TW479248B - Long seek tracking control system and method for compact disk drive - Google Patents

Abstract

The present invention provides a long seek tracking control system and the implementation method, which is to drive a seek tracking motor associated with the multiple of the compact disk drive for driving a pick-up head to the vicinity of the selected target trace. The system is consisted of a speed controller, a drive-in timing controller and a parameter adjusting controller, in which at least the speed controller and the drive-in timing controller are based on the fuzzy control theory the speed controller will obtain an output value with the operation of the remaining track number and cross-track speed; and the drive-in timing controller will obtain a drive-in track number with the operation of the track number of target track and the multiple of the compact disk drive. When the number of remaining track is lower than the drive-in track number, the product of the output from the speed controller and the parameter adjusting controller will be used as the output voltage to drive the tracking motor. If the remaining track number is larger than the drive-in track number, it will drive with the predetermined voltage. Thus, the long seek tracking time of the compact disk drive will be reduced and the acceleration voltage of the seek tracking motor will be smoothed.

Description

479248 A7 Printed by the Consumer and Consumer Cooperative of the Intellectual Property Agency of the Ministry of Economic Affairs

The invention is related to a long-range seek control system and method for an optical disc drive, especially a fuzzy control theory, which can shorten the long-range seek time of an optical disc drive and smooth the acceleration voltage of the seek motor. Optical disc drive long-range seeker system 5 and method. Creative background Because of the large amount of data that can be stored on the optical disc, and easy to carry and save, it has become a standard equipment for computers in recent years. With the widespread use of optical disc drives, the main axis of the optical disc drive has been developed. The speed of the motor increases and its control becomes more stable, which promotes the continuous improvement of the data transmission rate. However, the access time of another performance index of the optical disc drive is not easily improved. The main reason is that the spindle motor becomes faster and the disc vibrates. Caused by RF signal distortion. In today's 5G double-speed drives, the universal access time is about 80 to 100 ms. One of the above-mentioned drive performance indicators, the access time generally refers to when the computer issues a read command to the drive During the period of data submission, it can be expressed as: Ta = Tls + Tss + TQt + TQh (Equation n where .Ta is the access time; Tls is the long-range search Time; Tss is the short-term seek time, · U laser light follows the target track (the time from the start of the coffee s, s until the required data is found, on average is the time required for the spindle motor to run a full circle; T〇 h is the data read from the optical disc drive and transmitted to the time. The track seeking servo system of the optical disc drive is as shown in the first figure. ^ 'Laser light 82 is the disc that the two-spindle motor 5 rotates. Caiguanjia County (CNS 1〇15 20 I --------- Zhuangyi ------ 1T ------ line (Please read the precautions on the back before filling in this page) 10 15 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 20 V. Description of the invention (ΐ Read data, but if you want to read data from a distance, you must first perform a radial action. The short-range tracking two sets of actuators and the short-range tracking actuators 8 are constructed as long-range tracking actuators ^ ♦ The positioning of the light spot is divided by the two sets of actuators 7, 8 in two stages M ^ The track is mainly driven by an electric surface-seeking motor 7i, which can quickly move the read / write head 9 for long-distance radial movement, and only send the read / write head 9 to the target actuator. Can be 'So only: Coarse adjustment' · For short-range seekers, the read-write head is started at the end of the long-range seekers-when the target track is near the start of 'short-range seeker ㈣ 8 by changing ·: the rotation angle of the objective lens 81 on the head 9' The laser light 82 is correctly positioned at the Mubei Baker, and then starts to track and read the data. The long time seek (long seek) accounts for most of the total access time, often more than 50%, And it can be said that the key factor that determines the access time. The feedback signal used in the long-range tracking feeding system of the optical disc drive is the cross-signal: the cross-signal is generated by the data signal (known as RF signal). The principle is that the optical disc drive The objective lens above is divided into four areas. After the laser light reflects through these four areas, it is received by four sensors below the objective lens. The sum of the signals received by the four sensors is the data. Signal. Since the laser light moves in the radial direction during long-range tracking, the data signal received by the read-write head is also strong due to the strong reflection when passing through the data area; otherwise, the signal is weaker when passing through the low reflection area, so it is continuous. The crest of the RF signal rises and falls like a sine wave when crossing rails. The original RF signal is filtered by the high-frequency data signal through the filter, and the rest is the peak signal of the RF signal (the rfr0 signal); the RFR0 signal is passed through a voltage comparator, when the peak voltage is greater than the comparison voltage ' The comparator ^ outputs a high potential, otherwise it outputs a low potential, so it obtains a number of papers (2, 479,248, V. Invention Description (Bitized Cross-Signal). According to the above principle, the current-long-range search for optical disc players The orbit method is the speed curve control method as shown in the second figure. The long-range tracking control system uses the pre-rounded speed curve as a reference command, and obtains the preset reference speed and speed estimator. The actual estimated speed is compared, the error signal is obtained and sent to the tracking motor compensator, and finally amplified by an amplifier to obtain the input power of the tracking motor. However, the speed curve control method used in the above conventional technology has the following disadvantages:-, voltage Oscillation Phenomenon ... There will be a voltage oscillation phenomenon as shown in the third figure in the long-range seek, because when the estimated speed of the motor has caught up with the reference speed, in order to maintain the motor speed and The speed is the same, so the voltage drops _, and it rises when the motor speed is lower than the reference speed. The cycle of voltage rise and fall easily shakes the objective lens and causes the number of errors. 2. Maximum speed limitation: When the speed is limited When the speed of the motor catches up with the reference speed, its speed is limited by the reference speed and no longer rises, so the number of cross-tracks per unit time is constant; otherwise, if the speed is not limited, the number of cross-tracks in the unit time can be continuously increased to track the track. The motor reaches the target execution earlier and shortens the access time, so the controller that limits the maximum speed will reach the target execution in more time than the controller that does not limit the maximum speed. 20 The purpose of the creation is to improve the long range of the conventional optical disc drive. The problem of improper operation of the seek control system, the inventor of this case, based on his many years of experience in research and development in this field, actively researched and improved, and thus the invention "optical disc drive long-range seek control system and method" was born. ίϋStandard (CNS) A4 Specification⑽χ297 / ^

I 10 Order 15 Line B7 V. Description of the invention (The purpose of the number of light is to provide a kind of long-distance track control system and method of the pioneer with a non-fixed transfer function. The purpose of 5 'is to provide a mainly fuzzy theory Designing a long-range tracking control system and method for the 2 optical disc drive can make the optical disc drive seek time, wide and short, and smooth the acceleration voltage of the brother motor. ^ 1 Another purpose is to provide a speed with fuzzy theory setting ^ Control benefit and cut-in timing controller of the optical drive long-range seek control ^ system ^ method 'of which speed ㈣㈣㈣ pure number and cross-execute speed transport 10… find the output value cut-in date $ machine controller according to the target execution number and optical drive multiple The calculation obtains all the numbers. Another purpose of this creation is to provide a long-range seek control system and method for optical disc drive that further has a parameter adjuster based on fuzzy timing. The parameter adjuster is A parameter adjustment value is obtained according to the target execution number and the multiple operation of the optical disc drive. 15 Creative features 20 The present invention provides a long-range seek control system for an optical disc drive and its implementation | A homing motor is driven in accordance with the multiple of the optical disc drive to carry a write head to the vicinity of a selected target. The system is mainly composed of a speed controller, a timing controller and a parameter adjustment controller. , Which includes at least the speed controller and the cut-in timing controller based on fuzzy control theory, and the speed controller obtains an output value based on the remaining number of tracks and the cross-speed operation. The cut-in timing controller uses the target execution number and the optical disc drive. The multiple operation obtains all the number of entries. When the remaining number of tracks of the read / write head is less than the number of entries, the product of the speed controller and the parameter adjustment controller's output value is used as the roll-out 1 paper standard. 8 secrets (210X297 > page S) B7 V. Invention description (5 10 15 Printed by the Consumers ’Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs of the People's Republic of China to print 20 electric houses to drive the tracking motor. Theoretical control, and a parameter adjustment value is obtained according to the target track number and the optical disc drive multiple operation. Since the present invention adopts fuzzy theory as its control rule, it can be improved Known technology uses pre-entered speed curves to simulate control and cause improper operation of reading and writing. This smoothes the accelerating voltage of the seeker and reduces the shake of the read and write heads; and the fuzzy control can be adapted to each of the optical disc drives when they leave the factory. Some minor differences' can be matched with the actual performance of the optical disc drive to flexibly control, instead of applying the same control curve to all manufactured optical disc drives as in the conventional technology, and if the optical disc drive mechanism is replaced, the rule table only needs to be adjusted slightly. It can save a lot of adjustment time, so it is more robust than the traditional control method. The formula simply explains the technical means and effects used in this creation to achieve the above-mentioned purposes, features, and examples are given in conjunction with the preferred embodiment. The description of the formula is as follows: The first picture is a schematic diagram of the optical disc drive tracking servo system. The second picture is a block diagram of a conventional optical disc drive long-range seek system. The third figure is a voltage oscillation phenomenon of a conventional optical disc drive long-range seek system using a speed curve control method. The fourth figure is a block diagram of the long-range seek control system of the optical disc drive of the present invention. The fifth figure is a diagram of a speed controller belonging function according to a preferred embodiment of the present invention. The sixth figure is the design principle of the speed controller rule table in a preferred embodiment of the present invention. The seventh picture is the attenuation of the cross-signal signal under the low speed operation of the optical disc drive.

This paper scale @ ITS @ CNS) A4W ^ (210 X297 / J4) 479248 V. Description of the invention (A7 B7 The eighth figure is the number of cross-track signal leakage under the low speed operation of the optical disc drive shown by the oscilloscope. The ninth figure is the invention A diagram of a controller timing function of a cut-in timing controller according to a preferred embodiment. The tenth diagram is a rule design principle of a cut-in timing controller according to a preferred embodiment of the present invention. The eleventh graph is a parameter adjustment of a preferred embodiment of the present invention. The twelfth figure of the device assignment function chart is a tenth principle of the parameter adjuster rule table of a preferred embodiment of the present invention. Component symbol comparison table:. 15 11 multiple adjuster 12 motor driver 13 seek motor 14 sensor 15 Number counter 16 Differentiator 2 Speed controller 3 Switch-in timing controller 4 Parameter adjuster — (Please read the precautions on the back before filling this page)

, 1T Printed by the Consumer Property Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs, a preferred embodiment / Please refer to the fourth figure. The optical disc drive long-range tracking control system disclosed by this creation is composed of three main controllers, namely the speed controller 2 and the cut-in. Timing controller 3 and parameter adjustment controller 4. When the CD-ROM drive is used, the CD-ROM drive will be classified according to the content of the CD-ROM (such as music or secondary materials, etc.). The multiplier n will be used to drive the CD-ROM to rotate. ). If 弁 # 々 ％ 咮 片 is an information sheet, when this paper is printed in China Standard (CNS) A4 · (210x297 / g) printed at the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 5. Description of the invention (The optical disc drive cannot read any of them During data recording, the multiplier adjuster η will automatically reduce the multiplier of the shaft motor, making the disc rotate slower and the read / write head easier. If it still cannot be read, the main spindle motor will be reduced according to the proportion. When the tracking motor 13 drives the read / write head to move to the target number of tracks, the number of counters 15 are continuously detected by the sensor 14 and then the target number of tracks is subtracted from the number of detected numbers of tracks. Get the number of remaining tracks. When reading ..1 before moving the head to the target number, that is, when the number of remaining tracks is reduced to a certain degree 2 'The speed controller 2 designed with fuzzy logic will continue to accurately control reading. ^ ≫ The moving speed enables the read / write head to reach the target number accurately. Conversely, if the 4 write head is still far away from the target number, it is necessary to reduce the access time of the read / write head. As for the brother rail motor 13 since Muler ^ ^ + began to run at full speed , When should switch to speed controller 2 so that 1 · drive over the green are 1 2, 4.… The speed of the write head is determined by the speed controller and light 3 according to the target number ^ When the speed of the Putian spindle motor is low, Corresponding motor 13 correspondingly produces at a relatively low speed ^, and the slump in autumn drives the Shuo write head, so as to avoid cross-examination Ϊ I. Second, if the spindle motor running multiple is high, in order to reduce reading and writing 9 Λ, ,, ^ ^ Motor U should read and write 20 heads at a higher speed. In addition to the above-mentioned clutch motor 13 which has different speed control in accordance with the number of times that the spindle runs illegally, it must also be adjusted according to the target clutch number. ± _The adjustment parameter multiples output by the parameter adjuster 4 and the tracking motor 13 under different target orbits should have 5 10 and 15

This paper scale applies the Chinese national standard (4 / ^ 248 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs, the speed adjustment of the invention description (8). Therefore, the speed controller 2 is based on the remaining number and cross-speed. The source of the remaining difficulty and the cross-track speed are cross-signal signals. Cross-track information: Use the counter to get the number of cross-signals, and the cross-track speed and the remaining number of tracks can be entered in 5 steps. The following formula: sc- dTc / dt τ ^ (Eq. 2) W Tc Gan Shi 〇 (Eq. 3)-Sc is the speed of the cross-rail, Tc is the number of cross-tracks, Tr is the number of remaining tracks, and Tt is the target number of tracks. Motor driver 12 The DC control voltage is proportional to the output of the speed controller 2, but the output of the speed controller 2 must be multiplied by a parameter adjuster 4 to obtain the control voltage. ′ In this embodiment, the attribution function of the speed controller is as follows: As shown in the five figures, the fuzzy control law is a Mamdani-type controller, and its rules are as follows: If Tr is Ai and Sc is Bi then V is C ... ... 1 L type 4) Among them, Ai, Bi, Ci The fuzzy set of the input and output language items of the i-th controller, V is the speed control The output voltage is proportional to the 'rules of the number of the speed controller. The concept of the design rule table in this embodiment can be illustrated by the sixth figure as an example, in which $ is divided into three areas. When the number of remaining tracks is small or the seek speed is fast, the tracking motor will enter the deceleration zone, and the speed The faster the speed and the smaller the remaining number, the greater the deceleration voltage; when the level of the remaining track and the tracking speed are close, the tracking motor will enter the taxi zone, and the tracking motor will coast forward. 15 20

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479248 X- Description of the invention () 9 lines; when the speed is slow and the remaining number is large, the track horse and the acceleration zone are slower, or the slower or the more number of remaining numbers are, the acceleration voltage 2 moves to its speed as soon as possible. Built according to the above design principles. < Current table as table i

The meanings of the English abbreviations are as follows: I --------- batch -------, 玎 ------ (Please read the precautions on the back before filling this page} Ministry of Economy Printed by the Intellectual Property Bureau Staff Consumer Cooperative

o 1X Z · zero S · smal1 Μ · medium B: big EB: extra big

SZ MS BM VB small zero medium small big medium very big 4 / ^ 248 Five PE: positive extra big PM: positive medium NS: negative small NB: negative big When the fuzzy output V is obtained, 15 20 PB · positive big PS: positive small NM: negative medium NE: negative extra big, and then use the center of gravity method to defuzzify, but because the elapsed time of the entire brother is relatively short, the control voltage must respond quickly, and complex operations are not allowed to exist in this extremely short time. Therefore, in this embodiment, it is more advanced to establish a lookup table to quickly solve this problem. The resolution in the look-up table directly affects the control quality, but the high resolution relatively consumes too much memory. In this embodiment, the two inputs of the controller are divided into 51 intervals, so the memory requirement is 51x51 = 26〇lbyte. The Guangdang optical disc drive seeker motor accelerated from the innermost circle of the disc through the second circle of the disc with a full force. The time it took was about 160ms. 'In this very short time, the brother ’s motor was continuously accelerating. In the transient state, when the target number is larger, the acceleration time is relatively longer. Therefore, the timing of switching into the speed controller must be earlier, so as not to cause the speed controller to control the f-seeking motor to the target in time because the speed is too fast. On the contrary, the smaller the #target track number, the shorter the ▲ machine / page Ik will be. Because the tracking motor is always accelerating during the seek process, the cut-in timing cannot be summarized by multiplying the target execution number by a ratio. It must have different outputs depending on the target execution number. In addition, because the optical disc drive doubles the speed between 5 {) and i times, the frequency variation range of No. 1 is also quite large. In order to find out the signal, the cutoff frequency of the wave filter on the meter will change with the optical disc drive double speed. At the time of low magnification, Xiang Fen is set to 5's Zhang scale 1 11 V. Description of the invention (5 10 15 The seek speed is still reported fast, as shown in the seventh figure, when the crossover frequency is greater than the cutoff frequency of the ferrule, the signal Will attenuate, resulting in the error situation of the wide-leakage number as shown in the eighth figure. In the figure, L represents the low-pass ^ skin read-off frequency at high magnification and fw2 represents the low-pass filter and wave filter cut-off frequency at low magnification :: Therefore, the maximum output voltage must be changed with the speed of the optical disc drive. The smaller the multiple, the lower the output electric dust, so that the seeker motor moves slowly, and the cross-signal signal is not removed by the low-frequency wave.-Similarly. , Because the tracking multiple speed is small when the multiple is small], then the τ cut timing should be adjusted due to the different motor speed: that is, the adjustment of the cut-in timing should also consider the double speed of the machine. 'The timing of cutting people is also related to the maximum output. What is the output amount, the tracking speed is also small, so the bismuth can be switched into the speed controller at the same time; similarly, when the optical disk drive times = larger: so: the timing is also earlier, so there can be a larger acceleration power = one = input Under the influence of the machine and the large output, the cut-in timing controller ^ The input and the parameter adjuster are the same, which are the speed of the optical disk drive and the target consumer. The intellectual property bureau of the Ministry of Economic Affairs prints the attribution function of the cut-in timing controller ^ ^ ^ Shuangrudi 9 is not as it is, it is also designed by the control logic, and the control rules are as follows: H Tt is Di and Ss is Ei then r is F ^ 20 浐 ：： '、 Ei And F1 are the "set of the solid law controller input / set" and Tt is the target. The number of tracks must be Γ as the cut-in timing, and its unit is execution, which is the cut-in timing controller, (CNS) A4 ^ (210X ^ f ^ 12479248 Fifth invention description (Number. Actual cut-in timing is the remaining number of moves from the target. If the cut-in time is far from the target number, the cut-in time should be a larger value of the remaining track. Conversely, if the cut-in time is more than the target track number Recently, the cut-in timing should be the smaller value of the remaining rail 5. The design principle of this conceptual design cut-in timing is shown in the tenth figure, and its fuzzy rules are shown in Table 2. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs ο 11 S optical disk drive times M B ZZ ZO SZ '~~ ~ SZ Head SZ SZ s MS Target SS MS M Executive MS S MS BM Number of MM S MS BM ΒSM SM BM Β MS BM BM VB MB VB ΕΒ BM VB EB Table 2: Table of cut-in timing rules; parameter adjustment controller system It is also calculated by fuzzy control logic, but it is not limited to using fuzzy theory as its control logic, and traditional wide transfer function control is also included in the scope of the present invention. The parameter adjustment Mongolian attribution function is shown in Figure 11 and its control rules are as follows:

If Tt is Gt and Ss is then a is (弋 ^ ㈤ Using China 47 ^ 248 V. Description of the invention (: 1 ·. M3 where

Gi, Η; 5 10 rounds of speech, 隹, 人, person 1i, 1 do n’t be the first rule controller input, multiples, α is the parameter adjuster output, and two = number ’^ is the number of optical disc drives. The design principle of the parameter adjuster is as follows: when the second is faster and the number of target executions is more, that is, the plan is more stomach, 'the disc player speed is smaller than the machine speed and the number of target tracks is less, let ^' The principle is completed-the rule table of the embodiment is as shown in Table y * the force is less. The value of the representative parameter is large, otherwise the value of the small output is representative of the parameter value ^ Γ Medium and large output Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs

Based on the above three fuzzy controllers, the voltage vin of the driver of this system can be obtained as follows: " vin = α X vmax, if Tr > r gutter (please read the precautions on the back before filling this page) to the motor (type 7) This paper size is in accordance with Chinese National Standard (CNS) A4 specification (2 ×× 297 mm) 4792 you A7 printed by the Consumer Cooperative of Intellectual Property Bureau of the Ministry of Economic Affairs

15 15 B7 t. Description of the invention (: When the remaining number of tracks of the read-write head is greater than the number of tracks cut by people, the reference is-the preset maximum seek motor wheel power-on value, and when the remaining number of tracks is less than The number of cut-in tracks is the reference value obtained in the second step. For the fuzzy control rule established in each step I above, the corresponding attribution and rule table design principles are as shown in the previous best embodiment. It will not be described here. And each step can be further established according to each fuzzy control rule. A table is provided for direct comparison to quickly determine the output value. * Hunting is based on the above-mentioned technology, which is disclosed by the present invention. -A kind of long-distance optical drive control system for optical disc drive and its implementation method, which has the following advantages:-Because of the fact that the f-motors are in the seek process, they are in-a very short time order j transient state 'its transfer function is very difficult to find Therefore, the present invention adopts fuzzy theory as its control rule, so it can improve the improper operation of the read-write head shaking caused by the conventional technology to simulate the control with the speed curve input in advance, and smooth the acceleration voltage of seek and reduce the write. Shake your head. ° line 2. The fuzzy control can respond to the slight differences of the optical disc drive when it leaves the factory, and can be flexibly controlled in accordance with the actual performance of the optical disc drive, instead of applying the same control curve to all the optical disc drives that are manufactured as in conventional technology, and if The mechanism of replacing the optical disc drive only needs to slightly adjust the rule table, which can save a lot of adjustment time, so it is more robust than the traditional control party.

Zhang Shouji Caicai _Home Standard (CNS) 7¾ (2iQx297H In summary, the "optical disc drive long-range seek control system and method" of the present invention can indeed achieve the desired purpose through the systems and steps disclosed above. V. Invention Explanation (2) I haven't seen it before in publications or used it publicly. It meets the requirements of the novelty and progress of the invention. The drawings and descriptions disclosed are only examples of this creation and me: 疋 Implementation of this creation Anyone who is familiar with this skill, 2: Other equivalent changes or modifications made by the characteristics of Fan Xie, such as the transfer of the designation function in the = ㈣ or the design principles of each rule table should be covered in the following case Within the scope of applying for a patent. Ruler (Please read the notes on the back before filling out this page) Printed on the paper by the Consumers' Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs This paper applies Chinese National Standard (CNS) A4 (21 × 297 mm)

Claims (1)

10 15 Printed by the Consumers ’Cooperative of the Ministry of Economic Affairs, 4th Bureau, 20 ABCD, a long-range seeker control system for optical disc drives, which uses a V: two actuator drive device to carry a read-write device to the eye In the vicinity of the control, the control system includes: 〃, 疋 Xiao Xiao calculates the corresponding remaining pure number and the speed of the cross execution by inputting the cross execution performed by the reading and writing device from a leaf counter. Brother-control nm should generate an output value at the remaining number and cross-track speed;-the second controller is used to generate all the numbers in response to the target track number and the rotation multiple of the disc; a The third controller is used to generate an adjustment parameter in response to the target execution number and the rotation multiple of the disc, and calculate the product of the adjustment parameter and a reference voltage to output the voltage to the driving device according to this, where When the remaining number of tracks is greater than the cut-in number, the reference voltage is a preset maximum voltage value, and when the remaining number of tracks is less than the cut-in number, the reference voltage is an output value of the first controller. 2. The control system according to item 1 of the scope of patent application, wherein the read-write device is used to read and write data stored on the optical disc. 3. The control system according to item 1 of the scope of patent application, wherein the actuator is a seeker motor that carries the movement of the read / write device. 4. The control system according to item 1 of the scope of patent application, wherein each of the number of interleavings is continuously accumulated by the counter based on the number of interleaving signals sensed by the reading and writing device. 5. The control system as described in item 1 of the scope of patent application, wherein the calculator page 20--20th negative table paper size applies Chinese National Standards (CNs) A4 specifications (210X297 mm)!: In HI I-I------ install-(Please read the precautions on the back before filling this page), 1T r 10 15 Ministry of Economic Affairs Smart Money. 4 Printed by the Bureau Consumer Consumption Cooperative 20, Patent Application 1 2 Subtract the number of rails and the number of cross-tracks to obtain the remaining number. Differentiate the number of cross-tracks to determine the speed of the cross-track. The control system described above, wherein the first controller is obtained by calculating the built-in first fuzzy control law. 7. The control system according to item 6 of the scope of patent application, wherein the second control is The cut-in number is obtained by the operation of the built-in second fuzzy control law. 8. The control system as described in item 7 of Shen Qing's patent scope, wherein the parameter adjuster is obtained by the operation of the built-in third fuzzy control law. Adjust the parameters 9. The control system as described in item 6 of Shen Qing's patent scope, which The first fuzzy control rule is: If Tr is Ai and Sc is Bt then V is Ci; and Tr, Sc, and V represent the remaining number, the cross-track speed, and the output value of the first controller, and the i = l · · mi, which is the number of laws of the first controller. 10. The control system described in item 7 of the scope of patent application, wherein the second fuzzy control law is: If Tt is and Ss is Ei then τ is Fi; and Ss and r represent the target execution number, disc rotation multiple, and cut-in execution number, respectively, and the i = 1 · · Π12, and the melon 2 is the rule number of the second controller. 11 · Such The control system described in item 8 of the scope of patent application, where the third --- I----i In-II-i ills mu n (Please read the precautions on the back before filling this page), 1T ___________ The 71st paper standard applies the Chinese National Standard (CNS) A4 specification (210 X 297 mm 479248 ABCD 9 ® 1 Fan Li, please 5) ο IX 5 11 The fuzzy control law printed by the employee consumer cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs is: if Tt is Gi and Ss is Hi then a is I Hold the number, ^ ^ ^, the number of dull pieces and double the number of adjustments, and the i = 1. "3, the m3 is the number of the rule." 12. As described in item 6 of the scope of patent application In the control system, the first controller has a first query table built in according to the first fuzzy control rule for direct comparison to determine the output value. 13. The control system as described in item 7 of the patent application, wherein the second controller has a second controller built in accordance with the second fuzzy control law. Ten tables for direct comparison to determine the cut-in number. 14. The control system as described in item 8 of the scope of patent application, wherein the third controller has a third built-in according to the third fuzzy control rule: " Xuan table for direct comparison to determine the adjustment parameter. 15 ·-A control method for the optical disc drive commander, which uses a drive device that rotates the voltage to the actuator to carry a read-write device to the vicinity of a specific target of the optical disc. The control method includes the following steps ... From: The counter enters the number of cross-tracks that the reading and writing device has passed, and the corresponding remaining number and cross-speed are obtained through different operations; a first fuzzy control rule is established, and the remaining number of tracks and the number of cross-tracks are established. The execution speed is obtained by the first fuzzy control rule operation to obtain an output value; the second fuzzy control rule is established, and the target track execution number and the disk rotation multiple are calculated by the second mode control rule operation to obtain everything Please read the items on the reverse side and fill in this page. The bound paper size is 1 order ^ 5 ^ standard (—) Erge (479248 A8 B8 C8 D8 Ministry of Economic Affairs Smart Money. 4 Bureau Member X Consumer Cooperative Printing 6. Application The patent range% generates an adjustment parameter in response to the target execution number and the rotation multiple of the disc, and calculates the product of the adjustment parameter and a reference voltage to output the voltage to the driving device according to this, where When the remaining number of the read-write device is greater than the cut-in number, the reference voltage is a preset maximum voltage value, and when the remaining number is lower than the cut-in number, the reference voltage is determined by the first blur. The output value obtained by the operation of the control law. 16. The control method as described in item 15 of the scope of the patent application, wherein each of the cross-track numbers is continuously accumulated by the counter according to the cross-track signals sensed by the read-write device. 17. The control method as described in item 15 of the scope of patent application, wherein the number of remaining tracks is obtained by subtracting the target track number and the number of cross-tracks, and the cross-track speed is determined by the cross-track Differentiate the number. 18. The control method as described in any one of items 15 to 17 of the applied patent, wherein the first fuzzy control rule is: if Tr is and Sc is Bi then V is C {; and Tr , Sc and V respectively represent the output value of the remaining number of controllers, the speed controller across the speed controller, and the ~, the "the number of rules of the second device." 19. Any of the 15th to 17th scope of the patent application The control method described above, wherein the second fuzzy control rule is: Tt is Df and Ss is Ei then r is F (; and Tt, Ss, and τ respectively represent the target track number, disc rotation number, and cut-in number, and i = 1, and ^ is the second control; 5 10 15 20 Z paper size applies Chinese E standard (CNS) eight 4 secrets ((Please read the precautions on the back ---- Φ. I 丨 * matters before filling out this page) n! —— " -order The number of rules. 10 15 Printed by the Consumer Cooperative of the Ministry of Economics and Intellectual Property Bureau 20 20. If the controlling party described in any one of the 15th to 17th of the scope of patent application, including the step of establishing a third fuzzy control rule, The target track number and the rotation multiple of the disc are calculated by the third fuzzy control rule to obtain the adjustment parameter. &Quot; 21 · The control method described in item 20 of the scope of patent application, wherein the third fuzzy control rule is:-If L is Gi and Ss is Η! Then a is L; and _ Tt, Ss and ° ° represents the target execution number, the disk rotation multiple, and the adjustment parameters, and the m3 is the rule number of the parameter adjuster. Mouth 22. The control method described in item 18 of the scope of patent application, which further includes establishing a first look-up table according to the first fuzzy control rule, and determining the output value by directly comparing. 8. The control method according to item 19 of the scope of patent application, further comprising establishing a second look-up table based on the second fuzzy control rule, and determining the number of cut-in tracks based on a cross-reference. / 'I 24. The control method as described in item 20 of the patent scope, wherein a five-table table is established according to the third fuzzy control rule for the purpose of determining the adjustment parameters. '、 This paper is suitable for size _ house standard 隼 (---------- installed-(Please read the precautions on the back before filling this page)' ITI i ----- I- -II g I ^ — · —-----—