Sudden disturbance estimation apparatus and tracking control device, as well as sudden disturbance estimation method in the tracking control device

摘要

PROBLEM TO BE SOLVED: To provide a tracking controller in which the followup performance to the track position of a disk by the sudden disturbance is not spoiled by estimating and compensating the sudden disturbance.;SOLUTION: In a tracking controller 1, a sudden disturbance estimation device 3 which is equipped with; a tracking error delay control means 31 which successively stores a tracking error signal and delays it; a disturbance tracking error generating means 33a which generates a tracking error on the basis of the difference between the delayed tracking error signal and a tracking error signal at the present time; a manipulated variable delay control means 32 which successively stores a manipulated variable and delays it; a disturbance manipulated variable error generating means 33b which generates a manipulated variable error on the basis of difference between the delayed manipulated variable and a manipulated variable at the present time; and a disturbance calculating means 33c which calculates the amount of sudden disturbance which compensates the sudden disturbance on the basis of the tracking error and the manipulated variable error, is added to a feedback control system 2.;COPYRIGHT: (C)2007,JPO&INPIT