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Disk drive capable of autonomously evaluating and adapting the frequency response of its servo control system
Disk drive capable of autonomously evaluating and adapting the frequency response of its servo control system
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机译:能够自主评估和调整伺服控制系统频率响应的磁盘驱动器
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摘要
The invention is a method of characterizing the frequency response of the servo control system in a disk drive having a sampled servo system having a sampling rate and a nominal bandwidth, wherein the sampled servo system comprises a plant and a servo controller that controls the plant using a compensator and a gain element with a nominal open loop gain. The invention is, in more detail, a method for adaptively modifying the servo controller to compensate for plant variations which are incompatible with the nominal gain and bandwidth, including the steps of implementing a self-generated bode plot to determine a gain margin and a phase margin, and if the gain margin is not greater than a predetermined minimum, adjusting the open loop gain of the servo controller to provide a gain margin which is greater than the predetermined minimum at a bandwidth which is different than the nominal bandwidth; and adjusting the compensator to provide a phase margin which is greater than a predetermined minimum.
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