Abstract: A data processing system is disclosed having a direct access storage device (DASD) subsystem comprising a number of separate physical housings, each housing having a number of disk supporting spindles mounted therein. The velocity of rotation of the spindles within a housing is synchronized, and the rotational position of the spindles may be locked into a fixed relationship. When number N of disk supporting spindles are provided, spindle rotation is synchronized, and mirrored data files are written out of phase by 360/N degrees, thereby providing reduced latency time during a subsequent read operation, while at the same time providing data integrity through the use of redundant data files.

Abstract: In a servo controlled device such as a disk drive actuator or a robot that is driven by a DC motor and must seek from one position to another position and settle at the target position in a minimum time, a deadbeat control response can effect settling in a minimum number of servo sample times with no steady state error and no ripple between sampling instants. The device design, initial conditions entering the deadbeat controlled mode and the frequency of servo samples can be used to enable deadbeat control by limiting the control current to a value that will not saturate the motor coil or exceed the linear operating range of the controlled device.

Abstract: A controller for a voice coil motor driven disk file actuator is described. The device has an online adjustable gain characteristic for controlling movement of the actuator assembly and an estimator that estimates actuator velocity and bias. Forward gain is estimated from position and coil current measurements and compared with a nominal value to create an error signal used to adjust the controller and estimator gain characteristics. The control technique allows changes in the open loop system without changing the closed loop performance. By monitoring loop gain it is possible to alter compensator gains to maintain a constant closed loop performance.