4.5 Self-calibration
The forces are compensated by adding the measured value to the specified current value to the power amplifier. This makes the stable servo control.
To compensate torque varying by the cylinder, the disk is divided into 23 areas from the innermost to the outermost circumference and the compensating value is measured at the measuring cylinder on each area at factory calibration. The measured values are stored in the SA cylinder. In the
(2) Compensating open loop gain
Torque constant value of the VCM has a dispersion for each drive, and varies depending on the cylinder that the head is positioned. To realize the high speed seek operation, the value that compensates torque constant value change and loop gain change of the whole servo system due to temperature change is measured and stored.
For sensing, the firmware mixes the disturbance signal to the position signal at the state that the head is positioned to any cylinder. The firmware calculates the loop gain from the position signal and stores the compensation value against to the target gain as ratio.
For compensating, the direction current value to the power amplifier is multiplied by the compensation value. By this compensation, loop gain becomes constant value and the stable servo control is realized.
To compensate torque constant value change depending on cylinder, whole cylinders from most inner to most outer cylinder are divided into 16 partitions at calibration in the factory, and the compensation data is measured for representative cylinder of each partition. This measured value is stored in the SA area. The compensation value at
4.5.2Execution timing of self-calibration
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The power is turned on.
The disk drive receives the RECALIBRATE command from the host.
The disk drive temperature changes by more than 10 degrees.
