International Business Machines Corporation

Ronald J Kadlec

Alan A Fennema

William W Chow

Ian E Henderson

Spencer D Roberts

Karl Arnold Belser

Benjamin C Fiorino

Paul J Dounn

A position servo system has a position loop and a velocity loop. The position loop controls the stop-lock condition and provides for movement control within a range about the stop-lock position. The velocity circuit is employed for movements outside of the range of the position servo circuit. When the velocity servo's loop is being used, a compare circuit compares the servo drive signal from the velocity circuit with a signal generated by the position servo loop which is tracking the velocity servo loop. When the compare circuit finds that the servo drive signals have equal amplitudes, then the velocity servo loop is disconnected from an actuator with the position servo loop then connected to the activation for completing the movement to a desired or target stop-lock position. The above-indicated servo system controls a topping or fine actuator carried on a carriage moved by a coarse actuator. The fine and coarse actuators move along the same axis and transverse to movement of any work element, such as a record storage disk. The coarse actuator is continuously slaved to the positioning of the topping or fine actuator. A relative position sensor disposed intermediate the fine and coarse actuators supplies a position error signal for enabling the coarse actuator to continuously follow the fine actuator. Feed forward signals are supplied from the fine actuator to the coarse actuator. A preferred embodiment is shown using an optical disk environment.

Positioning systems employing velocity and position control loops with

In a disk recorder, unintended radial portions of a transducer or head, herein termed 'skating', is rapidly controlled and stopped before the transducer or head can hit a crash stop. Even when a braking operation is effected in the wrong direction, the skating compensation reverses the braking operation for rapidly stopping the radial motion of a transducer. A pair of clamp circuits are electrically interposed between the servo actuator drive signal generation and a run-out compensation circuit such that the clamping operation does not alter the run-out compensation. The sequences of machine states for effecting the state accommodation are described.

Servo error controls

A track-seeking apparatus of a disk recorder employs a track-crossing sensor to produce track-crossing signals. An oscillator is slaved to the sensor for supplying substitute track-crossing pulses in the absence of the sensor providing such pulses or when the radial velocity exceeds a threshold velocity. A velocity profile means alters the oscillator frequency so that the oscillator produces track-crossing pulses in accordance with the profile.

Positioning systems including reliable track crossing detection for high

A track-seeking system for an optical disk using a velocity control loop with partially-digitized velocity measurement. A quadrature signal is generated based on summing the halves of a position error signal to give directionality to track-crossing counts. A so-called piggy-back construction, wherein a fine positioner is carried by a coarse positioner, is employed. Feed-forward controls are provided from the fine to the coarse positioner. At track-capture time, the dynamic range of the fine positioner is momentarily increased.

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Tucson, AZ, United States of America

Ronald J Kadlec