Patent ID: 7177106

Claim:
A disk storage apparatus comprising: an actuator for positioning a head with respect to a disk; a drive section for driving said actuator; a position detection section for producing position error information corresponding to the current position of said head from servo information which has been previously recorded on said disk and is detected by said head; a position control section for producing position control information corresponding to the position error information by said position detection section; a voltage detection section for detecting a voltage generated in driving said actuator and outputting a voltage signal; a disturbance torque estimation section for estimating the magnitude of a disturbance exerted on said head from the voltage signal by said voltage detection section and a drive signal from said drive section, and producing disturbance estimation information; a correction section for correcting the position control information by said position control section with the disturbance estimation information by said disturbance torque estimation section and producing said drive signal; and a disturbance monitor section for monitoring the disturbance estimation information by said disturbance torque estimation section, and prohibiting a record by said head if said disturbance estimation information exceeds an allowable range.