Head positioning method, and disk apparatus using the same

摘要

A first estimator 13 estimates the position of a head based on a VCM driving signal u1 and a voltage signal Va output from a VCM 6 to output a first head position estimation signal x1est. The first estimator 13 estimates the disturbance acting on a head supporting mechanism 8 to output a disturbance estimation signal taudest. A second estimator 15 estimates the displacement of the head based on a control signal c2 for a fine adjustment actuator 7 to output a displacement estimation signal x2est. The first head position estimation signal x1est and the displacement estimation signal x2estare added together to obtain a second head position estimation signal xest. A position error signal e is generated using a head position signal x obtained by detecting the servo information and the second head position estimation signal xest. A disturbance compensator 10 synthesizes a VCM control signal c1 with the disturbance estimation signal taudest to generate the VCM driving signal u1.