Evaluating dual stage actuator response in a disk drive by adding sinusoid to control signal
View Patent ↗A method of evaluating a dual stage actuator (DSA) servo loop in a disk drive is disclosed. The disk drive comprises a dual stage actuator (DSA) servo loop operable to actuate a head over a disk surface. A first sinusoidal signal A 1 is added to a VCM control signal B 1 generated by a VCM servo loop. A response of the VCM control signal B 1 to the first sinusoidal signal A 1 is measured, and a closed loop response of the VCM servo loop is computed in response to A 1 and B 1 . A second sinusoidal signal A 2 is added to a microactuator control signal B 2 generated by a microactuator servo loop. A response of the microactuator control signal B 2 to the second sinusoidal signal A 2 is measured, and a closed loop response of the microactuator servo loop is computed in response to A 2 and B 2.
1. A method of evaluating a dual stage actuator (DSA) servo loop in a disk drive, the disk drive comprising a head, a disk surface, and a dual stage actuator (DSA) servo loop comprising a voice coil motor (VCM) servo loop and a microactuator servo loop operable to actuate the head over the disk surface, the method comprising:
adding a first sinusoidal signal A 1 to a VCM control signal B 1 generated by the VCM servo loop;
measuring a response of the VCM control signal B 1 to the first sinusoidal signal A 1 ;
computing a closed loop response of the VCM servo loop in response to A 1 and B 1 ;
adding a second sinusoidal signal A 2 to a microactuator control signal B 2 generated by the microactuator servo loop;
measuring a response of the microactuator control signal B 2 to the second sinusoidal signal A 2 ; and
computing a closed loop response of the microactuator servo loop in response to A 2 and B 2 .
2. The method as recited in claim 1 , further comprising:
computing the closed loop response of the VCM servo loop as B 1 /A 1 ; and
computing the closed loop response of the microactuator servo loop as B 2 /A 2 .
3. The method as recited in claim 1 , wherein:
the VCM control signal B 1 comprises a current; and
measuring the VCM control signal B 1 comprises inserting a current sensor in series with the VCM control signal B 1 .
4. The method as recited in claim 3 , wherein the first sinusoidal signal comprises a current.
5. The method as recited in claim 1 , wherein the microactuator control signal B 2 comprises a voltage.
6. The method as recited in claim 5 , wherein:
the microactuator servo loop comprises a differential amplifier for amplifying the microactuator control signal B 2 ;
the differential amplifier comprises a first input and a second input; and
the microactuator control signal B 2 is connected to the first input through a first resistor.
7. The method as recited in claim 6 , further comprising:
coupling a second end of a second resistor to one of the first and second input; and
coupling the second sinusoidal signal to a first end of the second resistor.
8. The method as recited in claim 6 , wherein the second sinusoidal signal comprises a DC offset corresponding to a DC offset of the differential amplifier.
9. The method as recited in claim 7 , wherein:
a second end of a third resistor is connected to the second input;
a reference voltage is connected to a first end of the third resistor; and
the second resistor substantially matches the third resistor.
10. The method as recited in claim 1 , further comprising computing an error rejection curve (ERC) of the DSA servo loop in response to the closed loop response of the VCM servo loop and the closed loop response of the microactuator servo loop.
11. The method as recited in claim 10 , further comprising computing an open loop response of the DSA servo loop in response to the ERC.
12. The method as recited in claim 10 , further comprising computing a closed loop response of the DSA servo loop in response to the ERC.
13. A disk drive comprising:
a head;
a disk surface;
a dual stage actuator (DSA) servo loop comprising a voice coil motor (VCM) servo loop and a microactuator servo loop operable to actuate the head over the disk surface; and
control circuitry operable to:
add a first sinusoidal signal A 1 to a VCM control signal B 1 generated by the VCM servo loop;
measure a response of the VCM control signal B 1 to the first sinusoidal signal A 1 ;
compute a closed loop response of the VCM servo loop in response to A 1 and B 1 ;
add a second sinusoidal signal A 2 to a microactuator control signal B 2 generated by the microactuator servo loop;
measure a response of the microactuator control signal B 2 to the second sinusoidal signal A 2 ; and
compute a closed loop response of the microactuator servo loop in response to A 2 and B 2 .
14. The disk drive as recited in claim 13 , wherein the control circuitry is further operable to:
compute the closed loop response of the VCM servo loop as B 1 /A 1 ; and
compute the closed loop response of the microactuator servo loop as B 2 /A 2 .
15. The disk drive as recited in claim 13 , wherein:
the VCM control signal B 1 comprises a current; and
the control circuitry is operable to measure the VCM control signal B 1 using a current sensor in series with the VCM control signal B 1 .
16. The disk drive as recited in claim 15 , wherein the first sinusoidal signal comprises a current.
17. The disk drive as recited in claim 13 , wherein the microactuator control signal B 2 comprises a voltage.
18. The disk drive as recited in claim 17 , wherein:
the microactuator servo loop comprises a differential amplifier for amplifying the microactuator control signal B 2 ;
the differential amplifier comprises a first input and a second input; and
the microactuator control signal B 2 is connected to the first input through a first resistor.
19. The disk drive as recited in claim 18 , wherein:
a second end of a second resistor is connected to one of the first and second input; and
the second sinusoidal signal is connected to a first end of the second resistor.
20. The disk drive as recited in claim 18 , wherein the second sinusoidal signal comprises a DC offset corresponding to a DC offset of the differential amplifier.
21. The disk drive as recited in claim 19 , wherein:
a second end of a third resistor is connected to the second input;
a reference voltage is connected to a first end of the third resistor; and
the second resistor substantially matches the third resistor.
22. The disk drive as recited in claim 13 , wherein the control circuitry is further operable to compute an error rejection curve (ERC) of the DSA servo loop in response to the closed loop response of the VCM servo loop and the closed loop response of the microactuator servo loop.
23. The disk drive as recited in claim 22 , wherein the control circuitry is further operable to compute an open loop response of the DSA servo loop in response to the ERC.
24. The disk drive as recited in claim 22 , wherein the control circuitry is further operable to compute a closed loop response of the DSA servo loop in response to the ERC.