Head positioning system, disk drive apparatus using the same, and head positioning method

摘要

A head positioning system includes: a positioning mechanism section 1 for positioning a head 12; a position controller 2 for detecting a head position signal x to output a position control signal Ux; a velocity detector 3 for detecting the relative velocity of the head 12 with respect to a disk 7 based on the head position signal x; a counter electromotive voltage detector 4 for outputting an estimated head velocity signal Ve2 that is obtained by estimating the absolute velocity of the head 12 based on a counter electromotive voltage signal Vs of an actuator 50; an estimated velocity corrector 5 for correcting an estimation error of the estimated head velocity signal Ve2 based on a velocity signal detected from the head position signal x so as to output a corrected estimated velocity signal Ve2'; and an estimation controller 6 for outputting a velocity control signal Uv based on the corrected estimated velocity signal Ve2', wherein the actuator 50 is controlled by a control amount signal U that is obtained by adding at least the velocity control signal Uv to the position control signal Ux.