Data storage device demodulating servo burst by computing slope of intermediate integration points

Description

BACKGROUND

Data storage devices such as disk drives comprise a disk and a head connected to a distal end of an actuator arm which is rotated about a pivot by a voice coil motor (VCM) to position the head radially over the disk. The disk comprises a plurality of radially spaced, concentric tracks for recording user data sectors and servo sectors. The servo sectors comprise head positioning information (e.g., a track address) which is read by the head and processed by a servo control system to control the actuator arm as it seeks from track to track.

FIG. 1 shows a prior art disk format 2 as comprising a number of servo tracks 4 defined by servo sectors 6₀-6_N recorded around the circumference of each servo track. Each servo sector 6_i comprises a preamble 8 for storing a periodic pattern, which allows proper gain adjustment and timing synchronization of the read signal, and a sync mark 10 for storing a special pattern used to symbol synchronize to a servo data field 12. The servo data field 12 stores coarse head positioning information, such as a servo track address, used to position the head over a target data track during a seek operation. Each servo sector 6_i further comprises groups of servo bursts 14 (e.g., N and Q servo bursts), which are recorded with a predetermined phase relative to one another and relative to the servo track centerlines. The phase based servo bursts 14 provide fine head position information used for centerline tracking while accessing a data track during write/read operations. A position error signal (PES) is generated by reading the servo bursts 14, wherein the PES represents a measured position of the head relative to a centerline of a target servo track. A servo controller processes the PES to generate a control signal applied to a head actuator (e.g., a voice coil motor) in order to actuate the head radially over the disk in a direction that reduces the PES.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a prior art disk format comprising servo tracks defined by servo sectors.

FIG. 2A is a data storage device in the form of a disk drive comprising a head actuated over a disk.

FIG. 2B shows a read element reading a servo burst of a servo sector, wherein the servo burst comprises a periodic pattern resulting in a periodic read signal according to an embodiment.

FIG. 2C is an equation according to an embodiment for computing M intermediate integration points y_Ni based on signal samples of the periodic read signal.

FIGS. 3A-3D show a comparison between an ideal integration of all of the signal samples when demodulating a servo burst, an error caused by non-harmonic distortions in the read signal, and attenuation of the error using the equation of FIG. 2C.

FIG. 4A shows an embodiment wherein a first type of defect in a servo burst is detected when at least the first cycle of the read signal indicates a defect.

FIG. 4B shows an embodiment wherein a second type of defect in a servo burst is detected when one or more cycles after the first cycle of the read signal indicates a defect.

DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION

FIG. 2A shows a data storage device in the form of a disk drive according to an embodiment comprising a head 16 actuated over a disk surface 18 comprising tracks 20 defined by servo sectors 22₀-22_N, wherein each servo sector comprises at least one servo burst comprising a periodic pattern. The disk drive further comprises control circuitry 24 configured to read the servo burst of one of the servo sectors to generate a read signal 26 (FIG. 2B) and compute M intermediate integration points y_Ni according to FIG. 2C:

y N i = ∑ k = 0 N i ⁢ r ⁡ ( k ⁢ ⁢ T s ) · sin ⁡ ( ω ⁢ ⁢ k ⁢ ⁢ T s ) ; i = 0 , 1 , … ⁢ , M - 1 Eq . ⁢ ( 1 )
where r(kT_s) represents a sample point of the read signal, T_s represents a sample interval between the sample points, and ω represents a frequency of the periodic pattern in the servo burst. In one embodiment, the intermediate integration points y_Ni may be computed at each sample point of the read signal, and in another embodiment, the intermediate integration points y_Ni may be computed at a subset of the sample points. Accordingly, the intermediate integration points y_Ni may be generated at various timestamps across the sequence of read signal samples as described in greater detail below.

In one embodiment, the control circuitry 24 process the intermediate integration points y_Ni in Eq. (1) to demodulate the servo sector when generating a position error signal (PES) representing the position of the head 16 over the disk surface 18 relative to a target track. The control circuitry 24 may filter the PES using a suitable servo compensator to generate a control signal 28 applied to an actuator, such as a voice coil motor (VCM) 30 that rotates an actuator arm 32 about a pivot in order to actuate the head 16 radially over the disk surface 18.

In the embodiment of FIG. 2B, the servo burst of a servo sector comprises a periodic pattern formed by writing a plurality of consecutive magnetic transitions at a target frequency. When the read element 16A of the head 16 passes over the magnetic transitions, the resulting read signal 26 may ideally be represented as:

r ⁡ ( t ) = ∑ n = 0 ∞ ⁢ a n · sin ⁡ ( n ⁢ ⁢ ω ⁢ ⁢ t ) Eq . ⁢ ( 2 )
where a_n represent coefficients of the fundamental frequency (a₁) as well as harmonic frequencies of the read signal. In reality, the actual read signal generated by reading a servo burst may comprise non-harmonic distortions as well as random noise and therefore may be represented as:

r ⁡ ( t ) = ∑ n = 0 + ∞ ⁢ a n ⁢ sin ⁡ ( n ⁢ ⁢ ω ⁢ ⁢ t ) + ∑ l = 0 + ∞ ⁢ a m l ⁢ sin ⁡ ( m l ⁢ ω ⁢ ⁢ t + ϕ m l ) + n ⁡ ( t ) Eq . ⁢ ( 3 )
where a_ml represents coefficients of the non-harmonic frequencies of the read signal (m_l is not an integer) and n(t) represents the random noise in the read signal.

A conventional method for demodulating the read signal of a servo burst to generate the position signal is to compute a discrete Fourier transform (DFT) of the read signal over all N_c cycles of the periodic pattern in order to estimate the amplitude of the fundamental frequency a₁:

y N c ⁢ T = ∫ 0 N c ⁢ T ⁢ r ⁡ ( t ) ⁢ sin ⁡ ( ω ⁢ ⁢ t ) ⁢ ⅆ t = ( ∫ 0 N c ⁢ T ⁢ ( ∑ n = 0 + ∞ ⁢ a n ⁢ sin ⁡ ( n ⁢ ⁢ ω ⁢ ⁢ t ) ⁢ sin ⁡ ( ω ⁢ ⁢ t ) ) ⁢ ⅆ t + ∫ 0 N c ⁢ T ⁢ ( ∑ l = 0 + ∞ ⁢ a m l ⁢ sin ⁡ ( m l ⁢ ω ⁢ ⁢ t + φ m l ) ⁢ sin ⁡ ( ω ⁢ ⁢ t ) ) ⁢ ⅆ t + ∫ 0 N c ⁢ T ⁢ n ⁡ ( t ) ⁢ sin ⁡ ( ω ⁢ ⁢ t ) ⁢ ⅆ t ) Eq . ⁢ ( 4 )
where T equals 2π/ω. When the integration is computed over all cycles of the periodic signal and when there are an integer number of signal samples per cycle, a trigonometric identity property may be used to reduce the first term in the above Eq. (4) to:

∫ 0 N c ⁢ T ⁢ ( ∑ n = 0 + ∞ ⁢ a n ⁢ sin ⁡ ( n ⁢ ⁢ ω ⁢ ⁢ t ) ⁢ sin ⁡ ( ω ⁢ ⁢ t ) ) ⁢ ⅆ t = N c ⁢ T 2 ⁢ a 1 Eq . ⁢ ( 5 )
When the second and third terms of the above Eq. (4) are zero, the amplitude of the fundamental frequency can be computed as:

a 1 = 2 N c ⁢ T ⁢ y N c ⁢ T Eq . ⁢ ( 6 )
If the random noise n(t) is white Gaussian with zero mean then the expected value of the third term in Eq. (4) is zero. However, if the second term is non-zero due to non-harmonic distortions in the read signal it will induce an error into the conventional Eq. (6) when computing the amplitude of the fundamental frequency.

The above Eq. (4) may be represented in discrete-time as:

y N - 1 = ∑ k = 0 N - 1 ⁢ r ⁡ ( k ⁢ ⁢ T s ) ⁢ sin ⁡ ( ω ⁢ ⁢ k ⁢ ⁢ T s ) Eq . ⁢ ( 7 )
where T_s represents the sampling period of the read signal and N represents the total number of sampling points in the read signal over the N_c cycles of the periodic pattern. The conventional method for computing the amplitude of the fundamental frequency using Eq. (6) involves computing the integration of Eq. (7) over all N of the signal samples. However, in an embodiment of the present invention, M intermediate integration points y_Ni are computed according to Eq. (1). In one embodiment, an intermediate integration point may be computed at each signal sample of the read signal representing the periodic pattern in the servo burst (i.e., in one embodiment M=N). For example, if in one embodiment the periodic pattern of a servo burst comprises six cycles, and there are eight samples per cycle, then the corresponding intermediate integration points may be represented as {(x₀,y₀),(x₁,y₁), . . . (x₄₇,y₄₇)} where x_Ni represent a timestamp in the sample points of the read signal. Other embodiments may compute the intermediate integration points at a coarser resolution of signal samples, where in one embodiment the integration points are computed at equally spaced timestamps. For example, in one embodiment an intermediate integration point may be computed at the end of each cycle in the above example such that N₀=7, N₁=15, N₂=23 . . . N₅=47.

The intermediate integration points y_Ni computed according to Eq. (1) may be used in any suitable manner. In one embodiment, the intermediate integration points y_Ni may be processed to compute a more accurate estimate of the amplitude of the fundamental frequency in a manner that attenuates the error due to non-harmonic distortions in the read signal. This embodiment may be understood with reference to FIGS. 3A and 3B which show a first waveform 34 representing the progression of an ideal integration of the signal samples for a read signal without non-harmonic distortion, and a waveform 36 representing the progression of an integration of the signal samples for a read signal with non-harmonic distortion represented by waveform 38. That is, the distorted waveform 36 may be represented as the ideal waveform 34 plus the non-harmonic distortion waveform 38. The last point 40 in the integration of the distorted waveform 36 (FIG. 3B) represents the final integration value computed conventionally according to Eq. 6 which deviates from the final integration value 42 of the ideal waveform 34. In one embodiment, this error is attenuated by computing a slope of a line 44 that passes through the intermediate integration points y_Ni described above. That is, the waveform 36 of FIG. 3A may be represented by the intermediate integration points y_Ni at predetermined intervals. The resulting intermediate integration points y_Ni may be curve fitted to estimate the slope α of the line 44:
y=αX  Eq. (8)
For example, the slope α of the line 44 may be computed using linear regression as shown in FIG. 3C, from which the amplitude of the fundamental frequency may be computed as shown in FIG. 3D. That is, the amplitude of the fundamental frequency may be computed by multiplying the slope α of the line 44 by the last timestamp x_M-1 along the x-axis which represents the last point 46 along line 44 in FIG. 3B. Accordingly, the error due to the non-harmonic distortion waveform 38 is reduced since the last point 46 along line 44 is closer to the ideal point 42 (the last point along the ideal waveform 34) than the last point 40 along the distorted waveform 36.

In another embodiment, the intermediate integration points y_Ni computed according to Eq. (1) may be used to detect a defect in a servo burst by computing a plurality of local slopes along the line 44. Assume α(m) is a local slope computed from the first m intermediate timestamps, then:

α ⁡ ( m ) = ∑ i = 0 m - 1 ⁢ x N i ⁢ y N i ∑ i = 0 m - 1 ⁢ x N i 2 Eq . ⁢ ( 9 )
A local slope may be computed at the end of each cycle of the periodic pattern in the servo burst such that a plurality of local slopes α_j may be computed according to:

α j = ∑ i = 0 j ⁢ ⁢ N m - 1 ⁢ x N i ⁢ y N i ∑ i = 0 j ⁢ ⁢ N m - 1 ⁢ x N i 2 ; j = 1 , 2 , … ⁢ , N c Eq . ⁢ ( 10 )
where N_c represents a number of cycles in the periodic pattern of the servo burst, and each period comprises N_m intermediate sample points of the read signal. In one embodiment, the local slope α_j may be used to predict the rate of change in the integration between the j^th and (j+1)^th cycle such that the incremental increment in the integration from the j^th and (j+1)^th cycle may be computed according to:
α_j·N_m  Eq. (11)
In one embodiment, the relative error between the predicted integration increment and the actual integration increment from the j^th and (j+1)^th cycle can be used to detect a defect in the servo burst at either the 1^st cycle or the (j+1)^th cycle. The threshold of relative error may be denoted as β which may be statistically determined by analyzing a number of servo bursts with known defects. Therefore, in one embodiment a defect in a servo burst may be detected according to:

 α j · N m - ( y N M j + 1 - y N M j )   y N M j + 1 - y N M j  > β Eq . ⁢ ( 12 )
where

y N M j + 1 - y N M j
is the actual integration increment from the j^th to (j+1)^th cycle.

The above embodiment for detecting a defect in a servo burst may be generalized by considering that a local slope S_p,q may be computed according to:

S p , q = ∑ i = ( p - 1 ) ⁢ N m q ⁢ ⁢ N m - 1 ⁢ x N i ⁢ y N i ∑ i = ( p - 1 ) ⁢ N m q ⁢ ⁢ N m - 1 ⁢ x N i 2 ; 1 ≤ p ≤ q ≤ N c Eq . ⁢ ( 13 )
where p represents a beginning of the p^th cycle, and q represents an ending of the q^th cycle. In one embodiment, a defect may therefore be detected using Eq. (13) based on:

 α j - S j + 1 , j + 1   S j + 1 , j + 1  > β Eq . ⁢ ( 14 )

In one embodiment, the control circuitry 24 may distinguish between types of errors detected in a servo burst based on whether a defect is detected in at least the first cycle of the periodic pattern as illustrated in FIG. 4A, or after the first cycle as illustrated in FIG. 4B. In one embodiment, the control circuitry 24 may track the occurrence of each type of defect which may be subsequently used in any suitable manner, such as by omitting one or more cycles from the servo burst demodulation or improving the servo writing process to reduce the occurrence of certain types of defects.

The embodiments described herein may be modified by manipulating the above mathematics without departing from the scope of the claimed embodiments. For example, the above Eq. (1) may be modified to use a complex value e^−jωkTs in place of the real value sin(ωkT_s). In addition, one skilled in the art could modify the remaining equations commensurate with using a complex value in Eq. (1) to achieve the above-described benefits, such as computing a more accurate estimate of the fundamental frequency and/or detecting defects in the servo bursts.

Any suitable control circuitry may be employed to implement the flow diagrams in the above embodiments, such as any suitable integrated circuit or circuits. For example, the control circuitry may be implemented within a read channel integrated circuit, or in a component separate from the read channel, such as a disk controller, or certain operations described above may be performed by a read channel and others by a disk controller. In one embodiment, the read channel and disk controller are implemented as separate integrated circuits, and in an alternative embodiment they are fabricated into a single integrated circuit or system on a chip (SOC). In addition, the control circuitry may include a suitable preamp circuit implemented as a separate integrated circuit, integrated into the read channel or disk controller circuit, or integrated into a SOC.

In one embodiment, the control circuitry comprises a microprocessor executing instructions, the instructions being operable to cause the microprocessor to perform the flow diagrams described herein. The instructions may be stored in any computer-readable medium. In one embodiment, they may be stored on a non-volatile semiconductor memory external to the microprocessor, or integrated with the microprocessor in a SOC. In another embodiment, the instructions are stored on the disk and read into a volatile semiconductor memory when the disk drive is powered on. In yet another embodiment, the control circuitry comprises suitable logic circuitry, such as state machine circuitry.

In various embodiments, a disk drive may include a magnetic disk drive, an optical disk drive, etc. In addition, while the above examples concern a disk drive, the various embodiments are not limited to a disk drive and can be applied to other data storage devices and systems, such as magnetic tape drives, solid state drives, hybrid drives, etc. In addition, some embodiments may include electronic devices such as computing devices, data server devices, media content storage devices, etc. that comprise the storage media and/or control circuitry as described above.

The various features and processes described above may be used independently of one another, or may be combined in various ways. All possible combinations and subcombinations are intended to fall within the scope of this disclosure. In addition, certain method, event or process blocks may be omitted in some implementations. The methods and processes described herein are also not limited to any particular sequence, and the blocks or states relating thereto can be performed in other sequences that are appropriate. For example, described tasks or events may be performed in an order other than that specifically disclosed, or multiple may be combined in a single block or state. The example tasks or events may be performed in serial, in parallel, or in some other manner. Tasks or events may be added to or removed from the disclosed example embodiments. The example systems and components described herein may be configured differently than described. For example, elements may be added to, removed from, or rearranged compared to the disclosed example embodiments.

While certain example embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the inventions disclosed herein. Thus, nothing in the foregoing description is intended to imply that any particular feature, characteristic, step, module, or block is necessary or indispensable. Indeed, the novel methods and systems described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions and changes in the form of the methods and systems described herein may be made without departing from the spirit of the embodiments disclosed herein.