Improved head
gimbal assemblies reducing TMR (Track Mis-Registration) in a hard disk drive are provided. These head
gimbal assemblies are as mechanically simple as contemporary head
gimbal assemblies, support parallel flying sliders over flat disk surfaces, and reduce TMR' induced by disk vibration. They are easier to build, more reliable, and cost less to make, than other known approaches at comparable track densities and rotational rates. The improved head gimbal assemblies include three sets of mechanisms moving the slider parallel the disk surface, when the disk surface is flat, and radially moving the slider toward the track, when the disk surface is bent. The first and third mechanisms as well as the second and third mechanisms can be used together in a head gimbal
assembly.An improved and distinctive
servo-controller scheme resulting in an overall improvement in PES performance, particularly when applied to hard disk drives employing the invention's TMR reduction mechanisms. The
servo-controllers
trade off gain in the disk vibration frequency range, in favor of, increased rejection of
low frequency disturbances. This leads to the lowest PES statistics, when applied to hard disk drives with the TMR reduction mechanisms of the invention.