| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a position control device for performing disturbance adaptive control suitable for digital processing, and further to provide a disk device. <P>SOLUTION: A position control device, which performs disturbance adaptive control in response to a disturbance while performing position control of an object in a target position according to a position error, performs the disturbance adaptive control by the following steps of: calculating an estimation error of any value of sin(ωT), cos(ωT) and sin(ωT/2), where ω represents an angular frequency of the disturbance and T represents a sample cycle; multiplying the estimation error by an adaptive gain proportional to the angular frequency ω; and updating the any value of sin(ωT), cos(ωT) and sin(ωT/2). Accordingly, the position control device can enhance estimation accuracy of a frequency of the disturbance and further can realize the disturbance adaptive control with excellent accuracy in digital control. <P>COPYRIGHT: (C)2012,JPO&INPIT |
