US6052252A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Adaptive feed forward device for reducing current control errors
Assignee: Samsung Electronics Co Ltd
•
Filing: 1997-04-30
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Granted: 2000-04-18
•
Expires: 2017-04-30
Abstract
Abstract An adaptive feed forward device for decreasing current control errors, includes an adaptive feed forward controller which provides adaptive feed forward values, establishing a linear slope flexibly adjusting to the current command values for the servo control of the hard disk drive, in a deceleration section of the servo control during a track seek.
Inventors
- 👤 Gwan-Il Kim
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-08 14:53
CPC Classifications
G; G11; G11B; G11B20/00; G11B20/10; G11B21/00; G11B21/02; G11B21/10; G11B21/106; G11B21/08; G11B21/081; G11B21/083; G11B21/085; G11B5/00; G11B5/48; G11B5/54; G11B5/55; G11B5/5521; G11B5/5526; G11B5/553; G11B5/5547
Claims Analysis
Total Claims: 29
Claim 1
Independent Claim
133 words
An adaptive feed forward device providing feed forward values decreasing noise caused by current control during servo control in a hard disk drive, the device comprising: a first system generating a velocity command value for the servo control and a just previous velocity command value; and a second system receiving said velocity command value and said just previous velocity command value, calculating a difference between said velocity command value and said just previous velocity command value, calculating and outputting adaptive feed forward values according to said difference and a predetermined feed forward calculation, in a deceleration portion of the servo control during a track seek, wherein said adaptive feed forward values are used in establishing a linear slope flexibly adjusting to current command values for the servo control of the hard disk drive.
Claim 2
Dependent Claim
133 words
An adaptive feed forward device providing feed forward values decreasing noise caused by current control during servo control in a hard disk drive, the device comprising: a first system generating a velocity command value for the servo control and a just previous velocity command value; and a second system receiving said velocity command value and said just previous velocity command value, calculating a difference between said velocity command value and said just previous velocity command value, calculating and outputting adaptive feed forward values according to said difference and a predetermined feed forward calculation, in a deceleration portion of the servo control during a track seek, wherein said adaptive feed forward values are used in establishing a linear slope flexibly adjusting to current command values for the servo control of the hard disk drive.
Claim 3
Dependent Claim
76 words
The device of claim 1, said second system further comprising calculating said adaptive feed forward values using the following formula: ##EQU3## where J is an actuator inertia, K T is a torque coefficient, A rml is a length of an arm, V max is a maximum motor velocity, I max is a maximum motor current, Δt is a servo sample interval, and ΔV is a present velocity command value minus a just previous velocity command value.
Claim 4
Dependent Claim
44 words
The adaptive feed forward device of claim 1, said first system further comprising: a velocity commander generating said velocity command value; and a delay receiving said velocity command value, and outputting said just previous velocity command value in accordance with said velocity command value.
Claim 5
Dependent Claim
36 words
The adaptive feed forward device of claim 3, said second system further comprising an adder receiving said velocity command value from said velocity commander, said adder receiving said just previous velocity command value from said delay.
Claim 6
Dependent Claim
39 words
The adaptive feed forward device of claim 4, said second system further comprising a feed forward calculator receiving said difference, performing said calculating of the adaptive feed forward values, and performing said outputting of the adaptive feed forward values.
Claim 7
Dependent Claim
36 words
The adaptive feed forward device of claim 1, said second system further comprising an adder receiving said velocity command value and said just previous velocity command value from said first system, said adder outputting said difference.
Claim 8
Dependent Claim
39 words
The adaptive feed forward device of claim 6, said second system further comprising a feed forward calculator receiving said difference, performing said calculating of the adaptive feed forward values, and performing said outputting of the adaptive feed forward values.
Claim 9
Dependent Claim
140 words
An adaptive feed forward device which provides feed forward values for decreasing noise caused by current control during servo control in a hard disk drive, the device comprising: a velocity commander for generating a velocity command value for the servo control; a generating means for generating a just previous velocity command value from an output of the velocity commander; a calculator for calculating a difference between said velocity command value and said just previous velocity command value from the velocity commander; and a feed forward calculator for calculating and outputting adaptive feed forward values, used in establishing a linear slope flexibly adjusting to current command values for the servo control of the hard disk drive, according to the velocity command value difference and a predetermined feed forward calculation, in a deceleration portion of the servo control during a track seek.
Claim 10
Dependent Claim
140 words
An adaptive feed forward device which provides feed forward values for decreasing noise caused by current control during servo control in a hard disk drive, the device comprising: a velocity commander for generating a velocity command value for the servo control; a generating means for generating a just previous velocity command value from an output of the velocity commander; a calculator for calculating a difference between said velocity command value and said just previous velocity command value from the velocity commander; and a feed forward calculator for calculating and outputting adaptive feed forward values, used in establishing a linear slope flexibly adjusting to current command values for the servo control of the hard disk drive, according to the velocity command value difference and a predetermined feed forward calculation, in a deceleration portion of the servo control during a track seek.
Claim 11
Dependent Claim
30 words
The adaptive feed forward device according to claim 8, said generating means comprising a delay for receiving said velocity command value and for generating said just previous velocity command value.
Claim 12
Dependent Claim
101 words
An adaptive feed forward device for a servo controller, the adaptive feed forward device comprising: a generating means for generating a present velocity command value and a just previous velocity command value; a calculator for calculating a difference between said present velocity command value and said just previous velocity command value; and a feed forward calculator for calculating and outputting feed forward values that establish a linear slope flexibly adjusting to current command values of the servo controller according to the calculated velocity command value difference from said calculator during a deceleration portion of a servo control by the servo controller.
Claim 13
Dependent Claim
101 words
An adaptive feed forward device for a servo controller, the adaptive feed forward device comprising: a generating means for generating a present velocity command value and a just previous velocity command value; a calculator for calculating a difference between said present velocity command value and said just previous velocity command value; and a feed forward calculator for calculating and outputting feed forward values that establish a linear slope flexibly adjusting to current command values of the servo controller according to the calculated velocity command value difference from said calculator during a deceleration portion of a servo control by the servo controller.
Claim 14
Dependent Claim
45 words
The adaptive feed forward device according to claim 10, with: said calculator comprising an adder for receiving said present velocity command value; and said generating means comprising a delay for receiving said present velocity command value and for generating said just previous velocity command value.
Claim 15
Dependent Claim
31 words
The adaptive feed forward device according to claim 10, said generating means comprising a delay for receiving said present velocity command value and for generating said just previous velocity command value.
Claim 16
Independent Claim
157 words
An apparatus, comprising: an adaptive feed forward device providing feed forward values decreasing noise caused by current control during servo control by a servo controller, said adaptive feed forward device comprising: a first adder receiving a velocity command value for the servo control and a just previous velocity command value, calculating a difference between said velocity command value and said just previous velocity command value, and outputting said difference; a delay receiving said velocity command value and outputting said just previous velocity command value to said first adder in accordance with said velocity command value; a feed forward calculator receiving said difference from said first adder, and calculating and outputting adaptive feed forward values, used in establishing a linear slope flexibly adjusting to current command values for the servo control of the hard disk drive, according to said difference and a predetermined feed forward calculation, in a deceleration portion of the servo control during a track seek.
Claim 17
Independent Claim
157 words
An apparatus, comprising: an adaptive feed forward device providing feed forward values decreasing noise caused by current control during servo control by a servo controller, said adaptive feed forward device comprising: a first adder receiving a velocity command value for the servo control and a just previous velocity command value, calculating a difference between said velocity command value and said just previous velocity command value, and outputting said difference; a delay receiving said velocity command value and outputting said just previous velocity command value to said first adder in accordance with said velocity command value; a feed forward calculator receiving said difference from said first adder, and calculating and outputting adaptive feed forward values, used in establishing a linear slope flexibly adjusting to current command values for the servo control of the hard disk drive, according to said difference and a predetermined feed forward calculation, in a deceleration portion of the servo control during a track seek.
Claim 18
Dependent Claim
22 words
The apparatus of claim 6, further comprising a first system outputting said velocity command value to said first adder and said delay.
Claim 19
Dependent Claim
22 words
The apparatus of claim 14, further comprising a second adder receiving the adaptive feed forward values output from said feed forward calculator.
Claim 20
Dependent Claim
22 words
The apparatus of claim 13, further comprising a second adder receiving the adaptive feed forward values output from said feed forward calculator.
Claim 21
Dependent Claim
138 words
An adaptive feed forward device which provides feed forward values for decreasing noise caused by current control during servo control by a servo controller, the device comprising: a velocity commander for generating a velocity command value for the servo control; a generating means for generating a just previous velocity command value from an output of the velocity commander; a calculator for calculating a difference between said velocity command value and said just previous velocity command value from the velocity commander; and a feed forward calculator for calculating and outputting adaptive feed forward values, used in establishing a linear slope flexibly adjusting to current command values for the servo control by the servo controller according to the velocity command value difference and a predetermined feed forward calculation during a deceleration portion of the servo control by the servo controller.
Claim 22
Dependent Claim
138 words
An adaptive feed forward device which provides feed forward values for decreasing noise caused by current control during servo control by a servo controller, the device comprising: a velocity commander for generating a velocity command value for the servo control; a generating means for generating a just previous velocity command value from an output of the velocity commander; a calculator for calculating a difference between said velocity command value and said just previous velocity command value from the velocity commander; and a feed forward calculator for calculating and outputting adaptive feed forward values, used in establishing a linear slope flexibly adjusting to current command values for the servo control by the servo controller according to the velocity command value difference and a predetermined feed forward calculation during a deceleration portion of the servo control by the servo controller.
Claim 23
Dependent Claim
30 words
The adaptive feed forward device according to claim 17, said generating means comprising a delay for receiving said velocity command value and for generating said just previous velocity command value.
Claim 24
Independent Claim
115 words
An apparatus, comprising: an adaptive feed forward device providing a feed forward value decreasing noise caused by current control during servo control in a hard disk drive, said device comprising: a first unit generating a present velocity command value for the servo control; and a second unit receiving said present velocity command value and a previous velocity command value, establishing a linear slope flexibly adjusting to current command values for the servo control of the hard disk drive in a deceleration portion of the servo control during a track seek, in accordance with a difference between said present velocity command value and said previous velocity command value and according to a predetermined feed forward calculation.
Claim 25
Independent Claim
115 words
An apparatus, comprising: an adaptive feed forward device providing a feed forward value decreasing noise caused by current control during servo control in a hard disk drive, said device comprising: a first unit generating a present velocity command value for the servo control; and a second unit receiving said present velocity command value and a previous velocity command value, establishing a linear slope flexibly adjusting to current command values for the servo control of the hard disk drive in a deceleration portion of the servo control during a track seek, in accordance with a difference between said present velocity command value and said previous velocity command value and according to a predetermined feed forward calculation.
Claim 26
Dependent Claim
17 words
The apparatus of claim 19, further comprising said second unit calculating and outputting adaptive feed forward values.
Claim 27
Dependent Claim
16 words
The apparatus of claim 20, further comprising said first unit generating said previous velocity command value.
Claim 28
Dependent Claim
25 words
The apparatus of claim 21, further comprising said second unit calculating said difference between said present velocity command value and said previous velocity command value.
Claim 29
Dependent Claim
80 words
The apparatus of claim 22, further comprising said second unit performing said calculating of the adaptive feed forward values in accordance with the following formula: ##EQU4## where J is an actuator inertia, K T is a torque coefficient, A rml is a length of an arm, V max is a maximum motor velocity, I max is a maximuin motor current, Δt is a servo sample interval, and ΔV is a present velocity command value minus a previous velocity command value.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2003-04-18 | 2003-10-18 | 2004-04-18 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2007-04-18 | 2007-10-18 | 2008-04-18 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2011-04-18 | 2011-10-18 | 2012-04-18 | $7700.00 | Window Closed / Lapsed |