U.S. patent application number 13/551667 was filed with the patent office on 2014-01-23 for timing-based servo for determining lateral head velocity.
This patent application is currently assigned to INTERNATIONAL BUSINESS MACHINES CORPORATION. The applicant listed for this patent is Allen K. Bates, Nhan X. Bui, Nils Haustein, Stephen L. Schwartz, Daniel J. Winarski. Invention is credited to Allen K. Bates, Nhan X. Bui, Nils Haustein, Stephen L. Schwartz, Daniel J. Winarski.
Application Number | 20140022667 13/551667 |
Document ID | / |
Family ID | 49776067 |
Filed Date | 2014-01-23 |
United States Patent
Application |
20140022667 |
Kind Code |
A1 |
Bates; Allen K. ; et
al. |
January 23, 2014 |
TIMING-BASED SERVO FOR DETERMINING LATERAL HEAD VELOCITY
Abstract
A servo track has identical servo pattern frames including two
pairs of parallel magnetic transitions, the transitions of each
pair spaced apart an equal distance, the transitions of the first
pair at an azimuth angle to the longitudinal axis of the tape, the
transitions of the second pair at an opposite azimuth angle. A
servo channel receives signals at first times corresponding to when
a servo read head detects the first and second transitions of the
first pair of parallel transitions of a servo pattern frame, and
second times corresponding to when the servo read head detects the
first and second transitions of the second pair of parallel
transitions. The servo channel determines a relative lateral
movement and velocity between the tape and the tape head based on
the azimuth angle and the ratio of the difference of the first and
the difference of the second times.
Inventors: |
Bates; Allen K.; (Tucson,
AZ) ; Bui; Nhan X.; (Tucson, AZ) ; Haustein;
Nils; (Soergenloch, DE) ; Schwartz; Stephen L.;
(Tucson, AZ) ; Winarski; Daniel J.; (Tucson,
AZ) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Bates; Allen K.
Bui; Nhan X.
Haustein; Nils
Schwartz; Stephen L.
Winarski; Daniel J. |
Tucson
Tucson
Soergenloch
Tucson
Tucson |
AZ
AZ
AZ
AZ |
US
US
DE
US
US |
|
|
Assignee: |
INTERNATIONAL BUSINESS MACHINES
CORPORATION
Armonk
NY
|
Family ID: |
49776067 |
Appl. No.: |
13/551667 |
Filed: |
July 18, 2012 |
Current U.S.
Class: |
360/77.12 ;
G9B/5.203 |
Current CPC
Class: |
G11B 2220/956 20130101;
G11B 5/56 20130101; G11B 2020/1281 20130101; G11B 20/1211 20130101;
G11B 5/584 20130101; G11B 20/10388 20130101 |
Class at
Publication: |
360/77.12 ;
G9B/5.203 |
International
Class: |
G11B 5/584 20060101
G11B005/584 |
Claims
1. A servo system configured to determine a relative lateral
movement and velocity between a tape and a tape head, the tape
having at least one longitudinal defined servo track, the servo
track including a longitudinal series of identical servo pattern
frames, each servo pattern frame including two pairs of
non-overlapping parallel magnetic transitions, the transitions of
each pair being spaced apart an equal distance d, the transitions
of the first pair forming an azimuth angle .eta. to the
longitudinal axis of the tape, the transitions of the second pair
forming the azimuth angle .eta. to the longitudinal axis of the
tape but at an opposite slope about the lateral axis of the tape,
the servo system comprising: a tape head including a servo read
head configured to read the servo pattern frames in the at least
one servo track and produce servo signals at times T.sub.A and
T.sub.B, corresponding to the times that the servo read head
detects the first and second transitions of the first pair of
parallel transitions of a servo pattern frame, and times T.sub.C
and T.sub.D, corresponding to the times that the servo read head
detects the first and second transitions of the second pair of
parallel transitions of the servo pattern frame; a servo channel
configured to receive the servo signals and determine a relative
lateral movement LM.sub.AB or LM.sub.CD between the tape and the
tape head between times T.sub.A and T.sub.B, or times T.sub.C and
T.sub.D, respectively, at least according to the relationships ( T
D - T C ) ( T B - T A ) = sin ( .eta. ) cos ( .alpha. ) - cos (
.eta. ) sin ( .alpha. ) sin ( .eta. ) cos ( .alpha. ) + cos ( .eta.
) sin ( .alpha. ) , and LM AB = .alpha. * d sin ( .eta. ) - (
.alpha. * cos ( .eta. ) ) ##EQU00021## or LM CD = .alpha. * d sin (
.eta. ) + ( .alpha. * cos ( .eta. ) ) , ##EQU00021.2##
respectively.
2. A system in accordance with claim 1, wherein the servo channel
is further configured to determine a relative lateral velocity
LV.sub.AB or LV.sub.CD between the tape and the tape head between
times T.sub.A and T.sub.B, or times T.sub.C and T.sub.D,
respectively, at least according to the relationships ( T D - T C )
( T B - T A ) = sin ( .eta. ) cos ( .alpha. ) - cos ( .eta. ) sin (
.alpha. ) sin ( .eta. ) cos ( .alpha. ) + cos ( .eta. ) sin (
.alpha. ) , and LV AB = .alpha. * d sin ( .eta. ) - ( .alpha. * cos
( .eta. ) ) * 1 ( T B - T A ) , or LV CD = .alpha. * d sin ( .eta.
) + ( .alpha. * cos ( .eta. ) ) * 1 ( T D - T C ) , ##EQU00022##
respectively.
3. A system in accordance with claim 1, wherein the servo channel
is further configured to: populate a first table with entries
associating a plurality of values of the ratio ( T D - T C ) ( T B
- T A ) ##EQU00023## with values of the relative lateral movement
LM.sub.AB or LM.sub.CD at least according to the relationships ( T
D - T C ) ( T B - T A ) = sin ( .eta. ) cos ( .alpha. ) - cos (
.eta. ) sin ( .alpha. ) sin ( .eta. ) cos ( .alpha. ) + cos ( .eta.
) sin ( .alpha. ) , and LV AB = .alpha. * d sin ( .eta. ) - (
.alpha. * cos ( .eta. ) ) * 1 ( T B - T A ) , or LV CD = .alpha. *
d sin ( .eta. ) + ( .alpha. * cos ( .eta. ) ) * 1 ( T D - T C ) ,
##EQU00024## respectively; calculate a value for the ratio ( T D -
T C ) ( T B - T A ) ##EQU00025## based on the servo signals
received by the servo channel; and determine the relative lateral
movement LM.sub.AB or LM.sub.CD by at least performing a table
look-up in the first table based on the calculated ratio.
4. A system in accordance with claim 2, wherein the servo channel
is further configured to: populate a second table with entries
associating a plurality of values of the ratio ( T D - T C ) ( T B
- T A ) ##EQU00026## with values of the relative velocity LV.sub.AB
or LV.sub.CD at least according to the relationships ( T D - T C )
( T B - T A ) = sin ( .eta. ) cos ( .alpha. ) - cos ( .eta. ) sin (
.alpha. ) sin ( .eta. ) cos ( .alpha. ) + cos ( .eta. ) sin (
.alpha. ) , and LV AB = .alpha. * d sin ( .eta. ) - ( .alpha. * cos
( .eta. ) ) * 1 ( T B - T A ) , or LV CD = .alpha. * d sin ( .eta.
) + ( .alpha. * cos ( .eta. ) ) * 1 ( T D - T C ) , ##EQU00027##
respectively; calculate a value for the ratio ( T D - T C ) ( T B -
T A ) ##EQU00028## based on the servo signals received by the servo
channel; and determine the relative lateral movement LV.sub.AB or
LV.sub.CD by at least performing a table look-up in the second
table based on the calculated ratio.
5. A system in accordance with claim 1, wherein the azimuth angle
.eta. is .pi./4 radians.
6. In a servo system for positioning a tape head laterally to
follow lateral motion of a longitudinal tape moving in a
substantially longitudinal direction with respect to the tape head,
the tape having at least one longitudinal defined servo track, the
servo track including a longitudinal series of identical servo
pattern frames, each servo pattern frame including two pairs of
non-overlapping parallel magnetic transitions, the transitions of
each pair being spaced apart an equal distance d, the transitions
of the first pair forming an azimuth angle .eta. to the
longitudinal axis of the tape, the transitions of the second pair
forming the azimuth angle .eta. to the longitudinal axis of the
tape but at an opposite slope about the lateral axis of the tape,
said servo system including an actuator configured to move the tape
head laterally with respect to the longitudinal tape, the tape head
including a servo read head configured to read the servo pattern
frames in the servo track and produce servo signals, a servo
channel configured to receive and process the servo signals, a
position error signal loop configured to sense the servo signals,
to determine position error between the servo read head and a
desired center-line position of the at least one defined servo
track based on the servo signals, and to operate the actuator to
move the tape head laterally to reduce the determined position
error, a method to determine a relative lateral movement and
velocity between the tape and the tape head, comprising: the servo
read head reading a servo pattern frame in the servo track, the
relative movement of the servo head with respect to the tape
forming a trajectory angle .alpha. with respect to the center-line
of the at least one defined servo track, the trajectory of the
servo read head intersecting the first and second transitions of
the first pair of parallel transitions of the servo pattern frame
at times T.sub.A and T.sub.B, respectively, and intersecting the
first and second transitions of the second pair of parallel
transitions of the servo pattern frame at times T.sub.C and
T.sub.D, respectively, whereby the servo read head produces servo
signals at times T.sub.A, T.sub.B, T.sub.C, and T.sub.D; and the
servo channel determining a relative lateral movement LM.sub.AB or
LM.sub.CD between the tape and the actuator between times T.sub.A
and T.sub.B, or times T.sub.C and T.sub.D, respectively, at least
according to the relationships ( T D - T C ) ( T B - T A ) = sin (
.eta. ) cos ( .alpha. ) - cos ( .eta. ) sin ( .alpha. ) sin ( .eta.
) cos ( .alpha. ) + cos ( .eta. ) sin ( .alpha. ) , and LM AB =
.alpha. * d sin ( .eta. ) - ( .alpha. * cos ( .eta. ) )
##EQU00029## or LM CD = .alpha. * d sin ( .eta. ) - ( .alpha. * cos
( .eta. ) ) , ##EQU00029.2## respectively.
7. A method in accordance with claim 6, further comprising: the
servo channel determining a relative lateral velocity LV.sub.AB or
LV.sub.CD between the tape and the actuator between times T.sub.A
and T.sub.B, or times T.sub.C and T.sub.D, respectively, at least
according to the relationships ( T D - T C ) ( T B - T A ) = sin (
.eta. ) cos ( .alpha. ) - cos ( .eta. ) sin ( .alpha. ) sin ( .eta.
) cos ( .alpha. ) + cos ( .eta. ) sin ( .alpha. ) , and LV AB =
.alpha. * d sin ( .eta. ) - ( .alpha. * cos ( .eta. ) ) * 1 ( T B -
T A ) , or LV CD = .alpha. * d sin ( .eta. ) + ( .alpha. * cos (
.eta. ) ) * 1 ( T D - T C ) , ##EQU00030## respectively.
8. A method in accordance with claim 6, wherein the step of the
servo channel determining the relative lateral movement LM.sub.AB
or LM.sub.CD comprises: populating a first table with entries
associating a plurality of values of the ratio ( T D - T C ) ( T B
- T A ) ##EQU00031## with values of the relative lateral movement
LM.sub.AB or LM.sub.CD at least according to the relationships ( T
D - T C ) ( T B - T A ) = sin ( .eta. ) cos ( .alpha. ) - cos (
.eta. ) sin ( .alpha. ) sin ( .eta. ) cos ( .alpha. ) + cos ( .eta.
) sin ( .alpha. ) , and LV AB = .alpha. * d sin ( .eta. ) - (
.alpha. * cos ( .eta. ) ) * 1 ( T B - T A ) , or LV CD = .alpha. *
d sin ( .eta. ) + ( .alpha. * cos ( .eta. ) ) * 1 ( T D - T C ) ,
##EQU00032## respectively; the servo channel calculating a value
for the ratio ( T D - T C ) ( T B - T A ) ##EQU00033## based on the
servo signals received by the servo channel; and the servo channel
determining the relative lateral movement LM.sub.AB or LM.sub.CD by
at least performing a table look-up in the first table based on the
calculated ratio.
9. A method in accordance with claim 7, wherein the step of the
servo channel determining the relative lateral velocity LV.sub.AB
or LV.sub.CD comprises: populating a second table with entries
associating a plurality of values of the ratio ( T D - T C ) ( T B
- T A ) ##EQU00034## with values of the relative velocity LV.sub.AB
or LV.sub.CD at least according to the relationships ( T D - T C )
( T B - T A ) = sin ( .eta. ) cos ( .alpha. ) - cos ( .eta. ) sin (
.alpha. ) sin ( .eta. ) cos ( .alpha. ) + cos ( .eta. ) sin (
.alpha. ) , and LV AB = .alpha. * d sin ( .eta. ) - ( .alpha. * cos
( .eta. ) ) * 1 ( T B - T A ) , or LV CD = .alpha. * d sin ( .eta.
) + ( .alpha. * cos ( .eta. ) ) * 1 ( T D - T C ) , ##EQU00035##
respectively, the servo channel calculating a value for the ratio (
T D - T C ) ( T B - T A ) ##EQU00036## based on the servo signals
received by the servo channel; and the servo channel determining
the relative lateral movement LV.sub.AB or LV.sub.CD by at least
performing a table look-up in the second table based on the
calculated ratio.
10. A method in accordance with claim 6, wherein the azimuth angle
.eta. is .pi./4 radians.
11. A servo system configured to determine a relative lateral
movement and velocity between a tape and a tape head, the tape
having at least one longitudinal defined servo track, the servo
track including a longitudinal series of identical servo pattern
frames, each servo pattern frame including two pairs of
non-overlapping parallel magnetic transitions, the transitions of
each pair being spaced apart an equal distance d, the transitions
of the first pair forming an azimuth angle .eta. to the
longitudinal axis of the tape, the transitions of the second pair
forming the azimuth angle .eta. to the longitudinal axis of the
tape but at an opposite slope about the lateral axis of the tape,
the servo system comprising: a tape head including a servo read
head configured to read the servo pattern frames in the at least
one servo track and produce servo signals at times T.sub.A and
T.sub.B, corresponding to the times that the servo read head
detects the first and second transitions of the first pair of
parallel transitions of a servo pattern frame, and times T.sub.C
and T.sub.D, corresponding to the times that the servo read head
detects the first and second transitions of the second pair of
parallel transitions of the servo pattern frame; a servo channel
configured to receive the servo signals and determine a relative
lateral movement LM.sub.AB or LM.sub.CD between the tape and the
tape head between times T.sub.A and T.sub.B, or times T.sub.C and
T.sub.D, respectively, at least as respective functions of the
ratio ( T D - T C ) ( T B - T A ) , ##EQU00037## distance d, and
constants proportional to azimuth angle .eta..
12. A system in accordance with claim 11, wherein the respective
functions of the ratio ( T D - T C ) ( T B - T A ) , ##EQU00038##
distance d, and constants proportional to azimuth angle .eta. are
determined at least according to the relationships ( T D - T C ) (
T B - T A ) = sin ( .eta. ) cos ( .alpha. ) - cos ( .eta. ) sin (
.alpha. ) sin ( .eta. ) cos ( .alpha. ) + cos ( .eta. ) sin (
.alpha. ) , and LV AB = .alpha. * d sin ( .eta. ) - ( .alpha. * cos
( .eta. ) ) * 1 ( T B - T A ) , or LV CD = .alpha. * d sin ( .eta.
) + ( .alpha. * cos ( .eta. ) ) * 1 ( T D - T C ) , respectively .
##EQU00039##
13. A system in accordance with claim 11, further comprising: the
servo channel determining a relative lateral velocity LV.sub.AB or
LV.sub.CD between the tape and the actuator between times T.sub.A
and T.sub.B, or times T.sub.C and T.sub.D, respectively, at least
as respective functions of the ratio
(T.sub.D-T.sub.C)/(T.sub.B-T.sub.A), distance d, and constants
proportional to the azimuth angle (.eta.) and a trajectory angle
(.alpha.), and the reciprocal of (T.sub.B-T.sub.A) or
(T.sub.D-T.sub.C).
14. A system in accordance with claim 13, wherein the respective
functions of the ratio (T.sub.D-T.sub.C)/(T.sub.B-T.sub.A),
distance d, and constants proportional to the azimuth angle (.eta.)
and the trajectory angle (.alpha.), and the reciprocal of
(T.sub.B-T.sub.A) or (T.sub.D-T.sub.C) comprise: ( T D - T C ) ( T
B - T A ) = sin ( .eta. ) cos ( .alpha. ) - cos ( .eta. ) sin (
.alpha. ) sin ( .eta. ) cos ( .alpha. ) + cos ( .eta. ) sin (
.alpha. ) , and LV AB = .alpha. * d sin ( .eta. ) - ( .alpha. * cos
( .eta. ) ) * 1 ( T B - T A ) , or LV CD = .alpha. * d sin ( .eta.
) + ( .alpha. * cos ( .eta. ) ) * 1 ( T D - T C ) , ##EQU00040##
respectively.
15. A system in accordance with claim 12, wherein the step of the
servo channel determining the relative lateral movement LM.sub.AB
or LM.sub.CD comprises: populating a first table with entries
associating a plurality of values of the ratio ( T D - T C ) ( T B
- T A ) ##EQU00041## with values of the relative lateral movement
LM.sub.AB or LM.sub.CD at least according to the relationships ( T
D - T C ) ( T B - T A ) = sin ( .eta. ) cos ( .alpha. ) - cos (
.eta. ) sin ( .alpha. ) sin ( .eta. ) cos ( .alpha. ) + cos ( .eta.
) sin ( .alpha. ) , and LV AB = .alpha. * d sin ( .eta. ) - (
.alpha. * cos ( .eta. ) ) * 1 ( T B - T A ) , or LV CD = .alpha. *
d sin ( .eta. ) + ( .alpha. * cos ( .eta. ) ) * 1 ( T D - T C ) ,
##EQU00042## respectively; the servo channel calculating a value
for the ratio ( T D - T C ) ( T B - T A ) ##EQU00043## based on the
servo signals received by the servo channel; and the servo channel
determining the relative lateral movement LM.sub.AB or LM.sub.CD by
at least performing a table look-up in the first table based on the
calculated ratio.
16. A system in accordance with claim 14, wherein the step of the
servo channel determining the relative lateral velocity LV.sub.AB
or LV.sub.CD comprises: populating a second table with entries
associating a plurality of values of the ratio ( T D - T C ) ( T B
- T A ) ##EQU00044## with values of the relative velocity LV.sub.AB
or LV.sub.CD at least according to the relationships ( T D - T C )
( T B - T A ) = sin ( .eta. ) cos ( .alpha. ) - cos ( .eta. ) sin (
.alpha. ) sin ( .eta. ) cos ( .alpha. ) + cos ( .eta. ) sin (
.alpha. ) , and LV AB = .alpha. * d sin ( .eta. ) - ( .alpha. * cos
( .eta. ) ) * 1 ( T B - T A ) , or LV CD = .alpha. * d sin ( .eta.
) + ( .alpha. * cos ( .eta. ) ) * 1 ( T D - T C ) , ##EQU00045##
respectively, the servo channel calculating a value for the ratio (
T D - T C ) ( T B - T A ) ##EQU00046## based on the servo signals
received by the servo channel; and the servo channel determining
the relative lateral movement LV.sub.AB or LV.sub.CD by at least
performing a table look-up in the second table based on the
calculated ratio.
17. A system in accordance with claim 11, wherein the azimuth angle
is .pi./4 radians.
Description
FIELD OF THE INVENTION
[0001] The present invention relates generally to tape drive
systems having a timing-based servo for positioning a head, and
more particularly to a system for determining lateral head movement
and velocity based on servo track timing measurements.
BACKGROUND
[0002] Densities for linear tape storage systems are at a point
where precision lateral positioning of the tape heads perpendicular
to the longitudinal direction of motion of the tape is a
requirement. Timing-based servo (TBS) is a technology developed in
the mid-1990s for linear tape drives to specifically address this
issue. In TBS systems, recorded servo patterns consist of
transitions with two different azimuthal slopes, and head
lateral-position relative to the servo track is derived from the
relative timing of pulses generated by a narrow servo tracking head
reading the pattern.
[0003] A popular tape drive technology that has adopted the TBS
standard is Linear Tape Open (LTO). Linear Tape Open and LTO are
registered trademarks of Hewlett-Packard Company, International
Business Machines Corporation, and Quantum Corporation. In LTO, the
tape width is divided into four data bands sandwiched between five
narrow servo bands or tracks. Each servo band has a TBS pattern
that is written to the servo band during the tape manufacturing
process. The tape head assembly straddles two adjacent servo bands,
with two or more servo read heads and 8 or 16 data read/write
heads. Each data head moves up and down within its own data
sub-band the same width as the servo band.
[0004] As the servo track deviates from the ideal centerline
positioning relative to the servo tracking head, the servo control
will activate and move the servo tracking head to follow the servo
track. The actuator that enables precise positioning of the read
head, utilizing the servo system, can involve an arrangement in
which the head actuator assembly is suspended using a spring system
that possesses mass and stiffness. Such an actuator suspension and
servo system has resonant frequencies with the first natural
resonance mode typically having a frequency below the closed loop
bandwidth. In other arrangements, resonance modes may occur in
various shafts, cantilevered arms, and other moving and fixed parts
of the actuator assembly. Thus, another issue involving tape heads
is effective damping of the tape head actuator. A factor in
determining such effective damping is the velocity of the tape head
actuator in the lateral direction.
SUMMARY
[0005] Embodiments of the present invention provide a servo system
to determine a relative lateral movement and velocity between a
tape and a tape head, the tape having at least one longitudinal
defined servo track, the servo track including a longitudinal
series of identical servo pattern frames, each servo pattern frame
including two pairs of non-overlapping parallel magnetic
transitions, the transitions of each pair being spaced apart an
equal distance, the transitions of the first pair forming an
azimuth angle .eta. to the longitudinal axis of the tape, the
transitions of the second pair forming the azimuth angle .eta. to
the longitudinal axis of the tape but at an opposite slope about
the lateral axis of the tape. The servo system includes a tape head
including a servo read head configured to read the servo pattern
frames in the at least one servo track and produce servo signals at
times T.sub.A and T.sub.B, corresponding to the times that the
servo read head detects the first and second transitions of the
first pair of parallel transitions of a servo pattern frame, and
times T.sub.C and T.sub.D, corresponding to the times that the
servo read head detects the first and second transitions of the
second pair of parallel transitions of the servo pattern frame. The
servo system also includes a servo channel configured to receive
the servo signals and determine a relative lateral movement
LM.sub.AB or LM.sub.CD between the tape and the tape head between
times T.sub.A and T.sub.B, or times T.sub.C and T.sub.D,
respectively, according to the relationships
.alpha. = Arctan ( [ ( T B - T A ) - ( T D - T C ) ] [ ( T B - T A
) + ( T D - T C ) ] ) , and LM AB = .alpha. * d sin ( .eta. ) - (
.alpha. * cos ( .eta. ) ) ##EQU00001## or LM CD = .alpha. * d sin (
.eta. ) + ( .alpha. * cos ( .eta. ) ) , ##EQU00001.2##
respectively.
[0006] Other embodiments of the present invention provide a method
to determine a relative lateral movement and velocity between the
tape and the tape head in a servo system for positioning a tape
head laterally to follow lateral motion of a longitudinal tape
moving in a substantially longitudinal direction with respect to
the tape head, the tape having at least one longitudinal defined
servo track, the servo track including a longitudinal series of
identical servo pattern frames, each servo pattern frame including
two pairs of non-overlapping parallel magnetic transitions, the
transitions of each pair being spaced apart an equal distance, the
transitions of the first pair forming an azimuth angle .eta. to the
longitudinal axis of the tape, the transitions of the second pair
forming the azimuth angle .eta. to the longitudinal axis of the
tape but at an opposite slope about the lateral axis of the tape,
said servo system including an actuator configured to move the tape
head laterally with respect to the longitudinal tape, the tape head
including a servo read head configured to read the servo pattern
frames in the servo track and produce servo signals, a servo
channel configured to receive and process the servo signals, a
position error signal loop configured to sense the servo signals,
to determine position error between the servo read head and a
desired centerline position of the at least one defined servo track
based on the servo signals, and to operate the actuator to move the
tape head laterally to reduce the determined position error. The
servo read head reads a servo pattern frame in the servo track, the
relative movement of the servo head with respect to the tape
forming a trajectory angle .alpha. with respect to the center-line
of the at least one defined servo track, the trajectory of the
servo read head intersecting the first and second transitions of
the first pair of parallel transitions of the servo pattern frame
at times T.sub.A and T.sub.B, respectively, and intersecting the
first and second transitions of the second pair of parallel
transitions of the servo pattern frame at times T.sub.C and
T.sub.D, respectively, whereby the servo read head produces servo
signals at times T.sub.A, T.sub.B, T.sub.C, and T.sub.D. The servo
channel determines a relative lateral movement LM.sub.AB or
LM.sub.CD between the tape and the actuator between times T.sub.A
and T.sub.B, or times T.sub.C and T.sub.D, respectively, according
to the relationships
.alpha. = Arctan ( [ ( T B - T A ) - ( T D - T C ) ] [ ( T B - T A
) + ( T D - T C ) ] ) , and LM AB = .alpha. * d sin ( .eta. ) - (
.alpha. * cos ( .eta. ) ) or LM CD = .alpha. * d sin ( .eta. ) + (
.alpha. * cos ( .eta. ) ) , ##EQU00002##
respectively.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS
[0007] FIG. 1 is a simplified component view of a time-based servo
system, in accordance with embodiments of the present
invention.
[0008] FIG. 2 is a simplified block diagram of a typical time-based
servo control system.
[0009] FIG. 3 illustrates a frame of a TBS servo pattern in
accordance with embodiments of the invention.
[0010] FIG. 4 illustrates a frame of a second TBS servo pattern in
accordance with embodiments of the invention.
[0011] FIG. 5 illustrates the servo pattern frame of FIG. 3,
including a servo head trajectory.
[0012] FIG. 6 illustrates a detail of the servo pattern frame of
FIG. 3, including a servo head trajectory.
DETAILED DESCRIPTION
[0013] Embodiments of the present invention will now be described
in detail with reference to the accompanying drawings.
[0014] FIG. 1 is a simplified component view of a time-based servo
system 100, in accordance with embodiments of the present
invention. Tape head actuator 102 includes narrow servo read heads
104 and data read/write head 106. Base plate 110 supports actuator
shaft 108. Tape head actuator 102 moves along actuator shaft 108 in
the lateral Y direction via a servo motor or electromagnet (not
shown). Typically, tape head actuator 102 includes or is connected
to a stepper motor arrangement for gross movements, and a voice
coil arrangement for fine movements. For simplicity, these details
are not shown. Tape 112 represents a portion of a linear tape
medium that is ideally moving in the longitudinal X direction. Tape
112 includes a data track 114, shown with eight sub-tracks,
sandwiched between two servo tracks 116A and 116B that have been
imprinted during the tape manufacturing process with a magnetic
servo pattern 118 that consists of transitions with two different
azimuthal angles, which will be described in greater detail below.
Although only a single data track 114 is shown, a tape 112
typically has several data tracks separated by servo tracks. In
addition, each data track typically includes several sub-tracks,
and data read/write head 106 will include several read/write
heads.
[0015] In operation, tape 112 moves in the X direction past tape
head actuator 102. Servo read heads 104, which are small in the
lateral dimension in comparison to servo tracks 116, detect servo
patterns 118 in servo tracks 116A and 116B. Based on the timing of
pulses generated by servo read heads 104 reading servo patterns
118, the position in the lateral Y direction of servo read heads
104 relative to the position of the servo tracks in the lateral Z
direction can be determined. Typically, there is some movement of
tape 112 in the lateral Z direction relative to the ideal
longitudinal X direction of travel, as indicated in FIG. 1 by the
slight "wave" shape of tape 112. To keep data read/write head 106
in good alignment with data track 114, a state variable feedback
system controls the servo that moves tape head actuator 102 along
actuator shaft 108 in the Y direction based on the relative
position of servo read heads 104 and the ideal position relative to
servo tracks 116A and 116B, which may be the centerline of servo
tracks 116A and 116B or may be a lateral offset to that
centerline.
[0016] FIG. 2 is a simplified block diagram of a typical time-based
servo control system 200. The servo control system 200 is based on
a position error signal loop utilizing a
proportional-integral-derivative (PID) controller 202. The servo
control system 200 includes PID controller 202, actuator 204, a
head module 206, at least one servo read head 208 located in or on
the head module 206, a servo channel 210, and a subtractor 212.
FIG. 2 also shows various disturbances that are often present in
tape drive systems (e.g., shocks, vibrations, stack shifts, and
narrowband disturbances). FIG. 2 further shows a reference signal
r(t), which is the reference signal associated with, for example,
the centerline of servo tracks 116 to which servo read head 208
should be tracking, a position error signal (PES) e(t), and a
control signal u.sub.control, a signal s(t) provided by servo read
head 208 to servo channel 210, a tape velocity estimate signal
v(t), and a lateral position estimate signal y(t). PES e(t)
corresponds to the difference between reference signal r(t) and
lateral position estimate signal y(t). With regard to FIG. 1,
actuator 204 and head module 206 correspond generally to tape head
actuator 102, and servo read head 208 corresponds to servo read
heads 104. Servo channel 210 may be implemented, for example, as a
microprocessor with microcode instructions stored either inside
servo channel 210 or in a separate EPROM (not shown), or as a
field-programmable gate array (FPGA), or as an application-specific
integrated circuit (ASIC), or as a combination of the foregoing, or
any other computing device capable of performing the functionality
required in embodiments of the invention.
[0017] In operation, servo control system 200 uses the PES e(t) as
an input to PID controller 202. PID controller 202 outputs control
signal u.sub.control to actuator 204. Based on the control signal
u.sub.control, the actuator 204 adjusts the position of the head
module 206, which in turn determines the position of servo read
head 208 and corresponding read/write heads (not shown). The
read/write heads are maintained at a desired "on track" position
via motion of the actuator and also via feedback provided by the
servo read head 208. Specifically, servo read head 208 provides a
signal s(t) to the servo channel 210. The servo channel 210
processes the signal s(t) to generate a lateral position estimate
signal y(t) and a tape velocity estimate signal v(t), which
indicates an estimate of the longitudinal velocity of the tape
being read/written. Lateral position estimate signal y(t) along
with reference signal r(t) is input to subtractor 212, which
outputs the PES difference signal e(t).
[0018] In the embodiments shown in FIGS. 1 and 2, actuator 204
typically experiences vibrational resonances that must be
controlled. The mechanical behavior of actuator 204 may be
approximated by a simple spring-damper-mass model. As is known in
the art, a state-space form of the differential equations
representing a spring-damper-mass model is as follows:
[ y t 2 y t 2 ] = [ 0 1 - k m - c m ] [ y y t ] + [ 0 0 Kf Cf ] [ z
- y z t - y t ] . ( 1 ) ##EQU00003##
In equation (1), all elements are known, except for z-y, and
z t - y t . ##EQU00004##
In equation (1), m is the mass of tape head actuator 102 in
kilograms, including any additional mass attributed to, for
example, head cables and servo motors to be overcome when
accelerating tape head actuator 102 in the Y direction; k is the
mechanical spring rate of tape head actuator 102 in the Y
direction, in Newtons per meter; and c is the mechanical damping
experienced by tape head actuator 102 in the Y direction, in
Newton-seconds per meter. Additionally, Kf is the feedback
coefficient with units of seconds.sup.-2 and Cf is the feedback
coefficient with units of second.sup.-1.
[0019] FIGS. 3 and 4 each illustrate a frame of a TBS servo pattern
in accordance with embodiments of the invention by which the terms
z-y, and
z t - y t ##EQU00005##
can be derived from the relative timing of pulses generated by a
servo read head 104 reading the servo pattern, such as servo
pattern 118 in FIG. 1. Servo pattern frames 300 and 400 each
comprise two sets of parallel transitions, each set having equal
azimuth angles to the centerline of the TBS servo track but
opposite to the other set, and which no transitions cross each
other. Although for ease of explanation the azimuth angles are
stated with respect to the servo track centerline, any parallel to
the centerline can be used. In alternative embodiments, servo
tracks 116A and 116B include either a longitudinal series of servo
pattern frames 300 or servo pattern frames 400. In FIG. 3, servo
pattern frame 300 comprises parallel transitions 302 and 306,
having an azimuth angle .eta. 310 with respect to the servo track
centerline X, and parallel transitions 304 and 308, having an equal
azimuth angle .eta. 312, but in the opposite direction as azimuth
angle 310. Parallel transitions 302 and 306 are separated by a
distance 314 of length d, and parallel transitions 304 and 308 are
separated by an equal distance d 316. In the arrangement shown in
FIG. 3, parallel transition pair 302 and 306 is interleaved with
parallel transition pair 304 and 308, forming a double chevron, or
"M" shape. FIG. 4 shows an alternative arrangement with a servo
pattern frame 400 in which parallel transition pair 302 and 306 are
not interleaved with parallel transition pair 304 and 308. For
purposes of the invention, embodiments can use either arrangement.
For purposes of explanation, the interleaved pattern frame 300 of
FIG. 3 will be used.
[0020] FIG. 5 illustrates the servo pattern frame 300 of FIG. 3,
including a servo head trajectory 518. Servo head trajectory 518
represents, for example, the path over servo pattern frame 300 that
a servo head 104 would follow when tape 112 is experiencing
movement in the negative lateral Y direction as it moves in the
longitudinal X direction. Servo head trajectory 518 forms a
positive angle .alpha.520 with the X direction. As illustrated,
servo head trajectory 518 also forms an angle (.eta.-.alpha.) 522
with parallel transition pair 302 and 306, and an angle
(.eta.+.alpha.) 524 with parallel transition pair 304 and 308.
Servo head trajectory 518 crosses parallel transition pair 302 and
306 at points A and B, respectively, and crosses parallel
transition pair 304 and 308 at points C and D, respectively. In
practice, as adjustments are made by servo control system 200 to
keep the read/write heads of tape head actuator 102 on track,
trajectory angle .alpha.520 will change. However, within a servo
pattern frame 300, servo head trajectory 518 can be considered to
be linear, and trajectory angle .alpha.520 as constant.
[0021] In equation (1), the term z-y represents a relative movement
of tape 112 in the lateral Z direction with respect to a movement
of tape head actuator 102 in the lateral Y direction (see FIG. 1).
This may be most easily understood as a movement of tape 112 from
an observational frame of reference tied to tape head actuator 102.
FIG. 6 shows a detail of FIG. 5 relating to parallel transition
pair 302 and 306. With reference to FIG. 6, (z-y) 602 represents
the lateral movement of a servo read head 104 in the Y direction as
a servo read head 104 traverses a path over servo pattern frame 300
between points A and B along servo head trajectory 518. As can be
seen from FIG. 6,
sin ( .alpha. ) = ( z - y ) AB AB , ( 2 ) ##EQU00006##
where AB is the length of the segment between points A and B that a
servo read head 104 traverses along servo head trajectory 518, and
(z-y).sub.AB is the lateral movement in the Y direction of tape
head actuator 102 as it traverses segment AB. The length of segment
AB can be expressed in terms of tape velocity by the equation:
AB=V.sub.TapeAB*(T.sub.B-T.sub.A), (3)
where V.sub.TapeAB is the velocity of the tape as detected by a
servo read head 104 along segment AB, and (T.sub.B-T.sub.A) is the
time it takes a servo read head 104 to traverse segment AB.
Expressing equation (2) in terms of (z-y) and using the identity of
equation (3), gives:
(z-y).sub.AB=sin(.alpha.)*V.sub.TapeAB*(T.sub.B-T.sub.A). (4)
As can be seen from FIG. 6,
V TapeAB = d sin ( .eta. - .alpha. ) * 1 ( T B - T A ) . ( 5 )
##EQU00007##
Substituting the identity of equation (5) into equation (4)
gives:
( z - y ) AB = sin ( .alpha. ) * [ d sin ( .eta. - .alpha. ) * 1 (
T B - T A ) ] * ( T B - T A ) = sin ( .alpha. ) * d sin ( .eta. -
.alpha. ) = sin ( .alpha. ) * d sin ( .eta. ) cos ( .alpha. ) - cos
( .eta. ) sin ( .alpha. ) . ( 6 ) ##EQU00008##
Assuming trajectory angle .alpha.520 to be a small angle,
sin(.alpha.) can be approximated as a, and cos(.alpha.) can be
approximated as 1. Thus, equation (6) can be expressed as the
following, which defines lateral movement LM.sub.AB:
( z - y ) AB = LM AB = .alpha. * d sin ( .eta. ) - ( .alpha. * cos
( .eta. ) ) . ( 7 ) ##EQU00009##
[0022] Similarly, with reference to FIG. 5, lateral movement
LM.sub.CD is defined as:
( z - y ) CD = LM CD = .alpha. * d sin ( .eta. ) - ( .alpha. * cos
( .eta. ) ) . ( 8 ) ##EQU00010##
[0023] In equation (1),
z t - y t ##EQU00011##
represents the relative velocity of tape 112 in the lateral Z
direction with respect to tape head actuator 102 in the lateral Y
direction. This, too, may be most easily understood as the movement
of tape 112 from an observational frame of reference tied to tape
head actuator 102. The term
z t - y t ##EQU00012##
can be derived from equation (7) or equation (8) by dividing both
sides of these equations by the time it takes a servo read head 104
to traverse segment AB or CD, respectively. Thus, lateral
velocities LV.sub.AB and LV.sub.CD are defined as follows:
( z t - y t ) AB = LV AB = .alpha. * d sin ( .eta. ) - ( .alpha. *
cos ( .eta. ) ) * 1 ( T B - T A ) , and ( 9 ) ( z t - y t ) CD = LV
CD = .alpha. * d sin ( .eta. ) + ( .alpha. * cos ( .eta. ) ) * 1 (
T D - T C ) . ( 10 ) ##EQU00013##
[0024] Equations (7) and (8), and (9) and (10) express the terms
z-y, and
z t - y t , ##EQU00014##
respectively, from equation (1) in terms of trajectory angle
.alpha.520, the angle between servo head trajectory 518 and
direction X of a servo pattern frame 300 or 400. All other terms of
these equations are known or can be empirically measured during
operation of time based servo system 100.
[0025] With reference to FIG. 5, trajectory angle .alpha.520 can be
expressed as a function of the ratio of the difference in servo
head transit times over segments AB and CD. With reference to FIG.
5, and as stated above,
V TapeAB = d sin ( .eta. - .alpha. ) * 1 ( T B - T A ) . Similarly
, ( 5 ) V TapeCD = d sin ( .eta. + .alpha. ) * 1 ( T D - T C ) . (
11 ) ##EQU00015##
[0026] Within the same servo pattern frame 300 or 400, V.sub.TapeAB
and V.sub.TapeCD can be approximated as being equal, especially for
the overlapping "M" configuration shown in FIG. 3. Thus,
d sin ( .eta. - .alpha. ) * 1 ( T B - T A ) = d sin ( .eta. +
.alpha. ) * 1 ( T D - T C ) , or ( T D - T C ) ( T B - T A ) = sin
( .eta. - .alpha. ) sin ( .eta. + .alpha. ) , and ( T D - T C ) ( T
B - T A ) = sin ( .eta. ) cos ( .alpha. ) - cos ( .eta. ) sin (
.alpha. ) sin ( .eta. ) cos ( .alpha. ) + cos ( .eta. ) sin (
.alpha. ) . ( 12 ) ##EQU00016##
[0027] For the special case where azimuth angle .eta.310/312 is
.pi./4 radians, or 45 degrees, cos(.eta.)=sin(.eta.), and equation
(12) can be expressed as:
( T D - T C ) ( T B - T A ) = cos ( .alpha. ) - sin ( .alpha. ) cos
( .alpha. ) + sin ( .alpha. ) . ( 13 ) ##EQU00017##
Multiplying the right-hand side of equation (13) by
[(1/cos(.alpha.))/(1/cos(.alpha.))] gives:
( T D - T C ) ( T B - T A ) = 1 - tan ( .alpha. ) 1 + tan ( .alpha.
) . ( 14 ) ##EQU00018##
Expressing equation (14) in terms of tan(.alpha.) gives:
tan ( .alpha. ) = [ 1 - ( T D - T C ) ( T B - T A ) ] / [ 1 + ( T D
- T C ) ( T B - T A ) ] , tan ( .alpha. ) = [ ( T B - T A ) - ( T D
- T C ) ] [ ( T B - T A ) + ( T D - T C ) ] . ( 15 ) .alpha. =
Arctan ( [ ( T B - T A ) - ( T D - T C ) ] [ ( T B - T A ) + ( T D
- T C ) ] ) . ( 16 ) ##EQU00019##
[0028] For general azimuth angles .eta.310/312, a table look-up
based on equation (12) can be implemented within or called by, for
example, servo channel 210 to determine trajectory angle .alpha.520
based on a calculated ratio of the times
(T.sub.D-T.sub.C)/(T.sub.B-T.sub.A). In such a scheme, azimuth
angle .eta.310/312 is known. For the special case where azimuth
angle .eta.310/312 is .pi./4 radians, or 45 degrees, the table can
be based on equation (16). After trajectory angle .alpha.520 has
been determined, values for z-y, and
z t - y t ##EQU00020##
can be determined with a second table look-up in a table based on
equations (7) or (8), and (9) or (10). Alternatively, a single
table encompassing equation (7) or (8), (9) or (10), and (15) or
(16), can be used in a table look-up. For example, a table can be
populated with entries that span possible values of the ratio of
the times (T.sub.D-T.sub.C)/(T.sub.B-T.sub.A), and an interpolation
routine can determine appropriate values LM.sub.AB, LM.sub.CD,
LV.sub.AB, and/or LV.sub.CD.
[0029] As will be appreciated by one skilled in the art, aspects of
the present invention may be embodied as a system or method.
Accordingly, aspects of the present invention may take the form of
an entirely hardware embodiment, an entirely software embodiment
(including firmware, resident software, micro-code, etc.) or an
embodiment combining software and hardware aspects that may all
generally be referred to herein as a "circuit," "module," or
"system."
[0030] Any flowcharts and block diagrams in the Figures illustrate
the architecture, functionality, and operation of possible
implementations of systems, methods and computer program products
according to various embodiments of the present invention. In this
regard, each block in a flowchart or block diagram may represent a
module, segment, or portion of code, which comprises one or more
executable instructions for implementing the specified logical
function(s). It should also be noted that, in some alternative
implementations, the functions noted in the block may occur out of
the order noted in the figures. For example, two blocks shown in
succession may, in fact, be executed substantially concurrently, or
the blocks may sometimes be executed in the reverse order,
depending upon the functionality involved. It will also be noted
that each block of the block diagrams and/or flowchart
illustration, and combinations of blocks in the block diagrams
and/or flowchart illustration, can be implemented by special
purpose hardware-based systems that perform the specified functions
or acts, or combinations of special purpose hardware and computer
instructions.
[0031] The foregoing description of various embodiments of the
present invention has been presented for purposes of illustration
and description. It is not intended to be exhaustive nor to limit
the invention to the precise form disclosed. Many modifications and
variations are possible. Such modifications and variations that may
be apparent to a person skilled in the art of the invention are
intended to be included within the scope of the invention as
defined by the accompanying claims.
* * * * *