Magnetic disk apparatus
View Patent ↗A magnetic disk apparatus includes a following compensator for measuring a frequency characteristic of an under-control object to stabilize a vibration mode of the under-control object with phase condition and a resonance filter having a resonance point in the vicinity of a frequency at which positioning accuracy is to be enhanced, being coupled in parallel to the under-control object. Polarity of mode constant of the resonance filter is so determined as to stabilize a vibration mode brought about by the resonance filter on the basis of a relation between the frequency stabilized by a control system and the phase-180° crossover frequency. Positioning accuracy at a specific frequency can be enhanced without involving unstability in the control system even in a frequency range where sensitivity function of the control system is higher than 0 dB inclusive.
1. A magnetic disk apparatus which comprises an information recording/reproducing medium, a head for recording or reproducing information on or from said information recording/reproducing medium, an actuator for moving said head on said information recording/reproducing medium, and an extraction circuit for extracting a head position signal from the information read out from said information recording/reproducing medium by means of said head, wherein an operating signal is generated for controlling said actuator so that a head position indicated by said head position signal extracted by said extracting circuit coincides with a given target position,
said magnetic disk apparatus further comprising a positioning control apparatus for performing a positioning control of said head,
said positioning control apparatus comprising:
error detecting means for deriving difference between said given target position and said head position in terms of an error signal,
a compensator receiving as input thereto said error signal from said error detecting means for thereby generating said operating signal by carrying out phase compensation for stabilizing a vibration mode existing in an under-control object which is comprised of said actuator, said head and said extraction circuit, and
a resonance filter to which said operating signal outputted from said compensator is inputted, said resonance filter having a resonance frequency at or in the vicinity of a given frequency at which positioning accuracy is to be enhanced, the output of said resonance filter being added to said head position signal.
2. A magnetic disk apparatus according to claim 1 ,
wherein in a vector locus representing in a Nyquist diagram an open-loop transfer characteristic when said positioning control apparatus comprised of said compensator and said resonance filter on one hand and said under-control object on the other hand are connected to each other, said resonance filter has such a characteristic that a circular locus is generated clockwise in a direction away from an unstable point (−1, 0) in said Nyquist diagram as the frequency increases in the vicinity of said given frequency at which the positioning accuracy is to be enhanced.
3. A magnetic disk apparatus according to claim 1 ,
wherein said resonance filter is imparted with a transfer characteristic which is given by
a/(s 2 +2ζωs+ω 2 )
where a represents a mode constant, ω represents a value equal to a product of said resonance frequency multiplied by 2π, and ζ represents a viscosity coefficient.