Disk drive recursively estimating repeatable runout

Details Disk drive recursively estimating repeatable runout Disk drive recursively estimating repeatable runout

2006-08-08

2006-08-08

Sniezek, Andrew L. (Department: 2627)

Dynamic magnetic information storage or retrieval

Automatic control of a recorder mechanism

Controlling the head

Reexamination Certificate

active

07088547

ABSTRACT:
A disk drive is disclosed comprising control circuitry for generating a control signal applied to a VCM in response to a position error signal (PES) generated from reading embedded servo sectors and a feed-forward compensation value that compensates for a repeatable runout (RRO) disturbance. The feed-forward compensation value is generated for each servo sector in response to an RRO estimate Ŝ computed recursively for each servo sector according to:S^n+1=S^n-λ⁡[S^n-1n⁢∑i=1n⁢⁢PESi]wherein: λ is a predetermined fraction;PESiis the position error signal generated for a selected servo sector during an ith revolution of the disk; andn represents a number of disk revolutions.

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