JPH0419854A - Tracking controller for magnetic recording/reproducing device - Google Patents

Abstract

PURPOSE:To attain the stable tracking control by setting a prescribed range to a discriminating circuit and holding the phase difference as it is between a reproduction control signal and a phase reference signal of a capstan when the integral value of the DC voltage component applied to an electricity-machine transducer is set in the prescribed range of the deciding circuit. CONSTITUTION:When the integral value of the DC voltage component included in the piezo-drive data computed by a drive data computing means 107 is kept within a prescribed range set to a discriminating circuit 110, the integral value of the phase difference between a reproduction control signal and a phase reference signal of a capstan is held at the value obtained right before it is set in the prescribed range. Thus a stable tracking control operation is secured at a point near 0(v) of the DC voltage component applied to an electricity- machine transducer.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a tracking control device for a magnetic recording/reproducing device.

In a conventional magnetic recording and reproducing apparatus, when reproducing an information signal recorded on a recording track, tracking control is required to cause the reproducing head to on-track and perform reproducing scanning on the recording track.

Practical tracking control methods include a dedicated control track in the longitudinal direction of the tape, recording control signals at a frame period or an integral multiple thereof, and using that control signal during playback. There is a method to perform tracking control. However, this method has drawbacks such as requiring a dedicated control track and not being able to obtain a tracking error signal over the entire recording track.

Another method that has been put into practical use is to record a pilot signal for tracking control by superimposing a video signal on the recording track, and during playback, each pilot signal is read from both adjacent tracks of the main track that the head is scanning for playback. There is a method of obtaining a tracking error signal by comparing the reproduction levels of the signals.

Since this method allows tracking error signals to be obtained over the entire recording track, the playback head is mounted on an electro-mechanical transducer composed of a piezoelectric element, etc., and the tracking error signal is used to change the mechanical position of the head. By doing so, it is possible to configure a control system that can follow track bending.

A conventional tracking control device using the above pilot signal will be explained below.

FIG. 8 shows a recording pattern on a magnetic tape.

A magnetic tape 803 is transferred in the direction of an arrow 802, and a recording track 801 is formed on the magnetic tape. Pilot signals f1 to f4 are recorded on the recording track 801 while being superimposed on the video signal. For example, the frequencies f1 to f4 are set to the following values.

fl” 6.5f+ f2” 7.5f+ f3=10.5f++ f4= 9.5fH Here, N fH is the frequency of the horizontal synchronization signal (15, 75
KHz).

FIG. 7 shows a block diagram of the tracking error detection circuit. As shown in FIG. 8, the operation of the tracking error detection circuit will be described by taking as an example the case where the reproducing head 804 is scanning the recording track B1. A reproduction signal output from the reproduction head 804 and amplified by an amplifier (not shown) is input to the terminal 701. The high frequency band of the reproduced signal includes a reproduced video signal, the low frequency band includes a reproduced pilot signal, and a low pass filter (LPF) 70
The regenerated pilot signal that has passed through the balanced modulation circuit (BM
) 703. Balanced modulation circuit 703 has terminal 7.
f2 is input as a reference pilot signal from 10,
From the balanced modulation circuit 703, Iff-f2+ 1f3-
A signal with a frequency of f21 is output. Tuned amplifier (RA)
) 704 and the detection rectifier circuit 706
A DC voltage proportional to the peak value of the signal component of 1 (i.e., fH) is obtained, and similarly, the tuning circuit 705 (RA) and the detection rectifier circuit 707 generate a DC voltage of 1f3-f2+ (i.e., 3
A DC voltage proportional to the peak value of the signal component fH) is obtained. By comparing this voltage with the comparison circuit 708,
A voltage that is the difference between these voltages is output from terminal 709.

That is, track misalignment of the reproducing head can be detected by the voltage output to the terminal 709. Furthermore, in practice, since track bending follow-up control is performed digitally, the voltage for detecting track deviation is generally converted into digital data by an A/D converter.

FIG. 9 shows a block diagram of this conventional tracking control device using pilot signals. In FIG. 9, 901 is a playback head, and 902 is a playback head 901.
903 is a reproduction signal amplifier, 904 is a reproduction signal processing circuit, 905 is a terminal for outputting the reproduction video signal processed in the reproduction signal processing circuit 904, and 906 is an output from the reproduction signal processing circuit 904. A tracking error detection circuit 90-7 detects the amount of track deviation of the reproducing head 901 based on the pilot signal obtained by
909 is a drive data calculation circuit that calculates drive data for driving an electro-mechanical conversion element according to the output of the tracking error detection circuit 906; 908 is an electro-mechanical conversion element drive circuit that drives the electro-mechanical conversion element; 909; 910 is a capstan phase control signal generation circuit, and 910 is a capstan motor control circuit.

FIG. 10 is a block diagram showing the internal configuration of the drive data calculation circuit 907. In FIG. 10, 1001 is a tracking error data input terminal, and 1002 is +1.0. -1
A data generation circuit 1003 generates data 1 delayed by one rotation time by a delay circuit 1004.
006 and the output of the data generation circuit 1002; 1005 is a delay circuit that delays the piezo drive data output from the adder circuit 1003 by a predetermined value;
1007 is a terminal that outputs piezo drive data that has been subjected to arithmetic processing.

The operation of the tracking control device using the pilot signal configured as described above will be described below.

The reproduction signal reproduced by the reproduction head 901 is separated into a video signal, which is a high frequency component, and a pilot signal, which is a low frequency component, by a reproduction signal processing circuit 904, and the pilot signal is input to a tracking error detection circuit 806. The tracking error detection circuit 806 outputs tracking error data corresponding to the amount of track deviation of the reproducing head 901, and inputs it to the drive data calculation circuit 907. Tracking error data is input from a terminal 1001 and then input to a data generation circuit 1002.

The data generation circuit 1002 outputs +1.0 or -1 data depending on the size of the tracking error data,
The adding circuit 1003 adds the piezo drive data one rotation time ago. The piezo drive data subjected to calculation processing is delayed by a certain specified value by a delay circuit 1005 and sent to a terminal 10.
07 to the electro-mechanical conversion element drive circuit 908 and fed back to the electro-mechanical conversion element 902.

At the same time, the piezo drive data created by the drive data calculation circuit 907 is transferred to the capstan phase control signal generation circuit 909.
is input. Capstan phase control signal generation circuit 90
In step 9, find the integral value of the DC voltage component included in the input piezo drive data, set the delay amount for delaying the reference signal so that the integral value approaches O, and set the delay time corresponding to the delay amount. A phase control error signal is generated by delaying the reference signal by 20 seconds, and is compared with the reproduction control signal to generate a phase control error signal.The phase control error signal is output to the capstan motor control circuit 910.

Problems to be Solved by the Invention However, in the above conventional configuration, piezo drive data is created based on a tracking error signal obtained by processing a reproduction pilot signal included in a reproduction signal output from a reproduction head, and the piezo drive data is A voltage corresponding to the drive data is applied to the electro-mechanical transducer to displace the reproducing head to the on-track scanning position, and the DC voltage component applied to the electro-mechanical transducer is determined from the piezo drive data, and its average value is calculated. Since the capstan motor is controlled so as to approach O[v, the scanning position of the reproducing head changes and may deviate from the on-track position. The reproducing head that has deviated from the on-track position is controlled to scan the on-track position again by driving an electro-mechanical conversion element by a drive data calculation circuit based on the obtained tracking error signal. By sequentially repeating this scanning, there is a problem in that the scanning position of the reproducing head changes and tracking control becomes unstable.

The present invention solves the above-mentioned problems by determining the integral value of the DC voltage component included in the drive voltage applied to the electro-mechanical conversion element, and when the integral value falls within a predetermined range, the caps A tracking control device for a magnetic recording/reproducing device that can perform stable tracking control after the integral value of a DC voltage component falls within a predetermined range by fixing the phase relationship between the phase reference signal and the reproduction control signal. The purpose is to provide

Means for Solving the Problems To achieve this object, a tracking control device for a magnetic recording/reproducing device according to the present invention detects a magnetic head mounted on an electro-mechanical transducer and a track deviation of the magnetic head. tracking error detection means for outputting tracking error data based on the tracking error data; drive data calculation means for calculating drive data for the electro-mechanical transducer for causing the magnetic head to scan an on-track position based on the tracking error data; an electro-mechanical conversion element driving means for driving the electro-mechanical conversion element according to the drive data; a DC component integration means for integrating the amount of deviation from a predetermined DC voltage component of the drive data; and a DC component integration means for the drive data. determining means for determining that the output value of is within a predetermined range;
The apparatus includes a phase reference control means for changing the phase difference between the phase reference signal of the capstan motor and the reproduction control signal in accordance with the output value of the discrimination means.

According to the above-described configuration, the present invention sets a predetermined range in the determining means, and when the integral value of the DC voltage component included in the piezo drive data processed by the drive data calculation means falls within the predetermined range. By maintaining the phase difference between the capstan's phase reference signal and the playback control signal at the value just before the integral value fell within a predetermined range,
Stable tracking control operation can be performed when the DC voltage component applied to the mechanical transducer is near O[v].

Embodiment FIG. 1 shows a block diagram of a tracking control device for a magnetic recording/reproducing apparatus according to a first embodiment of the present invention. In FIG. 1, 101 is a playback head, 102 is an electro-mechanical conversion element equipped with the playback head, 103 is a playback amplifier that amplifies the playback signal output from the playback head 101, and 104 is a playback signal processor that processes the playback signal. The circuit outputs a signal from a terminal 105 as well as a pilot signal for detecting track deviation. The output pilot signal is input to a tracking error detection circuit 106 to create tracking error data corresponding to the amount of track deviation of the reproducing head 101. The created tracking error data is input to the drive data calculation circuit 107, and the drive data calculation circuit 107 calculates and creates piezo drive data for driving the electro-mechanical conversion element so that the playback head 101 scans the on-track position. do. The piezo drive data calculated and created by the drive data calculation circuit 1.7 is input to the electro-mechanical conversion element drive circuit 108,
8, the electro-mechanical conversion element 102 is driven by applying a voltage corresponding to the piezo drive data. Further, the piezo drive data calculated and created by the drive data calculation circuit 107 is input to a DC component integration circuit 109, which integrates the difference between the piezo drive data and a predetermined DC voltage component for a predetermined period, and uses the integration result as a discrimination circuit 110. Enter.

In the discrimination circuit 110, the comparison reference value B1. B2 (B2<B
l) and the integration result A which is the output of the DC component integration circuit 109.
When A<B2, +1, B2≦AS
When B1, when 01Bl<A, -1 data is output and input to the phase reference control circuit 111. The phase reference control circuit 111 delays the reference signal by a predetermined delay time according to the output data of the discrimination circuit 110, and the delayed reference signal is input to the phase control circuit 112. Phase control circuit 1
At step 12, the phase reference control circuit 111 compares the phase of the reference signal delayed by a predetermined delay time with the reproduction control signal, and outputs a phase control error signal. The phase control error signal is input to the speed control circuit 113 and the capstan motor drive circuit 114 to drive the capstan motor 115.

FIG. 2 shows a block diagram of the DC component integration circuit 109, the discrimination circuit 110, and the phase reference control circuit 111.

The DC component integration circuit 109 includes a difference calculation circuit 203 and an integration circuit 204 that integrates output data of the difference calculation circuit 203 for a predetermined period. Piezo drive data that is the output of the drive data calculation circuit 107 is input to the terminal 201, and a value of the piezo drive data that makes the voltage applied to the electro-mechanical conversion element 0 [vl] is input to the terminal 202. The difference calculation circuit 203 calculates the difference between the piezo drive data input from the terminal 201 and a predetermined value when the drive voltage applied to the electro-mechanical conversion element becomes 0 [v]. The integration circuit 204 integrates the output data of the difference calculation circuit 203 for a predetermined period and outputs the result to the discrimination circuit 110. In the discrimination circuit 110, the comparison reference value B1. B2 (B2
<81) and the integration result A which is the output of the DC component integration circuit 109, and when A<B2, +1, B2
When ≦A≦B1, data of O is output, and when Bl<A, data of -1 is output to the phase reference control circuit 111. Discrimination circuit 110
When the output data is -1, it indicates that the DC voltage component applied to the electro-mechanical transducer is higher than O[vl, so it corresponds to the left side of the on-track position on the recording track. At this time, performing the calculation process of (delay amount data) -1 is to advance the tape in the running direction, and the average value of the DC voltage applied to the electro-mechanical conversion element is 0 [v
(When the output data of the discrimination circuit 110 is +1, this operation corresponds to the opposite case, and similarly approaches O[vl().) The phase reference control circuit 111 uses the output data of the discrimination circuit 110 to A delay amount setting circuit 20 that sets the delay amount of the reference signal 206 in capstan motor phase control according to the
5, and a delay circuit 207 that delays the reference signal 206 according to the output of the delay amount setting circuit 205. The delay amount setting circuit 205 of the phase reference control circuit 111 sets the delay (2) of the reference signal 206 based on the output signal level of the discrimination circuit 110. When the output data of the discrimination circuit 110 is +1 or -1, the delay amount setting circuit 205 performs an addition calculation process on the delay amount data (initial value (x'80")) and the output data of the discrimination circuit 110 to determine the delay. When the output data of the discrimination circuit 110 is 0, the delay amount data set up to that point is output as is without performing any arithmetic processing.
The reference signal 206 is delayed only during the delay corresponding to the output data of No. 5, and the delayed reference signal is input to the phase control circuit 112.

FIG. 3 shows an operating waveform diagram in the first embodiment of the present invention.

FIG. 3 is an operation diagram when the track bending following operation is performed. In the figure, (a> is the H-8W signal indicating the head scanning position. (b) is the drive data calculation circuit 10.
The piezo drive data which is the output of No. 7 is shown. (C) shows the driving voltage applied to the electro-mechanical conversion element. (d) shows integrated data that is the output of the DC component integration circuit 109. (e) shows output data of the discrimination circuit 110. (f)
indicates the output of the delay amount setting circuit 205.

First, section 1. 2. 3, the output data A of the DC component integrating circuit 109 satisfies Bl<A (FIG. 3(d)). At this time, the discrimination circuit 110 outputs data of -1 as shown in FIG. '80') is subtracted by -1 for each section, and the piezo drive Ur data becomes as shown in (b) in the same figure, and as a result, the driving voltage applied to the electro-mechanical conversion element is as shown in (C) in the same figure. As shown in section 4, the DC voltage component approaches 0[v]. Since the output data A obtained by integrating the piezo drive data of section 4 by the integrating circuit 204 satisfies B2≦A≦B1, the discrimination circuit 110 outputs O, and the delay amount setting circuit 20
The delay amount, which is the output of 5, holds the delay amount of the previous data.

Fig. 4(a) shows the scanning position of the reproducing head obtained by driving the electro-mechanical transducer, and Fig. 4(b) shows the phase relationship between the reference signal and the reproducing control signal in capstan phase control. It is a diagram.

In FIG. 4(a), 401 is a magnetic tape, 402 is a recording track, 403 is a control track, and 404 is a magnetic tape.
405 is the scanning trajectory of the reproducing head when the integral value of the DC voltage component applied to the electro-mechanical conversion element is 0, and 405 is the scanning trajectory of the reproducing head when the DC voltage component is applied to the electro-mechanical conversion element and the on-track position is scanned. This is the scanning trajectory. The sections shown in the figure correspond to section 1 shown in FIG. 3, and the section ■ corresponds to section 6 shown in FIG. FIG. 5(b) shows the relationship between the reproduction control signal and the reference signal in the capsun phase control in the sections (2) and (2) shown in (a). T1 shown in the same figure. T2 is a phase difference corresponding to the integral value of the DC voltage component included in the piezo drive data at that time.

In section (3), when the phase difference between the reproduction control signal and the reference signal is 11, a predetermined DC voltage component is applied to the electro-mechanical conversion element, and the reproduction head scans a trajectory 405. At this time, since the integral value A of the DC voltage component included in the piezo drive data is B1 minus A, the discrimination circuit 110 determines -
1 data is output. The delay amount data is added in the delay amount setting circuit 205, and the reference signal is delayed by a delay time corresponding to the delay amount data. The phase difference between the reproduction control signal and the reference signal is fed back to the capstan as a phase control error signal. The phase difference T1 between the reproduction control signal and the reference signal corresponding to the integral value of the DC voltage component included in the piezo drive data is Bl(
=72), the discriminator circuit 1
The output data of 10 is O, and the phase difference between the reproduction control signal and the reference signal is fixed. At this time, the scanning locus of the reproducing head becomes as shown in section (3), and the integral value of the DC voltage component applied to the electro-mechanical conversion element becomes close to O.

Normally, the positional relationship between the control signal recording position and the video recording track hardly changes on a tape continuously recorded on the same VTR. Even if it is changed, the average value of the DC voltage component of the drive voltage applied to the electro-mechanical conversion element changes only close to O[v].

As explained above, according to this embodiment, the discrimination circuit 110
Input a predetermined comparison reference value to set a predetermined range, and when the integral value corresponding to the DC voltage component of the piezo drive data falls within the predetermined nodal range, the phase reference signal of the capstan and the reproduction control signal are By providing a range in which the phase difference is maintained at the previous value, stable tracking control operation can be performed when the average value of the DC voltage component applied to the electro-mechanical conversion element is around O[v].

FIG. 5 shows a block diagram of a DC component integration circuit 109, a discrimination circuit 110, and a phase reference control circuit 111 of a tracking control device for a magnetic recording/reproducing apparatus according to a second embodiment of the present invention. The difference in the discrimination circuit 110 in FIG. 5 from that in FIG. 2 is a detection circuit 501 and a comparison reference value setting circuit 5.
02 is provided.

In FIG. 5, a detection circuit 501 detects in a discrimination circuit 110 that the integral value A, which is the output of the DC component integration circuit 109, has entered a predetermined range, and outputs a detection signal to a comparison reference value setting circuit 502. . The comparison reference value setting circuit 502 sets the comparison reference value B1. Reset B2. The discrimination circuit 110 discriminates the output value of the DC component integration circuit 109 based on the reset comparison reference value and outputs data.

The operation of the tracking control device for the magnetic recording and reproducing device configured as described above will be described below.

First, at the start of track bending follow-up control, the comparison reference value setting circuit 502 sets the comparison reference values B1=α, B2=β(
β and α) are set and input to the discrimination circuit 110. In the discrimination circuit 110, the integral output A of the DC component integrating circuit 109 is A<
It outputs data of +1 when B2, 0 when B2≦A≦B1, and -1 when Bl<A. When the output data of the discrimination circuit 110 is +1°-1, the phase reference control circuit 111 performs an addition operation with the delay amount data (initial value: x'80'), and only the delay time corresponding to the resulting delay amount data is calculated. Delay the reference signal. When the output data of the discrimination circuit 110 becomes O, the phase reference control circuit 111 holds the delay amount data immediately before the output data of the discrimination circuit 110 becomes 0, and outputs the reference signal for a delay time corresponding to the delay amount. Delay and output. At the same time, when the output data of the discrimination circuit 110 becomes O, the detection circuit 501 outputs a detection signal indicating that it has detected that the output data A of the DC component integration circuit 109 has entered a predetermined range. The signal is input to comparison standard generation circuit 502. The comparison reference value setting circuit 502 sets the comparison reference value B1. when the detection signal is input. B1=γ for each B2.

B2=δ (δ<γ: δ is a value smaller than the output data A at that time, γ is a value larger than the output data A at that time))
and input it to the discrimination circuit 110. Similarly, in the discrimination circuit 110 to which the reset comparison reference values Bl and B2 are input, the output A of the DC component integration circuit 109 is +1 when A<B2, O when B2≦A:5B, and O when Bl<A. When -1 data is output. The phase reference control circuit 111 sets the amount of delay of the phase reference signal of the capstan based on the output data of the discrimination circuit 110, delays the reference signal by a delay time corresponding to the amount of delay, and outputs the delayed reference signal to the phase control circuit 112. .

FIG. 6 shows an operational waveform diagram in the second embodiment of the present invention.

FIG. 6 is an operational waveform diagram during track bend following operation. In the figure, (a) is an H-8W signal indicating the head scanning position. (b) shows piezo drive data that is the output of the drive data calculation circuit 107. (C)
represents the driving voltage applied to the electro-mechanical conversion element. (
d) shows the integral value of the DC voltage component included in the drive voltage applied to the electro-mechanical conversion element. (e) is the discrimination circuit 1
10 output data is shown. (f) is the delay amount setting circuit 20
The output of 5 is shown. C1 indicates the timing at which it is detected that the output data A of the DC component integration circuit 109 falls within the range of B2≦A≦B1.

In sections 1 and 2 of the figure, the output data A of the DC component integrating circuit 109 is B1 (=
α)<A. At this time, the discrimination circuit 110 is
In order to output data of -1 as shown in FIG. It is subtracted by 1. At this time, the piezo drive data is shown in the same figure (b).
As a result, the DC voltage component of the drive voltage applied to the electro-mechanical conversion element approaches O[v, as shown in section 3 in FIG. In section 3, it is determined that the integral value A satisfies B2≦A≦B1 as shown in FIG. ) is output. After detecting the detection signal (C1), the comparison reference value setting circuit 502 sets the comparison reference value Bl.

B2 is changed to γ, δ, and the integral value A becomes A×δ or γ×A.
The delay amount data that is the output of the delay amount setting circuit 205 is held at the previous delay amount data until (section 5 in the figure). When the track pattern of the recording track changes in section 5 in the figure, the DC component integration circuit 109
The integral value A, which is the output of , becomes γ by A as shown in (d) of the same figure. The determination circuit 110 outputs data of -1, and the delay amount setting circuit 205 changes the delay amount data for delaying the base signal as shown in FIG. 2(f).

As explained above, according to this embodiment, by providing the comparison reference value setting circuit 502 and the detection circuit 501 that change the comparison reference value after the output of the DC component integration circuit 109 enters a predetermined range, the tracking A slight change in the bend of the
Slight changes in piezo drive data due to other disturbances can be dealt with by simply driving the electro-mechanical conversion element without changing the amount of delay in the phase reference control circuit 111, allowing stable tracking control. There is an effect that it can be done.

As described in detail, according to the present invention, a predetermined range is set in the discrimination circuit 110, and when the integral value of the DC voltage component applied to the electro-mechanical conversion element falls within the predetermined range, By providing a range in which the phase difference between the capstan's phase reference signal and the playback control signal is maintained at the previous value,
Stable tracking control can be performed without shifting the scanning position of the reproducing head from the on-track position when the drive voltage applied to the electro-mechanical transducer is close to O[v].

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a tracking control device for a magnetic recording/reproducing apparatus according to a first embodiment of the present invention, FIG. 2 is a block diagram of a DC component integrating circuit, a discrimination circuit, and a phase reference control circuit of the same embodiment. 3 is a waveform diagram for explaining the operation of the same embodiment, and FIG. 4 is a schematic diagram showing the scanning position of the reproducing head and the phase relationship between the phase reference signal of the capstan and the reproduction control signal of the same embodiment. FIG. 5 shows the second embodiment of the present invention.
A block diagram of the DC component integrator circuit, discrimination circuit, and phase reference control circuit in this embodiment, FIG. 6 is a waveform diagram for explaining the operation of the same embodiment, and FIG. 7 is a tracking error using a conventional pilot signal. Block diagram of the detection circuit, No. 8
The figure is a recording pattern diagram for explaining a conventional tracking control device using a pilot signal, FIG. 9 is a block diagram of a conventional tracking control device, and FIG. 10 is a block diagram of a drive data calculation circuit of a conventional tracking control device. It is. 109... DC component integration circuit, 110... Discrimination circuit, 111... Phase reference control circuit, 205
... delay amount setting circuit, 501 ... detection circuit,
502... Comparison reference value setting circuit. Name of agent: Patent attorney Shigetaka Awano Figure 1 (a-2!

Claims (2)

[Claims] (1) A magnetic head mounted on an electro-mechanical transducer; a tracking error detection means for detecting a track deviation of the magnetic head and outputting tracking error data; drive data calculating means for calculating drive data of the electro-mechanical conversion element for scanning an on-track position; and electro-mechanical conversion element driving means for driving the electro-mechanical conversion element in accordance with the drive data; a DC component integrating means for integrating the amount of deviation from a predetermined DC voltage component of the drive data; a determining means for determining whether the output value of the DC component integrating means is within a predetermined range; and an output value of the determining means. and a phase reference control means for changing the phase difference between the phase reference signal of the capstan motor and the reproduction control signal accordingly, and the discrimination means detects that the output value of the DC component integration means is outside a predetermined range. In this case, the phase reference control means changes the phase difference between the reference signal and the reproduction control signal in the phase control of the capstan motor so that the output value of the DC component integration means approaches 0, so that the output value is within a predetermined range. When this is detected, the tracking control device of the magnetic recording and reproducing device maintains the phase difference between the phase reference signal of the capstan motor and the reproduction control signal at the phase difference data immediately before the detection. (2) A detection means for detecting that the output value of the DC component integration means falls within a predetermined range, and a comparison that takes the detection signal of the detection means as input and sets a comparison reference value for determining the discrimination range of the discrimination means. and a reference value setting means, the comparison reference value setting means sets the comparison reference values B1 and B2 at the start of track bending follow-up control, and the output value A of the DC component integration means is within a range of B2≦A≦B1. 2. A tracking control device for a magnetic recording/reproducing apparatus according to claim 1, wherein said comparison reference value setting means changes said comparison reference value to B3 or B4 in response to a detection signal output from said detection means when said detection means enters said comparison reference value.