Disk drive employing model-based feed-forward compensation during seek settling
View Patent ↗A method of operating a disk drive is disclosed, the disk drive comprising a disk comprising a plurality of tracks, and a closed loop servo system comprising a seek servo loop and a settle servo loop for actuating the head over the disk, the settle servo loop comprising a feed-forward compensator. The seek servo loop seeks the head toward a target track, and when the head approaches the target track a state trajectory of the feed-forward compensator is initialized with an initial value in response to a measured state of the servo system. The settle servo loop then settles the head on the target track in response to a feed-forward compensation generated by the feed-forward compensator.
1. A method of operating a disk drive, the disk drive comprising a disk comprising a plurality of tracks, a head, and a closed loop servo system comprising a seek servo loop and a settle servo loop for actuating the head over the disk, the settle servo loop comprising a feed-forward compensator, the method comprising:
seeking the head toward a target track using the seek servo loop; and
when the head approaches the target track:
adjusting a state trajectory of the feed-forward compensator in response to a measured state of the servo system comprising at least one of a position of the head relative to the target track and a velocity of the head; and
switching to the settle servo loop and settling the head on the target track in response to a feed-forward compensation generated by the feed-forward compensator,
wherein:
the state trajectory comprises a linear trajectory representing a linear relationship between the position of the head and the velocity of the head; and
adjusting the state trajectory comprises adjusting a slope of the linear trajectory.
2. The method as recited in claim 1 , further comprising the feed-forward compensator generating an estimated state of the settle servo loop in response to the initial value and the state trajectory.
3. The method as recited in claim 2 , further comprising generating the estimated state based on a model of the closed loop servo system.
4. The method as recited in claim 3 , wherein the estimated state comprises an estimated position of the head relative to the target track.
5. The method as recited in claim 4 , further comprising generating the feed-forward compensation according to:
VEL — FF ( k )*[(VEL(0)<< Q 1)/POS(0)]>> Q 2*Control_Gain
where:
VEL_FF(k) represents an estimated velocity of the head;
VEL(0) represents a measured velocity of the head for initializing the state trajectory;
POS(0) represents a measured position of the head for initializing the state trajectory;
Q1 and Q2 are scalar values; and
Control_Gain represents a gain of the feed-forward compensation.
6. The method as recited in claim 5 , further comprising initializing the Q1 and Q2 scalar values based on the measured state of the closed loop servo system in order to prevent overflow and maximize resolution of the feed-forward compensation.
7. The method as recited in claim 4 , further comprising:
generating an error signal based on a difference between the measured position of the head and the estimated position;
processing the error signal with a feedback compensator to generate a control signal;
adjusting the control signal in response to the feed-forward compensation to generate an adjusted control signal; and
actuating the head over the disk in response to the adjusted control signal.
8. The method as recited in claim 1 , further comprising:
selecting the state trajectory to induce an overshoot in the settle servo loop; and
disabling the feed-forward compensator when the overshoot is detected.
9. The method as recited in claim 1 , further comprising:
updating the measured state of the servo system while settling the head onto the target track; and
adjusting the state trajectory in response to the updated measured state.
10. The method as recited in claim 9 , wherein adjusting the state trajectory comprises adjusting the slope of the linear trajectory.
11. A disk drive comprising:
a disk comprising a plurality of tracks;
a head; and
control circuitry comprising a closed loop servo system comprising a seek servo loop and a settle servo loop for actuating the head over the disk, the settle servo loop comprising a feed-forward compensator, the control circuitry operable to:
seek the head toward a target track using the seek servo loop; and
when the head approaches the target track:
adjust a state trajectory of the feed-forward compensator in response to a measured state of the servo system comprising at least one of a position of the head relative to the target track and a velocity of the head; and
switch to the settle servo loop and settle the head on the target track in response to a feed-forward compensation generated by the feed-forward compensator,
wherein:
the state trajectory comprises a linear trajectory representing a linear relationship between the position of the head and the velocity of the head; and
adjusting the state trajectory comprises adjusting a slope of the linear trajectory.
12. The disk drive as recited in claim 11 , wherein the feed-forward compensator is operable to generate an estimated state of the settle servo loop in response to the initial value and the state trajectory.
13. The disk drive as recited in claim 12 , wherein the control circuitry is further operable to generate the estimated state based on a model of the closed loop servo system.
14. The disk drive as recited in claim 13 , wherein the estimated state comprises an estimated position of the head relative to the target track.
15. The disk drive as recited in claim 14 , wherein the feed-forward compensator is operable to generate the feed-forward compensation according to:
VEL — FF ( k )*[(VEL(0)<< Q 1)/POS(0)]>> Q 2*Control_Gain
where:
VEL_FF(k) represents an estimated velocity of the head;
VEL(0) represents a measured velocity of the head for initializing the state trajectory;
POS(0) represents a measured position of the head for initializing the state trajectory;
Q1 and Q2 are scalar values; and
Control_Gain represents a gain of the feed-forward compensation.
16. The disk drive as recited in claim 15 , wherein the control circuitry is further operable to initialize the Q1 and Q2 scalar values based on the measured state of the closed loop servo system in order to prevent overflow and maximize resolution of the feed-forward compensation.
17. The disk drive as recited in claim 14 , wherein the control circuitry is further operable to:
generate an error signal based on a difference between the measured position of the head and the estimated position;
process the error signal with a feedback compensator to generate a control signal;
adjust the control signal in response to the feed-forward compensation to generate an adjusted control signal; and
actuate the head over the disk in response to the adjusted control signal.
18. The disk drive as recited in claim 11 , wherein the control circuitry is further operable to:
select the state trajectory to induce an overshoot in the settle servo loop; and
disable the feed-forward compensator when the overshoot is detected.
19. The disk drive as recited in claim 11 , wherein the control circuitry is further operable to:
update the measured state of the servo system while settling the head onto the target track; and
adjust the state trajectory in response to the updated measured state.
20. The disk drive as recited in claim 19 , wherein the control circuitry is further operable to adjust the state trajectory by adjusting the slope of the linear trajectory.