Disk drive characterizing microactuator by injecting sinusoidal disturbance and evaluating feed-forward compensation values
View Patent ↗A disk drive is disclosed comprising a disk having a plurality of tracks, a head, and a voice coil motor (VCM) and a microactuator for actuating the head over the disk in response to a feed-forward compensation value. A sinusoidal disturbance is applied to the microactuator, and the resulting feed-forward compensation value is processed to characterize the microactuator.
1. A disk drive comprising:
a disk comprising a plurality of tracks;
a head;
a voice coil motor (VCM) and a microactuator for actuating the head over the disk in response to a feed-forward compensation value; and
control circuitry operable to:
apply a sinusoidal disturbance to the microactuator; and
process the resulting feed-forward compensation value to characterize the microactuator.
2. The disk drive as recited in claim 1 , wherein the control circuitry is further operable to:
adapt the feed-forward compensation value while servoing the head over one of the tracks; and
process the adapted feed-forward compensation value to characterize the microactuator.
3. The disk drive as recited in claim 1 , wherein:
the control circuitry comprises a microactuator compensator; and
the control circuitry is further operable to disable the microactuator compensator while applying the sinusoidal disturbance to the microactuator.
4. The disk drive as recited in claim 1 , wherein the control circuitry is further operable to generate a VCM control signal in response to the feed-forward compensation value.
5. The disk drive as recited in claim 1 , wherein the feed-forward compensation value comprises a coefficient of a first sinusoid.
6. The disk drive as recited in claim 5 , wherein the control circuitry is further operable to compare a magnitude of the first sinusoid to a first threshold.
7. The disk drive as recited in claim 6 , wherein the control circuitry is further operable to disable the microactuator when the magnitude of the first sinusoid is less than the first threshold.
8. The disk drive as recited in claim 5 , wherein the control circuitry is further operable to adapt the coefficient in response to a position error signal while applying the sinusoidal disturbance to the microactuator.
9. The disk drive as recited in claim 5 , wherein a frequency of the first sinusoid substantially matches a frequency of the sinusoidal disturbance.
10. The disk drive as recited in claim 9 , wherein the control circuitry is further operable to generate the sinusoidal disturbance and the first sinusoid using a common algorithm.
11. The disk drive as recited in claim 9 , wherein the control circuitry is further operable to:
generate the feed-forward compensation value comprising a second sinusoid comprising a frequency substantially different from the frequency of the sinusoidal disturbance; and
disable the microactuator when a magnitude of the second sinusoid is greater than a second threshold.
12. The disk drive as recited in claim 1 , wherein the control circuitry is further operable to generate a microactuator control signal in response to the feed-forward compensation value.
13. A method of operating a disk drive, the disk drive comprising a disk, a head, a voice coil motor (VCM) and a microactuator for actuating the head over the disk in response to a feed-forward compensation value, the method comprising:
applying a sinusoidal disturbance to the microactuator; and
processing the resulting feed-forward compensation value to characterize the microactuator.
14. The method as recited in claim 13 , further comprising:
adapting the feed-forward compensation value while servoing the head over a track on the disk; and
processing the adapted feed-forward compensation value to characterize the microactuator.
15. The method as recited in claim 13 , wherein:
the disk drive further comprises a microactuator compensator; and
the method further comprising disabling the microactuator compensator while applying the sinusoidal disturbance to the microactuator.
16. The method as recited in claim 13 , further comprising generating a VCM control signal in response to the feed-forward compensation value.
17. The method as recited in claim 13 , wherein the feed-forward compensation value comprises a coefficient of a first sinusoid.
18. The method as recited in claim 17 , further comprising comparing a magnitude of the first sinusoid to a first threshold.
19. The method as recited in claim 18 , further comprising disabling the microactuator when the magnitude of the first sinusoid is less than the first threshold.
20. The method as recited in claim 17 , further comprising adapting the coefficient in response to a position error signal while applying the sinusoidal disturbance to the microactuator.
21. The method as recited in claim 17 , wherein a frequency of the first sinusoid substantially matches a frequency of the sinusoidal disturbance.
22. The method as recited in claim 21 , further comprising generating the sinusoidal disturbance and the first sinusoid using a common algorithm.
23. The method as recited in claim 21 , further comprising:
generating the feed-forward compensation value comprising a second sinusoid comprising a frequency substantially different from the frequency of the sinusoidal disturbance; and
disabling the microactuator when a magnitude of the second sinusoid is greater than a second threshold.
24. The method as recited in claim 13 , further comprising generating a microactuator control signal in response to the feed-forward compensation value.