Rotational vibration compensation using microactuator

摘要

An apparatus includes a feedback controller receiving feedback from a position error signal of a hard drive read/write head. The feedback controller provides respective voice coil motor and microactuator control signals to a voice coil and microactuator that together position the hard drive read/write head in response to a position control signal. A rotational vibration feed-forward compensator receives vibration measurements via a sensor and providing a rotational vibration compensation signal in response thereto. A dynamic control allocator is coupled to the feedback controller and the rotational vibration feed-forward compensator. The dynamic control allocator is configured to combine a high frequency component of the rotational vibration compensation signal with the microactuator control signal; and to combine a low frequency component of the rotational vibration compensation signal with the voice coil motor control signal.

主权项

1. A method comprising:
receiving feedback from a position error signal; forming respective voice coil motor and microactuator control signals responsive to the feedback and a position control signal; receiving rotational vibration measurements via a sensor and provide a compensation signal in response thereto; generating a high frequency component and a low frequency component of the compensation signal from an adaptive control algorithm; combine a high frequency component of the compensation signal with the microactuator control signal; and combine a low frequency component of the compensation signal with the voice coil motor control signal, wherein the adaptive control algorithm approximates an ideal compensator response for a virtual actuator that combines a voice coil motor that receives the voice coil motor control signal and a microactuator that receives the microactuator control signal.