Data storage device compensating for seek vibration using vibration sensor
A data storage device is disclosed comprising an actuator configured to actuate a head over a disk surface, and a vibration sensor configured to generate a vibration signal (VS). Control circuitry comprising a servo control system having a torque rejection curve (TRC) configured to control the actuator is configured to measure a position error signal (PES) of the head, and measure the VS output by the vibration sensor. A feed-forward compensator is configured based on PES/VS/TRC. While seeking the head across the disk surface, the VS is processed using the feed-forward compensator to generate a feed-forward compensation during a settle interval of the seek, and the actuator is controlled using the feed-forward compensation during the settle interval.
1. A data storage device comprising:
a disk surface;
a head;
an actuator configured to actuate the head over the disk surface;
a vibration sensor configured to generate a vibration signal (VS); and
control circuitry comprising a servo control system having a torque rejection curve (TRC) configured to control the actuator, wherein the control circuitry is configured to:
measure a position error signal (PES) of the head;
measure the VS output by the vibration sensor;
configure a feed-forward compensator based on:
PES/VS/TRC;
seek the head across the disk surface;
process the VS using the feed-forward compensator to generate a feed-forward compensation during a settle interval of the seek; and
control the actuator using the feed-forward compensation during the settle interval.
2. The data storage device as recited in claim 1 , wherein the feed-forward compensation reduces the settle interval when seeking the head over the disk surface.
3. The data storage device as recited in claim 1 , wherein prior to seeking the head a first seek length, the control circuitry is further configured to configure the feed-forward compensator based on the first seek length.
4. The data storage device as recited in claim 1 , wherein the feed-forward compensator comprises a filter.
5. The data storage device as recited in claim 4 , wherein the filter comprises an infinite impulse response (IIR) filter.
6. The data storage device as recited in claim 4 , wherein the control circuitry is further configured to adjust a gain of the filter based on the PES of the head.
7. The data storage device as recited in claim 1 , wherein:
the vibration sensor generates a rotational VS and a linear VS; and
the VS consists of the rotational VS.
8. A data storage device comprising:
a first disk surface comprising a plurality of tracks;
a first head;
a second disk surface comprising a plurality of tracks;
a second head;
a first actuator configured to actuate the first head over the first disk surface;
a second actuator configured to actuate the second head over the second disk surface;
a vibration sensor configured to generate a vibration signal (VS); and
control circuitry comprising a servo control system having a torque rejection curve (TRC) configured to control the actuator, wherein the control circuitry is configured to:
measure a position error signal (PES) of the first head;
measure the VS output by the vibration sensor;
configure a first feed-forward compensator based on:
PES/VS/TRC;
process the VS using the first feed-forward compensator to generate a first feed-forward compensation that compensates for a seek vibration when seeking the second actuator; and
control the first actuator using the first feed-forward compensation.
9. The data storage device as recited in claim 8 , wherein the control circuitry is further configured to:
adapt a second feed-forward compensator based on the PES and the VS;
process the VS using the second feed-forward compensator to generate a second feed-forward compensation; and
control the first actuator using the first feed-forward compensation and the second feed-forward compensation.
10. The data storage device as recited in claim 8 , wherein the vibration sensor comprises a first accelerometer.
11. The data storage device as recited in claim 10 , wherein:
the vibration sensor further comprises a second accelerometer; and
the vibration sensor generates the vibration signal based on a difference between an output of the first accelerometer and an output of the second accelerometer.
12. The data storage device as recited in claim 8 , wherein prior to seeking the second head a first seek length, the control circuitry is further configured to configure the first feed-forward compensator based on the first seek length.
13. The data storage device as recited in claim 8 , wherein the first feed-forward compensator comprises a filter.
14. The data storage device as recited in claim 13 , wherein the filter comprises an infinite impulse response (IIR) filter.
15. The data storage device as recited in claim 13 , wherein the control circuitry is further configured to adjust a gain of the filter based on the PES of the first head.