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1. 发明授权

US07626782B1 Disk drive employing iterative learning control for tuning seek servo loop 失效
标题翻译：采用迭代学习控制的磁盘驱动器，用于调谐寻道伺服环路
公开(公告)号：US07626782B1
公开(公告)日：2009-12-01
申请号：US12178512
申请日：2008-07-23
申请人： Jie Yu , Kuang-Yang Tu , Young-Hoon Kim , Wei Xi
发明人： Jie Yu , Kuang-Yang Tu , Young-Hoon Kim , Wei Xi
IPC分类号： G11B5/596
CPC分类号： G11B5/59627 , G11B5/5534 , G11B5/5547
摘要： A disk drive is disclosed operable to seek a head from a first radial location over a disk to a second radial location over the disk. A reference signal is initialized, a feed-forward control signal is initialized, and a seek is initiated. During the seek operation, a position error signal (PES) is generated and saved, wherein the PES represents a position error of the head relative to the reference signal. The PES is filtered with a compensation filter to generate a feed-back control signal. The feed-back control signal is combined with the feed-forward control signal to generate a VCM control signal. When the seek is done, the saved PES is processed using an iterative learning control (ILC) algorithm to adjust at least one of the reference signal and the feed-forward control signal.
摘要翻译：公开了一种磁盘驱动器，其可操作以从磁盘上的第一径向位置到盘上的第二径向位置寻找磁头。初始化参考信号，初始化前馈控制信号，并启动寻道。在寻道操作期间，产生并保存位置误差信号（PES），其中PES表示头相对于参考信号的位置误差。用补偿滤波器对PES进行滤波以产生反馈控制信号。反馈控制信号与前馈控制信号组合以产生VCM控制信号。当搜索完成时，使用迭代学习控制（ILC）算法处理保存的PES，以调整参考信号和前馈控制信号中的至少一个。

2. 发明授权

US08630059B1 Methods for closed-loop compensation of ultra-high frequency disturbances in hard disk drives and hard disk drives utilizing same 失效
标题翻译：使用硬盘驱动器和硬盘驱动器的超高频干扰的闭环补偿方法
公开(公告)号：US08630059B1
公开(公告)日：2014-01-14
申请号：US13408974
申请日：2012-02-29
申请人： Xu Chen , Wei Xi , Young-Hoon Kim , Kuang-Yang Tu
发明人： Xu Chen , Wei Xi , Young-Hoon Kim , Kuang-Yang Tu
IPC分类号： G11B5/596
CPC分类号： G11B5/59694
摘要： A disk drive comprises a disk, an actuator arm and a servo controller using a position error signal to generate a controller output signal to control the actuator arm. A plant mechanically models at least a portion of the disk drive, receives a control command to which an unknown disturbance is added and generates a plant output. A disturbance observer (DOB) uses the control command and the plant output to generate a delayed and estimated version of the disturbance. The DOB comprises a Q filter having a selected center frequency. A perfect phase cancellation filter (PPCF) is configured to receive the delayed and estimated version of the disturbance, to reject selected disturbances and to align the desired attenuation frequency with the selected center frequency. The output of the PPCF is subtracted from the controller output signal to generate the control command.
摘要翻译：磁盘驱动器包括盘，致动器臂和使用位置误差信号的伺服控制器，以产生控制器输出信号以控制致动器臂。工厂对至少一部分磁盘驱动器进行机械建模，接收到添加了未知扰动的控制命令，并生成工厂输出。干扰观测器（DOB）使用控制命令和设备输出来产生干扰的延迟和估计版本。 DOB包括具有所选中心频率的Q滤波器。完美相位消除滤波器（PPCF）被配置为接收干扰的延迟和估计版本，以抑制所选择的干扰并将期望的衰减频率与所选择的中心频率对准。从控制器输出信号中减去PPCF的输出，生成控制命令。

3. 发明授权

US08737013B2 Disk drive selecting disturbance signal for feed-forward compensation 有权
标题翻译：磁盘驱动器选择用于前馈补偿的干扰信号
公开(公告)号：US08737013B2
公开(公告)日：2014-05-27
申请号：US13298241
申请日：2011-11-16
申请人： Jianguo Zhou , Wei Xi , Kuang-Yang Tu , Alain Chahwan
发明人： Jianguo Zhou , Wei Xi , Kuang-Yang Tu , Alain Chahwan
IPC分类号： G11B5/596
CPC分类号： G11B5/59694
摘要： A disk drive is disclosed comprising a disk, a head, and control circuitry comprising a servo control system operable to actuate the head over the disk. A plurality of disturbance signals is generated in response to a vibration. A plurality of correlations is generated in response to each disturbance signal and an error signal of the servo control system. At least one of the disturbance signals is selected in response to the correlations. A feed-forward compensation value is generated in response to the selected disturbance signal, and the feed-forward compensation value is applied to the servo control system to compensate for the vibration.
摘要翻译：公开了一种磁盘驱动器，其包括磁盘，磁头和控制电路，其包括可操作以在磁盘上致动磁头的伺服控制系统。响应于振动产生多个干扰信号。响应于每个干扰信号和伺服控制系统的误差信号产生多个相关。响应于相关性来选择至少一个干扰信号。响应于所选择的干扰信号产生前馈补偿值，并且将前馈补偿值应用于伺服控制系统以补偿振动。

4. 发明授权

US07583470B1 Disk drive writing wedge RRO data along a sinusoidal path to compensate for reader/writer offset 有权
标题翻译：磁盘驱动器沿正弦路径写入楔形RRO数据，以补偿读写器偏移
公开(公告)号：US07583470B1
公开(公告)日：2009-09-01
申请号：US11847110
申请日：2007-08-29
申请人： Teddy T.C. Chen , Guoxiao Guo , Kuang-Yang Tu
发明人： Teddy T.C. Chen , Guoxiao Guo , Kuang-Yang Tu
IPC分类号： G11B5/596
CPC分类号： G11B5/59627
摘要： A disk drive is disclosed including a disk having a plurality of tracks, wherein each track comprises a plurality of servo sectors. The disk drive further comprises a head having a read element offset from a write element by a reader/writer offset. The read element is positioned over a first track and the write element is positioned over a second track. A first servo control signal is generated for servoing the head in response to the servo sectors in the first track, and first wedge repeatable runout (RRO) data is written to the second track along a substantially sinusoidal path corresponding to the reader/writer offset, wherein the first wedge RRO data are for writing data to a third track.
摘要翻译：公开了一种磁盘驱动器，其包括具有多个磁道的磁盘，其中每个磁道包括多个伺服扇区。磁盘驱动器还包括具有通过读取器/写入器偏置从读取元件偏移的读取元件的磁头。读取元件位于第一轨道上，并且写入元件位于第二轨道上。产生第一伺服控制信号以响应于第一轨道中的伺服扇区来伺服磁头，并且第一楔形可重复跳动（RRO）数据沿对应于读取器/写入器偏移的基本上正弦的路径写入第二磁道，其中所述第一楔形RRO数据用于将数据写入第三轨道。

5. 发明授权

US07339761B1 Method for wedge time shift calibration in a disk drive 有权
标题翻译：磁盘驱动器中楔形时移校准的方法
公开(公告)号：US07339761B1
公开(公告)日：2008-03-04
申请号：US11406090
申请日：2006-04-18
申请人： Kuang-Yang Tu , John Yin Kwong Li
发明人： Kuang-Yang Tu , John Yin Kwong Li
IPC分类号： G11B5/596 , G11B5/09
CPC分类号： G11B5/59616 , G11B5/5534
摘要： A method is disclosed for identifying wedge time shift zones on a magnetic disk of a disk drive. The disk drive further includes a spindle motor for rotating the disk at an operating speed in response to a spindle control current generated by a spindle control system, and a head that is actuated over the disk. During operation, the control systems causes a seek of the head across the disk and measures wedge-to-wedge times between servo wedges. The control system then calculates a wedge-to-wedge time shift value using the wedge-to-wedge times and determines whether the wedge-to-wedge time shift time value exceeds a predetermined threshold. If the wedge-to-wedge time shift value exceeds the predetermined threshold, then the control system identifies a wedge time shift zone, and stores information for compensating for the identified wedge time shift zone during disk operations.
摘要翻译：公开了一种用于识别磁盘驱动器的磁盘上的楔形时移区域的方法。磁盘驱动器还包括主轴电机，用于响应于由主轴控制系统产生的主轴控制电流而以操作速度旋转磁盘，以及在磁盘上启动的磁头。在操作过程中，控制系统会使磁头横跨磁盘进行搜索，并测量伺服楔块之间的楔形到楔形时间。然后，控制系统使用楔形到楔形时间来计算楔形到楔形的时间偏移值，并且确定楔形到楔形的时间偏移时间值是否超过预定的阈值。如果楔形到楔形时间偏移值超过预定阈值，则控制系统识别楔形时移区域，并且在盘操作期间存储用于补偿所识别的楔形时间移位区域的信息。

6. 发明授权

US07199966B1 Disk drive adjusting seek profile for variable seek times to reduce power dissipation 有权
标题翻译：磁盘驱动器调整查找配置文件以实现可变查询时间，以减少功耗
公开(公告)号：US07199966B1
公开(公告)日：2007-04-03
申请号：US11168268
申请日：2005-06-28
申请人： Kuang-Yang Tu , William T. Stoll
发明人： Kuang-Yang Tu , William T. Stoll
IPC分类号： G11B5/596
CPC分类号： G11B5/5547 , G11B5/5526
摘要： A disk drive is disclosed comprising a disk having a plurality of tracks, a head actuated over the disk, and a voice coil motor for seeking the head from a first track to a second track. A first seek time is computed corresponding to a first seek profile, and second seek time is computed which is greater than the first seek time. A second seek profile is computed in response to the first seek time, the second seek time, and a scaling factor that accounts for a back EMF voltage generated by the voice coil motor. The voice coil motor is then controlled according to the second seek profile to seek the head from the first track to the second track.
摘要翻译：公开了一种磁盘驱动器，其包括具有多个轨道的磁盘，在盘上致动的磁头以及用于从第一磁道到第二磁道寻找磁头的音圈电机。对应于第一搜索轮廓计算第一搜索时间，并且计算大于第一搜索时间的第二搜索时间。响应于第一寻道时间，第二寻找时间和解释由音圈电机产生的反EMF电压的缩放因子来计算第二寻道曲线。然后根据第二搜索轮廓来控制音圈马达，以将头从第一轨道到第二轨道。

7. 发明授权

US07110214B1 Disk drive to implement a seek operation utilizing a deceleration velocity profile that mathematically models BEMFs 有权
标题翻译：磁盘驱动器，利用数学模拟BEMF的减速度曲线来实现寻道操作
公开(公告)号：US07110214B1
公开(公告)日：2006-09-19
申请号：US11039401
申请日：2005-01-18
申请人： Kuang-Yang Tu , David Dung Tien Nguyen
发明人： Kuang-Yang Tu , David Dung Tien Nguyen
IPC分类号： G11B5/596
CPC分类号： G11B5/5547
摘要： Disclosed is a disk drive including an actuator having a coil, a head attached to the actuator, and a disk including at least a first track and a second track, and a processor for controlling operations in the disk drive including a seek operation from the first track to the second track in which the head is moved between the first track and the second track by the movement of the actuator. The processor under the control of a program generates a deceleration velocity profile for the seek operation that is determined based upon a deceleration velocity profile function that includes a back electromagnetic force (BEMF) model to take into account back electromagnetic forces (BEMFs) associated with the coil of the actuator such that the BEMFs are mathematically modeled. The head is commanded to seek to the second track utilizing the deceleration velocity profile function that includes the BEMF model.
摘要翻译：公开了一种盘驱动器，其包括具有线圈的致动器，附接到致动器的头部和至少包括第一轨道和第二轨道的盘，以及用于控制盘驱动器中的操作的处理器，包括来自第一通过致动器的移动跟踪头部在第一轨道和第二轨道之间移动的第二轨道。在程序控制下的处理器产生用于搜索操作的减速度速度分布，其基于包括反电磁力（BEMF）模型的减速度速度分布函数来确定，以考虑与相关联的反电磁力（BEMF）线圈，使得BEMF在数学上被建模。命令头使用包括BEMF模型的减速度曲线函数来寻求第二轨。

8. 发明授权

US06914740B1 Disk drive employing BEMF spindle speed control or wedge spindle speed control 失效
标题翻译：采用BEMF主轴速度控制或楔形主轴速度控制的磁盘驱动器
公开(公告)号：US06914740B1
公开(公告)日：2005-07-05
申请号：US10724386
申请日：2003-11-26
申请人： Kuang-Yang Tu , Chuanwen Ji
发明人： Kuang-Yang Tu , Chuanwen Ji
IPC分类号： G11B5/55 , G11B15/46
CPC分类号： G11B5/5534 , G11B5/5569
摘要： A disk drive is disclosed employing either back electromotive force (BEMF) spindle speed control or wedge spindle speed control. The BEMF spindle speed control is used to calibrate a reference time period representing an accumulation of a predetermined number of wedge-to-wedge times. During wedge spindle speed control, a wedge time period representing an accumulation of a predetermined number of wedge-to-wedge times is measured, and a wedge speed error is computed as the difference between the reference time period and the wedge time period.
摘要翻译：公开了使用反电动势（BEMF）主轴速度控制或楔形主轴速度控制的磁盘驱动器。 BEMF主轴转速控制用于校准表示预定数量的楔到楔次的累积的参考时间段。在楔形主轴速度控制期间，测量表示预定数量的楔形楔形时间的累积的楔形时间段，并且将楔形速度误差计算为基准时间段和楔形时间段之间的差。

9. 发明授权

US07289288B1 Disk drive having hybrid spindle speed control and related method 失效
标题翻译：具有混合主轴速度控制和相关方法的磁盘驱动器
公开(公告)号：US07289288B1
公开(公告)日：2007-10-30
申请号：US11387429
申请日：2006-03-23
申请人： Kuang-Yang Tu
发明人： Kuang-Yang Tu
IPC分类号： G11B15/46 , G11B5/596 , G05B11/01
CPC分类号： G11B19/28 , G11B5/5526
摘要： A disk drive is disclosed having hybrid spindle speed control. The disk drive includes a disk having a plurality of servo wedges, and a spindle motor for rotating the disk at an operating speed. The spindle motor generates a back electromotive force (BEMF) voltage. In operation, the disk rotation is maintained at the operating speed during a track following operation by updating, in a wedge spindle speed control mode, the spindle control current in response to a wedge speed error. Before executing a high-speed seek, the disk drive is switched to a BEMF spindle speed control mode, and the disk rotation is maintained at the operating speed during the high speed seek by updating the spindle control current in response to a BEMF speed error signal generated based on the BEMF voltage. During a seek-settle time, the disk drive is switched back to the wedge spindle speed control mode.
摘要翻译：公开了一种具有混合主轴转速控制的盘驱动器。磁盘驱动器包括具有多个伺服楔的盘，以及用于以操作速度旋转盘的主轴电机。主轴电机产生反电动势（BEMF）电压。在操作中，通过在楔形主轴速度控制模式中更新响应于楔形速度误差的主轴控制电流，盘旋转在轨道跟随操作期间保持在操作速度。在执行高速寻找之前，磁盘驱动器被切换到BEMF主轴速度控制模式，并且通过响应于BEMF速度误差信号更新主轴控制电流，在高速寻找期间磁盘旋转保持在运行速度基于BEMF电压产生。在寻道期间，磁盘驱动器切换回楔形主轴速度控制模式。

10. 发明授权

US06954324B1 Disk drive disabling BEMF detection window to reduce acoustic noise while using wedge spindle speed control 失效
标题翻译：磁盘驱动器禁用BEMF检测窗口，以减少使用楔形主轴速度控制时的声音噪声
公开(公告)号：US06954324B1
公开(公告)日：2005-10-11
申请号：US10724331
申请日：2003-11-26
申请人： Kuang-Yang Tu , Chuanwen Ji
发明人： Kuang-Yang Tu , Chuanwen Ji
IPC分类号： G11B15/46 , G11B19/20 , G11B19/28
CPC分类号： G11B19/20 , G11B19/28
摘要： A disk drive is disclosed employing either back electromotive force (BEMF) spindle speed control mode or wedge spindle speed control mode. A BEMF detector monitors the BEMF voltage generated by the windings of the spindle motor to generate a BEMF speed error. The BEMF spindle speed control mode is used to spin up the disk to an operating speed, and the wedge spindle speed control to maintain the disk at the operating speed. While in the wedge spindle speed control mode, a BEMF detection window is disabled to reduce acoustic noise.
摘要翻译：公开了使用反电动势（BEMF）主轴速度控制模式或楔形主轴速度控制模式的磁盘驱动器。 BEMF检测器监测主轴电机绕组产生的BEMF电压，以产生BEMF速度误差。 BEMF主轴转速控制模式用于将盘旋转到运行速度，并且楔形主轴速度控制将盘保持在运行速度。在楔形主轴速度控制模式下，禁用BEMF检测窗口以减少声学噪声。

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