초록 ▼

A method of suppressing resonances in electro-mechanical servo systems is disclosed. The servo systems are of the type where first signals indicative of actual position of the servo system are differentiated and second signals indicative of the acceleration of the system are integrated. The differen

A method of suppressing resonances in electro-mechanical servo systems is disclosed. The servo systems are of the type where first signals indicative of actual position of the servo system are differentiated and second signals indicative of the acceleration of the system are integrated. The differentiated signals are applied to the integrator in order to provide accurate initialization thereof. In modes of operation where the acceleration of the system is substantially zero, the differentiators are not used, thus decoupling the mechanical system from the electronic control system and eliminating resonance from the servo loop. The duty cycle of the differentiators is varied in differing modes of operation of the servo system so as to provide maximum bandwidth and speed to the system coupled with minimum errors in positioning. The system is described in connection with the servoing of magnetic read/write heads radially with respect to rotating magnetic disk data storage media.

대표청구항 ▼

Method for controlling a servo motor comprising the steps of: providing sensor means responsive to the position of apparatus moved by said servo motor and responsive to the current drawn by said motor and suited for providing first signals indicative of actual position of said apparatus; deriving a

Method for controlling a servo motor comprising the steps of: providing sensor means responsive to the position of apparatus moved by said servo motor and responsive to the current drawn by said motor and suited for providing first signals indicative of actual position of said apparatus; deriving a second signal proportional to the rate of change of relative position of said apparatus; intermittently adjusting starting conditions used in the derivation of said second signal in response to said first signal; and using said second signal for control of said servo motor; wherein said servo motor is operated in a first accelerative mode, a second steady velocity mode and a third decelerative mode and said adjustments to said starting conditions are not performed during said second steady velocity mode.