Disk drive generating feed-forward compensation value based on two points of a sinusoidal control signal
View Patent ↗A disk drive is disclosed comprising a disk comprising tracks defined by servo sectors, a head, and control circuitry comprising a servo control system operable to actuate the head over the disk in response to the servo sectors. After seeking the head to a first track, a position error signal (PES) is generated representing a difference between a target location for the head and a measured location for the head. A sinusoidal control signal is generated in response to the servo sectors, and a third point of the sinusoidal control signal is generated based on a first point and second point of the sinusoidal control signal and independent of the PES, wherein the first, second and third points correspond to respective servo sectors. A feed-forward compensation value is generated based on the third point of the sinusoidal control signal using a feed-forward compensator.
1. A disk drive comprising:
a disk comprising tracks defined by servo sectors;
a head; and
control circuitry comprising a servo control system operable to actuate the head over the disk in response to the servo sectors, the servo control system operable to:
seek the head to a first track;
generate a position error signal (PES) representing a difference between a target location for the head and a measured location for the head;
adapt a sinusoidal control signal in response to the PES;
disable the adapting of the sinusoidal control signal;
while the adapting is disabled, generate a third point of the sinusoidal control signal based on a first point and second point of the sinusoidal control signal, wherein the first, second and third points correspond to respective servo sectors; and
generate a feed-forward compensation value based on the third point of the sinusoidal control signal using a feed-forward compensator.
2. The disk drive as recited in claim 1 , wherein the third point of the sinusoidal control signal corresponds to the feed-forward compensation value generated while tracking the first track.
3. The disk drive as recited in claim 1 , wherein the third point of the sinusoidal control signal corresponds to the feed-forward compensation value generated while seeking the head to a second track.
4. The disk drive as recited in claim 1 , wherein:
the tracks are grouped together to define a plurality of zones, including a first zone and a second zone;
the first track is located in the first zone, a second track is located in the second zone, and a third track is located in the first zone;
the first and second points correspond to the first track prior to seeking the head from the first track to the second track; and
the control circuitry is further operable to:
seek the head from the second track to the third track; and
initialize the feed-forward compensator based on the third point.
5. The disk drive as recited in claim 1 , wherein the feed-forward compensator is operable to generate the feed-forward compensation value y(k) according to:
y ( k )=2 cos(ω T )* y ( k− 1)− y ( k− 2)+τ e ( k− 1)+γ e ( k− 2)
where:
T represents a sampling period of the servo sectors;
ω represents a target frequency;
e represents an error signal of the servo control system; and
τ and γ are learning coefficients.
6. The disk drive as recited in claim 5 , wherein the control circuitry is operable to generate the third point according to:
y ( k+n )=θ( y j sin(ω T ( i+n ))− y i sin(ω T ( j+n )))
where:
y(k+n) represents the third point;
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
y i represents the first point;
y j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
7. The disk drive as recited in claim 3 , wherein the control circuitry is operable to generate the third point according to:
y ( k+n )=θ( y j sin(ω T ( i+n ))− y i sin(ω T ( j+n )))
where:
y(k+n) represents the third point;
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
y i represents the first point;
y j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
8. The disk drive as recited in claim 4 , wherein the control circuitry is operable to initialize the feed-forward compensator by computing the third point according to:
y ( k+n )=θ( y j sin(ω T ( i+n ))− y i sin(ω T ( j+n )))
where:
y(k+n) represents the third point;
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
y i represents the first point;
y j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
9. The disk drive as recited in claim 1 , wherein the control circuitry is further operable to measure an amplitude of the sinusoidal control signal based on at least two points of the sinusoidal control signal.
10. The disk drive as recited in claim 5 , wherein the servo control system is operable to measure an amplitude of the sinusoidal control signal according to:
θ
y
i
2
+
y
j
2
-
2
y
i
y
j
cos
(
(
ⅈ
-
j
)
ω
T
)
where:
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
y i represents the first point;
y j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
11. The disk drive as recited in claim 1 , wherein the control circuitry is further operable to measure a phase of the sinusoidal control signal based on at least two points of the sinusoidal control signal.
12. The disk drive as recited in claim 5 , wherein the servo control system is operable to measure a phase of the sinusoidal control sianal according to:
arctan
(
θ
(
y
j
sin
(
ⅈ
ω
T
)
-
y
i
sin
(
j
ω
T
)
)
θ
(
y
j
cos
(
ⅈ
ω
T
)
-
y
i
cos
(
j
ω
T
)
)
)
where:
θ=csc((i j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
y i represents the first point;
y j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
13. The disk drive as recited in claim 1 , wherein the feed-forward compensator is operable to generate the feed-forward compensation values y(k) according to:
w ( k )= e ( k )+2 cos(ω T ) w ( k− 1)− w ( k− 2)
y ( k )=τ w ( k− 1)+γ w ( k− 2)
where:
T represents a sampling period of the servo sectors;
ω represents a target frequency;
e represents an error signal of the servo control system; and
τ and γ are learning coefficients.
14. The disk drive as recited in claim 13 , wherein the control circuitry is operable to generate the third point according to:
w ( k+n )=θ( w j sin(ω T ( i+n ))− w i sin(ω T ( j+n )))
where:
w(k+n) represents the third point;
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
w i represents the first point;
w j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
15. The disk drive as recited in claim 3 , wherein the control circuitry is operable to generate the third point according to:
w ( k+n )=θ( w j sin(ω T ( i+n ))− w i sin(ω T ( j+n )))
where:
w(k+n) represents the third point;
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
w i represents the first point;
w j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
16. The disk drive as recited in claim 4 , wherein the control circuitry is operable to initialize the feed-forward compensator by computing the third point according to:
w ( k+n )=θ( w j sin(ω T ( i+n ))− w i sin(ω T ( j+n )))
where:
w(k+n) represents the third point;
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
w i represents the first point;
w j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
17. The disk drive as recited in claim 13 , wherein the servo control system is operable to measure an amplitude of the sinusoidal control signal according to:
v
θ
w
i
2
+
w
j
2
-
2
w
i
w
j
cos
(
(
ⅈ
-
j
)
ω
T
)
where:
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
v
=
τ
2
+
γ
2
+
2
τγ
cos
(
ω
T
)
;
w i represents the first point;
w j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
18. The disk drive as recited in claim 13 , wherein the servo control system is operable to measure a phase of the sinusoidal control signal according to:
arctan
(
θ
(
w
j
ξ
i
,
0
s
-
w
i
ξ
j
,
0
s
)
θ
(
w
j
ξ
i
,
0
c
-
w
i
ξ
j
,
0
c
)
)
where:
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
[
ξ
q
,
r
s
ξ
q
,
r
c
]
=
[
τ
sin
(
ω
T
(
q
-
1
)
+
r
)
+
γ
sin
(
ω
T
(
q
-
2
)
+
r
)
τ
cos
(
ω
T
(
q
-
1
)
+
r
)
+
γ
cos
(
ω
T
(
q
-
2
)
+
r
)
]
;
w i represents the first point;
w j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
19. A method of operating a disk drive comprising a disk comprising tracks defined by servo sectors, a head, and a servo control system operable to actuate the head over the disk in response to the servo sectors, the method comprising:
seeking the head to a first track;
generating a position error signal (PES) representing a difference between a target location for the head and a measured location for the head;
adapting a sinusoidal control signal in response to the PES;
disabling the adapting of the sinusoidal control signal;
while the adapting is disabled, generating a third point of the sinusoidal control signal based on a first point and second point of the sinusoidal control signal, wherein the first, second and third points correspond to respective servo sectors; and
generating a feed-forward compensation value based on the third point of the sinusoidal control signal using a feed-forward compensator.
20. The method as recited in claim 19 , wherein the third point of the sinusoidal control signal corresponds to the feed-forward compensation value generated while tracking the first track.
21. The method as recited in claim 19 , wherein the third point of the sinusoidal control signal corresponds to the feed-forward compensation value generated while seeking the head to a second track.
22. The method as recited in claim 19 , wherein:
the tracks are grouped together to define a plurality of zones, including a first zone and a second zone;
the first track is located in the first zone, a second track is located in the second zone, and a third track is located in the first zone;
the first and second points correspond to the first track prior to seeking the head from the first track to the second track; and
the method further comprises:
seeking the head from the second track to the third track; and
initializing the feed-forward compensator based on the third point.
23. The method as recited in claim 19 , wherein the feed-forward compensator is operable to generate the feed-forward compensation value y(k) according to:
y ( k )=2 cos(ω T )* y ( k− 1)− y ( k− 2)+τ e ( k− 1)+γ e ( k− 2)
where:
T represents a sampling period of the servo sectors;
ω represents a target frequency;
e represents an error signal of the servo control system; and
τ and γ are learning coefficients.
24. The method as recited in claim 23 , further comprising generating the third point according to:
y ( k+n )=θ( y j sin(ω T ( i+n ))− y i sin(ω T ( j+n )))
where:
y(k+n) represents the third point;
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
y i represents the first point;
y j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
25. The method as recited in claim 21 , further comprising generating the third point according to:
y ( k+n )=θ( y j sin(ω T ( i+n ))− y i sin(ω T ( j+n )))
where:
y(k+n) represents the third point;
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
y i represents the first point;
y j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
26. The method as recited in claim 22 , further comprising initializing the feed-forward compensator by computing the third point according to:
y ( k+n )=θ( y j sin(ω T ( i+n ))− y i sin(ω T ( j+n )))
where:
y(k+n) represents the third point;
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
y i represents the first point;
y j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
27. The method as recited in claim 19 , further comprising measuring an amplitude of the sinusoidal control signal based on at least two points of the sinusoidal control signal.
28. The method as recited in claim 23 , further comprising measuring an amplitude of the sinusoidal control signal according to:
θ
y
i
2
+
y
j
2
-
2
y
i
y
j
cos
(
(
ⅈ
-
j
)
ω
T
)
where:
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
y i represents the first point;
y j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.
29. The method as recited in claim 19 , further comprising measuring a phase of the sinusoidal control signal based on at least two points of the sinusoidal control signal.
30. The method as recited in claim 23 , further comprising measuring a phase of the sinusoidal control signal according to:
arctan
(
θ
(
y
j
sin
(
ⅈ
ω
T
)
-
y
i
sin
(
j
ω
T
)
)
θ
(
y
j
cos
(
ⅈ
ω
T
)
-
y
i
cos
(
j
ω
T
)
)
)
where:
θ=csc((i−j)ωT) where (i−j)ωT does not equal mπ and m is an integer;
y i represents the first point;
y j represents the second point;
i represents a phase of the first point; and
j represents a phase of the second point.