Disk drive filtering disturbance signal and error signal for adaptive feed-forward compensation

摘要

A disk drive is disclosed comprising a servo control system operable to actuate a head over a disk. A disturbance signal is generated in response to a vibration, and the disturbance signal is filtered with a first filter comprising a frequency response to generate a filtered disturbance signal. The filtered disturbance signal is filtered with a model of the servo control system to generate a compensated disturbance signal. An error signal of the servo control system is filtered with a second filter comprising the frequency response to generate a filtered error signal. An adaptation control signal is generated in response to the compensated disturbance signal and the filtered error signal, and an adaptive filter is adapted in response to the adaptation control signal, wherein the adaptive filter filters the disturbance signal to generate feed-forward compensation values applied to the servo control system to compensate for the vibration.

主权项

1. A disk drive comprising:
a disk; a head; and control circuitry comprising a servo control system operable to actuate the head over the disk, the control circuitry operable to:
generate a disturbance signal in response to a vibration;generate an error signal of the servo control system;filter the disturbance signal with a first filter comprising a frequency response to generate a filtered disturbance signal;filter the filtered disturbance signal with a model of the servo control system to generate a compensated disturbance signal;filter the error signal with a second filter comprising the frequency response of the first filter to generate a filtered error signal;generate an adaptation control signal in response to the compensated disturbance signal and the filtered error signal;adapt an adaptive filter in response to the adaptation control signal, wherein the adaptive filter filters the disturbance signal to generate feed-forward compensation values; andapply the feed-forward compensation values to the servo control system to compensate for the vibration.