Tape transport control method and apparatus

Abstract

The present application discloses a tape transport control method and apparatus. The method comprises: determining invariables of a system, the invariables being elements used for representing parameters that remain stable over a period of time in the system; acquiring the angular velocities of two reels; and on the basis of the parameters of the invariables and the angular velocities of the two reels, determining a first linear velocity and first radius of a first reel at a second moment and a second linear velocity and second radius of a second reel at the second moment, so as to output a target electrical signal, the target electrical signal being used for controlling a tape transport device to perform a transport operation so as to cause the first reel to reach the first linear velocity and the second reel to reach the second linear velocity. The radii and linear velocities of the two reels are estimated by combining the angular velocities of the two reels and the parameters of the invariables of the system, eliminating errors that occur when estimating the radii and linear velocities of the two reels by solely using the angular velocities of the two reels. Therefore, the high-precision radii and linear velocities can be outputted, and then the tape transport device is controlled to perform the transport operation by means of the target electrical signal outputted by means of the radii and linear velocities, making tape transport more stable.

Description

Method and device for controlling tape transport

[0001] The present application claims priority to the Chinese patent application No. 202410971549.9, filed on July 18, 2024, and entitled "Method and device for controlling tape transport", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of storage devices, in particular to a method and device for controlling tape transport. BACKGROUND

[0003] In the technical field of storage devices, commonly used storage devices include solid state drives (SSDs), hybrid hard drives (HDDs), and tape transport systems (also referred to as tape systems). The tape transport system is a three-dimensional storage, and has a higher storage capacity than the two-dimensional storage of the HDD. The tape transport system can include a magnetic head, a first wheel, a second wheel, and a tape. The first wheel and the second wheel rotate to drive the tape to perform a transport operation. During the tape transport, the magnetic head reads and writes data on the tape, and the read / write speed is positively correlated with the transport speed of the tape. Therefore, in order to speed up the read / write speed of the magnetic head and increase the length of the tape to increase the storage capacity of the overall system, the transport speed of the tape needs to be improved. However, the improvement of the transport speed of the tape will cause the linear speeds of the first wheel and the second wheel to be inconsistent, which can cause the tape to be slack or tight, resulting in the magnetic head being inconvenient to read and write data.

[0004] In order to ensure that the linear speeds of the first wheel and the second wheel are consistent, in the related art, a control method for tape transport is to obtain the tension of the tape by a tension sensor, and control the transport speed of the tape according to the tension. However, the tension sensor will increase the cost of the tape system. At the same time, during the high-speed transport of the tape, the tension of the tape collected by the tension sensor has low accuracy, which causes the accuracy of the control of the transport speed of the tape according to the tension to be low, and the stability to be poor. SUMMARY

[0005] The present application provides a control method and device for tape transport, which can output high-precision radii and linear speeds of two wheels, and control the tape to perform a transport operation by a target electrical signal output by the radii and linear speeds of the two wheels, so that the transport of the tape is more stable. The technical solution is as follows.

[0006] In a first aspect, a control method of a tape conveying is provided. The method is applied to a tape conveying system, the system comprising a first wheel, a second wheel and a tape, the first wheel and the second wheel rotating to drive the tape to perform a conveying operation. The method comprises: determining an invariant of the system, the invariant being used to represent an object of a parameter that remains stable in the system over a period of time; obtaining a first angular velocity of the first wheel and a second angular velocity of the second wheel; determining a first linear velocity and a first radius of the first wheel at a second time, and a second linear velocity and a second radius of the second wheel at the second time, according to the parameter of the invariant, the first angular velocity and the second angular velocity; and outputting a target electrical signal according to the first linear velocity, the first radius, the second linear velocity and the second radius, the target electrical signal being used to control the tape to perform the conveying operation, so that the first wheel reaches the first linear velocity and the second wheel reaches the second linear velocity.

[0007] In the present application, the radii and linear velocities of the two wheels are estimated by combining the parameter of the invariant of the system with the angular velocities of the two wheels, which eliminates the errors in estimating the radii and linear velocities of the two wheels by only using the angular velocities of the two wheels, and eliminates the errors in the low-precision feedback of the angular velocities of the sensors. Therefore, the radii and linear velocities of the two wheels can be output with high precision, and the target electrical signal output by the radii and linear velocities of the two wheels can be used to control the tape to perform the conveying operation, so that the conveying of the tape is more stable. In addition, no additional tension sensor is needed to assist, so that the cost is low while ensuring stability.

[0008] In addition, in the present application, the radii and linear velocities of the two wheels and the linear velocity of the tape can be accurately calculated without collecting servo information by a magnetic head, so that the process control of the tape is more stable. In the present application, the tension of the tape is not collected by a tension sensor to assist in determining the radii and linear velocities of the two wheels, which reduces the cost and increases the robustness. In the present application, no filter is needed, and high-precision radius and speed calculation and real-time radius and speed calculation can be achieved by low-complexity operation.

[0009] In a possible implementation, the method further includes: obtaining a detection linear velocity of the detection point on the tape at a first time, the first time being a time prior to the second time; and determining the first linear velocity and the first radius of the first wheel at the second time and the second linear velocity and the second radius of the second wheel at the second time according to the parameter of the invariant, the first angular velocity and the second angular velocity includes: determining the first linear velocity and the first radius of the first wheel at the second time and the second linear velocity and the second radius of the second wheel at the second time according to the detection linear velocity, the parameter of the invariant, the first angular velocity and the second angular velocity. In the present application, the radii and linear velocities of the two wheels are estimated by combining the detection linear velocity of the detection point on the tape at the first time, the angular velocities of the two wheels and the parameter of the invariant of the system, so that the output radii and linear velocities of the two wheels are more accurate. Therefore, the target electric signal is output more accurately by the more accurate radii and linear velocities of the two wheels, so that the tape performs the conveying operation more stably.

[0010] In a possible implementation, the system further includes a magnetic head, and the method further includes: obtaining servo information on the tape by the magnetic head, the servo information being used to represent a linear velocity of the tape; and obtaining the detection linear velocity of the detection point on the tape at the first time according to the servo information. In this way, the servo information on the tape is obtained by the magnetic head, and the detection linear velocity is obtained according to the servo information, so that the linear velocity is more accurate with the assistance of the servo information, and the detection linear velocity eliminates the errors of the first angular velocity and the second angular velocity, and is more stable.

[0011] In a possible implementation, the method further includes: obtaining a first tension of the tape; and outputting the target electric signal according to the first linear velocity, the first radius, the second linear velocity and the second radius includes: outputting the target electric signal according to the first tension, the first linear velocity, the first radius, the second linear velocity and the second radius, the target electric signal being further used to control the tape to perform a conveying operation, so that the tape reaches the first tension, the first wheel reaches the first linear velocity and the second wheel reaches the second linear velocity. In this way, the target electric signal is determined by combining the radii and linear velocities of the two wheels with the tension, so that the target electric signal is more accurate with the assistance of the tension of the tape, and is more stable.

[0012] In a possible implementation, the system further includes a tension sensor; and the obtaining the first tension of the tape includes: obtaining the first tension of the tape by the tension sensor; or determining, according to the servo information, that a tension at a position of the tape where the magnetic head is located as the first tension. In this way, the tension of the tape is obtained by the tension sensor or the servo information, and the structure is simple and easy to implement.

[0013] In a possible implementation, the system further includes a first frequency adjuster configured to determine a first frequency; and the obtaining the first tension of the tape includes: obtaining the first tension of the tape according to the first frequency. In this application, the first frequency adjuster is configured to adjust the frequency of obtaining the tension of the tape, so that the frequency of obtaining the tension can be changed, which is convenient for application in various scenarios and has strong applicability.

[0014] In a possible implementation, the obtaining the first tension of the tape according to the first frequency includes: when the first frequency is less than a first threshold, the first frequency adjuster can adjust the first frequency in an upsampling manner, for example, obtaining the first tension of the tape according to a frequency after interpolation processing of the first frequency, and the first threshold can be understood as a target value after adjustment of the first frequency. Assuming that the first frequency is 1 Hz and the first threshold is 2 Hz, the first frequency adjuster inserts a value at a middle position of a first period 0-1 s. At this time, the first frequency changes from 1 Hz to 2 Hz; and when the first frequency is greater than a sixth threshold, the first frequency adjuster can adjust the first frequency in a downsampling manner. For example, obtaining the first tension of the tape according to a frequency after average processing of the first frequency and the first threshold, and the sixth threshold can be understood as a target value after adjustment of the first frequency. Assuming that the first frequency is 1 Hz and the sixth threshold is 0.5 Hz, the first frequency adjuster can adjust the first frequency in the following manner:

[0015] Manner one, the first frequency adjuster combines an i th period and an i+1 th period to adjust the first frequency, i is a positive integer greater than or equal to 1. Wherein, the i th period is a period of obtaining the radii and linear velocities of the first wheel and the second wheel for the i th time, for example, i=1, and a period of 0-1 s, then the first frequency adjuster combines the first period and the second period, that is, a period of 0-2 s. At this time, the first frequency changes from 1 Hz to 0.5 Hz.

[0016] Method Two: The first frequency regulator acquires the average of the data from the i-th period and the (i+1)-th period, and the average of the data from the (i+2)-th and (i+3)-th periods. These two averages are combined to form a new period, i.e., the adjusted first frequency. For example, if i = 1, and the periods are 1, 2, 3, and 4, the first frequency regulator averages the data from the 1st and 2nd periods. For instance, if the data from the 1st period represents a linear velocity of 4.1 m / s and the data from the 2nd period represents a linear velocity of 4.3 m / s, the average value is 4.2 m / s, which becomes one data value for the new period. Similarly, the first frequency regulator averages the data from the 3rd and 4th periods. For instance, if the data from the 3rd period represents a linear velocity of 3.9 m / s and the data from the 4th period represents a linear velocity of 4.1 m / s, the average value is 4.0 m / s, which becomes the other data value for the new period. This means that four periods within the same time frame are reduced to two periods. Thus, the first frequency changes from 1 Hz to 0.5 Hz.

[0017] In one possible implementation, obtaining the first angular velocity of the first wheel and the second angular velocity of the second wheel includes: when the tape is in a non-stationary state, obtaining a set of first angular velocities of the first wheel and a set of second angular velocities of the second wheel within a first time period, wherein the first angular velocity set includes the first angular velocity and the second angular velocity set includes the second angular velocity; determining the invariants of the system includes: determining the invariants of the system based on the first angular velocity set and the second angular velocity set; determining the first linear velocity and first radius of the first wheel at a second time moment, and the second linear velocity and second radius of the second wheel at the second time moment, based on the parameters of the invariants, the first angular velocity, and the second angular velocity, includes: when the number of invariants is odd, updating the weights of the invariants based on the first angular velocity set and the second angular velocity set, wherein the weights of the invariants are the proportions of the invariant parameters allocated to the two wheels; determining the first linear velocity and first radius of the first wheel and the second linear velocity and second radius of the second wheel at the second time moment based on each invariant and its weight, wherein the invariants are related to both the first radius and the second radius, the first linear velocity is determined based on the first radius, and the second linear velocity is determined based on the second radius.

[0018] In this application, when the conveyor belt is in an unstable state, the angular velocities of the two wheels over a certain period are obtained, and the invariants of the system are determined based on these angular velocity sets. When the number of invariants is odd, the weights of the invariants are updated according to the angular velocity set, and the radii and linear velocities of the two wheels at the second moment are determined based on the invariants and their weights. It is evident that allocating invariants and their weights through the angular velocity set, and then determining the radii and linear velocities of the two wheels based on these invariants and their weights, results in higher accuracy.

[0019] In one possible implementation, obtaining the first angular velocity of the first wheel and the second angular velocity of the second wheel includes: when the tape is in a non-stationary state, obtaining a set of first angular velocities of the first wheel and a set of second angular velocities of the second wheel within a first time period, wherein the first angular velocity set includes the first angular velocity and the second angular velocity set includes the second angular velocity; determining the invariants of the system includes: determining the invariants of the system based on the first angular velocity set and the second angular velocity set; determining the first linear velocity and first radius of the first wheel at a second time moment, and the second linear velocity and second radius of the second wheel at the second time moment, based on the parameters of the invariants, the first angular velocity, and the second angular velocity, includes: when the number of invariants is even, determining a first prediction result of the invariants, wherein the first prediction result is used to characterize the development trend of the parameters of the invariants; determining the first linear velocity of the first wheel and the second linear velocity of the second wheel at the second time moment based on the first prediction result; determining the first radius of the first wheel based on the first linear velocity of the first wheel, and determining the second radius of the second wheel based on the second linear velocity of the second wheel. In this application, when the tape is in a non-stationary state, the angular velocity sets of the two wheels within a time period are obtained, and the invariants of the system are determined based on the aforementioned angular velocity sets. When the number of invariants is even, the prediction results of the invariants are obtained by predicting the invariants, and the first linear velocity of the first round and the second linear velocity of the second round are determined based on the prediction results. Then, the first radius of the first round and the second radius of the second round are determined. This method can obtain high-precision radius and linear velocity with high stability.

[0020] In one possible implementation, the method further includes: obtaining the radius and linear velocity of the first wheel and the second wheel at the first moment; determining the invariant of the system includes: determining the invariant of the system when the tape is in a stable state; obtaining the first angular velocity of the first wheel and the second angular velocity of the second wheel includes: obtaining the first angular velocity of the first wheel and the second angular velocity of the second wheel when the fluctuation of the invariant is less than a second threshold, or when the fluctuation of the invariant is greater than the second threshold and the reliability metric of the invariant satisfies a third threshold; determining the first linear velocity and first radius of the first wheel at the second moment based on the parameters of the invariant, the first angular velocity, and the second angular velocity, so as to... The second linear velocity and second radius of the second wheel at a second time moment include: when the number of invariants is odd, determining the weight of each invariant based on the first angular velocity of the first wheel and the second angular velocity of the second wheel, as well as the radius and linear velocity of the first wheel and the second wheel at the first time moment; determining a second prediction result based on each invariant and its weight, the second prediction result being used to characterize the development trend of the radii of the first wheel and the second wheel; determining the first radius of the first wheel and the second radius of the second wheel at the second time moment based on the second prediction result; determining the first linear velocity of the first wheel based on the first radius of the first wheel, and determining the second linear velocity of the second wheel based on the second radius of the second wheel.

[0021] In this application, when the tape is stable, the system invariants are determined, and the angular velocities of the two wheels at the second moment are obtained assuming the invariants are reliable. When the number of invariants is odd, the weights of each invariant are determined based on the aforementioned angular velocities and the radii and linear velocities of the two wheels at the first moment. Based on the invariants and their weights, a prediction result characterizing the radius development trend of the two wheels is determined. The radius of the two wheels is then determined based on this prediction result, and finally, the linear velocity of the two wheels is determined based on the radius. It is evident that by allocating the invariants and their weights according to the aforementioned angular velocities and radii and linear velocities, and then determining the radius and linear velocity of the two wheels at the second moment based on the invariants and their weights, higher accuracy is achieved.

[0022] In one possible implementation, the method further includes: obtaining the radius and linear velocity of the first wheel and the second wheel at the first moment; determining the invariants of the system includes: determining the invariants of the system when the tape is in a stable state; obtaining the first angular velocity of the first wheel and the second angular velocity of the second wheel includes: obtaining the first angular velocity of the first wheel and the second angular velocity of the second wheel when the fluctuation of the invariant is less than a second threshold, or when the fluctuation of the invariant is less than the second threshold and the reliability metric of the invariant satisfies a third threshold; determining the first linear velocity and first radius of the first wheel at the second moment, and the second linear velocity and second radius of the second wheel at the second moment, based on the parameters of the invariants, the first angular velocity, and the second angular velocity, includes: when the number of invariants is even, determining the linear velocity of the first wheel at the first moment as the first linear velocity, and the linear velocity of the second wheel at the first moment as the second linear velocity; determining the first radius of the first wheel based on the first linear velocity of the first wheel, and determining the second radius of the second wheel based on the second linear velocity of the second wheel. In this application, the invariants of the system are determined when the tape is stable. When the number of invariants is even, the linear velocities of the two wheels at the first moment are determined as the linear velocities of the two wheels at the second moment; the radii of the two wheels are then determined based on the linear velocities of the two wheels at the second moment. The determination method is simple and easy to implement.

[0023] In one possible implementation, the system further includes a second frequency regulator for determining a second frequency; acquiring the radius and linear velocity of the two wheels includes acquiring the radius and linear velocity of the two wheels according to the second frequency. In this application, by setting a second frequency regulator to adjust the acquisition frequency of the radius and linear velocity, the acquisition frequency of the radius and linear velocity can be changed, making it suitable for various scenarios and highly applicable.

[0024] In one possible implementation, obtaining the radius and linear velocity of the two wheels according to the second frequency includes: when the second frequency is less than a fourth threshold, obtaining the radius and linear velocity of the two wheels according to the frequency after interpolation of the second frequency, where the fourth threshold can be understood as the target value after adjusting the second frequency; when the second frequency is greater than a fifth threshold, obtaining the radius and linear velocity of the two wheels according to the frequency after averaging the second frequency and the fourth threshold, where the fifth threshold can be understood as the target value after adjusting the second frequency.

[0025] Secondly, a control method for tape conveying is provided, the method being applied to a tape conveying system, the system including a first wheel, a second wheel, and a tape. The first wheel and the second wheel rotate to drive the tape to perform a conveying operation. In the event of a failure of the second wheel, the method includes: determining an invariant of the system, the invariant being an object representing a parameter of the system that remains stable over a period of time, the object including an intrinsic object and an additional object, the intrinsic object being an object of the system determined when the second wheel does not fail, the additional object being an object of the system determined when the second wheel fails, the additional object including a first value obtained by performing logical operations on the object corresponding to the first wheel and the object corresponding to the second wheel; obtaining the radius of the first wheel at a first moment, the radius of the second wheel at a first moment, and the angular velocity of the first wheel at a second moment, the second moment being the next moment after the first moment; and determining the parameters of the invariant... The following steps are performed: First, the radius of the first wheel at a first moment and the angular velocity of the first wheel at a second moment are used to determine at least one reference quantity, which is used to characterize the sensitivity of the invariant. Second, the angular velocity of the second wheel at the second moment is determined based on the radius of the first wheel at the first moment, the radius of the second wheel at the first moment, and the at least one reference quantity. Third, a first linear velocity and a first radius of the first wheel at the second moment are determined based on the radius of the first wheel at the first moment, the angular velocity of the first wheel at the second moment, and the at least one reference quantity. Fourth, a second linear velocity and a second radius of the second wheel at the second moment are determined based on the radius of the second wheel at the first moment, the angular velocity of the second wheel at the second moment, and the at least one reference quantity. Fifth, a target electrical signal is output based on the first linear velocity, the first radius, the second linear velocity, and the second radius, which is used to control the tape reel to perform a conveying operation so that the first wheel reaches the first linear velocity and the second wheel reaches the second linear velocity.

[0026] In this application, when one of the two wheels fails, the radius and linear velocity of both wheels are estimated not only by using their angular velocities but also by combining the system's invariant parameters. This eliminates the errors inherent in estimating the radius and linear velocity solely based on the wheel's angular velocities, as well as the errors from low-precision sensor feedback of angular velocities. Therefore, high-precision radius and linear velocity of both wheels can be output. The target electrical signals output from these radius and linear velocities are then used to control the belt conveyor operation, resulting in more stable belt conveying. Furthermore, no additional tension sensor is required, ensuring stability while maintaining lower costs.

[0027] Furthermore, this application can accurately calculate the radius and linear velocity of the two wheels and the linear velocity of the tape winding even without servo information collected by the magnetic head, thus making the tape winding process control smoother. This application eliminates the need for a tension sensor to collect tape tension to assist in determining the radius and linear velocity of the two wheels, reducing costs and increasing robustness. This application eliminates the need for filters, achieving high-precision and real-time radius and velocity calculations through low-complexity computation.

[0028] In one possible implementation, the method further includes: acquiring a first tension of the tape; and outputting a target electrical signal based on the first linear velocity, the first radius, the second linear velocity, and the second radius, comprising: outputting the target electrical signal based on the first tension, the first linear velocity, the first radius, the second linear velocity, and the second radius, wherein the target electrical signal is further used to control the tape to perform a conveying operation, so that the tape reaches the first tension, the first wheel reaches the first linear velocity, and the second wheel reaches the second linear velocity. Thus, by combining the radius and linear velocity of the two wheels with the tension to determine the target electrical signal, a more accurate target electrical signal is obtained with the assistance of the tape tension, resulting in higher stability.

[0029] In one possible implementation, the system further includes a tension sensor; acquiring the first tension of the tape includes: acquiring the first tension of the tape via the tension sensor; or, determining the tension at the location of the magnetic head on the tape as the first tension based on the servo information. Thus, acquiring the tape tension via a tension sensor or servo information results in a simple structure that is easy to implement.

[0030] In one possible implementation, the system further includes a first frequency regulator for determining a first frequency; acquiring the first tension of the tape reel includes acquiring the first tension of the tape reel according to the first frequency. In this application, by setting a first frequency regulator to adjust the acquisition frequency of the tape tension, the acquisition frequency of the tension can be changed, making it suitable for various scenarios and highly applicable.

[0031] In one possible implementation, obtaining the first tension of the tape according to the first frequency includes: when the first frequency is less than a first threshold, obtaining the first tension of the tape according to the frequency after interpolation of the first frequency; when the first frequency is greater than a sixth threshold, obtaining the first tension of the tape according to the frequency after averaging the first frequency and the sixth threshold.

[0032] Thirdly, a control device for tape conveying is provided. The device is applied to a tape conveying system, the system including a first wheel, a second wheel, and a tape. The first wheel and the second wheel rotate to drive the tape to perform a conveying operation. The device includes: a determining module for determining invariants of the system, the invariants being objects representing parameters that remain stable within the system over a period of time; an acquiring module for acquiring a first angular velocity of the first wheel and a second angular velocity of the second wheel; the determining module is further configured to determine, based on the parameters of the invariants, the first angular velocity, and the second angular velocity, a first linear velocity and a first radius of the first wheel at a second time moment, and a second linear velocity and a second radius of the second wheel at the second time moment; and an output module for outputting a target electrical signal based on the first linear velocity, the first radius, the second linear velocity, and the second radius, the target electrical signal being used to control the tape to perform the conveying operation so that the first wheel reaches the first linear velocity and the second wheel reaches the second linear velocity.

[0033] In one possible implementation, the acquisition module is further configured to acquire the detection linear velocity of the detection point on the tape at a first moment, the first moment being the previous moment before the second moment; the determination module is configured to determine the first linear velocity and first radius of the first wheel at the second moment, and the second linear velocity and second radius of the second wheel at the second moment, based on the detection linear velocity, the parameter of the invariant, the first angular velocity, and the second angular velocity.

[0034] In one possible implementation, the system further includes a magnetic head, and the acquisition module is further configured to acquire servo information on the tape via the magnetic head, the servo information being used to characterize the linear velocity of the tape; the acquisition module is configured to acquire the detection linear velocity of the detection point on the tape at a first moment based on the servo information.

[0035] In one possible implementation, the acquisition module is further configured to acquire the first tension of the tape; the output module is configured to output the target electrical signal based on the first tension, the first linear velocity, the first radius, the second linear velocity, and the second radius, and the target electrical signal is further configured to control the tape to perform a conveying operation so that the tape reaches the first tension, the first wheel reaches the first linear velocity, and the second wheel reaches the second linear velocity.

[0036] In one possible implementation, the system further includes a tension sensor; the acquisition module is configured to acquire the first tension of the tape via the tension sensor; or, based on the servo information, determine the tension at the location of the magnetic head on the tape as the first tension.

[0037] In one possible implementation, the system further includes a first frequency regulator for determining a first frequency; and the acquisition module for acquiring a first tension of the tape according to the first frequency.

[0038] In one possible implementation, the acquisition module is configured to acquire the first tension of the tape according to the frequency after differential processing of the first frequency when the first frequency is less than a first threshold; and to acquire the first tension of the tape according to the frequency after averaging the first frequency and the sixth threshold when the first frequency is greater than a sixth threshold.

[0039] In one possible implementation, the acquisition module is configured to acquire, when the tape is in a non-stationary state, a first angular velocity set of the first wheel and a second angular velocity set of the second wheel within a first time period, wherein the first angular velocity set includes the first angular velocity and the second angular velocity set includes the second angular velocity; the determination module is configured to determine the invariants of the system based on the first angular velocity set and the second angular velocity set; the determination module is configured to update the weights of the invariants based on the first angular velocity set and the second angular velocity set when the number of invariants is odd, wherein the weights of the invariants are the proportions of invariant parameters allocated to the two wheels; and to determine, based on each invariant and its weight, a first linear velocity and a first radius of the first wheel and a second linear velocity and a second radius of the second wheel at a second time moment, wherein the invariants are related to both the first radius and the second radius, the first linear velocity being determined based on the first radius and the second linear velocity being determined based on the second radius.

[0040] In one possible implementation, the acquisition module is configured to acquire, when the tape is in a non-stationary state, a first angular velocity set of the first wheel and a second angular velocity set of the second wheel within a first time period, wherein the first angular velocity set includes the first angular velocity and the second angular velocity set includes the second angular velocity; the determination module is configured to determine the invariants of the system based on the first angular velocity set and the second angular velocity set; the determination module is configured to determine a first prediction result of the invariants when the number of invariants is even, wherein the first prediction result is used to characterize the development trend of the parameters of the invariants; based on the first prediction result, determine the first linear velocity of the first wheel and the second linear velocity of the second wheel at a second time moment; determine the first radius of the first wheel based on the first linear velocity of the first wheel, and determine the second radius of the second wheel based on the second linear velocity of the second wheel.

[0041] In one possible implementation, the acquisition module is further configured to acquire the radius and linear velocity of the first wheel and the second wheel at the first moment; the determination module is configured to determine the invariants of the system when the tape is in a stable state; the acquisition module is configured to acquire the first angular velocity of the first wheel and the second angular velocity of the second wheel when the fluctuation of the invariant is less than a second threshold, or when the fluctuation of the invariant is greater than the second threshold and the reliability metric of the invariant satisfies a third threshold; the determination module is configured to determine the weight of each invariant based on the first angular velocity of the first wheel and the second angular velocity of the second wheel, and the radius and linear velocity of the first wheel and the second wheel at the first moment, when the number of invariants is odd; determine a second prediction result based on each invariant and its weight, the second prediction result being used to characterize the development trend of the radius of the first wheel and the second wheel; determine the first radius of the first wheel and the second radius of the second wheel at the second moment based on the second prediction result; determine the first linear velocity of the first wheel based on the first radius of the first wheel, and determine the second linear velocity of the second wheel based on the second radius of the second wheel.

[0042] In one possible implementation, the acquisition module is further configured to acquire the radius and linear velocity of the first wheel and the second wheel at the first moment; the determination module is configured to determine the invariants of the system when the tape is in a stable state; the acquisition module is configured to acquire the first angular velocity of the first wheel and the second angular velocity of the second wheel when the fluctuation of the invariant is less than a second threshold, or when the fluctuation of the invariant is less than the second threshold and the reliability metric of the invariant satisfies a third threshold; the determination module is configured to determine the linear velocity of the first wheel at the first moment as the first linear velocity and the linear velocity of the second wheel at the first moment as the second linear velocity when the number of invariants is even; determine the first radius of the first wheel based on the first linear velocity of the first wheel, and determine the second radius of the second wheel based on the second linear velocity of the second wheel.

[0043] In one possible implementation, the system further includes a second frequency regulator for determining a second frequency; and the acquisition module for acquiring the radius and linear velocity of the two wheels according to the second frequency.

[0044] In one possible implementation, the acquisition module is configured to acquire the radius and linear velocity of the two wheels by interpolating the second frequency when the second frequency is less than a fourth threshold; and to acquire the radius and linear velocity of the two wheels by averaging the second frequency and the fifth threshold when the second frequency is greater than a fifth threshold.

[0045] Fourthly, a control device for tape conveying is provided. The device is applied to a tape conveying system, which includes a first wheel, a second wheel, and a tape. The first wheel and the second wheel rotate to drive the tape to perform a conveying operation. In the event of a failure of the second wheel, the device includes: a determining module for determining invariants of the system, wherein the invariants characterize objects whose parameters remain stable over a period of time; the objects include inherent objects and additional objects; the inherent objects are system objects determined when the second wheel does not fail; the additional objects are system objects determined when the second wheel fails; and the additional objects include a first value obtained by logically operating on the objects corresponding to the first wheel and the objects corresponding to the second wheel; and an acquiring module for acquiring the radius of the first wheel at a first moment, the radius of the second wheel at a first moment, and the angular velocity of the first wheel at a second moment, wherein the second moment is the next moment after the first moment; the determining module is further configured to determine the parameters of the invariants and the first wheel's angular velocity at a second moment based on the parameters of the invariants. The determining module is further configured to determine at least one reference quantity based on the radius of the first wheel at the first moment and the angular velocity of the first wheel at the second moment, the reference quantity being used to characterize the sensitivity of the invariant; the determining module is further configured to determine the angular velocity of the second wheel at the second moment based on the radius of the first wheel at the first moment, the radius of the second wheel at the first moment, and the at least one reference quantity; the determining module is further configured to determine the first linear velocity and the first radius of the first wheel at the second moment based on the radius of the first wheel at the first moment, the angular velocity of the first wheel at the second moment, and the at least one reference quantity; the determining module is further configured to determine the second linear velocity and the second radius of the second wheel at the second moment based on the radius of the second wheel at the first moment, the angular velocity of the second wheel at the second moment, and the at least one reference quantity; the output module is configured to output a target electrical signal based on the first linear velocity, the first radius, the second linear velocity, and the second radius, the target electrical signal being used to control the tape reel to perform a conveying operation so that the first wheel reaches the first linear velocity and the second wheel reaches the second linear velocity.

[0046] In one possible implementation, the acquisition module is further configured to acquire the first tension of the tape; the output module is configured to output the target electrical signal based on the first tension, the first linear velocity, the first radius, the second linear velocity, and the second radius, and the target electrical signal is further configured to control the tape to perform a conveying operation so that the tape reaches the first tension, the first wheel reaches the first linear velocity, and the second wheel reaches the second linear velocity.

[0047] In one possible implementation, the system further includes a tension sensor; the acquisition module is configured to acquire the first tension of the tape via the tension sensor; or, based on the servo information, determine the tension at the location of the magnetic head on the tape as the first tension.

[0048] In one possible implementation, the system further includes a first frequency regulator for determining a first frequency; and the acquisition module for acquiring a first tension of the tape according to the first frequency.

[0049] In one possible implementation, the acquisition module is configured to acquire the first tension of the tape according to the frequency after interpolation of the first frequency when the first frequency is less than a first threshold; and to acquire the first tension of the tape according to the frequency after averaging the first frequency and the sixth threshold when the first frequency is greater than a sixth threshold.

[0050] Fifthly, a computer program (product) is provided, the computer program (product) comprising: computer program code, which, when executed by a computer, causes the computer to perform the methods described in the above aspects.

[0051] In a sixth aspect, a computer-readable storage medium is provided that stores a program or instructions, wherein when the program or instructions are run on a computer, the methods of the above aspects are performed.

[0052] In a seventh aspect, a chip is provided, including a processor for retrieving and executing instructions stored in a memory, causing a communication device on which the chip is mounted to perform the methods in the foregoing aspects.

[0053] Eighthly, another chip is provided, comprising: an input interface, an output interface, a processor, and a memory, wherein the input interface, the output interface, the processor, and the memory are connected via an internal connection path, and the processor is used to execute code in the memory, wherein when the code is executed, the processor is used to perform the methods in the above aspects.

[0054] It should be understood that the beneficial effects of the technical solutions and corresponding possible implementations of the third to eighth aspects of this application can be found in the above description of the technical effects of the first and second aspects and their corresponding possible implementations, and will not be repeated here. Attached Figure Description

[0055] Figure 1 is a schematic diagram of a tape conveyor system provided in the related art;

[0056] Figure 2 is a schematic diagram of a tape conveying system provided in an embodiment of this application;

[0057] Figure 3 is a schematic diagram of another tape conveying system provided in an embodiment of this application;

[0058] Figure 4 is a schematic diagram of another tape conveying system provided in an embodiment of this application;

[0059] Figure 5 is a flowchart illustrating a control method for tape conveying according to an embodiment of this application;

[0060] Figure 6 is a flowchart illustrating another control method for tape transport provided in an embodiment of this application;

[0061] Figure 7 is a flowchart illustrating another control method for tape transport provided in an embodiment of this application;

[0062] Figure 8 is a flowchart illustrating another control method for tape conveying provided in an embodiment of this application;

[0063] Figure 9 is a schematic diagram illustrating the principle of tape conveying control according to an embodiment of this application;

[0064] Figure 10 is a schematic diagram illustrating the application effect of a control method for tape conveying provided in an embodiment of this application.

[0065] Figure 11 is a schematic diagram illustrating another application effect of the control method for tape conveying provided in this application embodiment;

[0066] Figure 12 is a flowchart illustrating another control method for tape conveying provided in an embodiment of this application;

[0067] Figure 13 is a block diagram of a control device for tape conveying according to an embodiment of this application;

[0068] Figure 14 is a block diagram of the control device of a tape conveying system provided in an embodiment of this application. Detailed Implementation

[0069] 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. For ease of understanding, the tape transport system and its working principle will be introduced first.

[0070] Commonly used storage devices, as mentioned above, can include solid-state drives (SSDs), hybrid hard drives (HDDs), and tape-and-roll systems (also known as tape-and-roll systems). Tape-and-roll systems offer three-dimensional storage, providing higher storage capacity compared to the two-dimensional storage of HDDs. For example, a tape-and-roll system can include a controller, a read / write head, a first reel, a second reel, and a tape. The controller controls the rotation of the first and second reels to drive the tape for transfer operations. When the tape is stable, the read / write head can read and write data on the tape; the read / write speed is directly proportional to the linear speed of the tape. The working principle of the tape-and-roll system is to control the driving torque of the tape transfer through the controller, changing the angular velocities of the first and second reels to maintain the stability of the various elements of the system. These elements can include the tape (also known as the tape body), the first reel, the second reel, a Hall sensor on the first reel, a Hall sensor on the second reel, and the controller. The state of each element can include the linear speed of the tape. The linear speed may differ at different points on the tape. For example, in the tape conveyor system shown in Figure 1, the controller outputs the current required by the drive motors of the first and second pulleys, causing the drive motors to operate and thus changing the driving torque of the tape conveyor. During operation, the drive motors drive the first pulley to rotate, thus moving the tape. When the linear speed of the second pulley is less than that of the first pulley, the tension of the tape is increased, resulting in a taut tape. When the linear speed of the second pulley is greater than that of the first pulley, the tape becomes slack. Therefore, to accelerate the read / write speed of the magnetic head and increase the overall system storage capacity by increasing the tape length, the linear speed of the tape needs to be increased. In one related technology, the control method for tape conveyor is to obtain the tension of the tape using a tension sensor and control the linear speed of the tape based on this tension to ensure that the linear speeds of the first and second pulleys are consistent. However, tension sensors increase the cost of the tape conveyor system. Furthermore, during high-speed tape conveying, the accuracy of the tension measured by the tension sensor is low, leading to low accuracy and poor stability in controlling the linear speed based on this tension.

[0071] In another related technology, based on the tape conveyor system shown in Figure 1, the control method for tape conveying is to determine the radius at the current moment based on the radius at the previous moment, the change in tape thickness during one revolution of the wheel, the time difference between the previous and current moments, the radian of one revolution of the wheel, and an estimated value of the current angular velocity. The linear velocity at the current moment is determined based on the radius and the estimated value of the current angular velocity. For example, the motor's wheel has Hall sensor angular velocity data ω, and the wheel moves at a speed of ω per second. t The tape is wound up or unwound in arcs, and one loop has 2π arcs; at the same time, the radius R increases / decreases by ε (the thickness of the tape) depending on how many loops the reel makes. Therefore, the radius can be estimated using... and It is the Hall sensor for ω t-1 The estimate, of which R t-1 R is the radius at the previous time t-1. t It is the radius at the current time t, s t It indicates the number of seconds between two moments. And at each moment t, the tape travels s. t R t ω is the distance, so the linear velocity is That is, v t =R t ω. Therefore, the linear velocity is estimated to be... As can be seen, the radius estimation method involves accumulating the estimated angular velocity values ​​from the sensors. However, when the tape is in motion at startup or high speed, the sensor data may have deviations, and these deviations will continue to accumulate in the radius estimation. Similarly, the linear velocity estimation, because it uses the radius estimation, will also accumulate the aforementioned deviations. Therefore, inaccurate radius and linear velocity inputs to the tape drive will cause misjudgments, leading to instability in the tape drive system. This can result in reduced ability of the tape drive system to read (or write) the correct position from the focusing head, and the tape may even become loose or break, causing the tape drive system to collapse.

[0072] To address the aforementioned technical problems, Figure 2 illustrates another tape conveying system provided in this application embodiment. This system differs from the system shown in Figure 1 in that it further includes a radius and linear velocity estimation module (or radius and linear velocity evaluation module). This module is used to calculate the first linear velocity and first radius of the first wheel at a second time moment, and the second linear velocity and second radius of the second wheel at the second time moment, based on the system's invariant parameters, the first angular velocity of the first wheel, and the second angular velocity of the second wheel. Based on the system shown in Figure 2, this application embodiment provides a tape conveying control method. This method includes: determining system invariants, where invariants characterize objects that maintain stable parameters within the system over a period of time; acquiring the first angular velocity of the first wheel and the second angular velocity of the second wheel; determining the first linear velocity and first radius of the first wheel at a second time moment, and the second linear velocity and second radius of the second wheel at the second time moment, based on the invariant parameters, the first angular velocity, and the second angular velocity; and outputting a target electrical signal based on the first linear velocity, the first radius, the second linear velocity, and the second radius. The target electrical signal is used to control the tape conveying operation so that the first wheel reaches the first linear velocity and the second wheel reaches the second linear velocity. Compared to related technologies, this method estimates the radius and linear velocity of the two wheels not only by using their angular velocities but also by combining the system's invariant parameters. This eliminates the errors inherent in estimating the radius and linear velocity solely based on the wheel's angular velocities, as well as the errors from low-precision sensor feedback of angular velocities. Therefore, it can output high-precision radius and linear velocity data for the two wheels. The target electrical signals output from these wheel radii and linear velocities are then used to control the tape conveying operation, resulting in more stable tape delivery. Furthermore, it eliminates the need for additional tension sensors, ensuring stability while reducing costs.

[0073] Furthermore, compared to related technologies, this application can accurately calculate the radius and linear velocity of the two wheels and the linear velocity of the tape winding even without servo information collected by the magnetic head, thus making the tape winding process control smoother. This application does not require a tension sensor to collect tape tension to assist in determining the radius and linear velocity of the two wheels, reducing costs and increasing robustness. This application does not require a filter; high-precision and real-time radius and velocity calculations can be achieved through low-complexity computation.

[0074] In some embodiments, to make the radius and linear velocity of the two wheels more accurate, the tape conveying control method provided in this application embodiment may further include: acquiring the detection linear velocity of a detection point on the tape at a first moment, where the first moment is the moment preceding the second moment. Based on the detection linear velocity, invariant parameters, a first angular velocity, and a second angular velocity, determine the first linear velocity and first radius of the first wheel at the second moment, and the second linear velocity and second radius of the second wheel at the second moment. Compared to the above example, this method estimates the radius and linear velocity of the two wheels not only using the angular velocities of the two wheels and the system's invariant parameters, but also combining the detection linear velocity of the detection point on the tape at the first moment, making the output radius and linear velocity of the two wheels more accurate. Therefore, by outputting a more accurate target electrical signal using the more accurate radius and linear velocity of the two wheels, the tape conveying operation is controlled, resulting in more stable tape conveying.

[0075] Figure 3 illustrates another tape transport system provided in this application embodiment. Compared to the system shown in Figure 2, the system in Figure 3 further includes a magnetic head. The magnetic head is used to acquire servo information on the tape when the tape is stable. The servo information characterizes the linear velocity of the tape, including the linear velocity at various points on the tape, such as the detection linear velocity of a detection point on the tape at a first moment. Thus, by acquiring servo information on the tape through the magnetic head and obtaining the detection linear velocity based on the servo information, a more accurate linear velocity is obtained with the assistance of the servo information. The detection linear velocity eliminates the errors of the first and second angular velocities, resulting in higher stability.

[0076] This application provides another tape conveying system. Compared to the system shown in Figure 2, this system further includes a tension sensor to acquire the tension of the tape. Therefore, the tension sensor acquires the first tension of the tape, and based on the first tension, first linear velocity, first radius, second linear velocity, and second radius, outputs a target electrical signal. This target electrical signal is also used to control the tape to perform a conveying operation, so that the tape reaches the first tension, the first pulley reaches the first linear velocity, and the second pulley reaches the second linear velocity. In this way, by combining the radius and linear velocity of the two pulleys with the tension to determine the target electrical signal, a more accurate target electrical signal is obtained with the assistance of the tape tension, resulting in higher stability.

[0077] Figure 4 shows another tape conveying system provided in this application embodiment. Compared with the system shown in Figure 3, the system shown in Figure 4 further includes the aforementioned tension sensor. The tension sensor acquires the first tension of the tape, and outputs a target electrical signal based on the first tension, first linear velocity, first radius, second linear velocity, and second radius. In this way, by acquiring the tape tension through the tension sensor, acquiring servo information through the magnetic head, and combining the above information to determine the radius and linear velocity of the first and second pulleys at the second moment, more accurate radius and linear velocity are obtained, resulting in higher stability.

[0078] In some embodiments, the system shown in FIG4 further includes a first frequency regulator for determining a first frequency. In one example, the first frequency regulator is used to control a tension sensor to acquire a first tension in the tape winding. In other embodiments, the system shown in FIG4 further includes a second frequency regulator for determining a second frequency. In one example, the second frequency regulator is used to control the frequency at which the radius and linear velocity module outputs the radius and linear velocity.

[0079] In one example, the workflow of the system shown in Figure 4 can be as follows: As shown in Figure 5, step ① identifies the system invariants. Step ② determines whether the read / write head has acquired servo information. If the read / write head has not acquired servo information, then step ③ is executed, where the radius and linear velocity module determines the radius and linear velocity of the two wheels based on the parameters of the invariants and the angular velocities of the two wheels, and sends the radius and linear velocity of the two wheels to the controller. If the read / write head has acquired servo information, then step ④ is executed, where the position of the read / write head and the detected linear velocity at the position of the read / write head on the tape are determined based on the servo information, and the detected linear velocity is sent to the radius and linear velocity module. Step ⑤ The radius and linear velocity module determines the radius and linear velocity of the two wheels in conjunction with the servo information, and sends the radius and linear velocity of the two wheels to the controller. Step ⑥ The tension sensor acquires the tension of the tape and sends the tension of the tape to the controller. Step ⑦ The controller determines the target signal based on the tape tension, the radius and linear velocity of the two wheels, and controls the tape to perform a conveying operation so that the first wheel reaches the first linear velocity and the second wheel reaches the second linear velocity. The first frequency regulator is used to control the tension sensor to acquire the tension of the tape. The second frequency regulator is used to control the frequency of the radius and linear velocity output by the radius and linear velocity module. Of course, the system shown in Figure 4 can also include a control frequency regulator, which is used to control the frequency of the target electrical signal output by the controller.

[0080] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings. Figure 6 is a flowchart illustrating a control method for tape transport provided by an embodiment of this application; Figure 7 is a flowchart illustrating another control method for tape transport provided by an embodiment of this application; Figure 8 is a flowchart illustrating another control method for tape transport provided by an embodiment of this application. Referring to Figures 6 to 8, this method is applied to the tape transport system shown in Figure 2, and the method may include:

[0081] S600, Determine the status of the tape roll.

[0082] The state of the tape reel can be divided into a stable state and a non-stable state. In one example, when the tape conveyor system starts up, before stopping, or when the conveyor direction is changed, the tape reel can be considered non-stable. In another example, it is determined whether the fluctuation of linear speed or tension exceeds a threshold. If the fluctuation of linear speed or tension exceeds the threshold, the tape reel is determined to be non-stable; otherwise, the tape reel is determined to be stable.

[0083] For example, when the tape reel is stable, it is necessary to determine whether the fluctuation of the invariant is less than a preset threshold. When the fluctuation of the invariant is less than a second threshold, the tape reel is determined to be stable and without abnormalities. When the fluctuation of the invariant is greater than the second threshold, it is necessary to determine whether the reliability metric of the invariant is within an acceptable range. For example, when the fluctuation of the invariant is greater than the second threshold and the reliability metric of the invariant meets a third threshold, the tape reel is determined to be stable and without abnormalities. When the fluctuation of the invariant is greater than the second threshold and the reliability metric of the invariant does not meet the third threshold, the tape reel is determined to be unstable.

[0084] If the tape is in a stable state, execute S601; if the tape is in a non-stable state, execute S602.

[0085] S601. Determine the invariants of the system. Invariants are objects that characterize parameters in the system that remain stable over a period of time.

[0086] Invariants can be understood as objects in a custom scene that hardly change over time. For example, invariants can include the total length of the tape, the tension of the tape, the linear velocity of the tape at the previous moment, and so on. The total length of the tape can be understood as the total area of ​​the tape wound by two reels. The linear velocity of the tape at the previous moment can be understood as the linear velocity at a certain point on the tape.

[0087] In practical applications, consider the following scenarios: In one scenario, the belt's acceleration, tension, and initial linear velocity may all change. The total belt length is the only relatively reliable invariant. This invariant can be estimated by adding the areas of the original radii of the two pulleys. In another scenario, when the belt is stable, the belt tension, initial linear velocity, and total belt length can all be invariants. The total belt length can be estimated by adding the areas of the original radii of the two pulleys, and the tension and initial linear velocity can be estimated using the measurements from the previous moment as new invariants. In yet another scenario, when the pulleys (first or second pulley) are eccentric, the belt is stable at the first moment, but the pulleys may bulge or collapse. The belt tension and total belt length may change. The initial linear velocity is the only relatively reliable invariant. This invariant can be estimated using the measured value of the initial linear velocity.

[0088] S602, Obtain the first angular velocity of the first round and the second angular velocity of the second round.

[0089] In one possible implementation, the Hall sensor of the first round can acquire the angular velocity of the first round at various moments, such as the angular velocity of the first round at a first moment and the angular velocity of the first round at a second moment (which can be understood as the moment after the first moment). Similarly, the Hall sensor of the second round can also acquire the angular velocity of the second round at various moments, such as the angular velocity of the second round at a first moment and the angular velocity of the second round at a second moment.

[0090] The implementation of S602 varies depending on the state of the tape reel.

[0091] In one example, S602 can be implemented as follows: S6021, when the tape is in a non-stationary state, acquire the first angular velocity set of the first round and the second angular velocity set of the second round within a first time period. The first angular velocity set includes the first angular velocity, and the second angular velocity set includes the second angular velocity. Here, the first time period can be understood as a historical time period or the current real-time time period. For example, the Hall sensor of the first round collects the first angular velocity set within the first time period, and the Hall sensor of the second round collects the second angular velocity set within the first time period.

[0092] In another example, after determining the system invariants in S601, S602 can be implemented as follows: S6022, determine whether the fluctuation of the invariant is less than the second threshold. S6023, when the fluctuation of the invariant is less than the second threshold, determine that the tape winding is stable and without abnormalities, and obtain the angular velocities of the two wheels, i.e., obtain the first angular velocity of the first wheel and the second angular velocity of the second wheel. S6024, when the fluctuation of the invariant is greater than the second threshold and the reliability metric of the invariant meets the third threshold, determine that the tape winding is stable and without abnormalities, and obtain the angular velocities of the two wheels, i.e., obtain the first angular velocity of the first wheel and the second angular velocity of the second wheel. S6025, when the fluctuation of the invariant is greater than the second threshold and the reliability metric of the invariant does not meet the third threshold, determine that the tape winding is unstable, and then perform a shutdown protection.

[0093] S603. Based on the system invariants, the first angular velocity, and the second angular velocity, determine the first linear velocity and the first radius of the first wheel at the second moment, and the second linear velocity and the second radius of the second wheel at the second moment.

[0094] In one possible implementation, the radius and linear velocity estimation module can execute S603.

[0095] In another possible implementation, S603 can be implemented as follows: based on the system invariants, the increase or decrease in the radius of the wheel after one revolution, the first angular velocity and the second angle, determine the first linear velocity and the first radius of the first wheel at the second moment, and the second linear velocity and the second radius of the second wheel at the second moment.

[0096] In another possible implementation, the implementation of S603 differs depending on the state of the tape reel, as described below.

[0097] First, the tape is in a non-stable state.

[0098] As shown in Figure 8, in S6021, when the tape is in a non-stationary state, the first angular velocity set of the first round and the second angular velocity set of the second round within the first time period are obtained. Then, S603 can be implemented as follows: S6031, based on the first and second angular velocity sets, determine the system's invariants, which are related to the radius and linear velocity. For example, invariants may include the tape length, etc. For example, the tape length, as an invariant, has a theoretically defined normal operating range: the length is related to the tape elasticity coefficient and the change in tape tension. The elasticity coefficient and the change in tape tension affect whether the speed difference between the two rounds converges or diverges. When the speed difference between the two rounds converges, the tape length has an operating range limit. If the invariant exceeds the normal operating range, it is determined to be abnormal.

[0099] S6032. When the number of invariants is odd, update the weights of the invariants based on the first and second angular velocity sets. Updating the weights of the invariants involves allocating the proportions of the invariants to the two rounds to determine the radii and linear velocities of the two rounds. In one example, the weights of the invariants are determined using a weighting algorithm. As more and more angular velocity data is collected, the weighting algorithm runs for a period of time, and the output values ​​tend to be closer to the theoretical values. S6033. Based on each invariant and its weight, determine the first linear velocity and first radius of the first round at the second time point, and the second linear velocity and second radius of the second round. The invariants are related to both the first and second radii; the first linear velocity is determined based on the first radius, and the second linear velocity is determined based on the second radius. For example, if the number of invariants is one, then the first radius is invariant * weight 1, the second radius is invariant * weight 2, and the sum of weight 1 and weight 2 is 1. For example, if there are three invariants, the first radius is the sum of the weights of each invariant multiplied by its own weight. This should be understood as follows: each invariant includes invariant 1, invariant 2, and invariant 3. The first radius = invariant 1 * weight of invariant 1 + invariant 2 * weight of invariant 2 + invariant 3 * weight of invariant 3. Of course, the embodiments in this application are not limited to the above example. Similarly, the determination of the second radius is the same as the determination of the first radius, and will not be repeated here.

[0100] S6034. When the number of invariants used is even, determine the first prediction result of the invariants. The first prediction result is used to characterize the development trend of the parameters of the invariants. In one example, based on the first angular velocity set and the second angular velocity set collected during the first time period, strategies such as linear regression can be used to obtain the first prediction result of the invariants at the next moment (i.e., the second moment) of the first time period. Exemplarily, when the number of (primary) invariants used is not odd, the trend of the radii of the two wheels can be predicted based on another (auxiliary) invariant, such as the belt tension, for example, by predicting the radii of the two wheels using the maximum likelihood probability prediction method. When the auxiliary invariant is the belt radius, if the belt radius changes slowly, the prediction result obtained by predicting the trend of the radii of the two wheels can be invariant * weight. When the number of invariants used is even, determine the changing trend of the radii of the two wheels, which represents the changing trend of the invariants of each wheel, for example, the trend of belt acceleration or deceleration. S6035. Based on the first prediction result, determine the first linear velocity of the first wheel and the second linear velocity of the second wheel at the second moment. This should be understood as follows: the linear velocities of the two wheels can be determined based on the invariant parameters and the angular velocities of the two wheels. Therefore, the linear velocities of the two wheels at the second moment can still be determined based on the predicted results of the invariant parameters and the angular velocities of the two wheels. S6036: Determine the first radius of the first wheel based on the first linear velocity of the first wheel, and determine the second radius of the second wheel based on the second linear velocity of the second wheel. Since linear velocity and radius satisfy a functional relationship, the first radius of the first wheel can be obtained based on the first linear velocity of the first wheel. Similarly, the radius of the second wheel can be obtained based on the second linear velocity of the second wheel.

[0101] In this embodiment, when the tape winding is unstable, the angular velocity set of the two wheels over a period of time is obtained, and the system invariants are determined based on the angular velocity set. When the number of invariants is odd, the weights of the invariants are updated according to the angular velocity set, and the radii and linear velocities of the two wheels at the second moment are determined based on the invariants and their weights. It is evident that allocating invariants and their weights through the angular velocity set, and then determining the radii and linear velocities of the two wheels based on the invariants and their weights, results in higher accuracy. When the number of invariants is even, the invariants are predicted to obtain the prediction results, and the first linear velocity of the first wheel and the second linear velocity of the second wheel at the second moment are determined based on the prediction results, thereby determining the first radius of the first wheel and the second radius of the second wheel. This method can obtain highly accurate radii and linear velocities with high stability.

[0102] Second, the tape is in a stable state.

[0103] In some embodiments, as shown in FIG7, the control method for tape conveying provided in this application embodiment further includes:

[0104] S604. Obtain the radius and linear velocity of the first and second rounds at the first moment. This should be understood as obtaining the radius and linear velocity of the first round at the first moment, and the radius and linear velocity of the second round at the first moment. In one possible implementation, the radius and linear velocity estimation module can store the radius and linear velocity of both rounds. Therefore, the radius and linear velocity estimation module can obtain the radius and linear velocity of the first round at the first moment, and the radius and linear velocity of the second round at the first moment.

[0105] In S6023 and / or S6024, when the tape winding is in a stable state, the first angular velocity of the first pull and the second angular velocity of the second pull are obtained. Then, S603 can be implemented as follows:

[0106] S6037. When the number of invariants is odd, determine the weights of each invariant based on the first angular velocity of the first round and the second angular velocity of the second round, as well as the radii and linear velocities of the first and second rounds at the first moment. If the system can obtain prior information about the difference between the probabilities of the angular velocity errors of the first and second rounds (e.g., equal, i.e., no difference), the weights can be updated by maximizing the posterior probability; otherwise, the weights can be updated by maximum likelihood. S6038. Determine the second prediction result based on each invariant and its weight. The second prediction result is used to characterize the development trend of the radii of the first and second rounds. That is, the optimal estimate of the corresponding two-round radius is obtained by assigning invariants (i.e., tape length). For example, the second prediction result is the sum of each invariant * the weight of the invariant. It should be understood that each invariant includes invariant 1, invariant 2, and invariant 3, and the second prediction result = invariant 1 * weight of invariant 1 + invariant 2 * weight of invariant 2 + invariant 3 * weight of invariant 3. Of course, the embodiments in this application are not limited to the above examples. S6039. Based on the second prediction result, determine the first radius of the first round and the second radius of the second round at the second time point. The implementation of S6039 is described in S6035 above and will not be repeated here. S6040. Determine the first linear velocity of the first round based on the first radius of the first round, and determine the second linear velocity of the second round based on the second radius of the second round. The implementation of S6040 is described in S6036 above and will not be repeated here.

[0107] S6041. When the number of invariants is even, determine the linear velocity of the first round at the first moment as the first linear velocity, and the linear velocity of the second round at the first moment as the second linear velocity. For example, if there are two invariants, such as the linear velocity of the first round at the first moment and the linear velocity of the second round at the first moment, then the linear velocity of the first round at the first moment can be directly set as the linear velocity of the first round at the second moment, and the linear velocity of the second round at the first moment can be directly set as the linear velocity of the second round at the second moment, allowing for fine-tuning of the linear velocity of the previous moment using current data and reliability metrics. S6042. Determine the first radius of the first round based on the first linear velocity of the first round, and determine the second radius of the second round based on the second linear velocity of the second round. Therefore, since there is a functional relationship between the radius and the linear velocity, the radius corresponding to the linear velocity can be obtained from the linear velocity. Thus, determine the first radius of the first round based on the first linear velocity of the first round, and determine the second radius of the second round based on the second linear velocity of the second round.

[0108] In this embodiment, when the tape is stable, the system invariants are determined, and the angular velocities of the two wheels at the second moment are obtained if the invariants are reliable. When the number of invariants is odd, the weights of each invariant are determined based on the aforementioned angular velocities and the radii and linear velocities of the two wheels at the first moment. Based on the invariants and their weights, a prediction result characterizing the radius development trend of the two wheels is determined. The radius of the two wheels is then determined based on this prediction result, and finally, the linear velocity of the two wheels is determined based on the radius. It is evident that by allocating invariants and their weights based on the aforementioned angular velocities and radii and linear velocities, and then determining the radius and linear velocity of the two wheels at the second moment based on the invariants and their weights, higher accuracy is achieved. When the number of invariants is even, the linear velocities of the two wheels at the first moment are determined as the linear velocities of the two wheels at the second moment; the radius of the two wheels is then determined based on the linear velocities of the two wheels at the second moment. This method is simple and easy to implement.

[0109] In some embodiments, the tape conveying system shown in FIG4 further includes a second frequency regulator, which is used to determine a second frequency. The second frequency is the frequency at which the radius and linear velocity of the first wheel and the second wheel are obtained. Then, S603 can be implemented to obtain the first linear velocity and first radius of the first wheel at a second time moment, and the second linear velocity and second radius of the second wheel at the second time moment according to the second frequency. For example, when the second frequency is less than a fourth threshold, the second frequency regulator can adjust the second frequency by upsampling. For example, the second frequency regulator interpolates the second frequency to adjust the second frequency. The fourth threshold can be understood as the target value of the second frequency after adjustment. For example, if the second frequency is 1 time / s and the fourth threshold is 2 times / s, the second frequency regulator inserts a value at the middle position of the 0-1s period of the first cycle. At this time, the second frequency changes from 1 time / s to 2 times / s. When the second frequency is greater than a fifth threshold, the second frequency regulator can adjust the second frequency by downsampling. For example, the second frequency regulator averages the second frequency and the fifth threshold to adjust the second frequency. The fifth threshold can be understood as the target value after adjusting the second frequency. Assuming the second frequency is 1 time / s and the fifth threshold is 0.5 times / s, the second frequency regulator can adjust the second frequency in the following ways: Method 1: The second frequency regulator merges the i-th cycle and the (i+1)-th cycle to adjust the second frequency, where i is a positive integer greater than or equal to 1. The i-th cycle is the i-th cycle for acquiring the radius and linear velocity of the first and second rounds. For example, if i = 1, and the time period of one cycle is 0-1s, then the second frequency regulator merges the 1st and 2nd cycles, making the time period of one cycle 0-2s. At this time, the second frequency changes from 1 time / s to 0.5 times / s. Method 2: The second frequency regulator acquires the average of the data from the i-th cycle and the (i+1)-th cycle, and the average of the data from the (i+2)-th and (i+3)-th cycles, and combines these two averages to form a new cycle, which is the adjusted second frequency. For example, if i = 1, and the time intervals are cycle 1, cycle 2, cycle 3, and cycle 4, the second frequency regulator acquires the data from cycle 1 and averages it with the data from cycle 2. For example, if the data from cycle 1 represents a linear velocity of 4.1 m / s and the data from cycle 2 represents a linear velocity of 4.3 m / s, the average value is 4.2 m / s, which becomes one data value for the new cycle. Similarly, the second frequency regulator acquires the data from cycle 3 and averages it with the data from cycle 4. For example, if the data from cycle 3 represents a linear velocity of 3.9 m / s and the data from cycle 4 represents a linear velocity of 4.1 m / s, the average value is 4.0 m / s, which becomes another data value for the new cycle. This means that four cycles within the same time period become two cycles. Thus, the second frequency changes from 1 Hz to 0.5 Hz.

[0110] In this embodiment, a second frequency regulator is set to adjust the acquisition frequency of radius and linear velocity, so that the acquisition frequency of radius and linear velocity can be changed, making it suitable for various scenarios and highly applicable.

[0111] S605. Based on the first linear speed, the first radius, the second linear speed, and the second radius, output a target electrical signal. The target electrical signal is used to control the tape reel to perform a conveying operation so that the first reel reaches the first linear speed and the second reel reaches the second linear speed.

[0112] It should be noted that Figure 9 is a schematic diagram illustrating the principle of tape transport control according to an embodiment of this application. As shown in Figure 9, R i R represents the radius of the feed pulley (i.e., the first pulley). o J represents the radius of the take-up pulley (i.e., the second pulley). i J represents the moment of inertia of the pulley. o The moment of inertia of the pulley, v Tape Represented as the linear velocity obtained through the servo (i.e., the detected linear velocity), v i The linear velocity (i.e., the first linear velocity) of the feed pulley, expressed as v, is obtained through the Hall sensor. o Let τ represent the linear velocity of the take-up pulley (i.e., the second linear velocity) obtained through the Hall sensor, and τ represent the belt tension (i.e., the first tension). The tape conveyor controller shown in Figure 9, in addition to the motor parameters, also requires the radii R of the two pulleys. i ,R o With rotational inertia J i J0, calculating the error to provide the necessary feedback signal, also requires the linear velocities of both wheels. Therefore, the two most important state variables in the entire tape conveyor system are the radius and the linear velocity. Thus, as shown in Figure 9, the controller needs to continuously observe or estimate the linear velocity, including the first linear velocity of the first wheel and the second linear velocity of the second wheel. The controller compares the first linear velocity of the first wheel and the second linear velocity of the second wheel with their corresponding speed reference values. It also needs to continuously observe or estimate the first tension and compare it with the tension reference value. Using variables related to the current radius (e.g., radius R and moment of inertia J) as inputs, the controller determines the gain of the motor's input current to determine how to achieve the required torque from the motor, thereby changing the linear velocity and tension to reach the target value.

[0113] In one possible implementation, the radius and linear velocity estimation module obtains the radius and linear velocity of the first and second reels at a second time moment. Then, the radius and linear velocity estimation module sends the radius and linear velocity of the first and second reels at the second time moment to the controller. The controller outputs a target electrical signal based on the radius and linear velocity of the first and second reels at the second time moment to control the tape reel to perform a conveying operation, so that the first reel reaches a first linear velocity and the second reel reaches a second linear velocity.

[0114] In this embodiment, the radius and linear velocity of the two wheels are estimated not only by using their angular velocities but also by combining the system's invariant parameters. This eliminates the errors inherent in estimating the radius and linear velocity solely by using their angular velocities, as well as the errors from low-precision angular velocity feedback from sensors. Therefore, high-precision radius and linear velocity of the two wheels can be output. The target electrical signals output from these radius and linear velocities are then used to control the tape conveying operation, resulting in more stable tape conveying. Furthermore, no additional tension sensor is required, ensuring stability while maintaining lower costs.

[0115] To make the radius and linear velocity of the two wheels more accurate, additional information can be added to determine these parameters. This additional information may include the detected linear velocity at a point on the tape, or the tension of the tape.

[0116] In some embodiments, other information includes the detection linear velocity of the detection point on the tape at a first moment. Accordingly, the tape transport system shown in FIG2 also includes a magnetic head, i.e., the tape transport system shown in FIG3, and the control method shown in FIG5 further includes:

[0117] S606. Obtain the detection line speed of the detection point on the tape at the first moment.

[0118] The detection linear speed of the detection points on the tape can be obtained in the following two ways:

[0119] In one possible implementation, the radius and linear velocity estimation module stores the linear velocity of each point on the tape at each time step. For example, the detection linear velocity of a detection point on the tape at the first time step.

[0120] In another possible implementation, S606 can be implemented as follows: S6061: Acquire servo information on the tape using the magnetic head. The servo information is used to characterize the linear velocity of the tape. This can be understood as the magnetic head being able to read and write data on the tape when the tape is stable, thereby acquiring the servo information. S6062: Based on the servo information, acquire the detection linear velocity of the detection point on the tape at the first moment. In this embodiment, acquiring the servo information on the tape using the magnetic head and acquiring the detection linear velocity based on the servo information allows for a more accurate linear velocity with the assistance of the servo information. The detection linear velocity eliminates the errors of the first and second angular velocities, resulting in higher stability.

[0121] Following the execution of S606, S605 can be implemented as follows: based on the detected linear velocity, first linear velocity, first radius, second linear velocity, and second radius, a target electrical signal is output. This target electrical signal is also used to control the tape reel to perform a conveying operation, so that the first reel reaches the first linear velocity and the second reel reaches the second linear velocity. This means that after acquiring the detected linear velocity of the tape reel, the detected linear velocity is sent to the radius and linear velocity estimation module. The radius and linear velocity estimation module obtains the radius and linear velocity of the first and second reels at the second moment based on the detected linear velocity, invariant parameters, first angular velocity, and second angular velocity. Then, the radius and linear velocity estimation module sends the radius and linear velocity of the first and second reels at the second moment to the controller.

[0122] In this embodiment of the application, by obtaining the detection linear speed of the tape roll, and combining the detection linear speed to determine the radius and linear speed of the first round and the radius and linear speed of the second round at the second moment, a more accurate radius and linear speed are obtained with the assistance of the detection linear speed of the tape roll, resulting in higher stability.

[0123] In other embodiments, additional information may include the tension of the tape, and accordingly, the control method shown in FIG5 further includes:

[0124] S607, Obtain the first tension of the tape.

[0125] The tension of the tape roll can be obtained in the following two ways:

[0126] In one possible implementation, the servo information is also used to characterize the tension at the position of the read / write head on the tape. S607 can be implemented as follows: based on the servo information, determine the tension at the position of the read / write head on the tape as the first tension. Here, the read / write head can be understood as a head group, which may include multiple sub-heads. Accordingly, S607 can be implemented as follows: obtain the positions of the multiple sub-heads at a first time and a second time; determine the position change based on the positions of the multiple sub-heads at the first time and the second time; determine the tension change of the tape based on the position change; and then, combined with the initial tension of the tape, determine the first tension of the tape at the second time.

[0127] In another possible implementation, the tape conveying system shown in Figure 2 also includes a tension sensor, i.e., the tape conveying system shown in Figure 4. S607 can be implemented as follows: the first tension of the tape is obtained by the tension sensor.

[0128] Accordingly, S605 can be implemented as follows: based on the first tension, first linear velocity, first radius, second linear velocity, and second radius, a target electrical signal is output. This target electrical signal is also used to control the tape reel to perform a conveying operation, so that the tape reel reaches the first tension, the first pulley reaches the first linear velocity, and the second pulley reaches the second linear velocity. This means that after the tension sensor acquires the first tension of the tape reel, it sends the first tension to the controller; or, after the magnetic head acquires the tension (i.e., the first tension) at the location of the magnetic head on the tape reel, it sends this tension to the controller. The controller outputs the target electrical signal based on the first tension, first linear velocity, first radius, second linear velocity, and second radius. In this embodiment, by acquiring the tension of the tape reel, a more accurate target electrical signal is obtained with the assistance of the tape tension, resulting in higher tape reel stability.

[0129] In some embodiments, the tape conveying system shown in FIG4 further includes a first frequency regulator, which is used to determine a first frequency. S607 can be implemented as: obtaining a first tension of the tape according to the first frequency. For example, when the first frequency is less than a first threshold, the first frequency is interpolated by the first frequency regulator to adjust the first frequency. Here, the first threshold can be understood as the target value after the first frequency is adjusted. The implementation method of the first frequency regulator adjusting the first frequency can be referred to the relevant description of the second frequency regulator adjusting the second frequency above, and will not be repeated here; when the first frequency is greater than a sixth threshold, the first frequency and the sixth threshold are averaged by the first frequency regulator to adjust the first frequency. Here, the sixth threshold can be understood as the target value after the first frequency is adjusted. Similarly, the implementation method of the first frequency regulator adjusting the first frequency can be referred to the relevant description of the second frequency regulator adjusting the second frequency above, and will not be repeated here. In the embodiments of this application, by setting the first frequency regulator to adjust the acquisition frequency of the tape tension, the acquisition frequency of the tension can be changed, which is convenient for various scenarios and has strong applicability.

[0130] In other embodiments, the difference from the above lies in that the linear velocities of the two wheels are determined based on the radii and angular velocities of the two wheels. It should be understood that the method for obtaining the radii of the two wheels is the same as or similar to the relevant description in the above embodiments. After determining the radii of the two wheels, the linear velocities of the two wheels can be obtained based on the radii and angular velocities of the two wheels. For example, the first linear velocity of the first wheel is the product of the first radius of the first wheel and the angular velocity of the first wheel at a second time moment, and the second linear velocity of the second wheel is the product of the second radius of the second wheel and the angular velocity of the second wheel at a second time moment. In the embodiments of this application, the linear velocities of the two wheels are determined by their radii and angular velocities. This ensures that both the radii and linear velocities of the two wheels are accurate, and the target electrical signals output by the radii and linear velocities of the two wheels are used to control the tape winding operation, making the tape winding more stable.

[0131] Based on this scheme, in practical applications, this application can estimate the radius and linear velocity of the two wheels and the linear velocity of the tape in the case of high-speed tape conveying. It provides a high-precision (theoretical and experimental results both prove that the scheme provides unbiased estimation of the target data and the function of progressively reducing variance) and real-time (low complexity) solution in high-speed conveying, incomplete equipment, or initial tape conveying environments. The experimental results are shown in Figure 10, where the horizontal axis represents time in seconds. Each time interval is 20*38*10. -6 Figure 10 shows the vertical axis representing speed in m / s. The reference speed is 4 m / s. Using LTO5 (the 5th generation before LTO9) tape as the tape transport system, experiments were conducted on LTO5 tape to verify the beneficial effects of this application. Figure 10 shows the speed stabilization effect combined with the controller (standard IBM controller speed). It can be seen that in the forward transport effect diagram shown in Figure 10, the linear velocity of the second round in this application highly matches the tape reel linear velocity interpreted by the head servo signal (v). The experimental results are shown in Figure 11 below, where the horizontal axis represents time in seconds. Each time interval is 38*10. -6 *10 4 The vertical axis in Figure 11 represents velocity, in m / s. The reference velocity is 4 m / s. As expected in Figure 11, the linear velocity of the second roll of the tape transport system in this application closely matches the linear velocity interpreted from the head servo signal (v).

[0132] The above embodiments are based on the premise that both wheels are functioning normally. If one wheel malfunctions, this can be understood as a problem with the wheel's sensor, such as the sensor being temporarily or temporarily unable to collect data. In this case, the radius and linear velocity of the two wheels can be evaluated using the following method. Figure 12 is a flowchart illustrating another control method for tape conveying provided in this application embodiment. As shown in Figure 12, this method is applied to the tape conveying system shown in Figure 2, which includes a first wheel, a second wheel, and a tape. The first and second wheels rotate to drive the tape to perform the conveying operation. Assuming that the second wheel in this system malfunctions, in this case, the method may include:

[0133] S1201. Determine the invariants of the system. Invariants are objects that characterize parameters in the system that remain stable over a period of time.

[0134] The objects include intrinsic objects and additional objects. Intrinsic objects are the system objects determined in the case that no failure occurred in the second round. Additional objects are the system objects determined in the case that a failure occurred in the second round. Additional objects include the first value obtained by performing logical operations on the objects corresponding to the first round and the objects corresponding to the second round.

[0135] The inherent object can be the total length of the tape or the tension. Of course, the inherent object is not limited to the above examples; it can also be the linear velocity of the two wheels at the first moment assuming no failure occurs in the second wheel.

[0136] The first value is obtained by performing a logical operation on the object corresponding to the first round and the object corresponding to the second round. For example, in Example 1, the object corresponding to the first round can be the linear velocity v1 of the first round at the first moment, and the object corresponding to the second round can be the linear velocity v2 of the second round at the first moment. The logical operation is a difference operation. Therefore, the difference between the linear velocity v1 of the first round at the first moment and the linear velocity v2 of the second round at the first moment is the first value. The first value is a constant, such as 0.

[0137] The implementation of S1201 can be found in the relevant description in S501 above, and will not be repeated here.

[0138] S1202. Obtain the radius of the first round at the first moment, the radius of the second round at the first moment, and the angular velocity of the first round at the second moment. The second moment is the moment after the first moment.

[0139] The radius of the first wheel at the first moment can be obtained and stored using the tape conveying control method provided in this application. This can be directly applied when predicting the radii and linear velocities of the two wheels at the second moment. Similarly, the method for obtaining the radius of the second wheel at the first moment is the same as that for the first wheel, and will not be repeated here.

[0140] In one example, the angular velocity of the first round at the second moment can be obtained from the angular velocity sensor corresponding to the first round.

[0141] S1203. Based on the parameters of the invariant, the radius of the first round at the first moment, and the angular velocity of the first round at the second moment, determine at least one reference quantity, which is used to characterize the sensitivity of the invariant.

[0142] For example, if the invariant is the total length of the tape reel, then one reference quantity is the sensitivity of the total tape length. If the invariant is the tension of the tape reel, then another reference quantity is the sensitivity of the tape tension. If the invariant is the linear velocity of the tape reel, then yet another reference quantity is the sensitivity of the tape linear velocity. Of course, the embodiments of this application are not limited to the examples listed above, and may also include other situations, such as if the invariant is the linear velocity of the first reel, then another reference quantity is the sensitivity of the linear velocity of the first reel.

[0143] S1204. Based on the radius of the first wheel at the first moment, the radius of the second wheel at the first moment, and at least one reference quantity, determine the angular velocity of the second wheel at the second moment.

[0144] Because the second wheel malfunctioned, its angular velocity at various times could not be collected. Therefore, the angular velocity of the second wheel at the second moment needs to be determined based on the radius of the first wheel at the first moment, the radius of the second wheel at the first moment, and at least one reference quantity. In this embodiment, the expression for the angular velocity of the second wheel at the second moment is not specifically limited.

[0145] S1205. Based on the radius of the first wheel at the first moment, the angular velocity of the first wheel at the second moment, and at least one reference quantity, determine the first linear velocity and the first radius of the first wheel at the second moment.

[0146] In one possible implementation, S1205 can be implemented as follows: determining the radius of the first wheel at the second moment based on the radius of the first wheel at the first moment, the angular velocity of the first wheel at the second moment, and at least one reference quantity; then determining the first linear velocity of the first wheel at the second moment based on the radius of the first wheel at the second moment and the functional relationship between the radius and the linear velocity. The expression for the radius and linear velocity of the first wheel at the second moment is not specifically limited.

[0147] S1206. Based on the radius of the second wheel at the first moment, the angular velocity of the second wheel at the second moment, and at least one reference quantity, determine the second linear velocity and the second radius of the second wheel at the second moment.

[0148] In one possible implementation, S1206 can be implemented as follows: determining the second radius of the second wheel at the second moment based on the radius of the second wheel at the first moment, the angular velocity of the second wheel at the second moment, and at least one reference quantity; and then determining the second linear velocity of the second wheel at the second moment based on the radius of the second wheel at the second moment and the functional relationship between the radius and the linear velocity. The expressions for the radius and linear velocity of the second wheel at the second moment are not specifically limited.

[0149] S1207. Based on the first linear speed, the first radius, the second linear speed, and the second radius, output a target electrical signal. The target electrical signal is used to control the tape reel to perform a conveying operation so that the first reel reaches the first linear speed and the second reel reaches the second linear speed.

[0150] The implementation of S1207 can be found in the relevant description in S505 above, and will not be repeated here.

[0151] Compared to related technologies, the embodiments of this application estimate the radius and linear velocity of the two wheels not only by using their angular velocities but also by combining the system's invariant parameters. This eliminates the errors inherent in estimating the radius and linear velocity of the two wheels solely based on their angular velocities, as well as the errors caused by low-precision angular velocity feedback from sensors. Therefore, it can output high-precision radius and linear velocity of the two wheels. The target electrical signals output from these radius and linear velocities are then used to control the tape conveying operation, resulting in more stable tape conveying. Furthermore, no additional tension sensor is required, ensuring stability while maintaining lower costs.

[0152] Furthermore, compared to related technologies, this application can accurately calculate the radius and linear velocity of the two wheels and the linear velocity of the tape winding even without servo information collected by the magnetic head, thus making the tape winding process control smoother. This application does not require a tension sensor to collect tape tension to assist in determining the radius and linear velocity of the two wheels, reducing costs and increasing robustness. This application does not require a filter; high-precision and real-time radius and velocity calculations can be achieved through low-complexity computation.

[0153] As shown in Figure 13, this application embodiment also provides a control device for tape conveying. The device 1300 is applied to a tape conveying system, which includes a first wheel, a second wheel, and a tape. The first wheel and the second wheel rotate to drive the tape to perform a conveying operation. The device 1300 includes: a determining module 1310, used to determine the invariants of the system, where the invariants are objects that represent parameters that remain stable in the system over a period of time; an acquiring module 1320, used to acquire the first angular velocity of the first wheel and the second angular velocity of the second wheel; the determining module 1310 is also used to determine the first linear velocity and the first radius of the first wheel at a second moment, and the second linear velocity and the second radius of the second wheel at the second moment, based on the parameters of the invariants, the first angular velocity, and the second angular velocity, where the second moment is the moment following the first moment; and an output module 1330, used to output a target electrical signal based on the first linear velocity, the first radius, the second linear velocity, and the second radius, where the target electrical signal is used to control the tape to perform a conveying operation so that the first wheel reaches the first linear velocity and the second wheel reaches the second linear velocity.

[0154] In one possible implementation, the acquisition module 1320 is further configured to acquire the detection linear velocity of the detection point on the tape at a first moment; the determination module 1310 is configured to determine the first linear velocity and first radius of the first wheel at a second moment, and the second linear velocity and second radius of the second wheel at a second moment, based on the detection linear velocity, the invariant parameter, the first angular velocity and the second angular velocity.

[0155] In one possible implementation, the system further includes a magnetic head and an acquisition module 1310, which is also used to acquire servo information on the tape via the magnetic head. The servo information is used to characterize the linear speed of the tape. The acquisition module 1310 is used to acquire the detection linear speed of the detection point on the tape at a first moment based on the servo information.

[0156] In one possible implementation, the acquisition module 1310 is further configured to acquire the first tension of the tape; the output module 1330 is configured to output a target electrical signal based on the first tension, the first linear speed, the first radius, the second linear speed, and the second radius. The target electrical signal is further configured to control the tape to perform a conveying operation so that the tape reaches the first tension, the first wheel reaches the first linear speed, and the second wheel reaches the second linear speed.

[0157] In one possible implementation, the system further includes a tension sensor; an acquisition module 1310 is used to acquire the first tension of the tape via the tension sensor; or, based on servo information, to determine the tension at the location of the magnetic head on the tape as the first tension.

[0158] In one possible implementation, the system further includes a first frequency regulator for determining a first frequency; and an acquisition module 1310 for acquiring a first tension of the tape according to the first frequency.

[0159] In one possible implementation, the acquisition module 1310 is used to acquire the first tension of the tape according to the frequency after interpolation of the first frequency when the first frequency is less than the first threshold; and to acquire the first tension of the tape according to the frequency after averaging the first frequency and the sixth threshold when the first frequency is greater than the sixth threshold.

[0160] In one possible implementation, the acquisition module 1310 is used to acquire, when the tape is in a non-stationary state, a first angular velocity set for the first round and a second angular velocity set for the second round within a first time period, wherein the first angular velocity set includes the first angular velocity and the second angular velocity set includes the second angular velocity; the determination module 1320 is used to determine the invariants of the system based on the first angular velocity set and the second angular velocity set; the determination module is used to update the weights of the invariants based on the first angular velocity set and the second angular velocity set when the number of invariants is odd, wherein the weights of the invariants are the proportions of the invariant parameters allocated to the two rounds; and based on each invariant and its weight, to determine the first linear velocity and the first radius of the first round and the second linear velocity and the second radius of the second round at the second time point, wherein the invariants are related to both the first and second radii, the first linear velocity is determined based on the first radius, and the second linear velocity is determined based on the second radius.

[0161] In one possible implementation, the acquisition module 1310 is used to acquire, when the tape is in a non-stationary state, a first angular velocity set for the first round and a second angular velocity set for the second round within a first time period, wherein the first angular velocity set includes the first angular velocity and the second angular velocity set includes the second angular velocity; the determination module 1320 is used to determine the invariants of the system based on the first angular velocity set and the second angular velocity set; the determination module 1320 is used to determine a first prediction result of the invariants when the number of invariants is even, wherein the first prediction result is used to characterize the development trend of the parameters of the invariants; based on the first prediction result, the first linear velocity of the first round and the second linear velocity of the second round are determined at a second time point; the first radius of the first round is determined based on the first linear velocity of the first round, and the second radius of the second round is determined based on the second linear velocity of the second round.

[0162] In one possible implementation, the acquisition module 1310 is further configured to acquire the radius and linear velocity of the first and second rounds at a first moment; the determination module is configured to determine the invariants of the system when the tape is in a stable state; the acquisition module 1310 is configured to acquire the first angular velocity of the first round and the second angular velocity of the second round when the fluctuation of the invariant is less than a second threshold, or when the fluctuation of the invariant is greater than the second threshold and the reliability metric of the invariant satisfies a third threshold; the determination module 1320 is configured to determine the weight of each invariant based on the first angular velocity of the first round and the second angular velocity of the second round, as well as the radius and linear velocity of the first and second rounds at the first moment, when the number of invariants is odd; determine a second prediction result based on each invariant and its weight, the second prediction result being used to characterize the development trend of the radius of the first and second rounds; determine the first radius of the first round and the second radius of the second round at the second moment based on the second prediction result; determine the first linear velocity of the first round based on the first radius of the first round, and determine the second linear velocity of the second round based on the second radius of the second round.

[0163] In one possible implementation, the acquisition module 1310 is further configured to acquire the radius and linear velocity of the first and second rounds at a first moment; the determination module is configured to determine the invariants of the system when the tape is in a stable state; the acquisition module 1310 is configured to acquire the first angular velocity of the first round and the second angular velocity of the second round when the fluctuation of the invariant is less than a second threshold, or when the fluctuation of the invariant is less than the second threshold and the reliability metric of the invariant satisfies a third threshold; the determination module 1320 is configured to determine the linear velocity of the first round at the first moment as the first linear velocity and the linear velocity of the second round at the first moment as the second linear velocity when the number of invariants is even; determine the first radius of the first round based on the first linear velocity of the first round, and determine the second radius of the second round based on the second linear velocity of the second round.

[0164] In one possible implementation, the system further includes a second frequency regulator for determining a second frequency; and an acquisition module 1310 for acquiring the radius and linear velocity of the two wheels according to the second frequency.

[0165] In one possible implementation, the acquisition module 1310 is used to acquire the radius and linear velocity of the two wheels by interpolating the second frequency when the second frequency is less than the fourth threshold; and to acquire the radius and linear velocity of the two wheels by averaging the second frequency and the fifth threshold when the second frequency is greater than the fifth threshold.

[0166] It should be understood that the device shown in Figure 13 is only illustrated by the division of the above-described functional modules. In practical applications, the functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the device and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiments, which will not be repeated here.

[0167] This application embodiment also provides a control device for tape conveying. This device is applied to a tape conveying system, which includes a first wheel, a second wheel, and a tape. The first and second wheels rotate to drive the tape to perform a conveying operation. In the event of a failure in the second wheel, the device includes: a determination module for determining invariants of the system. The invariants are objects that characterize parameters that remain stable within the system over a period of time. These objects include intrinsic objects and additional objects. The intrinsic objects are system objects determined when the second wheel does not fail, and the additional objects are system objects determined when the second wheel fails. The additional objects include a first value obtained by performing logical operations on the objects corresponding to the first and second wheels; an acquisition module for acquiring the radius of the first wheel at a first moment, the radius of the second wheel at a first moment, and the angular velocity of the first wheel at a second moment, where the second moment is the next moment after the first moment; and a determination module further for determining the parameters of the invariants, the first wheel, the second wheel, and ... The system comprises: a first wheel's radius at a first moment and its angular velocity at a second moment; a second wheel's radius at a first moment and its angular velocity at a second moment; a reference quantity used to characterize the sensitivity of an invariant; a determining module further used to determine the angular velocity of the second wheel at a second moment based on the first wheel's radius at a first moment, the second wheel's radius at a first moment, and the at least one reference quantity; a determining module further used to determine the first linear velocity and first radius of the first wheel at a second moment based on the first wheel's radius at a first moment, the first wheel's angular velocity at a second moment, and the at least one reference quantity; a determining module further used to determine the second linear velocity and second radius of the second wheel at a second moment based on the second wheel's radius at a first moment, the second wheel's angular velocity at a second moment, and the at least one reference quantity; and an output module used to output a target electrical signal based on the first linear velocity, the first radius, the second linear velocity, and the second radius, the target electrical signal used to control the tape reel to perform a conveying operation so that the first wheel reaches the first linear velocity and the second wheel reaches the second linear velocity.

[0168] In one possible implementation, the acquisition module is further configured to acquire the first tension of the tape; the output module is configured to output a target electrical signal based on the first tension, the first linear speed, the first radius, the second linear speed, and the second radius, and the target electrical signal is further configured to control the tape to perform a conveying operation so that the tape reaches the first tension, the first wheel reaches the first linear speed, and the second wheel reaches the second linear speed.

[0169] In one possible implementation, the system further includes a tension sensor; an acquisition module for acquiring the first tension of the tape via the tension sensor; or, based on servo information, determining the tension at the location of the magnetic head on the tape as the first tension.

[0170] In one possible implementation, the system further includes a first frequency regulator for determining a first frequency; and an acquisition module for acquiring a first tension of the tape according to the first frequency.

[0171] In one possible implementation, the acquisition module is used to acquire the first tension of the tape according to the frequency after interpolation of the first frequency when the first frequency is less than the first threshold; and to acquire the first tension of the tape according to the frequency after averaging the first frequency and the sixth threshold when the first frequency is greater than the sixth threshold.

[0172] It should be understood that the above-described device is only illustrated by the division of the functional modules described above. In practical applications, the functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0173] Referring to FIG14, FIG14 shows a schematic structural diagram of a control device 1400 for a tape transport system provided in an exemplary embodiment of this application. The control device 1400 for the tape transport system shown in FIG14 is used to perform the operations involved in the control method for tape transport shown in FIG3 above. The control device 1400 for the tape transport system can be implemented by a general bus architecture. As shown in FIG14, the control device 1400 for the tape transport system includes at least one processor 1401, a memory 1403, and at least one communication interface 1404.

[0174] Processor 1401 may be, for example, a general-purpose central processing unit (CPU), a digital signal processor (DSP), a network processor (NP), a graphics processing unit (GPU), a neural-network processing unit (NPU), a data processing unit (DPU), a microprocessor, or one or more integrated circuits for implementing the embodiments of this application. For example, processor 1401 includes an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A PLD may be, for example, a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), generic array logic (GAL), or any combination thereof. It can implement or execute the various logic blocks, modules, and circuits described in connection with the embodiments of this application. A processor may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0175] Optionally, the control device 1400 of the tape transport system also includes a bus. The bus is used to transmit information between the components of the control device 1400. The bus can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be categorized as an address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used in Figure 14, but this does not indicate that there is only one bus or one type of bus.

[0176] Memory 1403 may be, for example, read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions; random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions; electrically erasable programmable read-only memory (EEPROM); compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile optical discs, Blu-ray discs, etc.); magnetic disk storage media or other magnetic storage devices; or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. Memory 1403 may exist independently and be connected to processor 1401 via a bus. Memory 1403 may also be integrated with processor 1401.

[0177] Communication interface 1404 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), or Wireless Local Area Network (WLAN). Communication interface 1404 can include wired and wireless communication interfaces. Specifically, communication interface 1404 can be an Ethernet interface, a Fast Ethernet (FE) interface, a Gigabit Ethernet (GE) interface, an Asynchronous Transfer Mode (ATM) interface, a WLAN interface, a cellular network communication interface, or a combination thereof. The Ethernet interface can be an optical interface, an electrical interface, or a combination thereof. In this embodiment, communication interface 1404 can be used by the control device 1400 of the tape conveyor system to communicate with other devices.

[0178] In a specific implementation, as one embodiment, processor 1401 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG14. Each of these processors may be a single-core processor or a multi-core processor. Here, processor may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0179] In a specific implementation, as one embodiment, the control device 1400 of the tape transport system may include multiple processors, such as processor 1401 and processor 1405 shown in FIG. 14. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). Here, a processor may refer to one or more devices, circuits, and / or processing cores used for processing data (such as computer program instructions).

[0180] In a specific implementation, as one embodiment, the control device 1400 of the tape conveyor system may further include output devices and input devices. The output devices communicate with the processor 1401 and can display information in various ways. For example, the output devices may be liquid crystal displays (LCDs), light-emitting diode (LED) displays, cathode ray tube (CRT) displays, or projectors. The input devices communicate with the processor 1401 and can receive user input in various ways. For example, the input devices may be mice, keyboards, touchscreen devices, or sensing devices.

[0181] In some embodiments, memory 1403 stores program code 1410 for executing the solution of this application, and processor 1401 can execute the program code 1410 stored in memory 1403. That is, the control device 1400 of the tape transport system can implement the tape transport control method provided in the method embodiment through processor 1401 and program code 1410 in memory 1403. Program code 1410 may include one or more software modules. Optionally, processor 1401 itself may also store program code or instructions for executing the solution of this application.

[0182] In a specific embodiment, the control device 1400 of the tape conveying system in this application embodiment may correspond to the computing device in the above-described method embodiments.

[0183] In the tape transport control method shown in Figure 5, each step is completed through the integrated logic circuitry of the hardware or the instructions in the software form of the processor in the control device 1400 of the tape transport system. The steps of the method disclosed in this application can be directly implemented by the hardware processor, or by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. Since the storage medium is located in memory, the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method; to avoid repetition, these will not be described in detail here.

[0184] This application also provides a tape transport control device, which includes a processor for loading and executing at least one instruction to enable the tape transport control device to implement the tape transport control method provided in this application. Optionally, the device further includes a memory coupled to the processor for storing at least one instruction.

[0185] This application also provides a computer-readable storage medium storing at least one instruction, which is loaded and executed by a processor to enable the computer to implement the tape transfer control method as described above.

[0186] This application also provides a computer program (product) that, when executed by a computer, causes the processor or computer to perform the corresponding steps and / or processes in the above method embodiments.

[0187] This application also provides a chip including a processor for calling and executing instructions stored in a memory, causing a communication device equipped with the chip to perform the tape transfer control method described above.

[0188] This application embodiment also provides another chip, including: an input interface, an output interface, a processor, and a memory. The input interface, the output interface, the processor, and the memory are connected through an internal connection path. The processor is used to execute code in the memory. When the code is executed, the processor is used to execute the tape transfer control method as described above.

[0189] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The 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 processes or functions described in this application are 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, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer 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).

[0190] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the setting results involved in this application were obtained with full authorization.

[0191] Those skilled in the art will recognize that the method steps and modules described in conjunction with the embodiments disclosed herein can be implemented in software, hardware, firmware, or any combination thereof. To clearly illustrate the interchangeability of hardware and software, the steps and components of each embodiment have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0192] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0193] When implemented using software, it can be implemented wholly or partially as a computer program product. This computer program product includes one or more computer program instructions. As an example, the methods of this application embodiment can be described in the context of machine-executable instructions, such as program modules that execute on a device on a real or virtual processor of the target. Generally, program modules include routines, programs, libraries, objects, classes, components, data structures, etc., which perform specific tasks or implement specific abstract data structures. In various embodiments, the functionality of program modules can be combined or divided among the described program modules. The machine-executable instructions for the program modules can execute within a local or distributed device. In a distributed device, the program modules can reside on both local and remote storage media.

[0194] Computer program code used to implement the methods of the embodiments of this application may be written in one or more programming languages. This computer program code may be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable tape transport control device, such that when executed by the computer or other programmable tape transport control device, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a computer, partially on a computer, as a standalone software package, partially on a computer and partially on a remote computer, or entirely on a remote computer or server.

[0195] In the context of the embodiments of this application, computer program code or related data may be carried by any suitable carrier to enable a device, apparatus, or processor to perform the various processes and operations described above. Examples of carriers include signals, computer-readable media, etc.

[0196] Examples of signals may include electrical, optical, radio, sound, or other forms of propagation signals, such as carrier waves, infrared signals, etc.

[0197] A machine-readable medium can be any tangible medium that contains or stores programs for or relating to an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. More detailed examples of machine-readable storage media include electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0198] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and modules described above can be found in the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0199] In the embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or modules, or they may be electrical, mechanical, or other forms of connection.

[0200] The modules described as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0201] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0202] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a control device for a tape conveyor system, etc.) to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0203] In this application, the terms "first," "second," etc., are used to distinguish identical or similar items that have substantially the same function and purpose. It should be understood that there is no logical or temporal dependency between "first," "second," and "nth," nor does it limit the quantity or order of execution. It should also be understood that although the following description uses the terms "first," "second," etc., to describe various elements, these elements should not be limited by the terms. These terms are merely used to distinguish one element from another. For example, without departing from the various examples described, a first image can be referred to as a second image, and similarly, a second image can be referred to as a first image. Both the first image and the second image can be images, and in some cases, they can be separate and distinct images.

[0204] It should also be understood that, in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0205] In this application, the term "at least one" means one or more, and the term "multiple" means two or more. For example, multiple second messages refer to two or more second messages. The terms "system" and "network" are often used interchangeably in this document.

[0206] It should be understood that the terminology used in the description of the various examples herein is for the purpose of describing particular examples only and is not intended to be limiting. As used in the description of the various examples and the appended claims, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0207] It should also be understood that the term "and / or" as used herein refers to and covers any and all possible combinations of one or more of the associated listed items. The term "and / or" describes an association between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects are in an "or" relationship.

[0208] It should also be understood that the term “comprising” (also referred to as “includes”, “including”, “comprises” and / or “comprising”) as used in this specification specifies the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0209] It should also be understood that the terms “if” and “if” can be interpreted as meaning “when” or “upon”, or “in response to determination” or “in response to detection”. Similarly, depending on the context, the phrases “if determination…” or “if detection [the stated condition or event]” can be interpreted as meaning “when determination…”, or “in response to determination…”, or “when detection [the stated condition or event]” or “in response to detection [the stated condition or event]”.

[0210] It should be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0211] It should also be understood that the phrases "an embodiment," "an embodiment," and "a possible implementation" used throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment or implementation is included in at least one embodiment of this application. Therefore, the phrases "in an embodiment," "an embodiment," or "a possible implementation" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

Claims

1. A control method of a tape winding and conveying, characterized by, The method is applied to a tape conveying system, the system comprising a first wheel, a second wheel and a tape, the first wheel and the second wheel rotating to drive the tape to perform a conveying operation, the method comprising: determining an invariant of the system, the invariant being used to represent an object of a parameter that remains stable in the system over a period of time; obtaining a first angular velocity of the first wheel and a second angular velocity of the second wheel; determining, according to the parameter of the invariant, the first angular velocity and the second angular velocity, a first linear velocity and a first radius of the first wheel at a second time, and a second linear velocity and a second radius of the second wheel at the second time; outputting a target electrical signal according to the first linear velocity, the first radius, the second linear velocity and the second radius, the target electrical signal being used to control the tape to perform a conveying operation, so that the first wheel reaches the first linear velocity and the second wheel reaches the second linear velocity.

2. The method of claim 1, wherein, The method further comprises: obtaining a detection linear velocity of a detection point on the tape at a first time, the first time being a previous time of the second time; The determining, according to the parameter of the invariant, the first angular velocity and the second angular velocity, a first linear velocity and a first radius of the first wheel at a second time, and a second linear velocity and a second radius of the second wheel at the second time, comprises: determining, according to the detection linear velocity, the parameter of the invariant, the first angular velocity and the second angular velocity, a first linear velocity and a first radius of the first wheel at a second time, and a second linear velocity and a second radius of the second wheel at the second time.

3. The method of claim 2, wherein, The system further comprises a magnetic head, and the method further comprises: obtaining, by the magnetic head, servo information on the tape, the servo information being used to represent a linear velocity of the tape; The obtaining a detection linear velocity of a detection point on the tape at a first time comprises: obtaining, according to the servo information, the detection linear velocity of the detection point on the tape at the first time.

4. The method of claim 3, wherein, The method further comprises: obtaining a first tension of the tape; The outputting a target electrical signal according to the first linear velocity, the first radius, the second linear velocity and the second radius comprises: outputting the target electrical signal according to the first tension, the first linear velocity, the first radius, the second linear velocity and the second radius, the target electrical signal being further used to control the tape to perform a conveying operation, so that the tape reaches the first tension, the first wheel reaches the first linear velocity and the second wheel reaches the second linear velocity.

5. The method of claim 4, wherein, The system further comprises a tension sensor; The obtaining a first tension of the tape comprises: obtaining the first tension of the tape by the tension sensor; or determining, according to the servo information, a tension at a position of the magnetic head on the tape as the first tension.

6. The method according to claim 4 or 5, characterized in that, The system further comprises a first frequency regulator, the first frequency regulator being used to determine a first frequency; The obtaining a first tension of the tape comprises: obtaining the first tension of the tape at the first frequency.

7. The method according to any one of claims 1 to 6, characterized in that, The acquiring the first angular velocity of the first wheel and the second angular velocity of the second wheel comprises: In the case that the tape is in a non-steady state, a first angular velocity set of the first wheel and a second angular velocity set of the second wheel in a first time period are acquired, the first angular velocity set comprising the first angular velocity, and the second angular velocity set comprising the second angular velocity; The determining the invariants of the system comprises: The invariants of the system are determined according to the first angular velocity set and the second angular velocity set; The determining the first linear velocity and the first radius of the first wheel at a second time and the second linear velocity and the second radius of the second wheel at the second time according to the parameters of the invariants, the first angular velocity and the second angular velocity comprises: When the number of the invariants is odd, the weight of the invariants is updated according to the first angular velocity set and the second angular velocity set, the weight of the invariants being the proportion of the invariants allocated to the two wheels; The first linear velocity and the first radius of the first wheel and the second linear velocity and the second radius of the second wheel at the second time are determined according to the invariants and the weights of the invariants, the invariants being related to the first radius and the second radius, the first linear velocity being determined according to the first radius, and the second linear velocity being determined according to the second radius.

8. The method according to any one of claims 1-6, characterized in that, The acquiring the first angular velocity of the first wheel and the second angular velocity of the second wheel comprises: In the case that the tape is in a non-steady state, a first angular velocity set of the first wheel and a second angular velocity set of the second wheel in a first time period are acquired, the first angular velocity set comprising the first angular velocity, and the second angular velocity set comprising the second angular velocity; The determining the invariants of the system comprises: The invariants of the system are determined according to the first angular velocity set and the second angular velocity set; The determining the first linear velocity and the first radius of the first wheel at a second time and the second linear velocity and the second radius of the second wheel at the second time according to the parameters of the invariants, the first angular velocity and the second angular velocity comprises: When the number of the invariants is even, a first prediction result of the invariants is determined, the first prediction result being used to represent the development trend of the parameters of the invariants; The first linear velocity of the first wheel and the second linear velocity of the second wheel at the second time are determined according to the first prediction result; The first radius of the first wheel is determined according to the first linear velocity of the first wheel, and the second radius of the second wheel is determined according to the second linear velocity of the second wheel.

9. The method according to any one of claims 1-6, characterized in that, The method further comprises: The radii and linear velocities of the first wheel and the second wheel at a first time are acquired; The determining the invariants of the system comprises: In the case that the tape is in a steady state, the invariants of the system are determined; The acquiring the first angular velocity of the first wheel and the second angular velocity of the second wheel comprises: when the fluctuation of the invariant is less than a second threshold, or when the fluctuation of the invariant is greater than the second threshold and a reliability measure of the invariant satisfies a third threshold, obtaining the first angular velocity of the first wheel and the second angular velocity of the second wheel; the determining, according to the parameters of the invariants, the first angular velocity and the second angular velocity, the first linear velocity and the first radius of the first wheel at the second time, and the second linear velocity and the second radius of the second wheel at the second time, comprises: when the number of the invariants is odd, determining a weight of each of the invariants according to the first angular velocity of the first wheel, the second angular velocity of the second wheel, and the radius and linear velocity of the first wheel and the second wheel at the first time; determining a second prediction result according to each of the invariants and the weight thereof, the second prediction result being used to represent a development trend of the radius of the first wheel and the second wheel; determining the first radius of the first wheel and the second radius of the second wheel at the second time according to the second prediction result; determining the first linear velocity of the first wheel according to the first radius of the first wheel, and determining the second linear velocity of the second wheel according to the second radius of the second wheel.

10. The method according to any one of claims 1-6, characterized in that, The method further comprises: obtaining the radius and linear velocity of the first wheel and the second wheel at the first time; the determining the invariants of the system comprises: determining the invariants of the system in a case that the winding belt is in a steady state; the obtaining the first angular velocity of the first wheel and the second angular velocity of the second wheel comprises: when the fluctuation of the invariant is less than a second threshold, or when the fluctuation of the invariant is greater than the second threshold and a reliability measure of the invariant satisfies a third threshold, obtaining the first angular velocity of the first wheel and the second angular velocity of the second wheel; the determining, according to the parameters of the invariants, the first angular velocity and the second angular velocity, the first linear velocity and the first radius of the first wheel at the second time, and the second linear velocity and the second radius of the second wheel at the second time, comprises: when the number of the invariants is even, determining that the linear velocity of the first wheel at the first time is the first linear velocity, and the linear velocity of the second wheel at the first time is the second linear velocity; determining the first radius of the first wheel according to the first linear velocity of the first wheel, and determining the second radius of the second wheel according to the second linear velocity of the second wheel.

11. A control method of a tape winding and conveying, characterized by, The method is applied to a winding belt conveying system, the system comprising a first wheel, a second wheel and a winding belt, the first wheel and the second wheel rotating to drive the winding belt to perform a conveying operation, in a case that the second wheel fails, the method comprising: determining an invariant of the system, the invariant being used to represent an object of a parameter that remains stable in the system for a period of time, the object including an inherent object determined in the case where no fault occurs in the second wheel and an additional object determined in the case where a fault occurs in the second wheel, the additional object including a first value obtained by performing a logical operation on the object corresponding to the first wheel and the object corresponding to the second wheel; obtaining a radius of the first wheel at a first time, a radius of the second wheel at the first time, and an angular velocity of the first wheel at a second time, the second time being a next time of the first time; determining at least one reference quantity according to the parameter of the invariant, the radius of the first wheel at the first time, and the angular velocity of the first wheel at the second time, the reference quantity being used to represent a sensitivity of the invariant; determining an angular velocity of the second wheel at the second time according to the radius of the first wheel at the first time, the radius of the second wheel at the first time, and the at least one reference quantity; determining a first linear velocity and a first radius of the first wheel at the second time according to the radius of the first wheel at the first time, the angular velocity of the first wheel at the second time, and the at least one reference quantity; determining a second linear velocity and a second radius of the second wheel at the second time according to the radius of the second wheel at the first time, the angular velocity of the second wheel at the second time, and the at least one reference quantity; outputting a target electrical signal according to the first linear velocity, the first radius, the second linear velocity, and the second radius, the target electrical signal being used to control the tape to perform a conveying operation so that the first wheel reaches the first linear velocity and the second wheel reaches the second linear velocity.

12. A control device for tape winding and feeding, characterized in that The device is applied to a tape conveying system, the system including a first wheel, a second wheel, and a tape, the first wheel and the second wheel rotating to drive the tape to perform a conveying operation, and the device including: a determining module configured to determine an invariant of the system, the invariant being used to represent an object of a parameter that remains stable in the system for a period of time; an obtaining module configured to obtain a first angular velocity of the first wheel and a second angular velocity of the second wheel; the determining module is further configured to determine a first linear velocity and a first radius of the first wheel at a second time and a second linear velocity and a second radius of the second wheel at the second time according to the parameter of the invariant, the first angular velocity, and the second angular velocity; an outputting module configured to output a target electrical signal according to the first linear velocity, the first radius, the second linear velocity, and the second radius, the target electrical signal being used to control the tape to perform a conveying operation so that the first wheel reaches the first linear velocity and the second wheel reaches the second linear velocity.

13. A control device for tape winding and feeding, characterized in that The device is applied to a tape conveying system, the system including a first wheel, a second wheel, and a tape, the first wheel and the second wheel rotating to drive the tape to perform a conveying operation, and the device including: The determining module is configured to determine an invariant of the system, the invariant being used to represent an object of a parameter that remains stable in the system over a period of time, the object including an inherent object and an additional object, the inherent object being an object of the system determined in the case where no fault occurs in the second round, and the additional object being an object of the system determined in the case where a fault occurs in the second round, the additional object including a first numerical value obtained by performing a logical operation on the object corresponding to the first round and the object corresponding to the second round; The obtaining module is configured to obtain a radius of the first round at a first time, a radius of the second round at the first time, and an angular velocity of the first round at a second time, the second time being a next time of the first time; The determining module is further configured to determine at least one reference quantity according to a parameter of the invariant, the radius of the first round at the first time, and the angular velocity of the first round at the second time, the reference quantity being used to represent a sensitivity of the invariant; The determining module is further configured to determine the angular velocity of the second round at the second time according to the radius of the first round at the first time, the radius of the second round at the first time, and the at least one reference quantity; The determining module is further configured to determine a first linear velocity and a first radius of the first round at the second time according to the radius of the first round at the first time, the angular velocity of the first round at the second time, and the at least one reference quantity; The determining module is further configured to determine a second linear velocity and a second radius of the second round at the second time according to the radius of the second round at the first time, the angular velocity of the second round at the second time, and the at least one reference quantity; The output module is configured to output a target electrical signal according to the first linear velocity, the first radius, the second linear velocity, and the second radius, the target electrical signal being used to control the tape to perform a conveying operation, so that the first round reaches the first linear velocity and the second round reaches the second linear velocity.

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