JPS5860314A - magnetic disk device - Google Patents
magnetic disk deviceInfo
- Publication number
- JPS5860314A JPS5860314A JP56159002A JP15900281A JPS5860314A JP S5860314 A JPS5860314 A JP S5860314A JP 56159002 A JP56159002 A JP 56159002A JP 15900281 A JP15900281 A JP 15900281A JP S5860314 A JPS5860314 A JP S5860314A
- Authority
- JP
- Japan
- Prior art keywords
- gain
- low
- pass filter
- magnetic disk
- phase
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B5/00—Recording by magnetisation or demagnetisation of a record carrier; Reproducing by magnetic means; Record carriers therefor
- G11B5/48—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed
- G11B5/58—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head for the purpose of maintaining alignment of the head relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following
- G11B5/596—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head for the purpose of maintaining alignment of the head relative to the record carrier during transducing operation, e.g. to compensate for surface irregularities of the latter or for track following for track following on disks
Landscapes
- Moving Of The Head To Find And Align With The Track (AREA)
- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は磁気ディスク装置に関し、特にクローズトルー
プ内に挿入される四−パスフィルタとノツチフィルタに
関してそのピークゲインと位相遅れを最小にする構成を
提供しようとするものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a magnetic disk drive, and particularly aims to provide a configuration that minimizes the peak gain and phase delay of a four-pass filter and a notch filter inserted in a closed loop. .
従来のクローズドルーズ位置決め制御方式を使用した磁
気ディスク装置にあっては、ローパスフィルタとノツチ
フィルタをそれぞれ独立して設定しておシその間の影響
はそれほど考慮されていなかった。そのためローパスフ
ィルタにピークが存在しこれを迎えようとするとダンピ
ングτ人ｅｈして位相遅れが大きくなるという欠点があ
った。In magnetic disk drives using the conventional closed-loop positioning control system, the low-pass filter and notch filter are set independently, and the influence between them is not taken into consideration much. For this reason, there is a drawback that there is a peak in the low-pass filter, and when the peak is reached, damping occurs and the phase delay becomes large.
さらにノツチフィルタの位相遅れが重畳されるため、制
御系に重大な悪影響を及はす事があった。Furthermore, since the phase lag of the notch filter is superimposed, it may have a serious adverse effect on the control system.
クローズドルーズ系において各部に存在する共振点は往
々にして有害でＴｏＪＪ系の安定を損なう。本発明の目
的はこの有害な共振点の影響を系に対して悪影響を与え
ることなく減する構成を提供するにある。Resonance points that exist in various parts of a closed loop system are often harmful and impair the stability of the ToJJ system. An object of the present invention is to provide a structure that reduces the influence of this harmful resonance point without adversely affecting the system.
本実ｇＡＫよれば、不要な高周波ノイズまたは共振点を
取除くためのローパスフィルタと局部的な共振点を取除
くためのノツチフィルタを使用し、それぞれの共振周波
数を一致させることによシ双方の影響を積極的に利用し
て最適なフィルタを構成することが提供される。According to Honjitsu gAK, by using a low-pass filter to remove unnecessary high-frequency noise or resonance points and a notch filter to remove local resonance points, by matching the resonance frequencies of both Proactively utilizing influences to construct optimal filters is provided.
以下本発明を実施例に基いて詳細に説明する。The present invention will be explained in detail below based on examples.
本発明にあっては、ローパスフィルタとして２次のロー
パスフィルタを用い、かかるローパスフィルタとノツチ
フィルタとを組み合わせ、クローズトループ内の安定性
を高める。前記２次の口−パスフィルタの位相並びにゲ
インの周波Ｉ！ｈａは、第１図に示される特性を有する
。同図において、曲線ａは位相特性を、また曲線すはゲ
イン特性を示す。In the present invention, a second-order low-pass filter is used as the low-pass filter, and this low-pass filter and a notch filter are combined to improve the stability within the closed loop. The phase and gain frequency I of the second-order mouth-pass filter! ha has the characteristics shown in FIG. In the figure, a curve a indicates a phase characteristic, and a curve a indicates a gain characteristic.
このような位相特性並びにゲイン特性を有するローパス
フィルタにおいて、位相の遅れを少とするためにダンピ
ングを減少せしめるとゲイン特性にピークを生じてしま
う。かかるピークが太きくなればクローズトループ系内
のゲイン余裕が減少し、かかるクローズトループ系内の
安定性が低下してしまう、一方前記ノ、チフイルタの位
相並びにゲインの周波数特性は第２図に示される特性を
有する。同図において、曲線晟は位相特性を、また曲線
すはゲイン特性を示す。かかるノツチフィルタにあって
は、共振点においてゲインの急激な低下を生ずる。In a low-pass filter having such phase characteristics and gain characteristics, when damping is reduced in order to reduce phase delay, a peak occurs in the gain characteristics. If this peak becomes thicker, the gain margin within the closed-loop system will decrease, and the stability within the closed-loop system will decrease.On the other hand, the frequency characteristics of the phase and gain of the filter are shown in FIG. It has the characteristics of In the same figure, the curve 1 represents the phase characteristic, and the curve 2 represents the gain characteristic. In such a notch filter, a sharp drop in gain occurs at the resonance point.
本発明にあってはかかるノツチフィルタと前記ローパス
フィルタとを組み合わせ、且つローパスフィルタにおけ
るゲインのピークの発生周波数と、ノツチフィルタのゲ
イン低下周波数、すなわちローパスフィルタとノツチフ
ィルタの共振周波数を一致せしめる。In the present invention, such a notch filter and the low-pass filter are combined, and the frequency at which the gain peak occurs in the low-pass filter is made to match the gain reduction frequency of the notch filter, that is, the resonance frequency of the low-pass filter and the notch filter.
かかる共振周波数の一致によって、クローズトループ系
内においてはゲイン余裕の低下を生ぜず、安定なりロー
ズドループ系が構成される。Due to the matching of the resonant frequencies, the gain margin does not decrease within the closed loop system, and a stable closed loop system is constructed.
第３図に、本発明Ｋかかるクローズトループ系における
ローパスフィルタとノツチフィルタとの合成によるゲイ
ンの周波数特性を示す。FIG. 3 shows the frequency characteristics of the gain obtained by combining a low-pass filter and a notch filter in a closed-loop system according to the present invention.
同図に示される特性より明らかな如く、本発明によれば
、ゲインの周波数特性において、ピーク値を生ずること
がなくなり、ゲイン余裕を高めることができる。したが
ってクローズトループ位置決め制御方式を使用する磁気
ディスク装置において、かかるクローズドルーズの安定
性を極めて高くすることができる。As is clear from the characteristics shown in the figure, according to the present invention, no peak value occurs in the gain frequency characteristics, and the gain margin can be increased. Therefore, in a magnetic disk device using a closed-loop positioning control system, the stability of the closed loop can be extremely improved.
第１図はローパスフィルタの位相、ゲインの周波数特性
を示す曲線図、第２図はノ、テフィルタの位相、ゲイン
の周波数特性奮示乎曲−図゛、第３図は本発明にかかる
ローパスクイ１ルタとノツチフィルタの合成ゲインの周
波数特性を示す曲線図である。
第１図
周ル数□
名２図
周Ｓ、数
第３図
胴拮き７Fig. 1 is a curve diagram showing the frequency characteristics of the phase and gain of the low-pass filter, Fig. 2 is a curve diagram showing the frequency characteristics of the phase and gain of the low-pass filter, and Fig. 3 is a curve diagram showing the frequency characteristics of the phase and gain of the low-pass filter. FIG. 3 is a curve diagram showing the frequency characteristics of the combined gain of the router and the notch filter. Figure 1: number □ Name 2: circumference S, number 3: body 7
Claims (1)
ィスク装置において、クローズドルーズ内に複数次のロ
ーパスフィルタとノツチフィルタを配設し、かつその共
振周波数を等しくしてなることを特徴とする磁気ディス
ク装置。A magnetic disk device using a closed loop positioning control system, characterized in that a plurality of low-pass filters and notch filters are disposed within the closed loop, and their resonance frequencies are made equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56159002A JPS5860314A (en) | 1981-10-06 | 1981-10-06 | magnetic disk device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56159002A JPS5860314A (en) | 1981-10-06 | 1981-10-06 | magnetic disk device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5860314A true JPS5860314A (en) | 1983-04-09 |
Family
ID=15684079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56159002A Pending JPS5860314A (en) | 1981-10-06 | 1981-10-06 | magnetic disk device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5860314A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61190725A (en) * | 1985-02-19 | 1986-08-25 | Pioneer Electronic Corp | Servo device for recording disk reproducer |
| JPS61224185A (en) * | 1985-03-29 | 1986-10-04 | Hitachi Ltd | Magnetic disk control device |
-
1981
- 1981-10-06 JP JP56159002A patent/JPS5860314A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61190725A (en) * | 1985-02-19 | 1986-08-25 | Pioneer Electronic Corp | Servo device for recording disk reproducer |
| JPS61224185A (en) * | 1985-03-29 | 1986-10-04 | Hitachi Ltd | Magnetic disk control device |
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