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1. 发明授权

US5914922A Generating a quadrature seek signal from a discrete-time tracking error signal and a discrete-time RF data signal in an optical storage device 失效
标题翻译：在光存储装置中从离散时间跟踪误差信号和离散时间RF数据信号产生正交寻道信号
公开(公告)号：US5914922A
公开(公告)日：1999-06-22
申请号：US989272
申请日：1997-12-12
申请人： Louis Supino , Jim Graba , Shuangxia Zhu , Paul M. Romano
发明人： Louis Supino , Jim Graba , Shuangxia Zhu , Paul M. Romano
IPC分类号： G11B21/08 , G11B7/085 , G11B7/09 , G11B21/10
CPC分类号： G11B7/08541 , G11B7/0901
摘要： In an optical disk storage device wherein user data is demodulated from a light beam reflecting off data pits in tracks of an optical disk storage medium, a quadrature seek signal is generated indicative of the light beam crossing tracks of the optical disk during a seek operation. The quadrature seek signal is generated from a discrete-time tracking error signal (TES) and a discrete-time RF baseband signal. The discrete-time TES is generated according to the mode of operation, compact disk (CD) or digital video disk (DVD). In CD mode the TES is generated as the difference between E and F tracking photodiodes, and in DVD mode the TES is generated using a discrete-time differential phase detector (DPD). To generate the discrete-time RF baseband signal, the RF data signal (generated as the sum A+B+C+D of a four quadrant photodiode) is sampled at the channel rate and the RF data samples passed through a discrete-time envelope detector. The envelope detector extracts a discrete-time RF baseband signal which represents the light beam's location with respect to a track centerline. The discrete-time TES and baseband signals are synchronized and converted into binary square waves which form a quadrature seek signal (four transitions per track) for counting track crossings and for determining the radial seek direction.
摘要翻译：在从光盘存储介质的轨道中的数据凹坑反射的光束解调用户数据的光盘存储装置中，生成表示在寻道操作期间与光盘交叉的光束的正交搜索信号。正交搜索信号由离散时间跟踪误差信号（TES）和离散时间RF基带信号产生。离散时间TES根据操作模式，光盘（CD）或数字视频盘（DVD）生成。在CD模式下，TES产生为E和F跟踪光电二极管之间的差异，在DVD模式下，使用离散时间差分相位检测器（DPD）生成TES。为了产生离散时间RF基带信号，RF信号（以四象素光电二极管的和+ A + B + C + D生成）以信道速率进行采样，RF数据样本通过离散时间信封探测器。包络检测器提取表示相对于轨道中心线的光束位置的离散时间RF基带信号。离散时间TES和基带信号被同步并转换成二进制方波，其形成正交搜索信号（每个轨道四个转换），用于计数轨道交叉点和用于确定径向搜索方向。

2. 发明授权

US5917784A Trellis sequence detector for detecting a quadrature servo signal in disk recording systems 失效
标题翻译：网格序列检测器，用于检测磁盘记录系统中的正交伺服信号
公开(公告)号：US5917784A
公开(公告)日：1999-06-29
申请号：US54584
申请日：1998-04-03
申请人： Louis Supino , Paul M. Romano , Jim Graba
发明人： Louis Supino , Paul M. Romano , Jim Graba
IPC分类号： G11B7/085 , G11B17/22
CPC分类号： G11B7/08541 , G11B7/08529
摘要： A trellis sequence detector is disclosed for detecting a quadrature servo signal in optical disk storage devices. The quadrature servo signal is generated in discrete time and comprises two sinusoidal signals phase offset by 90 degrees. The sampling frequency of the quadrature signal is controlled relative to the track crossing velocity so as to produce a fixed number of samples per period of the sinusoid (i.e., per track crossing). In the embodiment disclosed herein, the sampling of the sinusoidal signals is controlled such that there are eight samples per track crossing. The eight samples are associated with a state transition diagram and corresponding trellis diagram which define the operation of a trellis sequence detector. The trellis sequence detector processes the actual samples of the quadrature signal to determine an estimated quadrature sequence closest to the actual samples of the quadrature signal. In this manner, spurious pulses in the actual quadrature signal are filtered out which significantly enhances the performance of the servo system.
摘要翻译：公开了一种用于检测光盘存储装置中的正交伺服信号的网格序列检测器。正交伺服信号在离散时间内产生，并包括相位偏移90度的两个正弦信号。相对于轨道交叉速度控制正交信号的采样频率，以便产生每个正弦曲线周期（即，每个轨道交叉）的固定数量的采样。在本文公开的实施例中，控制正弦信号的采样，使得每个轨道交叉有八个采样。八个样本与状态转换图和对应的网格图相关联，其定义了网格序列检测器的操作。网格序列检测器处理正交信号的实际采样以确定最接近正交信号的实际采样的估计正交序列。以这种方式，实际正交信号中的杂散脉冲被滤除，这显着增强了伺服系统的性能。

3. 发明授权

US5825582A Sliding mode control of a disk drive actuator for positioning a read/write head over a selected track during seeking and tracking operations 失效
标题翻译：磁盘驱动器致动器的滑动模式控制，用于在寻找和跟踪操作期间将读/写头定位在所选轨道上
公开(公告)号：US5825582A
公开(公告)日：1998-10-20
申请号：US435416
申请日：1995-05-10
申请人： Louis Supino , Paul M. Romano
发明人： Louis Supino , Paul M. Romano
IPC分类号： G11B5/00 , G11B5/55 , G11B5/596
CPC分类号： G11B5/59683 , G11B5/5547 , G11B2005/0016
摘要： A sliding mode controller is disclosed for controlling the motion of a read/write head actuated by a voice coil motor over a rotating magnetic disk storage medium. The magnetic disk comprises a plurality of concentric data tracks recorded thereon wherein each data track comprises user data and servo data. The sliding mode controller operates by multiplying a head position error phase state and a head position error velocity phase state by respective switching gains to force the phase states to follow a predetermined phase state trajectory. The phase state trajectory can be defined by a single linear segment, a variable linear segment, multiple linear segments over the entire region of excursion, or optimum parabolic acceleration and deceleration segments. Switching logic, responsive to the phase states and a trajectory segment value .sigma., switches between positive and negative feedback gains to drive the phase states toward a current trajectory segment. A .sigma. processing block monitors the phase states to determine when to switch from a current trajectory segment to the next trajectory segment. The resulting servo control system is relatively inexpensive to implement in either software or hardware, and it is substantially insensitive to parametric changes and external load disturbances. Further, it does not require notch filters commonly used in conventional linear controllers to compensate for mechanical resonances.
摘要翻译：公开了一种滑动模式控制器，用于控制通过旋转磁盘存储介质由音圈电机致动的读/写头的运动。磁盘包括记录在其上的多个同心数据轨道，其中每个数据轨道包括用户数据和伺服数据。滑动模式控制器通过将头部位置误差相位状态和头部位置误差速度相位状态乘以相应的切换增益来操作，以迫使相位状态遵循预定的相位状态轨迹。相位状态轨迹可以由单个线性段，可变线性段，整个移动区域上的多个线性段或最佳抛物线加速和减速段来定义。响应于相位状态和轨迹段sigma的开关逻辑在正和负反馈增益之间切换以将相位状态驱动到当前轨迹段。西格玛处理块监视相位状态以确定何时从当前轨迹段切换到下一轨迹段。所得到的伺服控制系统在软件或硬件中实现相对便宜，并且对参数变化和外部负载扰动基本上不敏感。此外，它不需要通常用于常规线性控制器的陷波滤波器来补偿机械谐振。

4. 发明授权

US06236895B1 Reference estimator in a discrete-time sliding mode controller 有权
标题翻译：离散时间滑模控制器中的参考估计器
公开(公告)号：US06236895B1
公开(公告)日：2001-05-22
申请号：US09145525
申请日：1998-09-02
申请人： Paul M. Romano , Louis Supino , Christopher T. Settje
发明人： Paul M. Romano , Louis Supino , Christopher T. Settje
IPC分类号： G05B1302
CPC分类号： G05B21/02 , G05B13/0255
摘要： A discrete-time sliding mode controller (SMC) controls the motion of mechanical apparatus such as a read head in a disk storage system. The overall control effort is generated by combining a linear control effort with a discrete-time sliding mode control effort generated by switching between gains in order to drive the system's phase states toward a sliding line trajectory. An estimate of a reference is generated and added to the control effort, thereby providing an approximation of the derivative of the reference signal. Estimating the reference signal may be performed by various methods, depending on whether the reference is known, unknown but repeatable, or completely unknown and non-repeatable. A least-mean-square (LMS) algorithm is employed to estimate the reference signal by computing coefficients of a function which minimizes a particular system parameter. If the reference is an unknown, repeatable sinusoid, such as the runout signal in a disk storage device, the coefficients of a synthesized sinusoid may be determined by minimizing the position error phase state. Alternatively, the coefficients of the synthesized sinusoid may be determined by minimizing the sliding mode variable &sgr;k which defines the position of the system phase states relative to the sliding line. For references that are unknown and non-repeatable, an estimate of the derivative of the reference signal is computed, weighted, and added to weighted derivatives of the estimate, where the weights or coefficients of this function are also determined by minimizing the sliding mode variable &sgr;k.
摘要翻译：离散时间滑动模式控制器（SMC）控制诸如磁盘存储系统中的读取头的机械装置的运动。通过将线性控制工作与通过在增益之间切换产生的离散时间滑动模式控制努力组合以便将系统的相位状态推向滑动线轨迹来产生总体控制努力。产生参考的估计并将其加到控制努力中，从而提供参考信号的导数的近似值。可以通过各种方法来执行参考信号的估计，这取决于参考是否已知，未知但可重复，或者完全未知且不可重复。采用最小均方（LMS）算法通过计算最小化特定系统参数的函数的系数来估计参考信号。如果参考是未知的，可重复的正弦曲线，例如盘存储装置中的跳动信号，则可以通过使位置误差相位状态最小化来确定合成正弦曲线的系数。或者，可以通过最小化限定系统相位状态相对于滑动线的位置的滑动模式变量sigmak来确定合成正弦曲线的系数。对于未知且不可重复的参考，计算参考信号的导数的估计，加权并加到估计的加权导数中，其中该函数的权重或系数也通过最小化滑动模式变量来确定 sigmak。

5. 发明授权

US5847895A Chatter reduction in sliding mode control of a disk drive actuator 失效
标题翻译：磁盘驱动器执行器的滑动模式控制中的抖动减少
公开(公告)号：US5847895A
公开(公告)日：1998-12-08
申请号：US943997
申请日：1997-10-03
申请人： Paul M. Romano , Louis Supino
发明人： Paul M. Romano , Louis Supino
IPC分类号： G11B5/55 , G11B5/596
CPC分类号： G11B5/5547 , G11B5/59622
摘要： A sliding mode controller is disclosed for controlling a read/write head actuator in a magnetic disk drive storage system wherein a voice coil motor connected to the actuator operates to adjust the position of the read/write head over a selected data track recorded on a magnetic medium. The sliding mode controller comprises an improved technique for reducing chatter associated with the inherent operation of such a controller--rapid switching between gains to force the observable phase states to follow a predetermined phase state trajectory. The sliding mode controller generates a motor control command by multiplying an actuator position error and an actuator position error velocity by respective switching gains. The gains are switched according to a predetermined relationship .sigma. between the phase states and a phase state trajectory. In order to reduce the switching frequency (i.e., chatter), a boundary layer around the phase state trajectory results in hysteresis, causing the gain blocks to switch only after the phase states cross over the boundary line. Further chatter reduction is achieved by generating the motor control signal proportional to an integral of sgn(.sigma.). The cost of the sliding mode controller is reduced by implementing the phase state trajectory .sigma. as a lookup table indexed by a single phase state.
摘要翻译：公开了一种用于控制磁盘驱动器存储系统中的读/写头致动器的滑动模式控制器，其中连接到致动器的音圈电机用于调节读/写头在记录在磁性上的所选数据轨道上的位置中。滑动模式控制器包括用于减少与这种控制器的固有操作相关联的颤动的改进技术 - 在增益之间的快速切换以迫使可观察相位状态遵循预定的相位状态轨迹。滑动模式控制器通过将致动器位置误差和致动器位置误差速度乘以相应的开关增益来产生电动机控制命令。根据相位状态和相位状态轨迹之间的预定关系sigma来切换增益。为了降低开关频率（即颤振），相位状态轨迹周围的边界层会产生迟滞，导致增益块仅在相位状态越过边界线之后才切换。通过产生与sgn（sigma）的积分成比例的电动机控制信号来实现进一步的颤振减小。通过将相状态轨迹sigma作为由单相状态索引的查找表来实现滑模控制器的成本。

6. 发明授权

US06185467B2 Adaptive discrete-time sliding mode controller 有权
标题翻译：自适应离散时间滑模控制器
公开(公告)号：US06185467B2
公开(公告)日：2001-02-06
申请号：US09146134
申请日：1998-09-02
申请人： Paul M. Romano , Louis Supino , Christopher T. Settje
发明人： Paul M. Romano , Louis Supino , Christopher T. Settje
IPC分类号： G05B1302
CPC分类号： G05B13/0255 , G05B21/02
摘要： An adaptive, discrete-time sliding mode controller (SMC) is disclosed which detects and adapts to gain variations in the controlled plant. The overall control effort is generated by combining a linear control effort with a discrete-time sliding mode control effort generated by switching between gains in order to drive the system's phase states toward a sliding line trajectory. A sliding mode variable &sgr;k defines the position of the system phase states relative to the sliding line. The SMC controller is designed such that the sliding mode variable &sgr;k crosses the sliding line and changes sign at every sample interval. For the nominal plant gain, the SMC controller is also designed such that the magnitude of the sliding mode variable &sgr;k+1=−&sgr;k will remain constant (&sgr;k+1=−&sgr;k) and substantially constrained to |&sgr;k|=&Dgr;/(1+&lgr;) where &Dgr; and &lgr; are predetermined design constants. The deviation in if the magnitude of &sgr;k from nominal is a direct measure of the deviation in the plant gain. Accordingly, the present invention measures the error between the measured magnitude of &sgr;k and the nominal magnitude, and uses this measured error to adapt to variations in the plant gain.
摘要翻译：公开了一种适应性离散时间滑动模式控制器（SMC），其检测并适应于受控设备中的变化。通过将线性控制工作与通过在增益之间切换产生的离散时间滑动模式控制力相结合来产生总体控制努力，以便将系统的相位状态推向滑动线轨迹。滑动模式变量sigmak定义系统相位状态相对于滑动线的位置。 SMC控制器设计成使得滑动模式变量sigmak跨越滑动线，并在每个采样间隔改变符号。对于标称工厂增益，SMC控制器也被设计成使得滑动模式变量sigmak + 1 = -sigmak的大小将保持恒定（sigmak + 1 = -sigmak），并且基本上限制在其中DELTA和Lambd是预定的设计常数。如果sigmak从标称值的大小是植物增益偏差的直接测量值的偏差。因此，本发明测量sigmak的测量幅度与标称幅度之间的误差，并且使用该测量误差来适应植物增益的变化。

7. 发明授权

US5956304A Differential phase error detector using dual arm correlation for servo tracking in an optical disk storage device 失效
标题翻译：差分相位误差检测器，用于光盘存储装置中的伺服跟踪双臂相关
公开(公告)号：US5956304A
公开(公告)日：1999-09-21
申请号：US912916
申请日：1997-08-15
申请人： Louis Supino , Paul M. Romano , Larry D. King , German S. Feyh
发明人： Louis Supino , Paul M. Romano , Larry D. King , German S. Feyh
IPC分类号： G11B7/085 , G11B7/09 , G11B7/00
CPC分类号： G11B7/0906 , G11B7/08541 , G11B7/0901
摘要： In an optical disk storage device, a differential phase detector is disclosed for generating a position error signal independent of the frequency content of the recorded data. A pair if diagonal signals S1 and S2 are generated by adding a pair of respective quadrants of a four-quadrant photodetector, where the phase offset between the diagonal signals represents the position error of the pit image as it passes over the photodetector. The position error is determined in the present invention by computing the difference between a positive and negative correlation of the diagonal signals S1 and S2, otherwise referred to as a dual arm correlation (DAC) ##EQU1## where .DELTA. is the correlation offset and L is the correlation length. In the preferred embodiment, the correlation offset .DELTA. is adaptively adjusted to maximize the correlation between S1 and S2. In this manner, the position error estimate is substantially insensitive to the frequency content of the recorded data. Furthermore, this method extends the position error over a range of plus or minus one-half a track, which facilitates generating a quadrature signal for use in counting track crossings during seek operations.
摘要翻译：在光盘存储装置中，公开了用于产生与记录数据的频率内容无关的位置误差信号的差分相位检测器。如果对角线信号S1和S2是通过增加四象限光电检测器的一对相应象限来产生的，其中对角线信号之间的相位偏移表示当其通过光电检测器时凹坑图像的位置误差。在本发明中通过计算对角线信号S1和S2的正相关和负相关之间的差异来确定位置误差，否则称为双相位相关（DAC），其中DELTA是相关偏移，L是相关长度。在优选实施例中，相关偏移量DELTA被自适应地调整以最大化S1和S2之间的相关性。以这种方式，位置误差估计对记录数据的频率内容基本不敏感。此外，该方法将位置误差扩展到正或负二分之一的轨道的范围，这有利于产生用于在搜索操作期间计数轨道交叉的正交信号。

8. 发明授权

US06798611B1 Disk storage system employing a discrete-time sliding mode controller for servo control 有权
标题翻译：磁盘存储系统采用离散时间滑模控制器进行伺服控制
公开(公告)号：US06798611B1
公开(公告)日：2004-09-28
申请号：US09145526
申请日：1998-09-02
申请人： Paul M. Romano , Louis Supino , Christopher T. Settje
发明人： Paul M. Romano , Louis Supino , Christopher T. Settje
IPC分类号： G11B5596
CPC分类号： G11B5/59605 , G11B5/5582
摘要： A discrete-time sliding mode controller (SMC) controls the motion of a read head actuated over a disk storage medium during tracking operations. The discret-time SMC comprises a linear signal generator for generating a linear control signal, and a sliding mode generator for generating a sliding mode signal. These signals are combined and applied to a voice coil motor (VCM) for positioning the read head over a particular data track recorded on the disk. The linear signal generator and the gain (c&Ggr;)−1&Dgr; are designed such that once the sliding mode variable &sgr;k crosses the sliding line the first time, it will cross the sliding line in every successive sample period resulting in a zigzag motion about the sliding line wherein &sgr;k changes sign at every sample period. The switching action and resulting chatter of the sliding mode controller are minimized by adjusting the width of the boundary layer through appropriate selection of predetermined constants &Dgr; and &lgr;. The boundary layer can be made arbitrarily small so as to better approximate and thereby attain the benefits of continuous time SMC. In addition, the required control effort is minimized while still providing adequate immunity to parameter variations and external load disturbances.
摘要翻译：离散时间滑动模式控制器（SMC）在跟踪操作期间控制在磁盘存储介质上被驱动的读取头的运动。离散时间SMC包括用于产生线性控制信号的线性信号发生器和用于产生滑动模式信号的滑动模式发生器。这些信号被组合并应用于音圈电机（VCM），用于将读取头定位在记录在盘上的特定数据轨道上。线性信号发生器和增益（cGamma）1-Delta被设计成使得一旦滑动模式变量sigmak首次穿过滑动线，它将在每个连续的采样周期中穿过滑动线，导致绕Z 其中sigmak在每个采样周期变化的滑动线。通过适当地选择预定的常数Delta和λ来调整边界层的宽度来最小化滑动模式控制器的切换动作和产生的抖动。边界层可以任意小，以便更好地近似，从而获得连续时间SMC的好处。此外，所需的控制努力最小化，同时仍然提供足够的抗参数变化和外部负载扰动。

9. 发明授权

US6141303A Quadrature signal generator using an adaptive length dual arm correlator for optical storage devices 失效
标题翻译：使用自适应长度双臂相关器的光学存储设备的正交信号发生器
公开(公告)号：US6141303A
公开(公告)日：2000-10-31
申请号：US54620
申请日：1998-04-03
申请人： Louis Supino , Paul M. Romano
发明人： Louis Supino , Paul M. Romano
IPC分类号： G11B7/085 , G11B20/10 , G11B7/00
CPC分类号： G11B20/10009 , G11B7/08529 , G11B2020/10916
摘要： A quadrature signal generator for optical disk storage devices is disclosed comprising a differential phase detector (DPD) implemented as an adaptive length dual arm correlator. A photo diode generates a light beam for irradiating the optical disk during read operations, and a pair of diagonal signals S1 and S2 are generated by adding a pair of respective quadrants of a four-quadrant photodetector which detects the light beam reflected from the disk. The phase offset between the diagonal signals represents the centerline offset of the light beam from the centerline of a data track recorded on the optical disk. A first and second position error signals (PES) are generated by computing the difference and sum between a positive and negative correlation of the diagonal signals S1 and S2, otherwise referred to as a dual arm correlation (DAC) ##EQU1## where .DELTA. is the correlation offset and L is the correlation length. In the present invention, the correlation length L is programmably adjusted relative to the t rack crossing velocity such that the correlator outputs a substantially constant number of correlations per track crossing, which facilitates generating a quadrature signal for use in counting track crossings during seek operations.
摘要翻译：公开了一种用于光盘存储装置的正交信号发生器，其包括实现为自适应长度双臂相关器的差分相位检测器（DPD）。光电二极管在读取操作期间产生用于照射光盘的光束，并且通过添加检测从盘反射的光束的四象限光电检测器的一对相应象限来生成一对对角信号S1和S2。对角信号之间的相位偏移表示光束与记录在光盘上的数据轨迹的中心线的中心线偏移。第一和第二位置误差信号（PES）通过计算对角线信号S1和S2的正相关和负相关之间的差值和相加而产生，否则称为双相位相关（DAC），其中DELTA是相关偏移， L是相关长度。在本发明中，可相对于t机架交叉速度可编程地调整相关长度L，使得相关器输出每个磁道横穿的基本上恒定的相关数，这有助于产生用于在搜索操作期间计数轨道交叉的正交信号。

10. 发明授权

US5982721A Optical disc drive comprising switching gains for forcing phase states to follow a sliding line trajectory in a servo system 失效
标题翻译：光盘驱动器包括切换增益，用于迫使相位状态跟随伺服系统中的滑动轨迹
公开(公告)号：US5982721A
公开(公告)日：1999-11-09
申请号：US625462
申请日：1996-03-29
申请人： Louis Supino , Paul M. Romano , Francis H. Reiff
发明人： Louis Supino , Paul M. Romano , Francis H. Reiff
IPC分类号： G05B13/02 , G11B7/085 , G11B7/09
CPC分类号： G11B7/0946 , G05B13/0255 , G11B7/08529 , G11B7/0908
摘要： An optical disc storage system comprises a sliding mode controller for actuating an optical read head assembly over an optical disc during focus capture, focus tracking, track seeking and centerline tracking. The sliding mode controller is a non-linear control system which operates by switching between positive and negative feedback in order to force certain phase states (such as the read head's position error and velocity) to follow a predetermined phase state trajectory. Sliding mode control provides improved compensation to parametric variations, external load disturbances and other transients such as, for example, the focus capture transient. Furthermore, the sliding mode positive and negative feedback gains need only be within a predetermined range, thereby allowing gain values of 2.sup.n which significantly reduces the complexity and cost of the gain multipliers.
摘要翻译：光盘存储系统包括滑动模式控制器，用于在聚焦捕获，聚焦跟踪，跟踪寻找和中心线跟踪期间在光盘上启动光学读取头组件。滑动模式控制器是通过在正和负反馈之间进行切换来操作的非线性控制系统，以便强制某些相位状态（诸如读取头的位置误差和速度）遵循预定的相位状态轨迹。滑动模式控制为参数变化，外部负载扰动和其他瞬变（例如焦点捕获瞬态）提供了改进的补偿。此外，滑模式正和负反馈增益仅需要在预定范围内，从而允许增益值2n，这显着降低了增益乘法器的复杂性和成本。

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