Magnetic disk device and method of setting on-track determination number of magnetic disk device

1. A magnetic disk device, comprising:

a magnetic disk;

a magnetic head that accesses the magnetic disk;

an actuator that causes the magnetic head to seek on the magnetic disk; and

a processing unit that acquires a feature amount from a position error between a demodulated position and an estimated position of the magnetic head based on a frequency resonance characteristic of the actuator or a frequency characteristic of vibration caused by disturbance of the actuator and, based on the feature amount, sets an on-track determination number used for confirming an on-track state of the magnetic head after seeking;

wherein the processing unit includes:

a filter that has a pass band of a frequency component of the position error, the pass band being set based on the frequency resonance characteristic of the actuator or the frequency characteristic of vibration caused by disturbance of the actuator, receives the position error as an input, and outputs the feature amount; and

an integrator that predicts an evaluation value based on a result of integrating the feature amount of each sample point,

wherein the on-track determination number is set based on the evaluation value.

2. The magnetic disk device according to claim 1 , wherein a seek control based on the position error and the prediction of the evaluation value based on the position error are executed in parallel.

3. The magnetic disk device according to claim 1 , wherein the integrator integrates the feature amount from a position ahead of the target cylinder at seeking by a fixed number of samples.

4. The magnetic disk device according to claim 2 , wherein the integrator integrates the feature amount from a position ahead of the target cylinder at seeking by a fixed number of samples.

5. The magnetic disk device according to claim 1 , wherein the pass band of the filter includes a band of a peak position where a gain of the frequency component of the position error is the highest.

6. The magnetic disk device according to claim 1 ,

wherein the processing unit sets the on-track determination number to a second value when the evaluation value is a first value and sets the on-track determination number to a fourth value when the evaluation value is a third value, and

wherein the fourth value is larger than the third value when the second value is larger than the first value.

7. A magnetic disk device, comprising:

a magnetic disk;

a magnetic head that accesses the magnetic disk;

an actuator that causes the magnetic head to seek on the magnetic disk;

a processing unit that acquires a feature amount from a position error between a demodulated position and an estimated position of the magnetic head based on a frequency resonance characteristic of the actuator or a frequency characteristic of vibration caused by disturbance of the actuator and, based on the feature amount, sets an on-track determination number used for confirming an on-track state of the magnetic head after seeking;

a voice coil provided at an end portion of the actuator;

a state observer that calculates an estimated position of the magnetic head based on the demodulated position of the magnetic head and a target value of a VCM current flowing through the voice coil;

a state feedback control unit that sets the target value of the VCM current based on the position error and outputs the target value of the VCM current to the state observer;

a filter that has a pass band of a frequency component of the position error, the pass band being set based on the frequency resonance characteristic of the actuator or the frequency characteristic of vibration caused by disturbance of the actuator, receives the position error as an input, and outputs the feature amount;

an integrator that is connected to a subsequent stage of the filter and predicts an evaluation value by integrating the feature amount of each sample point; and

an on-track determination number setting unit that is connected to a subsequent stage of the integrator and sets the on-track determination number based on the evaluation value.

8. A method of setting an on-track determination number of a magnetic disk device comprising a magnetic disk, a magnetic head that accesses the magnetic disk, and an actuator that causes the magnetic head to seek on the magnetic disk, the method being performed in the magnetic disk device, and the method comprising:

acquiring a feature amount from a position error between a current position and an estimated position of the magnetic head based on a frequency resonance characteristic of the actuator or a frequency characteristic of vibration caused by disturbance of the actuator; and

based on the feature amount, setting an on-track determination number used for confirming an on-track state of the magnetic head after seeking;

wherein the position error is input to a filter that has a pass band of a frequency component of the position error, the pass band being set based on the frequency resonance characteristic of the actuator or the frequency characteristic of vibration caused by disturbance of the actuator, and the feature amount is output from the filter,

wherein an evaluation value is predicted based on a result of integrating the feature amount of each sample point, and

wherein the on-track determination number is set based on the evaluation value.

9. The method of setting the on-track determination number of the magnetic disk device according to claim 8 , wherein a seek control based on the position error and the prediction of the evaluation value based on the position error are executed in parallel.

10. The method of setting the on-track determination number of the magnetic disk device according to claim 8 , wherein the feature amount is integrated from a position ahead of the target cylinder at seeking by a fixed number of samples.

11. The method of setting the on-track determination number of the magnetic disk device according to claim 9 , wherein the feature amount is integrated from a position ahead of the target cylinder at seeking by a fixed number of samples.

12. The method of setting the on-track determination number of the magnetic disk device according to claim 8 , wherein the pass band of the filter includes a band of a peak position where a gain of the frequency component of the position error is the highest.

13. The method of setting the on-track determination number of the magnetic disk device according to claim 8 ,

wherein the on-track determination number is set to a second value when the evaluation value is a first value and the on-track determination number is set to a fourth value when the evaluation value is a third value, and

wherein the fourth value is larger than the third value when the second value is larger than the first value.

14. A method of setting an on-track determination number of a magnetic disk device comprising a magnetic disk, a magnetic head that accesses the magnetic disk, and an actuator that causes the magnetic head to seek on the magnetic disk, the method being performed in the magnetic disk device, and the method comprising:

acquiring a feature amount from a position error between a current position and an estimated position of the magnetic head based on a frequency resonance characteristic of the actuator or a frequency characteristic of vibration caused by disturbance of the actuator;

based on the feature amount, setting an on-track determination number used for confirming an on-track state of the magnetic head after seeking;

calculating an estimated position of the magnetic head based on the demodulated position of the magnetic head and a target value of a VCM current flowing through a voice coil provided at an end portion of the actuator;

determining the target value of the VCM current based on the position error;

applying the VCM current to the voice coil based on the target value of the VCM current;

acquiring the feature amount from the filter by inputting the position error to a filter that has a pass band of a frequency component of the position error, the pass band being set based on the frequency resonance characteristic of the actuator or the frequency characteristic of vibration caused by disturbance of the actuator;

predicting an evaluation value based on a result of integrating the feature amount of each sample point; and

setting the on-track determination number based on the evaluation value.