A magnetic tape storage device and a drive calibration method

Abstract

This application provides a magnetic tape storage device and a drive calibration method, comprising: a magnetic tape, a drive, a controller, and a magnetic head. The controller performs frequency sweeping processing on the drive based on a first target frequency sweep signal, causing the drive to control the magnetic head to read the servo pattern on the servo tape. Based on the servo pattern, the frequency response and phase frequency curve corresponding to the first target frequency sweep signal are determined, and the control parameters of the drive are adjusted using the aforementioned parameters. By writing these frequency sweep signals to the magnetic tape, the dynamic characteristics of the drive can be converted into measurable frequency domain signals, thereby facilitating subsequent adjustment of the drive's control parameters. Without disassembling the entire device or relying on a laser vibrometer, the drive itself can directly input and acquire the frequency sweep signals, enabling direct measurement of the drive's dynamic parameters. Even with disturbances, the drive can maintain good performance, improving the stability and reliability of the magnetic tape storage device and achieving high-precision data read and write operations.

Description

Technical Field

[0001] This application relates to the field of data storage, and in particular to a magnetic tape storage device and a drive calibration method. Background Technology

[0002] With the rapid growth in demand for digital information storage, magnetic tape storage devices continue to hold an important position in the field of cold data storage due to their low cost, high capacity, and long-term archiving stability. To increase storage density, track width needs to be continuously reduced, which places higher demands on the control precision of drives in magnetic tape storage systems. The voice coil motor (VCM) in the drive, as the core component of the magnetic head actuator, directly affects the effectiveness of the servo control algorithm due to its dynamic performance (such as frequency response characteristics). However, existing technologies for VCM parameter calibration and model identification have significant shortcomings.

[0003] Traditional VCM calibration methods rely on laser vibrometers. These vibrometers acquire the frequency response curve of the VCM motor and fit the resonant frequency of the second-order model parameters. Operators must manually input a sweep signal to the VCM motor, and the laser vibrometer detects the head displacement to calculate the system transfer function. While this method can obtain static model parameters, it has several problems: First, laser vibrometers are expensive and require professional operation, making them unsuitable for batch calibration on production lines. Second, magnetic tape storage systems cannot be recalibrated after final packaging, failing to respond in real-time to environmental changes (such as temperature and humidity fluctuations, and parameter drift due to long-term aging). Furthermore, because the frequency response characteristics of VCMs change significantly with temperature (such as frequency shift and damping ratio attenuation), and existing technologies lack compensation mechanisms, the control accuracy of magnetic tape storage systems decreases.

[0004] Furthermore, due to variations in parameter uniformity between different batches of VCMs, and changes in dynamic characteristics after assembly, the calibration results deviate from actual usage conditions, further exacerbating servo tracking errors. Therefore, a magnetic tape storage device is needed to optimize the control accuracy and robustness of the driver. Summary of the Invention

[0005] This application provides a magnetic tape storage device and a drive calibration method for optimizing the control accuracy and robustness of the drive in the magnetic tape storage device.

[0006] In a first aspect, this application provides a magnetic tape storage device, comprising: a magnetic tape, a driver, a controller, and a magnetic head. The magnetic tape is used to store data and includes at least one data tape and at least one servo tape. The controller is used to control the driver to write data to or read data from at least one data tape. The at least one servo tape is used to position the magnetic head at the position of at least one data tape. The controller is also used to perform a frequency sweep process on the driver based on a first target frequency sweep signal, causing the driver to control the magnetic head to read a first servo pattern on a first servo tape. The first servo tape is any one of the at least one servo tapes. Based on the first servo pattern, a first frequency response curve and a first phase frequency curve corresponding to the first target frequency sweep signal are determined. Using the first target frequency sweep signal, the first frequency response curve, and the first phase frequency curve, a first second-order fitting parameter corresponding to the driver is determined. Based on the first second-order fitting parameter, the control parameters of the driver are adjusted.

[0007] The controller provided in this application applies a sweep frequency signal to the driver, causing the driver to drive the magnetic head to read the servo pattern on the servo tape. Based on the servo pattern, it determines the first frequency response curve and the first phase frequency curve corresponding to the first target sweep frequency signal. Thus, the mechanical and electrical control characteristics of the driver are combined into a measurable frequency domain signal through the sweep frequency signal, which facilitates subsequent adjustment of the driver's control parameters. The solution provided in this application does not require disassembling the entire machine or relying on an expensive laser vibrometer. Instead, it directly utilizes the driver itself to complete the input of the sweep frequency signal and the acquisition of the servo pattern on the servo tape, realizing direct measurement of the driver's dynamic parameters. Even in the presence of disturbances such as LTM, the adjustment mechanism provided in this application enables the driver to maintain excellent performance in a constantly changing working environment, improving the stability and reliability of the magnetic tape storage device and achieving high-precision data read and write operations.

[0008] In one possible implementation, the driver includes a first motor and a second motor. The first motor is used to drive the magnetic tape to move along its length, and the second motor is used to drive the magnetic head to move within the area corresponding to the first servo tape.

[0009] Precise speed control of the first motor ensures the stability of data transmission rate, guaranteeing high-speed and reliable data read / write operations. The first motor can quickly adjust the position of the magnetic tape as needed, reducing data access latency. The second motor allows the magnetic head to move within the area corresponding to the first servo tape, facilitating the positioning of at least one data tape for the magnetic head.

[0010] As one possible implementation, the first motor is a stepper motor, and the second motor is a voice coil motor. To counteract the tape jitter caused by the first motor, the second motor is used to dynamically adjust the position of the magnetic head. Specifically, this can be analyzed by examining the movement of the second motor within the tape, thus modeling the second motor independently in two directions for separate analysis, thereby counteracting the tape jitter.

[0011] In one possible implementation, the controller is specifically used to: apply a first target sweep frequency signal to the second motor, the second motor being used to generate vibration according to the first target sweep frequency signal, so that the second motor controls the magnetic head to read the first servo pattern on the first servo tape.

[0012] In order to more accurately simulate the dynamic response characteristics in the actual operating environment, the first target sweep frequency signal is designed to cover the frequency operating range of the second motor. The controller generates these sweep frequency signals and applies them to the second motor to stimulate the dynamic response characteristics of the second motor.

[0013] In one possible implementation, the controller is specifically used to: perform frequency sweep processing on the second motor based on the second target frequency sweep signal, so that the second motor control head reads the second servo pattern on the first servo band; determine the second frequency response curve and the second phase frequency curve corresponding to the second target frequency sweep signal according to the second servo pattern; determine the second second-order fitting parameters corresponding to the second motor in the second direction using the second target frequency sweep signal, the second frequency response curve and the second phase frequency curve, where the second direction is the rotation and oscillation direction of the head; and adjust the control parameters of the second motor according to the second second-order fitting parameters.

[0014] When the controller applies the second target sweep frequency signal to the driver, the driver that applies the second target sweep frequency signal controls the magnetic head to move relative to the servo tape and reads the second servo pattern. Based on the read second servo pattern, the controller can calculate the specific position information of the magnetic head relative to the servo tape. By analyzing the specific position information of the magnetic head relative to the servo tape, the dynamic behavior of the magnetic head in the second direction (rotation and swing direction) when the second motor drives the magnetic head can be optimized, which can improve the performance of the entire magnetic tape storage device, thereby improving the accuracy and reliability of data reading and writing.

[0015] In one possible implementation, the controller is specifically used to: perform frequency sweep processing on the second motor based on the third target frequency sweep signal, causing the second motor control head to read the third servo pattern on the first servo band; determine the third frequency response curve and the third phase frequency curve corresponding to the third target frequency sweep signal based on the third servo pattern; determine the third second-order fitting parameters corresponding to the second motor in a third direction using the third target frequency sweep signal, the third frequency response curve, and the third phase frequency curve, wherein the third direction is perpendicular to the first direction; and adjust the control parameters of the second motor based on the third second-order fitting parameters.

[0016] When the controller applies the third target sweep frequency signal to the driver, the driver controls the magnetic head to move along the servo tape and reads the third servo pattern. Based on the read third servo pattern, the controller can calculate the specific position information of the magnetic head relative to the servo tape. By analyzing the specific position information of the magnetic head relative to the servo tape, the dynamic behavior of the magnetic head in the third direction perpendicular to the magnetic tape movement direction can be optimized when the second motor drives the magnetic head. This can improve the performance of the entire magnetic tape storage device, thereby improving the accuracy and reliability of data reading and writing.

[0017] In one possible implementation, the controller is specifically used to control the first motor to drive the magnetic tape to move along the length direction before applying the first target sweep frequency signal to the second motor.

[0018] Before starting formal testing, it is necessary to ensure that the tape is in the correct position and that the magnetic head can accurately follow the track on the tape. The first motor drives the tape to move along its length, which can avoid the risk of data reading errors or tape damage due to inaccurate initial position.

[0019] As one possible implementation, the controller is also used to: determine a first frequency point on the first frequency response curve, and use the first frequency point to determine the ambient temperature at the location of the second motor.

[0020] Since the frequency points on the frequency response curve are related to temperature, by analyzing the changes in the positions of these frequency points, the ambient temperature at the current location of the second motor can be inferred. Once the current ambient temperature is determined, the controller can adjust the control parameters of the system in real time based on this temperature information to compensate for the effects of temperature changes.

[0021] As one possible implementation, the controller is also used to: control the drive to stop working when the ambient temperature at the location of the second motor exceeds a set temperature range.

[0022] The current temperature of the second motor is determined using key frequency points on the frequency response curve and compared with a preset temperature range. When the ambient temperature exceeds the set safe range, the controller will stop the driver from working, thereby preventing damage to the driver and other equipment due to overheating and avoiding potential data loss or hardware failure.

[0023] As one possible implementation, the first target sweep signal includes at least one of the following: a sweep signal with a fixed amplitude and a fixed frequency, a sweep signal with a fixed frequency and a variable amplitude within a set range, a sweep signal with a fixed amplitude and a variable frequency at a set rate of change, and a sweep signal with a variable amplitude within a set range and a variable frequency within a set range.

[0024] Diverse sweep frequency signal designs enable a comprehensive evaluation of the dynamic response characteristics of tape drives and heads under different operating conditions, thereby more accurately determining the drive's frequency response and phase frequency curves. This approach not only identifies the drive's performance at specific frequencies but also captures subtle differences caused by environmental variations or equipment aging, providing better data support for subsequent second-order fitting parameter calculations.

[0025] As one possible implementation, the controller is also used to: adjust the control parameters of the driver according to the first frequency response curve and the first phase frequency curve.

[0026] In some cases, it is not possible to directly fit accurate second-order fitting parameters from the first frequency response curve and the first phase frequency curve. Therefore, at certain specific frequencies, if it is not possible to directly fit accurate second-order parameters, the controller can adjust the control parameters of the driver based on the characteristic information in the first frequency response curve and the first phase frequency curve. This can solve the dynamic response problem in more complex environments and improve the accuracy and stability of data reading and writing.

[0027] Secondly, this application provides a driver calibration method, which includes: performing a frequency sweeping process on the driver based on a first target frequency sweeping signal, causing the driver to control the magnetic head to read a first servo pattern on a first servo band, wherein the first servo band is any one of at least one servo band; determining a first frequency response curve and a first phase frequency curve corresponding to the first target frequency sweeping signal based on the first servo pattern; determining a first second-order fitting parameter corresponding to the driver using the first target frequency sweeping signal, the first frequency response curve, and the first phase frequency curve; and adjusting the control parameters of the driver based on the first second-order fitting parameter.

[0028] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a controller, causes the controller to perform the method of the second aspect. Attached Figure Description

[0029] Figure 1 Schematic diagram of the magnetic tape storage device provided in this application Figure 1 ;

[0030] Figure 2A The diagram shows the structure of the magnetic tape.

[0031] Figure 2B The diagram shows the structure of multiple data bands;

[0032] Figure 3 Steps to be performed by the controller Figure 1 ;

[0033] Figure 4AThis is a schematic diagram of an open-loop adjustment calibration.

[0034] Figure 4B This is a schematic diagram of a closed-loop control calibration.

[0035] Figure 5 Schematic diagram 2 of the magnetic tape storage device provided in this application;

[0036] Figure 6 A breakdown diagram showing the movement of the second motor;

[0037] Figure 7A This is a flowchart of the calibration and correction process for the second direction;

[0038] Figure 7B This is a schematic diagram of the second frequency response curve and the second phase frequency curve;

[0039] Figure 8A This is a flowchart of the calibration and correction process for a third party.

[0040] Figure 8B This is a schematic diagram of the third frequency response curve and the third phase frequency curve;

[0041] Figure 9 This is a schematic diagram of the temperature-frequency relationship model. Detailed Implementation

[0042] The embodiments of this application are described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. As those skilled in the art will understand, with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0043] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0044] The technical solutions involved in this application may be applied not only to current magnetic tape storage devices, but also to future magnetic tape storage devices, or storage systems that include magnetic tape storage devices. The terminology used in the embodiments section of this application is only for explaining specific embodiments of this application and is not intended to limit this application. A brief introduction to some concepts that may be involved in this application is given below.

[0045] (1) The magnetic head is a component that reads and writes magnetic media on magnetic tape using the principle of magnetism. It is divided into a write head and a read head. The write head records data by magnetizing and changing the magnetic field of the magnetic medium (such as magnetic powder), while the read head reads the data on the magnetic medium by sensing the magnetic field of the magnetic medium.

[0046] (2) Magnetic tape is a strip-shaped material with a magnetic layer used to record sound, images, digital data, or other signals. Magnetic tape contains a magnetic medium, such as magnetic powder, for storing data. For example, changes in the magnetic field in this magnetic medium are typically achieved by coating a plastic film substrate (support) with a layer of granular magnetic material or by evaporating and depositing a layer of magnetic oxide or alloy film. The substrate of magnetic tape can include, but is not limited to, paper, celluloid, or polyester film.

[0047] (3) Voice coil motor, used to control the position of the magnetic head relative to the magnetic tape. Due to the limited width of the magnetic tape and the high data density, the magnetic head is required to be precisely aligned with the magnetic track in the magnetic tape.

[0048] (4) A servo system is an automatic control system used to precisely control the position, speed, or acceleration of mechanical motion. It adjusts the output through a feedback mechanism to achieve the desired performance indicators.

[0049] (5) Lateral tape motion (LTM) is the random deviation of the tape in the lateral direction (perpendicular to the direction of motion), mainly caused by uneven tape tension, environmental vibration, or mechanical wear. This deviation can cause the read / write head to deviate from the target track, triggering a derailment event, thereby reducing the stability of the position error signal (PES) and skew error signal (SES).

[0050] Magnetic tape storage systems have important applications in long-term archival storage. A single magnetic tape can have a capacity of tens of terabytes (TB), while the storage cost is only a fraction of that of hard drives. Furthermore, the lifespan of magnetic tape media can reach more than 30 years, and the storage can completely isolate the risk of network attacks.

[0051] Therefore, the low cost and high capacity of magnetic tape storage systems contradict the market's demand for data storage density. Current technology increases capacity by reducing track width, but achieving this goal depends on the precise control capability of the voice coil motor in the driver. As the key actuator of the driver, the accurate identification and calibration of the dynamic performance parameters of the voice coil motor is the basis for algorithm design and execution.

[0052] In some possible implementations, a laser vibrometer can be used to identify the dynamic performance parameters of the voice coil motor. Specifically, the frequency response test of the voice coil motor using a laser Doppler vibrometer may include the following testing procedures:

[0053] First, a sweep frequency signal (such as a linear or logarithmic sweep frequency signal) covering the target frequency band is designed to drive the voice coil motor to vibrate via an electrical signal. Then, a laser beam generated by a laser vibrometer is focused onto the position of the voice coil motor's magnetic head. The frequency shift of the reflected light is detected using the Doppler effect, thereby acquiring the magnetic head displacement data in real time. Finally, the input and output signals are converted to the frequency domain using a discrete Fourier transform to determine the dynamic performance of the voice coil motor.

[0054] However, laser vibration meters require professional operation, and the equipment procurement and maintenance costs are high, making it difficult to deploy them on a large scale in production lines. Furthermore, after the entire machine is packaged, the laser beam cannot penetrate the equipment casing to reach the magnetic head, resulting in the inability to directly measure the dynamic parameters of the voice coil motor in the overall state. Control can only be achieved by relying on the data calibrated by the laser vibration meter, but there is a significant deviation between the data calibrated by the laser vibration meter and the data under actual working conditions.

[0055] Moreover, even voice coil motors from the same batch may have individual differences in their dynamic characteristics. If each voice coil motor is calibrated individually using a laser vibration meter, it will be time-consuming and will not meet the efficiency requirements of the production line. In addition, changes in environmental factors such as temperature and humidity will cause parameter drift, and calibration using a laser vibration meter cannot achieve real-time adaptation.

[0056] In summary, using a laser vibrometer to identify the dynamic performance parameters of a voice coil motor suffers from problems such as strong dependence on testing equipment, high cost, low efficiency, and poor real-time performance, which restricts the large-scale production and dynamic performance optimization of high-density magnetic tape storage systems. Therefore, this application provides a magnetic tape storage device that uses the magnetic tape and driver built into the storage device itself to calibrate and correct the dynamic performance parameters of the driver, thereby optimizing the driver's control accuracy and robustness.

[0057] Figure 1 Schematic diagram of the magnetic tape storage device provided in this application Figure 1 See also Figure 1As shown, the magnetic tape storage device 100 includes a magnetic tape 101, a driver 102, a controller 103, and a magnetic head 104.

[0058] In this design, magnetic tape 101 is used to store data, driver 102 is used to write data to or read data from magnetic tape 101, and controller 103 is used to control driver 102 to write data to or read data from magnetic tape 101 through magnetic head 104. Magnetic head 104 may include both a read head and a write head, or a single magnetic head 104 may have both read and write head functions.

[0059] like Figure 2A As shown, the magnetic tape 101 includes at least one data tape 105 and at least one servo tape 106. The controller 103 is used to control the driver 102 to write data to or read data from at least one data tape 105. The at least one servo tape 106 is used to position the data tape 105 for the magnetic head, thereby ensuring that the magnetic head can accurately perform read and write operations on the data tape at different positions.

[0060] like Figure 2B As shown, each data band includes multiple tracks, which are used to record specific data. Tracks within the same data band are adjacent. Figure 2B The tracks in the data band range from track 0 to track X+1. Figure 2B The diagram illustrates N data tapes, from data tape 1 to data tape N. Alternatively, magnetic tape 101 may have only one data tape, such as data tape 1.

[0061] At least one servo tape 106 has at least one servo pattern recorded along the long side of the magnetic tape 101. These servo patterns are composed of pairs of linear magnetized regions and are used to position the data tape 105 for the magnetic head. The servo patterns enable the magnetic head 104 to maintain the correct track position during reading and writing.

[0062] The servo pattern can, but is not limited to, adopt a variety of different modes and structures. When the driver 102 moves on the magnetic tape 101, the servo pattern on the servo tape 106 is read by the magnetic head 104 and fed back to the controller 103 in real time. The controller 103 dynamically adjusts the position of the driver 102 based on this feedback information to ensure that the magnetic head 104 follows the set data tape.

[0063] In addition, please continue to refer to Figure 1As shown, the magnetic tape storage device 100 may further include multiple reels 110 and multiple rollers 111. The multiple reels 110 are used to wind the magnetic tape 101 into a circle (or other shape) to improve the space utilization of the magnetic tape storage device 100. The magnetic tape 101 can be wound from one reel 110 to another reel 110 by the multiple rollers 111, and can also be unwound from another reel 110 to one reel 110. During the winding of the magnetic tape 101, the magnetic head 104 can generate a pattern on the magnetic tape 101 according to the input signal. During the unwinding of the magnetic tape 101, the magnetic head 104 can generate a corresponding signal from the pattern written on the magnetic tape 101.

[0064] The lower limit of track width is approximately 2√2 × head positioning accuracy + head width. Here, the lower limit of track width refers to the theoretical value of the minimum width that a track can be designed to be. The lower limit of track width is very important for improving magnetic storage density because narrower tracks can allow more data to be stored on the same surface. The head positioning accuracy refers to the ability to accurately position the read / write head to the target track. The head width refers to the actual width of the head. Even if the positioning is very accurate, the width of the head 104 itself will limit the lower limit of track width.

[0065] As can be seen from the above formula, when the storage system has high density requirements and the size of the magnetic head 104 is difficult to reduce, improving the positioning accuracy of the magnetic head 104 can effectively improve the positioning accuracy of the magnetic head 104 and reduce interference between adjacent tracks. In other words, although improving the positioning accuracy of the magnetic head 104 will not make the tracks narrower, it can support the magnetic tape 101 to safely arrange more and closer tracks in the same physical space, thereby increasing the storage capacity of the magnetic tape 101.

[0066] In high-density magnetic tape storage 101, the track width is typically very small. Even a slight offset caused by LTM (Low-Temperature Migration) can cause the magnetic head 104 to deviate from the track, resulting in data read / write failure. Therefore, the driver 102, as the read / write actuator of the magnetic tape storage device 100, needs to dynamically adjust the position of the magnetic head 104 to counteract the disturbances caused by LTM. Thus, the dynamic performance of the driver 102 determines the anti-interference capability of the magnetic tape storage device 100. The parameters corresponding to the dynamic performance of the driver 102 include vibration frequency and damping ratio, etc., which directly affect the control of the driver 102 by the controller 103.

[0067] Therefore, the controller 103 in the magnetic tape storage device 100 provided in this application is also used to perform the following steps, see reference. Figure 3 As shown, Figure 3 Schematic diagram of the steps performed by controller 103 Figure 1 .

[0068] Step S31: Perform frequency sweeping processing on driver 102 based on the first target frequency sweeping signal, so that driver 102 controls magnetic head 104 to read the first servo pattern on the first servo strip, wherein the first servo strip is any one of at least one servo strip.

[0069] To more accurately simulate the dynamic response characteristics in a real-world operating environment, the controller 103 first generates a first target sweep signal designed to cover the operating range of the driver 102. This first target sweep signal can cover the operating range of the driver 102 (e.g., a sweep with fixed amplitude and frequency, a sweep with varying amplitude and fixed frequency, a sweep with frequency varying linearly or in a log sin manner, etc.). The controller 103 generates these sweep signals using its built-in algorithm and applies them to the driver 102, thereby stimulating the dynamic response of the driver 102.

[0070] Since the servo pattern on the servo tape is composed of pairs of linear magnetized regions, these patterns provide a precise position reference for the read / write head relative to the servo tape. When the controller 103 applies a sweep frequency signal to the driver 102, the driver 102 controls the read / write head 104 to move along the servo tape and read the servo pattern. Based on the read servo pattern, the controller 103 can calculate the specific position information of the read / write head 102 relative to the servo tape.

[0071] Using the first servo tape as the calibration area for the driver 102 will not affect the user's data storage. By applying the first target sweep frequency signal to the driver 102 to perform sweep frequency processing, the dynamic response of the driver 102 can be stimulated, thereby simulating the movement behavior of the magnetic head 104 in a real scenario. The jitter of the magnetic head 104 is used to cancel the interference caused by tape jitter (such as LTM lateral offset). In the case of specific interference, the frequency range of the sweep frequency signal can cover the main frequency range of the specific interference (such as 0.1Hz-10kHz), thereby effectively targeting the specific interference. This targeted sweep frequency signal design ensures that it can cope with various possible interference situations in the actual working environment.

[0072] In the specific operation process, the controller 103 adjusts the parameters of the output signal (such as frequency change rate, amplitude, etc.) according to the selected sweep frequency signal type, and reads the first servo pattern on the first servo band through the driver 102. This process tests the response characteristics of the driver 102 at different frequencies.

[0073] The first target sweep signal may include, but is not limited to, one of the following types: a sweep signal with a fixed amplitude and a fixed frequency; a sweep signal with an amplitude that varies within a set range and a fixed frequency; a sweep signal with a fixed amplitude and a frequency that varies at a set rate of change (including but not limited to linear change, log sin change, etc.); and a sweep signal with both amplitude and frequency varying within a set range.

[0074] For a frequency sweep signal with a fixed amplitude and a fixed frequency, and a frequency sweep signal with varying amplitude but a fixed frequency, the mathematical expression is as follows:

[0075] x(t) = A0*sin(2πf0t), t0≤t <t1

[0076] x(t) = A1*sin(2πf1t), t1≤t <t2

[0077] x(t) = A²*sin(2πf²t), t² ≤ t <t3 ......

[0079] x(t)=A n *sin(2πf n t),t n ≤t <t n+1

[0080] Where x(t) is the sweep frequency signal, A0, A1, A2, ..., A n The sweep amplitude for each frequency (using the same value for sweep signals with fixed amplitude and fixed frequency), f0, f1, f2, ..., f n For each segment, the sweep frequency can be understood as a continuously variable amplitude and continuously variable frequency sweep signal when n is infinitely large and the t interval is infinitely small.

[0081] For a frequency sweep signal with a fixed amplitude but a frequency that varies according to a set rate of change, its expression is:

[0082]

[0083] Where x(t) is the sweep frequency signal, A is the sweep frequency amplitude, f0 is the starting frequency, and Δf is the frequency change rate. When log sin is used, the frequency change follows a logarithmic sine law, which helps to analyze the system's response characteristics in different frequency bands more accurately.

[0084] For cases where both amplitude and frequency vary within a set range, the sweep signal is defined according to different time intervals as follows:

[0085] ......

[0087]

[0088] The swept frequency signal can be divided into n+1 segments, where x(t) is the swept frequency signal, and A0, A1, A2, ..., A n The magnitude of change for each segment, f0, f1, f2, ..., f nThe starting frequencies for each segment are Δf0, Δf1, Δf2, ..., Δf n This represents the frequency change rate for each segment. When the number of segments n becomes infinitely large, the segmented amplitude sweep frequency signal can also be transformed into a continuous amplitude sweep frequency signal.

[0089] It should be noted that the frequency sweep signals used in this application include, but are not limited to, the above-mentioned types of signals, as should be known to those skilled in the art.

[0090] By writing these sweep signals to the magnetic tape 101, not only can the mechanical characteristics (such as head positioning accuracy and friction coefficient) and electrical control characteristics (such as current response delay) of the driver 102 be combined into a measurable frequency domain signal, but it also facilitates subsequent adjustment of the control parameters of the driver 102. The solution provided in this application does not require disassembling the entire machine or relying on an expensive laser vibrometer. Instead, it directly utilizes the driver 102 itself to complete the input and acquisition of sweep signals, thereby realizing the direct measurement of the dynamic parameters of the driver 102. This method simplifies the testing process, reduces testing costs, and optimizes the control accuracy and robustness of the driver 102.

[0091] Step S32: Based on the first servo pattern, determine the first frequency response curve and the first phase frequency curve corresponding to the first target sweep frequency signal.

[0092] When the controller 103 is used to convert the first servo pattern into position information of the magnetic head 104, the position information of the magnetic head 104 includes: the position of the magnetic head 104, the angle of the magnetic head 104, and the speed of the magnetic head 104.

[0093] The position of the read / write head 104 refers to its specific coordinates on the servo tape, and the angle of the read / write head 104 refers to its tilt relative to the servo tape. The speed of the read / write head 104 describes its rate of movement relative to the servo tape.

[0094] By converting the read first servo pattern into the position information of the magnetic head 104, the controller 103 can generate the first frequency response curve and the first phase frequency curve corresponding to the sweep frequency signal. The first frequency response curve and the first phase frequency curve reflect the dynamic response characteristics of the driver 102 at different frequencies, providing analytical data for the calculation of second-order fitting parameters.

[0095] The frequency response curve describes the gain of the driver 102 at different frequencies (i.e., the ratio of the output signal amplitude to the input signal amplitude). The controller 103 calculates the gain value at each sweep frequency point based on the servo pattern read by the read / write head 104. Specifically, the controller compares the amplitude of the input first target sweep signal with the amplitude of the actual response signal of the read / write head 104 to obtain the gain value at each frequency point, and plots it as a curve, which is the first frequency response curve.

[0096] The phase frequency curve describes the phase shift of the driver 102 at different frequencies (i.e., the phase difference between the output signal and the input signal). The controller 103 calculates the phase difference value at each sweep frequency point based on the servo pattern read by the magnetic head 104. Specifically, the controller compares the phase of the first target sweep frequency signal input to 103 with the phase of the actual response signal of the magnetic head 104 to obtain the phase difference value at each frequency point, and plots it as a curve, namely the first phase frequency curve.

[0097] For example, controller 103 can generate a first target sweep signal with a frequency range of 0.1Hz to 10kHz and apply it to driver 102. The read / write head 104, controlled by driver 102, moves on the servo belt and reads the first servo pattern. Controller 103 analyzes the first servo pattern and calculates the specific position, angle, and speed of read / write head 104 at each time point. Controller 103 compares the input sweep signal with the actual response signal of read / write head 104, calculates the gain and phase difference values ​​at each frequency point, and forms a first frequency response curve and a first phase frequency curve by plotting the above data points as curves.

[0098] Step S33: Using the first target sweep frequency signal, the first frequency response curve, and the first phase frequency curve, determine the first second-order fitting parameters corresponding to the driver 102.

[0099] To convert the time-domain signal into a frequency-domain signal for further analysis, the read data can be processed using techniques such as Discrete Fourier Transform (DFT). Specifically, the read time-domain signals x(t) and y(t) represent the input sweep frequency signal and the response signal of the driver 102, respectively. By applying DFT, the first frequency response curve and the first phase frequency curve can be converted into the corresponding frequency-domain signals X(f) and Y(f).

[0100] The transfer function G(f) = Y(f) / X(f) is calculated based on the obtained frequency domain signal. Here, G(f) reflects the change of gain with frequency, i.e., the frequency response curve. Simultaneously, the phase difference is calculated. The phase-frequency curve is used to characterize the relationship between the system's phase delay and frequency. In this way, the frequency response curve (relationship between gain and frequency) and the phase-frequency curve (relationship between phase and frequency) can be obtained. These two curves can be used to evaluate the dynamic characteristics of the driver 102.

[0101] To ensure the accuracy of the frequency response curve, noise interference caused by the magnetic tape 101 medium itself needs to be eliminated. For example, signal fluctuations caused by uneven magnetic particle distribution may affect the final analysis results. Therefore, multi-cycle averaging or wavelet denoising algorithms can be used to reduce the impact of this noise, thereby obtaining a more accurate frequency response curve.

[0102] By analyzing the frequency response curve, especially focusing on the high-frequency peaks, it can be helpful to determine whether the current operating temperature of the driver 102 is suitable, because temperature changes may cause changes in material properties, which in turn affect the response characteristics of the driver 102.

[0103] Analyzing the phase characteristics in the phase-frequency curve can provide key information about the dynamic characteristics. Based on this information, the parameters of the controller 103, such as gain and damping ratio, can be adjusted in a targeted manner to improve the stability of the entire system.

[0104] This method not only accurately obtains the dynamic characteristics of the driver 102, but also effectively improves the stability and response speed of the system by using this second-order fitting method based on measured data, ensuring high-precision data read and write operations even in the presence of disturbances such as LTM.

[0105] In this step, the controller 103 can perform a series of calculations based on the previously acquired first target sweep frequency signal, first frequency response curve and first phase frequency curve to determine the first second-order fitting parameters corresponding to the driver 102. This process is a key step in optimizing the performance of the driver 102.

[0106] The process of establishing a second-order system model includes fitting the transfer function model: G(s)=bωn 2 / (s 2 +2ξωns+ωn 2 ).

[0107] Among them, the first and second order fitting parameters include, but are not limited to: ωn is the resonance frequency (also known as the natural frequency), which reflects the system response speed; ξ is the damping ratio, which determines the overshoot and stability; and b is the gain. The above first and second order fitting parameters together define the dynamic characteristics of the driver 102.

[0108] This application can achieve precise calibration of each drive 102 for different batches of magnetic tape storage devices 100. This means that even magnetic tape storage devices 100 produced in different batches can have their performance precisely adjusted to achieve a consistent standard through this method.

[0109] Furthermore, since the process of establishing the second-order system model can be done in real time, the model parameters can be dynamically updated, solving the problem that traditional laser calibration cannot cope with environmental drift. This real-time adjustment mechanism enables the driver 102 to maintain optimal performance in constantly changing working environments, improving the stability and reliability of the system.

[0110] Step S34: Adjust the control parameters of the driver 102 according to the first and second order fitting parameters.

[0111] Based on the previously determined first and second order fitting parameters, the controller 103 will adjust its control parameters for the driver 102. Through this process, the control strategy will be optimized to eliminate or reduce the influence of interference factors such as LTM (linear tracking error), thereby improving the accuracy and reliability of data reading and writing of the driver 102.

[0112] The calibration method can include open-loop and closed-loop. In open-loop calibration, the controller 103 directly adjusts the parameters of the driver 102 according to the preset rules or model, without relying on the output feedback of the driver 102.

[0113] During closed-loop regulation, the controller 103 adjusts the difference between the actual output and the desired output of the driver 102 to achieve more precise control.

[0114] In addition, as one possible implementation, the controller 103 is also used to: adjust the control parameters of the driver according to the first frequency response curve and the first phase frequency curve.

[0115] In some cases, directly fitting precise second-order parameters from the first frequency response curve and the first phase frequency curve is not always feasible or accurate. For example, in complex real-world environments, the response of the driver 102 may be affected by a variety of factors, making it impossible to accurately fit using a simple mathematical model. Therefore, the controller can adopt a more flexible approach, namely, using the characteristic information in the frequency response curve and the phase frequency curve to adjust the control parameters of the driver.

[0116] The characteristic information of the frequency response curve and phase frequency curve includes high-frequency spikes and phase change points. High-frequency spikes on the frequency response curve indicate the resonant frequency, and their position and amplitude provide information about the dynamic characteristics of the driver 102. Certain points on the phase frequency curve (such as locations of sudden phase changes) also provide dynamic information. For example, near the resonant frequency, the phase may change abruptly. These parameters are used to identify the natural frequency and damping characteristics of the driver 102.

[0117] If the frequency response curve shows that the gain is too high in a certain frequency range (e.g., high-frequency spikes appear), the controller 103 can suppress the excessive response by reducing the gain in that frequency range. This adjustment can prevent excessive amplitude from being generated near the resonant frequency, thereby avoiding mechanical damage or data read / write errors during reading and writing.

[0118] Furthermore, if the phase frequency curve shows a large phase delay within a certain frequency range, the controller 103 can correct this delay by introducing a phase compensation mechanism to ensure that the magnetic head can maintain good tracking performance at different frequencies.

[0119] Therefore, at certain specific frequencies, if it is not possible to directly fit the accurate second-order parameters, the controller 103 can adjust the control parameters of the driver 102 based on the characteristic information (such as high-frequency bumps) in the first frequency response curve and the first phase frequency curve. This application adopts this method to solve the dynamic response problem in more complex environments by adjusting the gain, designing filters, compensating for phase delay, etc., and improves the accuracy and stability of data reading and writing.

[0120] See Figure 4A As shown, Figure 4A This is a schematic diagram of an open-loop test calibration. Figure 4A In the diagram, x represents the first target sweep frequency signal, d represents the LTM perturbation, y represents the first servo pattern read from the first servo band, and G represents the transfer function corresponding to the dynamic characteristics of the driver 102, which is a second-order system. At the output, there is an LTM perturbation signal d, which is directly superimposed on the output to form the final output signal y. Open-loop testing is relatively simple and does not require an additional feedback mechanism. By applying a fixed first target sweep frequency signal and observing the response of the driver 102, the dynamic characteristics of the driver 102 can be determined.

[0121] See Figure 4B As shown, Figure 4B This is a schematic diagram of a closed-loop test calibration. Figure 4B In the diagram, r is the reference input signal, e is the error signal, which is the difference between the input signal r and the feedback signal, x is the first target sweep frequency signal, d is the LTM disturbance signal, y is the first servo pattern read from the first servo band, n is the noise during measurement, and the output signal y with measurement noise is returned to the error calculation stage as a feedback signal. C is the controller 103, and G is the transfer function corresponding to the dynamic characteristics of the driver 102, which is a second-order system.

[0122] The controller 103 will adjust its control parameters for the driver 102 through closed-loop test calibration. By using closed-loop test calibration to dynamically adjust the control strategy, the influence of interference factors such as LTM can be eliminated or reduced, thereby improving the accuracy and reliability of data reading and writing. The controller 103 uses closed-loop test to dynamically adjust the first target sweep frequency signal to make it as close as possible to the desired sweep frequency signal. Closed-loop test can be implemented through algorithms such as PID control and adaptive control.

[0123] As one possible implementation, in practical applications, regular calibration and maintenance of the tape storage device 100 can not only promptly identify and repair potential problems, but also make corresponding adjustments based on the actual condition of the tape storage device 100. This avoids major failures caused by minor issues, extends the overall service life of the tape storage device 100, and preventative maintenance measures help to identify impending problems in advance, allowing for repairs within the planned timeframe rather than waiting until the tape storage device 100 fails. This reduces unexpected downtime and ensures the continuous effectiveness of data storage services.

[0124] As one possible implementation, the above-described testing process can be designed as a custom mode, allowing users to activate the mode for calibration as needed. This testing operation requires almost no technical skills from the operator; they only need to follow the instructions in the user manual.

[0125] Specifically, the controller 103 can automatically send a pre-set first target frequency sweep signal to the driver 102. The frequency sweep signal is designed to cover the operating frequency range of the driver 102 in order to comprehensively evaluate its dynamic response characteristics. During this process, the driver 102 receives and processes the frequency sweep signal, and the controller 103 records the corresponding output data.

[0126] Then, a specific algorithm is used to process the collected data, generate the first frequency response curve and the first phase frequency curve, and calculate the first second-order fitting parameters of the driver 102. Then, the control parameters of the driver 102 are adjusted using the first second-order fitting parameters.

[0127] The above calibration and correction process can be easily performed by the vast majority of operators. Users only need to start the calibration and correction mode, and the tape storage device 100 can automatically complete the above steps. Even non-professional users can easily perform calibration and correction, which not only improves the ease of use and flexibility of the tape storage device 100, but also ensures that users can calibrate and correct the performance of the tape storage device 100 anytime and anywhere.

[0128] Figure 5 The second schematic diagram of the magnetic tape storage device provided in this application shows that, as one possible implementation, the driver 102 includes a first motor 501 and a second motor 502. The first motor 501 is used to drive the magnetic tape 101 to move along the length direction, and the second motor 502 is used to drive the magnetic head 104 to move within the track area.

[0129] The first motor 501 primarily drives the magnetic tape 101 to move along its length, enabling the magnetic head 104 to access different data locations throughout the entire length of the magnetic tape 101. Specifically, the first motor 501 can be understood as a reel drive motor, typically a stepper motor, used to precisely control the speed and position of the magnetic tape 101.

[0130] Furthermore, the driver 102 may also include a reel, into which a tape reel 110 can be inserted. The magnetic tape 101 on one reel 110 is wound onto another reel 110 by the rotation of the reel. The first motor 501 can be understood as a reel drive motor, which is a stepper motor. The first motor 501 can drive the reel to rotate. The embodiments of this application do not limit the number of first motors 501 and reels. The number of first motors 501 is related to the way the first motors 501 drive the reels to rotate. Each reel can rotate under the drive of the corresponding first motor 501. For example, the first motor 501 can connect multiple reels through a mechanical structure. The speed control of the first motor 501 can ensure the stability of the data read and write rate, ensuring high-speed and reliable data read and write operations. The first motor 501 can quickly adjust the position of the tape 101 as needed, reducing the latency of data access.

[0131] The second motor 502 can be used to drive the magnetic head 104 to move within the area corresponding to the first servo tape, thereby reading the servo pattern on the first servo tape. The second motor 502 can be a voice coil motor or the like (optionally, the second motor 502 can also include a stepper motor to fine-tune the relative position of the magnetic head 104 and the magnetic tape 101). Voice coil motors have the characteristics of fast response speed and high positioning accuracy, and are suitable for applications that require high-precision positioning.

[0132] The position of the magnetic head 104 will not move in a large range, but will move in a small range along a direction perpendicular to the movement direction of the magnetic tape 101. The movement is mainly based on the positioning of the track on the data tape by the servo belt. The controller 103 controls the second motor 502 to make the magnetic head 104 move relative to the track, so as to ensure that the magnetic head 104 can move within the area corresponding to the magnetic tape 101 (including the area corresponding to the servo belt and the area corresponding to the data tape), thereby realizing the positioning of the track on the data tape and writing or reading on the data tape.

[0133] The motion disturbances of the magnetic head 104 (such as LTM lateral offset) are mainly caused by the second motor 502 (voice coil motor). Therefore, when dynamically adjusting the position of the magnetic head 104 to counteract the disturbances caused by LTM, the analysis can be performed on the movement of the second motor 502 in the magnetic tape 101. Thus, the modeling of the second motor 502 can be divided into two independent but related directions: the second direction and the third direction. The definitions of the two directions are as follows: Figure 6 As shown, the second direction can be understood as the rotational and oscillating direction of the magnetic head 104, and the third direction is perpendicular to the first direction, that is, perpendicular to the direction of movement of the magnetic tape 101. Based on the force principle analysis, both directions of the second motor 502 are second-order damping systems.

[0134] In this second direction, the minute rotational oscillation of the magnetic head 104 is crucial for accurate data reading. Since the motion characteristics in this direction are similar to a second-order damped system, the control strategy of the controller 103 can be optimized by analyzing the second-order parameters of the second-order damped system. Furthermore, detailed modeling and calibration of the specific behavior in the second direction can effectively reduce read / write errors caused by the rotation of the magnetic head 104.

[0135] The third direction is mainly used to compensate for the switching of the magnetic head 104 between different tracks and to counteract the effects of LTM lateral offset. Similarly, as a second-order damping system, by analyzing the second-order parameters of its second-order damping system to optimize the control strategy of the controller 103, fast and stable positioning of the tracks on the data tape can be achieved.

[0136] By combining the calibration and correction of the two directions mentioned above, the stability and accuracy of the magnetic head 104 during read and write operations can be significantly improved. This not only solves the problem of insufficient accuracy that may exist in traditional methods, but also enables the entire magnetic tape storage device 100 to maintain optimal read and write performance in complex operating environments, ensuring data read and write efficiency and integrity.

[0137] The following examples briefly illustrate the calibration and correction process for two different directions:

[0138] See Figure 7A As shown, Figure 7A This is a flowchart of the calibration and correction process for the second direction.

[0139] Step S71: Perform frequency sweeping processing on the second motor 502 based on the second target frequency sweeping signal, so that the second motor 502 controls the magnetic head 104 to read the second servo pattern on the first servo belt. When the controller 103 applies the second target frequency sweeping signal to the driver 102, the driver 102 controls the magnetic head 104 to move along the servo belt and read the second servo pattern. Based on the read second servo pattern, the controller 103 can calculate the specific position information of the magnetic head 102 relative to the servo belt.

[0140] In this step, by applying a second target sweep frequency signal to the second motor 502, the response characteristics of the magnetic head 104 at different frequencies can be tested. This process is similar to the operation in step S31 and is used to evaluate the dynamic characteristics of the magnetic head 104 in the rotational oscillation direction.

[0141] Step S72: Based on the second servo pattern, determine the second frequency response curve and the second phase frequency curve corresponding to the second target sweep frequency signal. Figure 7B This is a schematic diagram of the second frequency response curve and the second phase frequency curve.

[0142] This step involves reading data from the second servo pattern, converting the second servo pattern into position information of the magnetic head 104, and calculating the second frequency response curve and the second phase frequency curve based on the position information of the magnetic head 104. The specific steps can also be referred to in step S32, and will not be elaborated further here. The purpose of this step is to describe the dynamic characteristics of the magnetic head 104 within a specific frequency range. In this step, because the frequency response and phase response of the second and third directions of the same second motor 502 will vary under different environmental scenarios (e.g., different temperatures and humidity, different usage durations),...

[0143] Step S73: Using the second target sweep frequency signal, the second frequency response curve and the second phase frequency curve, determine the second second-order fitting parameters corresponding to the second motor 502 in the second direction, where the second direction is the rotation and swing direction of the magnetic head 104.

[0144] By combining the second target sweep frequency signal and its corresponding frequency response and phase frequency curves, the second-order fitting parameters of the magnetic head 104 in the rotational swing direction (second direction) are determined. The second-order fitting parameters include the resonant frequency ωn and the damping ratio ζ, which are used to describe the dynamic characteristics of the second motor 502.

[0145] Step S74: Adjust the control parameters of the second motor 502 according to the second second-order fitting parameters.

[0146] Based on the second second-order fitting parameters determined above, the control parameters of the second motor 502 are adjusted to optimize its performance in the second direction. This process ensures that the magnetic head 104 can accurately position and track the magnetic track, thereby improving the accuracy and reliability of data reading and writing.

[0147] In addition, the control parameters of the second motor 502 can be adjusted according to the second frequency response curve and the second phase frequency curve. For details, please refer to the above embodiment.

[0148] Through steps S71-S74, the dynamic behavior of the magnetic head 104 in the second direction (rotational swing direction) can be effectively analyzed and optimized, thereby improving the performance of the entire magnetic tape storage device 100.

[0149] See Figure 8A As shown, Figure 8A This is a flowchart of the calibration and correction process for a third party.

[0150] Step S81: Perform frequency sweeping processing on the second motor 502 based on the third target frequency sweeping signal, so that the second motor 502 controls the magnetic head 104 to read the third servo pattern on the first servo belt. When the controller 103 applies the third target frequency sweeping signal to the driver 102, the driver 102 controls the magnetic head 104 to move along the servo belt and read the third servo pattern. Based on the read third servo pattern, the controller 103 can calculate the specific position information of the magnetic head 102 relative to the servo belt.

[0151] In this step, by applying a third target sweep frequency signal to the second motor 502 (voice coil motor), the response characteristics of the magnetic head 104 in a third direction perpendicular to the direction of movement of the magnetic tape 101 are tested. This process is similar to the operation in step S31 and is used to evaluate the dynamic performance of the magnetic head 104 at different frequencies, especially its ability to move in the third direction.

[0152] Step S82: Based on the third servo pattern, determine the third frequency response curve and the third phase frequency curve corresponding to the third target sweep frequency signal. (See also...) Figure 8B As shown, Figure 8B This is a schematic diagram of the third frequency response curve and the third phase frequency curve.

[0153] This step involves reading data from the second servo pattern, converting the second servo pattern into position information of the magnetic head 104, and calculating the third frequency response curve and the third phase frequency curve based on the position information of the magnetic head 104. Specific steps can be found in step S32, and will not be elaborated upon here. The purpose of this step is to quantify the response characteristics of the magnetic head 104 within a specific frequency range, especially in the third direction perpendicular to the movement direction of the magnetic tape 101.

[0154] Step S83: Using the third target sweep frequency signal, the third frequency response curve and the third phase frequency curve, determine the third second-order fitting parameters corresponding to the second motor 502 in the third direction, where the third direction is perpendicular to the first direction.

[0155] In this step, by combining the third target sweep frequency signal and its corresponding third frequency response curve and third phase frequency curve, the second-order fitting parameters of the magnetic head 104 in the third direction perpendicular to the moving direction of the magnetic tape 101 are determined, thereby describing the dynamic characteristics of the second motor 502. For specific steps, please refer to step S33.

[0156] Step S84: Adjust the control parameters of the second motor 502 according to the third second-order fitting parameters.

[0157] Based on the third second-order fitting parameters determined above, the control parameters of the second motor 502 are adjusted, thereby eliminating or reducing the influence of interference factors such as LTM (linear tracking error) to improve the accuracy and reliability of data reading and writing of the second motor 502. Furthermore, the control parameters of the second motor 502 can also be adjusted according to the second frequency response curve and the second phase frequency curve, as detailed in the above embodiment, which will not be elaborated further here.

[0158] Furthermore, since the frequency points on the frequency response curve are related to temperature, as a possible implementation, the controller 103 is also used for:

[0159] The first frequency point is determined on the first frequency response curve, and the ambient temperature at the location of the second motor 502 is determined using the first frequency point.

[0160] Specifically, specific frequency points on the frequency response curve shift with temperature changes. This is because temperature variations affect the physical properties of materials, such as resistance, inductance, and capacitance, thereby altering dynamic characteristics. For example, at higher temperatures, the elastic modulus of some materials may decrease, causing a change in the vibration frequency ωn of the magnetic head 104 controlled by the second motor 502.

[0161] The controller 103 determines at least one frequency point on the first frequency response curve. These frequency points are typically significant feature points in the first frequency response curve, such as resonant frequencies or inflection points. By analyzing the positional changes of these frequency points, the ambient temperature at the current location of the second motor 502 can be inferred. (See also...) Figure 9 As shown, Figure 9 This is a schematic diagram of the temperature-frequency relationship model. The temperature-frequency relationship can be established through experimental data. For example, multiple frequency sweep tests can be performed under different known temperature conditions to record the frequency position at each temperature, thereby constructing a mapping table or mathematical model of the temperature-frequency relationship. The temperature of the first frequency and the second motor 502 have the following functional relationship:

[0162] freq = aT 2 +bT+c

[0163] T represents the temperature of the second motor 502, freq represents the frequency of the first frequency point, and a, b, and c are parameters established through experimental data.

[0164] Once the current ambient temperature is determined, the controller 103 can adjust the control parameters of the driver 102 in real time based on the temperature information to compensate for the effects of temperature changes. This includes, but is not limited to, adjusting second-order fitting parameters such as vibration frequency ωn and damping ratio ζ to ensure the stability and performance consistency of the magnetic tape storage device 100 under different temperature conditions.

[0165] In addition, as a possible implementation, the controller 103 is also used to control the driver 102 to stop working when the ambient temperature at the location of the second motor 502 exceeds the set temperature range.

[0166] The current temperature is determined using key frequency points on the frequency response curve using the method described above, and then compared with a preset temperature range. When the ambient temperature exceeds the set safe range, the controller 103 will control the driver 102 to stop working, thereby preventing damage to the driver 102 and other devices due to overheating, and avoiding potential data loss or hardware failure. If the temperature calculated from the frequency response curve exceeds the upper limit of safety or falls below the lower limit of safety, the controller 103 can send a shutdown command to all key components of the driver 102, such as the first motor 501, the second motor 502, and related control circuits. In addition to shutdown, the controller 103 can also trigger an alarm mechanism to issue a warning signal to the user, which can be achieved through visual indicator lights, audible alarms, or remote notifications.

[0167] Once the temperature returns to a safe range, the magnetic tape storage device 100 can be manually or automatically restarted and the calibration correction mode can be initiated to complete the above steps S31-S34, thereby calibrating and correcting the performance of the magnetic tape storage device 100, avoiding data read / write errors or data loss due to overheating, and ensuring data integrity.

[0168] Before commencing formal testing, it is necessary to ensure that the magnetic tape 101 is in the correct position and that the magnetic head 104 can accurately follow the tracks on the magnetic tape 101. As one possible implementation, the controller 103 is specifically used to: control the first motor 501 to drive the magnetic tape 101 along its length before applying the first target sweep signal to the second motor 502, thereby avoiding the risk of data reading errors or damage to the magnetic tape 101 due to inaccurate initial positioning.

[0169] Based on the same concept, this application provides a driver calibration method. The method includes performing a frequency sweep process on the driver based on a first target frequency sweep signal, causing the driver to control the magnetic head to read a first servo pattern on a first servo band, wherein the first servo band is any one of at least one servo band; determining a first frequency response curve and a first phase frequency curve corresponding to the first target frequency sweep signal based on the first servo pattern; determining a first second-order fitting parameter corresponding to the driver using the first target frequency sweep signal, the first frequency response curve, and the first phase frequency curve; and adjusting the control parameters of the driver based on the first second-order fitting parameter.

[0170] Based on the same concept, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a controller, causes the controller to perform the above-described driver calibration method.

[0171] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of components is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0172] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0173] When an integrated unit is implemented using software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

Claims

1. A magnetic tape storage device, characterized in that, include: Magnetic tape, drive, controller, and magnetic head; The magnetic tape is used to store data, and the magnetic tape includes at least one data tape and at least one servo tape. The controller is used to control the driver to write data to or read data from the at least one data tape, and the at least one servo tape is used to position the at least one data tape for the magnetic head. The controller is also used for: Based on the first target sweep frequency signal, the driver performs a sweep frequency processing, so that the driver controls the magnetic head to read the first servo pattern on the first servo band, wherein the first servo band is any one of the at least one servo bands; Based on the first servo pattern, determine the first frequency response curve and the first phase frequency curve corresponding to the first target sweep frequency signal; Using the first target sweep frequency signal, the first frequency response curve, and the first phase frequency curve, determine the first second-order fitting parameters corresponding to the driver; The control parameters of the driver are adjusted based on the first second-order fitting parameters.

2. The magnetic tape storage device according to claim 1, characterized in that, The driver includes a first motor and a second motor. The first motor is used to drive the magnetic tape to move along its length, and the second motor is used to drive the magnetic head to move within the area corresponding to the first servo tape.

3. The magnetic tape storage device according to claim 2, characterized in that, The first motor is a stepper motor, and the second motor is a voice coil motor.

4. The magnetic tape storage device according to claim 2 or 3, characterized in that, The controller is specifically used for: A first target sweep frequency signal is applied to the second motor, and the second motor is used to generate vibration according to the first target sweep frequency signal, so that the second motor controls the magnetic head to read the first servo pattern on the first servo tape.

5. The magnetic tape storage device according to claim 4, characterized in that, The controller is specifically used for: Based on the second target sweep frequency signal, the second motor is subjected to a sweep frequency processing, so that the second motor controls the magnetic head to read the second servo pattern on the first servo tape; Based on the second servo pattern, determine the second frequency response curve and the second phase frequency curve corresponding to the second target sweep frequency signal; Using the second target sweep frequency signal, the second frequency response curve, and the second phase frequency curve, a second second-order fitting parameter corresponding to the second motor in the second direction is determined, where the second direction is the rotation and oscillation direction of the magnetic head. The control parameters for the second motor are adjusted based on the second second-order fitting parameters.

6. The magnetic tape storage device according to claim 4, characterized in that, The controller is specifically used for: Based on the third target sweep frequency signal, the second motor is subjected to a sweep frequency processing, so that the second motor controls the magnetic head to read the third servo pattern on the first servo band. Based on the third servo pattern, determine the third frequency response curve and the third phase frequency curve corresponding to the third target sweep frequency signal; Using the third target sweep frequency signal, the third frequency response curve, and the third phase frequency curve, a third second-order fitting parameter corresponding to the second motor in the third direction is determined, wherein the third direction is perpendicular to the first direction; The control parameters for the second motor are adjusted based on the third second-order fitting parameters.

7. The magnetic tape storage device according to any one of claims 2-6, characterized in that, The controller is specifically used for: Before applying the first target sweep frequency signal to the second motor, control the first motor to drive the magnetic tape to move along the length direction.

8. The magnetic tape storage device according to any one of claims 1-7, characterized in that, The controller is also used for: A first frequency point is determined on the first frequency response curve, and the ambient temperature at the location of the second motor is determined using the first frequency point.

9. The magnetic tape storage device according to claim 8, characterized in that, The controller is also used for: If the ambient temperature at the location of the second motor exceeds the set temperature range, the driver will be controlled to stop working.

10. The magnetic tape storage device according to any one of claims 1-9, characterized in that, The controller is also used for: When the first second-order fitting parameter exceeds the set parameter range, or when at least one of the first frequency response curve and the first phase frequency curve does not match the set curve rule, the driver is controlled to stop working.

11. The magnetic tape storage device according to any one of claims 1-10, characterized in that, The first target frequency sweep signal includes at least one of the following: A frequency sweep signal with a fixed amplitude and a fixed frequency; a frequency sweep signal with a fixed frequency and a variable amplitude within a set range; a frequency sweep signal with a fixed amplitude and a variable frequency at a set rate of change; and a frequency sweep signal with a variable amplitude and a variable frequency within a set range.

12. The magnetic tape storage device according to any one of claims 1-11, characterized in that, The controller is also used for: The control parameters of the driver are adjusted based on the first frequency response curve and the first phase frequency curve.

13. A driver calibration method, characterized in that, The method includes: Based on the first target sweep frequency signal, the driver performs a sweep frequency processing, causing the driver to control the magnetic head to read the first servo pattern on the first servo band, where the first servo band is any one of at least one servo band. Based on the first servo pattern, determine the first frequency response curve and the first phase frequency curve corresponding to the first target sweep frequency signal; Using the first target sweep frequency signal, the first frequency response curve, and the first phase frequency curve, determine the first second-order fitting parameters corresponding to the driver; The control parameters of the driver are adjusted based on the first second-order fitting parameters.

14. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the controller, causes the controller to perform the method as described in claim 13.

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