Ltd. | Apparatus including atomic probes utilizing tunnel current to read, write and erase data |
JP2741092B2 (ja) * | 1990-05-29 | 1998-04-15 | アルプス電気株式会社 | 光ディスクプレーヤの振動防止装置 |
JPH05242501A (ja) * | 1992-02-28 | 1993-09-21 | Mitsubishi Electric Corp | 対物レンズ駆動装置 |
JPH11250563A (ja) * | 1998-03-04 | 1999-09-17 | Sony Corp | 光ディスクの制振装置及び光ディスク装置 |
JP4193362B2 (ja) * | 2001-02-07 | 2008-12-10 | 日本電気株式会社 | 位置決め制御装置及び位置決め制御方法 |
WO2003009290A1 (en) * | 2001-07-17 | 2003-01-30 | Fujitsu Limited | Head follow-up control method, head follow-up control device, and storage device comprising the same |
JP2004145926A (ja) * | 2002-10-22 | 2004-05-20 | Sharp Corp | 光ディスク装置、及びその振動抑制方法 |
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- 2007-05-17 WO PCT/JP2007/060095 patent/WO2007132911A1/ja active Application Filing
- 2007-05-17 US US12/301,188 patent/US8179753B2/en not_active Expired - Fee Related
- 2007-05-17 JP JP2008515597A patent/JP5136410B2/ja not_active Expired - Fee Related
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JPS62287484A (ja) * | 1986-06-05 | 1987-12-14 | Sony Corp | 回転記録媒体に対するサーボ装置 |
JPH06267093A (ja) * | 1993-03-15 | 1994-09-22 | Mitsubishi Electric Corp | 光ディスク装置 |
JPH1021571A (ja) * | 1996-07-05 | 1998-01-23 | Hitachi Ltd | ディスク再生装置の学習制御装置 |
JP2001291255A (ja) * | 2000-03-31 | 2001-10-19 | Toyosaku Matsumoto | 回転数同期型狭帯域通過フィルタを有する光ディスクのピックアップサーボシステム |
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US8179753B2 (en) | 2012-05-15 |
JPWO2007132911A1 (ja) | 2009-09-24 |
JP5136410B2 (ja) | 2013-02-06 |
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