Reducing acoustic noise in a disk drive when exiting idle mode
A disk drive is disclosed comprising a head actuated over a disk comprising a plurality of tracks, wherein each track comprises a plurality of servo sectors. When entering an idle mode, the head is floated over the disk, and when exiting the idle mode, a radial velocity of the head is measured, a seek distance is determined in response to the radial velocity, and a seek operation seeks the head the seek distance to a first track.
1. A disk drive comprising:
a disk comprising a plurality of tracks, wherein each track comprises a plurality of servo sectors;
a head actuated over the disk; and
control circuitry comprising a servo control system to actuate the head over the disk, the control circuitry operable to:
when entering an idle mode, disable the servo control system in order to float the head over the disk; and
when exiting the idle mode:
enable the servo system;
measure a radial velocity of the head;
determine a seek distance in response to the radial velocity; and
seek the head the seek distance to a first track,
wherein the control circuitry comprises a seek servo compensator and a settle servo compensator for controlling movement of the head, and the control circuitry is further operable to:
seek the head toward the first track using the seek servo compensator;
initialize the settle servo compensator with initial values; and
settle the head on the first track using the settle servo compensator,
wherein the initial values are generated according to a performance index:
∑
k
=
0
∞
X
(
k
)
T
·
Q
·
X
(
k
)
where:
X(k) represents internal states of the settle servo compensator;
X(0) represents an initial state initialized with the initial values; and
Q is a weighting matrix optimized to reduce acoustic noise.
2. A disk drive comprising:
a disk comprising a plurality of tracks, wherein each track comprises a plurality of servo sectors;
a head actuated over the disk; and
control circuitry comprising a seek servo compensator and a settle servo compensator for controlling movement of the head, the control circuitry operable to:
when entering an idle mode, float the head over the disk; and
when exiting the idle mode:
seek the head toward a first track using the seek servo compensator;
initialize the settle servo compensator with initial values; and
settle the head on the first track using the settle servo compensator,
wherein the initial values are generated according to a performance index:
∑
k
=
0
∞
X
(
k
)
T
·
Q
·
X
(
k
)
where:
X(k) represents internal states of the settle servo compensator;
X(0) represents an initial state initialized with the initial values; and
Q is a weighting matrix optimized to reduce acoustic noise.
3. The disk drive as recited in claim 2 , wherein when exiting the idle mode the control circuitry is further operable to:
measure a radial velocity of the head;
determine a seek distance in response to the radial velocity; and
seek the head the seek distance to the first track.
4. The disk drive as recited in claim 3 , wherein the control circuitry is further operable to determine the seek distance according to:
Vel×Sample_Periods
where:
Sample_Periods is a number of servo sectors the head will pass over during a predetermined time interval; and
Vel is a number of tracks crossed per Sample_Period.
5. The disk drive as recited in claim 2 , wherein the control circuitry is further operable to:
seek the head from the first track to a second track using a first idle mode seek profile; and
seek the head from the second track to a third track using a normal seek profile,
wherein at least one of an acceleration and deceleration of the first idle mode seek profile is less than an acceleration and deceleration of the normal seek profile.
6. The disk drive as recited in claim 5 , wherein:
when entering the idle mode the control circuitry is further operable to seek the head to an idle mode track using a second idle mode seek profile; and
at least one of an acceleration and deceleration of the second idle mode seek profile is less than an acceleration and deceleration of the normal seek profile.
7. A method of operating a disk drive, the disk drive comprising a head actuated over a disk comprising a plurality of tracks, wherein each track comprises a plurality of servo sectors, the method comprising:
when entering an idle mode, disabling a servo control system operable to actuate the head over the disk in order to float the head over the disk; and
when exiting the idle mode:
enabling the servo control system;
measuring a radial velocity of the head;
determining a seek distance in response to the radial velocity; and
seeking the head the seek distance to a first track,
wherein the disk drive further comprises a seek servo compensator and a settle servo compensator for controlling movement of the head,
wherein the method further comprises:
seeking the head toward the first track using the seek servo compensator;
initializing the settle servo compensator with initial values; and
settling the head on the first track using the settle servo compensator,
wherein the initial values are generated according to a performance index:
∑
k
=
0
∞
X
(
k
)
T
·
Q
·
X
(
k
)
where:
X(k) represents internal states of the settle servo compensator;
X(0) represents an initial state initialized with the initial values; and
Q is a weighting matrix optimized to reduce acoustic noise.
8. A method of operating a disk drive, the disk drive comprising a head actuated over a disk comprising a plurality of tracks, wherein each track comprises a plurality of servo sectors, and a seek servo compensator and a settle servo compensator for controlling movement of the head, the method comprising:
when entering an idle mode, floating the head over the disk; and
when exiting the idle mode:
seeking the head toward a first track using the seek servo compensator;
initializing the settle servo compensator with initial values; and
settling the head on the first track using the settle servo compensator,
wherein the initial values are generated according to a performance index:
∑
k
=
0
∞
X
(
k
)
T
·
Q
·
X
(
k
)
where:
X(k) represents internal states of the settle servo compensator;
X(0) represents an initial state initialized with the initial values; and
Q is a weighting matrix optimized to reduce acoustic noise.
9. The method as recited in claim 8 , further comprising when exiting the idle mode:
measuring a radial velocity of the head;
determining a seek distance in response to the radial velocity; and
seeking the head the seek distance to the first track.
10. The method as recited in claim 9 , further comprising determining the seek distance according to:
Vel×Sample_Periods
where:
Sample_Periods is a number of servo sectors the head will pass over during a predetermined time interval; and
Vel is a number of tracks crossed per Sample_Period.
11. The method as recited in claim 8 , further comprising:
seeking the head from the first track to a second track using a first idle mode seek profile; and
seeking the head from the second track to a third track using a normal seek profile,
wherein at least one of an acceleration and deceleration of the first idle mode seek profile is less than an acceleration and deceleration of the normal seek profile.
12. The method as recited in claim 11 , wherein:
when entering the idle mode further comprising seeking the head to an idle mode track using a second idle mode seek profile; and
at least one of an acceleration and deceleration of the second idle mode seek profile is less than an acceleration and deceleration of the normal seek profile.