United States Patent US006560658B2

(12) (10) Patent N0.: US 6,560,658 B2 Singer et al. (45) Date of Patent: *May 6, 2003

(54) DATA STORAGE DEVICE WITH QUICK FOREIGN PATENT DOCUMENTS

AND QUIET MODES EP 0 308 062 A2 3/1989

(75) Inventors: Neil Singer, Armonk, NY (US); Mark 8 2; Tanquary, Needham, MA (US); GB 2 303 732 A 2/1997

gjegneth Pasch, NOI‘ih Eastham, WO 00/03389 1/2000

OTHER PUBLICATIONS

(73) Assignee: C0nv0lve, Inc., New York, NY (US) H h S d/L P S 1 b1 0 1 F1 2244 “ ig — pee oW— oWer e ecta e ptica i e”,

( * ) Notice: Subject to any disclaimer, the term of this Research Disclosure, Jul- 1990, N0~ 315* patent is extended or adjusted under 35 PhD. Thesis entitled: “Discrete Polynomial Control” by U.S.C. 154(b) by 0 days. Kamran Ossai, 1991 (CPS010434).

Seagate ST406/ST412/ST419 Product Manual, Jan 31, 1984 This patent is subject to a terminal dis- (CTL287279)_ Clalmer' Seagate ST506/412 OEM Manual (CTL287543).

Seagate ST4026/ ST4038/ ST4051 Product Manual, Feb. 5, (21) Appl. NO.Z 09/873,464 1987 (CTL287764)~

(22) Filed: Jun‘ 4’ 2001 (List continued on neXt page.)

(65) Prior Publication Data Primary Examiner—Thomas Lee

US 2001/0052035 A1 Dec. 13, 2001 Assistant Examiner_chun Cao

R l t d U S A l_ t_ D t (74) Attorney, Agent, or Firm—Choate, Hall & SteWart eae .. ppicaion aa

(57) ABSTRACT (63) Continuation of application No. 09/262,781, ?led on Mar. 4, _ _ _ _ _ _ _

1999, now Pat. No. 6,314,473. Techniques are provided herein for reducing vibrations in

(51) Int. Cl.7 ......................... .. G06F 3/00; G11B 15/46; VanOu-S mo-des of a qynan-nc s-ysten-l' Que Such tech-n-lq-ue G11B 21/02 G11B 5/596 comprises incorporating vibration limiting and sensitivity

_ ’ _ _ constraints into a partial fraction expansion equation model

(52) US. Cl. ...................... .. 710/5, 318/560,.360/73.01, of the System so as to reduce Vibrations to Speci?c levels~ 360/75’ 360/7807 Another techni ue com rises sha in a command deter . ‘1 P P g

(58) Field Of Search ....................... .. 710/5, 36; 360/69, mined using the partial fraction expansion equation model to 360/78~06> 78~04> 78~07> 97-02; 318/560> produce a desired output. The entire command may be

599 shaped or only selected portions thereof Which produce (56) R f Ct d vibrations. Another technique involves commanding in cur

e erences i e

U.S. PATENT DOCUMENTS

4,675,761 A 6/1987 Ashbee et al. 4,931,889 A 6/1990 Osafune 4,933,785 A 6/1990 Morehouse et al. 4,937,689 A 6/1990 Seaver et al.

(List continued on neXt page.)

rent to produce saturation in voltage. By doing this, it is possible to command voltage sWitches. The times at Which the sWitches occur can be set to reduce system vibrations. Other techniques are also provided. These include varying transient portions at the beginning, middle and/or end of a move and using Posicast inputs, among others.

26 Claims, 28 Drawing Sheets

NPUT SEITWGS TO GU!

GENERATE COMMANDS BASED ON SElT/NGS

5304

OUTPUT COMMANDS TO DlSK DR/VE

US 6,560,658 B2 Page 2

US. PATENT DOCUMENTS 6,013,995 A 1/2000 Kim 6,031,684 A 2/2000 Gregg

4,956,831 A 9/1990 Sorrof et o1~ 6,038,096 A * 3/2000 Zhang 618.1. .......... .. 360/7804 4,967,293 A 10/1990 Aruga et al. 6,052,252 A 4/2000 Kim 4,991,129 A 2/1991 SWoItZ 6,067,203 A 5/2000 Ottesen 618.1. 5,210,726 A * 5/1993 Jackson et al. ............. .. 369/32 6,101,065 A 8/2000 Alfred et a1_ 5264771 A 11/1993 Kowouehi 6,111,720 A 8/2000 Clare 618.1. 5,282,100 A * 1/1994 Tacklind et al. ..... .. 360/970.02 6,115,205 A 9/2000 Waugh et a1_ 5,291,110 A 3/1994 Andrews, Jr. et al. 6,148,240 A 11/20OO Wang et a1_ 5,412,809 A * 5/1995 Tam 618.1. ................ .. 713/324 6,151,182 A * 11/2000 Koizumi et a1_ __________ " 360/69

5,450,252 A 9/1995 Konodo 6,178,060 B1 * 1/2001 Liu ................ .. . 360/78.07

5,465,034 A * 11/1995 Andrews, Jr. et al. .... .. 318/560 6,195,222 B1 2/2001 Heminger et aL 5,475,545 A * 12/1995 Hampshire et a1- ---- -- 360/78-06 6,256,163 B1 * 7/2001 Schmidt 61 al. ........ .. 360/78.09

5,490,601 A 2/1996 Heissat et al. 6,256,731 B1 7/2001 Hall et a1_ 5535355 A 7/1996 Scales 6,314,473 B1 * 11/2001 Singer 61 al. ................ .. 710/5 5,657,179 A * 8/1997 McKenzie ............. .. 360/78.06 6,381,087 B1 * 4/2002 Koizumi et a1' """""""" “ 36O/69 5,668,680 A 9/1997 Tremaine 5,675,558 A * 10/1997 Katoh ....................... .. 369/32 OTHER PUBLICATIONS

5,696,647 A 12/1997 Phan 618.1. 5,726,825 A 3/1998 Phan etal. Seagate ST406/412/419 Service Manual, Oct. 17, 1983 5,751,513 A 5/1998 Phan et al. (CTL287838)_

22323312 * 131333 11565521. .......... .. 36678.64 Seegoee Teohoology Pooee eooeleoo “Power Mooogeooeoe” 5,844,396 A * 12/1998 Iwabuchi 61 al. ......... .. 318/778 by To“ PatWardhan, 6/93 (CTL291935) 5,880,587 A 3/1999 Annis et al. Abstract entitled: “An Input Shaping Controller Enabling 5,901,009 A 5/1999 Sri—Jayantha et a1- Cranes to Move Without SWay” by Neil Singer, et al. 5,973,871 A * 10/1999 Dunn et al. . 360/69 (CTL283969)_

* . .

2133213322 * 151333 535255‘??? .......... 573125433 Vioeoeooe “No Swoy Ceeoe Coooo11ee”<Coovo1ve> 5,988,411 A 11/1999 singer et a1_ Videotape: “Shaping Commands to Reduce System Vibra 6,008,640 A 12/1999 Tan et al. tion” (Convolve). 6,011,373 A * 1/2000 McConnell et al. ...... .. 318/560

6,011,667 A * 1/2000 Dunn et al. ................. .. 360/69 * cited by examiner

U.S. Patent May 6, 2003 Sheet 1 0f 28 US 6,560,658 B2

FIG.1

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U.S. Patent

FIG.5

May 6, 2003 Sheet 3 0f 28 US 6,560,658 B2

S301

GENERATE GUI

S302

INPUT SETTINGS TO GUI

5303

GENERATE COMMANDS BASED ON SETTINGS

I 5304

OUTPUT COMMANDS TO DISK DRIVE

END

U.S. Patent May 6, 2003 Sheet 5 0f 28 US 6,560,658 B2

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U.S. Patent May 6, 2003 Sheet 10 0f 28 US 6,560,658 B2

U.S. Patent May 6, 2003 Sheet 11 0f 28 US 6,560,658 B2

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U.S. Patent May 6, 2003 Sheet 12 0f 28 US 6,560,658 B2

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U.S. Patent May 6, 2003 Sheet 14 0f 28 US 6,560,658 B2

PRIOR ART

SYSTEM SETPO/NT PV LOOKUP VELOC'TY (CLOSED LOOP

TABLE VELOCITY)

POSITION

r—— VELOCITY

SUPO/NT SYSTEM __--_- pvnggfgup SHAPER — (CLOSED LOOP

I VELOCITY) \

/ 86 a4

/\87 POSITION ,NVERSE

SHAPER

U.S. Patent May 6, 2003 Sheet 15 0f 28 US 6,560,658 B2

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U.S. Patent May 6, 2003 Sheet 16 0f 28 US 6,560,658 B2

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U.S. Patent May 6, 2003 Sheet 17 0f 28 US 6,560,658 B2

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