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Abstract

A disk drive system with adaptive positioning employs one or more storage disks for recording data, one or more read and write heads for performing input/output operation on the disks, with at least one of the heads being used as a servo head, a head-positioning mechanism for controlling the movement of the heads, and a digital compensator for predicting the post-seek displacement of the heads due to internal accelerations and to provide a compensating control signal to the head-positioning mechanism. The compensator includes means for approximating an nth order transfer function and learning algorithms for adapting to the dynamic response characteristics of an individual disk drive unit. The positioning of the heads is adapted to minimize post-seek displacements through trial seeks executed at disk startup and continually through background processes performed during normal input/output operations.

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First Claim