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Publication numberCN102667929 A
Publication typeApplication
Application numberCN 201080058152
PCT numberPCT/IB2010/055909
Publication date12 Sep 2012
Filing date17 Dec 2010
Priority date21 Dec 2009
Also published asCN102667929B, DE112010004916T5, US8643975, US20120268842, WO2011077340A1
Publication number201080058152.7, CN 102667929 A, CN 102667929A, CN 201080058152, CN-A-102667929, CN102667929 A, CN102667929A, CN201080058152, CN201080058152.7, PCT/2010/55909, PCT/IB/10/055909, PCT/IB/10/55909, PCT/IB/2010/055909, PCT/IB/2010/55909, PCT/IB10/055909, PCT/IB10/55909, PCT/IB10055909, PCT/IB1055909, PCT/IB2010/055909, PCT/IB2010/55909, PCT/IB2010055909, PCT/IB201055909
InventorsA潘塔兹, G凯鲁比尼, J耶利托
Applicant国际商业机器公司
Export CitationBiBTeX, EndNote, RefMan
External Links: SIPO, Espacenet
Method and apparatus for operating a storage device
CN 102667929 A
Abstract
The invention discloses a method for operating a storage device with a tape (TP) and a head (HU) which is operable to read and/or write data from and respectively to the tape (TP). The tape (TP) is moveable in a predetermined longitudinal direction (X). At least two consecutive current lateral tape positions (yx(t1), yx(t2)) of the tape (TP) with respect to a predetermined reference point (REF) are determined at a predetermined longitudinal capture position. A tape skew (theta) of the tape (TP) is determined dependent on the at least two determined lateral positions (yx(t1), yx(t2)). The tape skew (theta) represents an angle between a current tape motion direction (TMD) of the tape (TP) and the longitudinal direction (X). A skew control signal is determined dependent on the determined tape skew (theta). A rotational head position of the head (HU) is controlled dependent on the skew control signal to align the head (HU) to the current tape motion direction (TMD) in such a way that the head (HU) is operable to read and/or write data.
Claims(14)  translated from Chinese
1.用于操作具有磁带(TP)和头(HU)的存储设备的方法,头(HU)可操作以分别从磁带(TP)读取数据和/或向磁带(TP)写入数据,其中,磁带(TP)在预定的纵向方向(X)上可移动,其中,在磁带扭斜的范围内-在预定的纵向捕获位置上确定磁带(TP)相对于预定参考点(REF)的至少两个连续当前横向磁带位置(yjt),yx(t2)), _根据至少两个确定的横向位置(7!(1:1),7!(1:2))确定磁带(1?)的磁带扭斜(Θ ),其中磁带扭斜(Θ )表示磁带(TP)的当前磁带移动方向(TMD)和纵向方向(X)之间的角度, -根据确定的磁带扭斜(Θ )来确定扭斜控制信号(U u ), -根据扭斜控制信号(1 )来确定头(HU)的旋转头位置(■),以将头(HU)与当前磁带移动方向(TMD)对齐,使得头(HU)可操作以读和/或写数据。 A method for operating a magnetic tape (TP) and the head (HU) storage device, head (HU) operable to read from the tape, respectively (TP) data and / or writing data to the tape (TP), which , tape (TP) is movable in a predetermined longitudinal direction (X) on which the tape skew within the scope - determine the tape at a predetermined longitudinal capture position (TP) with respect to a predetermined reference point (REF) at least two successive transverse current tape position (yjt), yx (t2)), _ according to the determined transverse position of at least two determined Tape:: (2 1)) (1) (7 (1! 1), 7 !? tape skew (Θ), where a tape skew (Θ) is the angle of the current direction of movement of the tape cassette (TP) of (TMD) and longitudinal direction (X) between - according to the determined tape skew (Θ) to determining skew control signal (U u), - in accordance with the control signal skew (1) to determine the head (HU) of the rotary head position (■), to the head (HU) and the current moving direction of the tape (TMD) is aligned such that Head (HU) operable to read and / or write data.
2.如权利要求I所述的方法,其中,根据扭斜控制信号(W,9 )来控制存储设备的至少一个倾斜元件,以将磁带(TP)的磁带移动方向(TMD)与头(HU)对齐,使得头(HU)可操作以读和/或写数据。 2. The method of claim I, wherein, according to the control signal skew (W, 9) to control the storage device at least one inclined member to the tape (TP) in the direction of tape movement (TMD) and the head (HU ) aligned so that the head (HU) operable to read and / or write data.
3.用于操作具有至少一个倾斜元件、磁带(TP)和头(HU)的存储设备的方法,头(HU)可操作以分别从磁带(TP)读取数据和/或向磁带(TP)写入数据,其中,磁带(TP)在预定的纵向方向(X)上可移动,其中,在磁带扭斜估计的范围内-在预定的纵向捕获位置上确定磁带(TP)相对于预定参考点(REF)的至少两个连续当前横向磁带位置(yjt),yx(t2)), _根据至少两个确定的横向位置(7!(1:1),7!(1:2))确定磁带(1?)的磁带扭斜(Θ ),其中磁带扭斜(Θ )表示磁带(TP)的当前磁带移动方向(TMD)和纵向方向(X)之间的角度, -根绝确定的磁带扭斜(Θ )来确定扭斜控制信号(U3 ), -根据扭斜控制信号(U9 )来控制至少一个倾斜元件,以将磁带(TP)的磁带移动方向(TMD)与头(HU)对齐,使得头(HU)可操作以读和/或写数据。 3. The method for operating a tilt at least one element, the magnetic tape (TP) and the head (HU) storage device, head (HU) operable to read the data and / or to the tape (TP) from the tape (TP), respectively writing data, wherein the tape (TP) in a predetermined longitudinal direction (X) on the movable, wherein, in the range of tape skew estimation - to determine the tape at a predetermined position on the longitudinal capture (TP) with respect to a predetermined reference point (REF) at least two laterally continuous current tape position (yjt), yx (t2)), _ according to the lateral position (7 (1!: 1) at least two determined, 7 ! (1: 2)) OK Tape (? 1) of the tape skew (Θ), where the tape skew (Θ) is the angle of the current direction of movement tape cassette (TP) of (TMD) and longitudinal direction (X) between - eradicate determine tape skew (Θ) to determine the skew control signal (U3), - according to the skew control signal (U9) to control at least one inclined elements to the tape (TP) tape movement direction (TMD) and head (HU) Align so head (HU) operable to read and / or write data.
4.如权利要求3所述的方法,其中,根据扭斜控制信号(U9 )来控制头(HU)的旋转头位置(S ),以将头(HU)与当前磁带移动方向(TMD )对齐,使得头(HU )可操作以读和/或写数据。 4. The method according to claim 3, wherein, in accordance with the control signal skew (U9) to control the head (HU) of the rotary head position (S), to the head (HU) and the current moving direction of the tape (TMD) is aligned so head (HU) operable to read and / or write data.
5.如前述权利要求中的一个所述的方法,其中-观察磁带(TP)的至少一个磁带边缘(E), -根据该至少一个观察的磁带边缘(E)来确定至少两个连续的横向磁带位置(YxU1), yx(t2))。 5. The method of one of the preceding claims, wherein - the tape was observed (TP) at least one tape edge (E), - at least one edge of the tape based on the observation of the (E) to determine at least two successive transverse tape position (YxU1), yx (t2)).
6.如权利要求5所述的方法,其中,所述至少一个磁带边缘(E)是通过使用至少一个光传感器观察的。 6. The method of claim 5, wherein said at least one tape edge (E) is observed by using at least one optical sensor.
7.如前述权利要求中的一个所述的方法,其中-观察预定的位置误差信号(PES),其表示头(HU)和预定伺服图案中的特定伺服图案(SP)中的预定参考位置(ry)之间的横向距离,所述预定伺服图案沿着磁带(TP)的纵向延伸被存储在磁带(TP)上, -根据对预定位置误差信号(PES)的观察来确定所述至少两个连续的横向磁带位置(YxU1), yx(t2))。 7. The method of one of the preceding claims, wherein - the predetermined observation position error signal (PES), which represents the head (HU) and a predetermined servo pattern of the servo pattern specific (SP) in a predetermined reference position ( lateral distance ry) between the predetermined servo pattern extends longitudinally along the tape (TP) is in the tape (TP), the memory - based on observations of a predetermined position error signal (PES) is determined at least two continuous lateral tape location (YxU1), yx (t2)).
8.如权利要求7所述的方法,其中,根据致动器(PU)的预定模型(P)来确定所述至少两个连续的横向磁带位置(yx U1),yx (t2)),所述位置误差信号(PES)被应用于该预定模型(P)上,其中,所述致动器(PU)可操作以至少控制头(HU)的横向头位置(y)。 8. The method of claim 7, wherein, according to a predetermined model of the actuator (PU) of (P) to determine said at least two consecutive lateral tape position (yx U1), yx (t2)), the said position error signal (PES) is applied to the predetermined model (P) on which said actuator (PU) is operable to control at least the head (HU) of the first lateral position (y).
9.如前述权利要求中的一个所述的方法,其中-确定纵向方向(X)中的磁带(TP)的磁带传输方向(TRDIR), -根据磁带传输方向(TRDIR)确定纵向捕获位置,使得磁带(TP)首先通过纵向捕获位置,随后通过头(HU)。 9. The method according to the preceding claims, wherein - determining the longitudinal direction (X) of the tape (TP) in the tape transport direction (TRDIR), - according to the tape transport direction (TRDIR) determining longitudinal capture position, such that Tape (TP) first captured by the longitudinal position, followed by the head (HU).
10.如权利要求2到9的一个所述的方法,其中-确定纵向方向(X)中的磁带(TP)的磁带传输方向(TRDIR), -根据磁带传输方向(TRDIR)确定纵向捕获位置,使得磁带(TP)首先通过纵向捕获位置,随后通过至少一个倾斜元件。 10. The method as claimed in claim 2-9, wherein - determining the longitudinal direction (X) of the tape (TP) in the tape transport direction (TRDIR), - according to the tape transport direction (TRDIR) determining longitudinal capture position, such that the tape (TP) acquired first by the longitudinal position, followed by at least one tilting element.
11.如前述权利要求中的一个所述的方法,其中-确定纵向方向(X)中的磁带(TP)的当前磁带速率(V), _根据确定的磁带速率(V)确定磁带扭斜(Θ )。 11. The method of one of the preceding claims, wherein - determining the longitudinal direction (X) of the tape (TP) of the current tape velocity (V), _ determining the tape cassette according to the determined skew rate (V) ( Θ).
12.如前述权利要求中的一个所述的方法,其中循环地执行磁带扭斜估计。 12. The method of one of the preceding claims, such as, wherein the tape loop to perform skew estimation.
13.用于操作具有磁带(TP)和头(HU)的存储设备的装置,头(HU)可操作以分别从磁带(TP)读取数据和/或将数据写入到磁带(TP),其中磁带(TP)在预定纵向方向(X)上可移动,其中在磁带扭斜估计的范围内,该装置可操作以-确定磁带(TP)在预定纵向捕获位置相对于预定参考点(REF)的至少两个连续的当前横向磁带位置((Y^t1)、yx(t2)), -根据确定的至少两个连续的横向位置((YxU1)、yx (t2))确定磁带(TP)的磁带扭斜(Θ ),其中磁带扭斜(Θ )表示磁带(TP)的当前磁带移动方向(TMD)和纵向方向(X)之间的角度, -根据确定的磁带扭斜(Θ )确定扭斜控制信号("'J ), -根据扭斜控制信号(')控制头(HU)的旋转头位置,以将头(HU)与当前磁带移动方向(TMD)对齐,使得头(HU)可操作以读取和/或写入数据。 13. The apparatus for operating a magnetic tape (TP) and the head (HU) storage device, head (HU) operable from the tape (TP) were read data and / or write data to tape (TP), wherein the tape (TP) is movable in a predetermined longitudinal direction (X) on which the tape twisting oblique estimated range, the device is operable to - determine the tape (TP) in a predetermined position relative to the longitudinal capture a predetermined reference point (REF) at least two successive transverse current tape position ((Y ^ t1), yx (t2)), - based on at least two consecutive lateral position determination of ((YxU1), yx (t2)) is determined magnetic tape (TP) of Tape skew (Θ), where the tape skew (Θ) is the angle of the current direction of movement of the tape cassette (TP) of (TMD) and longitudinal direction (X) between - according to the determined tape skew (Θ) to determine the twist ramp control signal ("'J), - in accordance with the control signal skew (') control header (HU) of the rotary head position to the head (HU) and the current moving direction of the tape (TMD) is aligned such that the head (HU) can be operations to read and / or write data.
14.用于操作具有至少一个倾斜元件、磁带(TP)和头(HU)的存储设备的装置,头(HU)可操作以分别从磁带(TP)读取数据和/或将数据写入到磁带(TP),其中磁带(TP)在预定的纵向方向(X)上可移动,其中在磁带扭斜估计的范围内,该装置可操作以-在预定纵向捕获位置确定磁带(TP)相对于预定参考点(REF)的至少两个连续的当前横向磁带位置((Y^t1)、yx(t2)), -根据确定的至少两个连续的横向位置((YxU1)、yx(t2))确定磁带(TP)的磁带扭斜(Θ ),其中磁带扭斜(Θ )表示磁带(TP)的当前磁带移动方向(TMD)和纵向方向(X)之间的角度, -根据确定的磁带扭斜(θ )确定扭斜控制信号(篇3 ), -根据扭斜控制信号(〜)控制所述至少一个倾斜元件,以磁带(TP)的磁带移动方向(TMD)与头(HU)对齐,使得头(HU)可操作以读取和/或写入数据。 14. having means for operating at least one inclined member, the tape (TP) and the head (HU) of the storage device, the head (HU) is operable to read data and / or data separately from the tape (TP) is written to the magnetic tape (TP), wherein the tape (TP) movable predetermined longitudinal direction (X) on which the magnetic tape in the skew estimation range, the device is operable to - capturing at a predetermined longitudinal position determination tape (TP) with respect to predetermined reference point (REF) at least two successive transverse current tape position ((Y ^ t1), yx (t2)), - according to at least two successive transverse location determination ((YxU1), yx (t2)) determine the tape (TP) tape skew (Θ), where the tape skew (Θ) is the angle of the current direction of movement tape cassette (TP) of (TMD) and longitudinal direction (X) between - according to the determined tape twist oblique (θ) to determine the skew control signal (chapter 3), - according to the skew control signal (-) controls at least one inclined elements to the tape (TP) tape movement direction (TMD) and head (HU) alignment, so head (HU) operable to read and / or write data.
Description  translated from Chinese

用于操作存储设备的方法和装置 Method and apparatus for operating a storage device

技术领域 Technical Field

[0001] 本发明涉及一种用于操作存储设备的方法和装置,该存储设备包括磁带和头。 [0001] The present invention relates to a method and apparatus for operating a storage device, and the storage device including tape and head.

背景技术 Background

[0002] EP0549848A1公开了磁带边缘的检测,以及控制读/写头以将其本身定位到检测到的边缘。 [0002] EP0549848A1 discloses a tape edge detection, and control read / write head to be positioning itself to the edge detected. 集成电路芯片中的光检测器阵列检测照射芯片的光的强度,其中磁带在光源和光检测器之间运行。 An integrated circuit chip photodetector detects intensity of light irradiating the chip array, wherein the tape runs between the light source and the light detector.

[0003] US2006/0103968A1公开了在随着给定的存储介质盒尺寸上不断增加的存储密度,介质上的比特可被写入更小的区域并写在多个平行纵向磁道上。 [0003] US2006 / 0103968A1 discloses as storage media on a given box size increasing storage density of bits on the media can be written to a smaller area and to write on a plurality of parallel longitudinal tracks. 在本文语境中,一种用于将换能器头定位到存储介质的系统。 In this context, a method for positioning the transducer head to the system storage medium. 第一和第二传感器与头关联以用于调整头的方位角位置。 The first and second sensor associated with the head for adjusting the position of the head of the azimuth. 第一和第二传感器沿着存储介质传输的方向被定位在头的相对侧。 First and second sensors are positioned on opposite sides of the head along the transport direction of the storage medium. 头的方位角位置响应于由第一和第二传感器检测到的介质位置而被调整。 Azimuthal position of the head position detected by the medium in response to the first and second sensors to be adjusted.

[0004] 因此,具有挑战性的是提供一种用于操作存储设备的方法和装置,其使得头的可靠定位成为可能。 [0004] Thus, challenging to provide a method and apparatus for operating a storage device, which makes it possible to reliably locate the head.

发明内容 DISCLOSURE

[0005] 根据本发明的第一和第二方面,公开了一种用于操作具有磁带和头的存储设备的方法和对应的装置。 [0005] According to the first and second aspects of the present invention discloses a method for operating a magnetic tape and the head of the storage devices and the corresponding device. 头可操作以分别从磁带读取数据和/或将数据写入到磁带。 Head operable to read the data and / or write data to tape from the tape, respectively. 磁带在预定的纵向方向是可移动的。 Tape in a predetermined longitudinal direction is movable. 在磁带扭斜(skew)估计的范围内,在预定的纵向捕获位置,确定磁带相对于预定参考点的至少两个连续的当前横向磁带位置。 Within the tape skew (skew) the estimated range, at a predetermined longitudinal capture position to determine the tape relative to a predetermined reference point of at least two consecutive lateral current tape position. 根据该至少两个确定的横向位置来确定磁带的磁带扭斜。 According to determine the lateral position to determine at least two magnetic tape skew. 磁带扭斜表示磁带的当前磁带移动方向和纵向方向之间的角度。 Tape skew angle indicates the direction of movement of the tape and the longitudinal direction of the tape between the current. 根据确定的磁带扭斜来确定扭斜控制信号。 According to determine tape skew to determine the skew control signal. 根据扭斜控制信号控制头的旋转头位置以将头与当前的磁带移动方向对齐,使得磁带可操作以读取和/或写数据。 According to skew control signal head to head swivel head position aligned with the current direction of movement of the tape so that the tape is operable to read and / or write data.

[0006] 这允许改善了的磁道跟随(track-follow)控制,特别是在低频率横向干扰例如堆叠移位(stack shift)的情况下。 [0006] This allows for an improved track following (track-follow) control, in particular in the low frequency interference such as stacked lateral shift (stack shift) situation. 在本文语境中,磁道跟随控制包括控制横向的和旋转的头位置,由此移动和旋转头,以便它尽可能精确地跟随数据磁道的中线,例如在读/写操作中。 In this context, the track following control includes controlling the lateral position and rotation of the head, thereby moving and rotating head, so that it is as accurate as possible following the center line of data tracks, such as read / write operations.

[0007] 纵向方向和预定的横向方向用作参考方向。 [0007] longitudinal and transverse direction predetermined as a reference direction. 两个方向优选地互相垂直。 Preferably, the two directions perpendicular to each other. 在本文语境中,术语“横向”对应于横向方向,而术语“纵向”对应于纵向方向。 In this context, the term "laterally" corresponds to the lateral direction, while the term "longitudinal" corresponds to the longitudinal direction.

[0008] 磁带可由例如供带盘(supply-reel)供给,且可由收带盘(take-up reel)收起。 [0008] The tape may be for example the supply reel (supply-reel) supply, and may be winding reel (take-up reel) away. 磁带传输可通过启动至少收带盘而被触发,以在预定磁带传输方向移动磁带。 Tape transport can be triggered by activating at least take-up reel to move the tape at a predetermined tape transport direction. 磁带移动方向主要包括纵向方向的运动分量,但也可包括横向方向的运动分量,其可被确认为是磁带横向移动。 Including the tape moving direction motion component in the longitudinal direction, but may also include transverse direction motion component, which can be identified as the lateral movement of the tape. 磁带横向移动可例如是产生于凸缘滚轴上的碎屑堆积或磁带的不均匀收卷(reeling)或放卷(unreeling),且可表示例如磁带的突然横向移位。 Tape lateral movement may for example be produced in the flange roller debris accumulation or uneven tape winding (reeling) or unwinding (unreeling), and may represent, for example sudden lateral displacement of the tape.

[0009] 通过在存储设备的磁带路径使用无凸缘滚轴,磁带移动不会有紧约束,且横向磁带移动效果更加明显。 [0009] The use of non-flange rollers in the tape path storage devices, tape movement will not have tight constraints, and the effect is more pronounced lateral tape movement. 在无凸缘驱动中,这些干扰的幅度与凸缘滚轴驱动相比更高。 In the non-flanged drive, the amplitude of the interference of the flange roller drive higher compared. 横向磁带移动的增加的幅度典型地产生大的磁带对头扭斜,并降低系统性能。 The rate of increase lateral movement of the tape typically generate large magnetic tape head skew, and reduce system performance. 堆叠移位表现为每次磁带运行的时候在同样的纵向位置重复的突然的横向移位。 Shift stacking performance every time the tape is running in the same longitudinal position repeated sudden lateral displacement.

[0010] 在一个预定的纵向捕捉方向上确定所述至少两个连续的横向磁带位置。 [0010] said at least two consecutive lateral tape position at a predetermined longitudinal direction captured. 纵向捕获位置表示磁带路径上的位置。 Portrait capture represents the location of the tape path.

[0011] 头需要例如笔直地与磁带移动方向对齐,以帮助读和/或写数据。 [0011] head needs such as the moving direction of the tape straight and aligned to help read and / or write data. [0012] 在本发明的第一和第二方面的优选实例中,根据扭斜控制信号控制存储设备的至少一个倾斜元件以便将磁带的磁带移动方向与头对齐,使得头可操作以读和/或写数据。 [0012] Preferred examples of the first and second aspects of the present invention, in order to align the direction of movement of the tape and tape head skew control signal in accordance with the storage device at least one inclined member, such that the head operable to read and / or write data. 磁带的倾斜可通过使用倾斜元件实现,所述倾斜元件例如为磁带滚轴,其例如可操作以根据扭斜控制信号在纵向方向倾斜。 The tape can be inclined by tilting element realized using, for example, the tilting element is a tape roller, which is operable to skew e.g., control signal according to the inclination in the longitudinal direction. 磁带的倾斜可与头的旋转结合使用。 Use tape may be combined with the inclined rotary head.

[0013] 根据本发明的第三和第四方面,公开了一种用于操作具有至少一个倾斜元件和磁带及头的存储设备的方法和对应的装置。 [0013] According to the third and fourth aspects of the present invention discloses a method and a corresponding apparatus for operating with at least one inclined element and tape storage devices and head. 头可操作以分别从磁带读取数据和/或将数据写入到磁带,其中磁带在预定纵向方向是可移动的。 Head operable to read data from the tape, respectively, and / or write data to tape in which the tape at a predetermined longitudinal direction is movable. 在磁带扭斜预测的范围内,在预定的纵向捕获位置,确定磁带相对于预定参考点的至少两个连续的当前横向磁带位置。 Tape skew within the range forecast in a predetermined longitudinal capture position to determine the tape relative to a predetermined reference point of at least two consecutive lateral current tape position. 根据至少两个所确定的横向位置确定磁带的磁带扭斜。 Determining the skew of the tape cassette according to the lateral position of the at least two determined. 该磁带扭斜表示磁带的当前磁带移动方向和纵向方向之间的角度。 The tape indicates a tape skew angle of the moving direction and the longitudinal direction of the tape between the current. 根据所确定的磁带扭斜确定扭斜控制信号。 Determining skew skew control signal based on the determined tape. 根据该扭斜控制信号控制至少一个倾斜元件以将磁带的磁带移动方向与头对齐,使得头可操作以读和/或写数据。 At least one inclined element based on the skew control signal to the moving direction of the tape and tape head alignment, so head operable to read and / or write data. 这使得改善的磁道跟随控制成为可能,特别是在低频横向干扰(例如堆叠移位)的情况下。 This allows improved track following control is possible, especially in the case of low-transverse interference (for example, a stack shift) is. 倾斜元件可例如是与磁带接触的磁带转轴,且可操作以根据倾斜控制信号例如在纵向方向上倾斜磁带。 Tilt member may for example be in contact with the magnetic tape cassette rotation shaft, and operable to tilt according to a control signal such as a tape in the longitudinal direction is inclined upwardly. 磁带的倾斜可与头的旋转结合使用。 Use tape may be combined with the inclined rotary head.

[0014] 在本发明的前述方面的一个优选实施例中,观察到磁带的至少一个磁带边缘。 Examples observed at least one tape edge of the magnetic tape [0014] In the aforementioned aspect of the present invention a preferred embodiment. 根据至少一个观察到的磁带边缘,确定所述至少两个连续的横向磁带位置。 According to at least one edge of the tape was observed, determining the at least two consecutive lateral position of the tape. 这有助于可靠地确定当前的横向磁带位置。 This helps to reliably determine the position of the current transverse tape. 磁带边缘观察优选地是通过使用光传感器建立的。 Preferably, the tape edge was observed by using an optical sensor built.

[0015] 在本发明的前述方面的再一个优选实施例中,观察到预定的位置误差信号,其表示头和预定的参考位置之间的横向距离,所述参考位置位于沿着磁带的纵向延伸存储在磁带上的预定伺服图案的特定伺服图案上。 [0015] In the aforementioned aspect of the present invention in a further preferred embodiment, the predetermined observed position error signal which represents the head and the lateral distance between a predetermined reference position, the reference position is located extending along the longitudinal direction of the tape specific servo pattern on the tape is stored on a predetermined servo pattern. 根据预定位置误差信号的观察确定至少两个连续的横向磁带位置。 Determining at least two successive transverse position of the tape in accordance with a predetermined observation position error signal. 位置误差信号典型地由头提供。 The head position error signal is typically provided. 这具有的优势是没有使用外部传感器来帮助磁带扭斜补偿。 This has the advantage of not using an external sensor to help the tape skew compensation. 所述特定的伺服图案表示例如写入的伺服条纹(servo stripe),且优选地在磁带制造过程中被写入到磁带。 The specific example shows the servo pattern of servo stripes (servo stripe) to write, and preferably in the manufacturing process of the tape is written to tape.

[0016] 在本发明的前述方面的再一个实施例中,根据预定的致动器模型,确定所述至少两个连续的横向磁带位置,在所述致动器模型上施加了位置误差信号。 [0016] In the aforementioned aspect of the present invention in a further embodiment, according to a predetermined actuator model, determining at least two successive transverse tape position, in the model of the actuator position error signal is applied. 致动器可操作以至少控制头的横向头位置。 The actuator is operable to control at least a lateral head position head. 这有助于根据位置误差信号确定至少两个连续的横向磁带位置,所述位置误差信号例如是从闭环控制系统捕获的。 This helps to determine the position error signal in accordance with at least two successive transverse tape position, for example, the position error signal is captured from a closed loop control system.

[0017] 在本发明的前述方面的再一个优选实施例中,确定磁带在纵向方向上的磁带传输方向。 [0017] In the aforementioned aspect of the present invention is a further preferred embodiment, the tape the tape transport direction is determined in the longitudinal direction. 根据磁带传输方向确定纵向捕获位置,使得磁带首先经过纵向捕获位置,随后是头和/或至少一个倾斜元件。 Determined in accordance with the longitudinal direction of the tape transport capture position, such that the tape first passes through the longitudinal capture position, followed by the head and / or at least one inclined member. 起源于磁带路径上的特定位置的横向干扰典型地通过磁带路径从一个点传播到另一个点。 Transverse interference originated in a specific location on the tape path is typically propagated to another point through a tape path from one point. 通过例如位于头和/或至少一个倾斜元件之前的传感器在相对于磁带传输方向的纵向捕获位置确定的横向磁带位置将以一时间延迟出现在头位置或倾斜元件的纵向位置,该时间延迟取决于磁带速度以及纵向捕获位置与纵向头位置或特定倾斜元件的纵向位置之间的纵向距离。 By example, located in the head and / or at least one element before the inclination sensor in the lateral position of the tape relative to the tape transport direction of the longitudinal position determination capture a time delay will occur in the first position or the longitudinal position of the tilting member, depending on the time delay longitudinal distance between the longitudinal position of the tape speed and the longitudinal and vertical head position capture position or a particular element of the tilt between. 这有助于较好地预测在纵向头位置和/或特定倾斜元件的纵向位置处的横向磁带移动。 This helps to better predict the movement in the lateral longitudinal tape head position and / or inclined elements at specific longitudinal position.

[0018] 在本发明的前述方面的再一个优选实施例中,循环地执行所述磁带扭斜预测。 [0018] In the aforementioned aspect of the present invention in a further preferred embodiment, the magnetic tape cyclically executing skew prediction. 这有助于在存储设备的操作过程中补偿扭斜。 This helps in the process of operation of the storage device skew compensation.

附图说明 Brief Description

[0019] 本发明及其实施例将通过结合附图参考以下根据本发明的当前优选的但仅是说明性的实施例的详细描述而变得更容易理解。 [0019] The present invention and its embodiments with reference to the following, but are merely illustrative of the detailed description of embodiments will become more readily understood in conjunction with the accompanying drawings in accordance with the present invention are presently preferred.

[0020] 附图示出了: [0020] The figures show:

[0021] 图1,磁带路径的示例性说明, [0021] Figure 1 illustrates an exemplary tape path,

[0022] 图2,线图, [0023] 图3,头和磁带的图示, [0022] FIG. 2, line graph, [0023] FIG. 3, the head and the tape icon,

[0024] 图4,控制系统的图示, [0024] FIG. 4, the control system shown,

[0025] 图5,流程图。 [0025] FIG. 5, a flow chart.

[0026] 不同的附图可包含同样的附图标记,表示具有类似或一致内容的元件。 [0026] Different figures may contain the same reference numerals denote elements with similar or uniform content.

具体实施方式 DETAILED DESCRIPTION

[0027] 图I在示意图中示出了存储设备(例如磁带驱动器)的磁带路径。 [0027] FIG. I is shown in the schematic storage device (such as a tape drive) tape path. 头HU (例如磁头)以及磁带滚轴RR、RR1、RR2 (例如是无凸缘滚轴)与磁带路径关联。 Head HU (for example the head) and tape rollers RR, RR1, RR2 (for example, no flange roller) associated with the tape path. 头HU包括至少第一和第二头模块HM1、HM2。 HU head comprising at least first and second head module HM1, HM2. 每个头模块HM1、HM2包括至少一个头元件RW,以及至少一个伺服读元件RE。 Each head module HM1, HM2 comprises at least a header element RW, and at least one servo read element RE. 每个头元件RW可操作以分别从磁带TP中读取数据或将数据写入到磁带TP,且作为例如,可以是读或写换能器。 RW Each head element operable to read from the tape TP respectively data or write data to tape TP, and, as for example, may be read or write transducer.

[0028] 磁带TP例如可以包括至少一个伺服图案SP (图3)。 [0028] The magnetic tape TP, for example may include at least one servo pattern SP (Figure 3). 特定的伺服图案SP是磁带TP的数据磁道的一部分或与磁带TP的数据磁道关联,所述数据磁道表示实际数据被存储或将被写入的磁带区域。 Specific servo pattern SP data is associated with the tape track portion TP or TP data tape track, the track data representing the actual data to be stored or to be written to the tape area. 每个伺服读元件RE可操作来检测和/或读取伺服图案SP。 RE each servo read element operable to detect and / or read the servo pattern SP. 伺服读元件RE 15的预定选择优选地与伺服图案SP关联。 RE predetermined selection servo read element 15 is preferably to be associated with the servo pattern SP.

[0029] 存储设备优选地包含致动器PU,其可操作以根据预定位置控制信号Uy控制头HU在横方向Y中的横向头位置I。 [0029] The storage device preferably comprises an actuator PU, operable to position control in accordance with a predetermined control signal Uy HU lateral position of the head head in the lateral direction Y of I. 致动器PU还可操作以根据预定扭斜控制信号K1P控制由纵向方向X和横向方向Y所预选确定的平面中的头HU (图4)的旋转头位置萝。 PU is further operable actuator in accordance with a predetermined control signal skew K1P controlled by the longitudinal direction X and transverse direction Y in the plane defined by preselected first HU (Fig. 4) of the rotary head position dill.

[0030] 此外,第一和第二磁带滚轴RR1、RR2位于头HU旁边,在纵向方向X中的头HU的相对侧。 [0030] In addition, the first and second tape rollers RR1, RR2 head HU is located next to the opposite side in the longitudinal direction X of the head HU. 第一和第二磁带滚轴RR1、RR2直接与磁带TP接触,并可操作以根据预定的扭斜控制信号'W#主动倾斜磁带TP。 The first and second tape roller RR1, RR2 directly in contact with the magnetic tape TP, and operable in accordance with a predetermined skew control signal 'W # active tilt tape TP. 为了该目的,第一和第二磁带滚轴RR1、RR2可以可操作地在纵向方向X上倾斜。 For this purpose, the first and second tape rollers RR1, RR2 may be operable in the longitudinal direction X inclined. 第一和第二磁带滚轴RRURR2也被确认为倾斜元件。 The first and second tape reels RRURR2 also been recognized as a tilt element. 存储设备可以包括致动器PU,其可操作以控制磁带TP的旋转位置以及至少一个倾斜元件,其可操作以倾斜磁带TP。 Storage device may include an actuator PU, operable to control the rotational position of the magnetic tape TP, and the at least one inclined member, operable to tilt the magnetic tape TP.

[0031] 磁带TP可以如图I所示沿着纵向方向X在向前方向中移动。 [0031] Figure I shows the tape TP can along the longitudinal direction of the X moving in the forward direction. 向前方向表示沿着纵向方向X的磁带传输方向TPDIR,其中磁带TP首先经过例如第一头模块HMl,随后经过第二头模块HM2。 Forward direction indicates the tape transport direction along the longitudinal direction X of TPDIR, after which the tape TP first example, the first head module HMl, then after the second head module HM2. 磁带TP的相反方向与向前方向相反。 In the opposite direction of the magnetic tape TP and forward in the opposite direction.

[0032] 如图I中所示,位于第一纵向位置xl的第一传感器SI和位于第二纵向位置x2的第二传感器S2与磁带路径关联。 [0032] As shown in FIG. I, in the first longitudinal position of the first sensor SI xl and x2 by the associated second longitudinal position of the second sensor S2 and the tape path. 传感器SI、S2两者都可以是光传感器,例如光垒(lightbarrier)、光电探测器(photo detector)或光电探测器阵列。 Sensors SI, S2 may be both a light sensor, such as a light barrier (lightbarrier), a photodetector (photo detector) or photodetector array. 第一和第二传感器S1、S2位于头HU相对于纵向方向X的相对侧。 First and second sensors S1, S2 located on opposite sides of the head with respect to the longitudinal direction X HU's. 此外,第一传感器SI和第二传感器2位于第一和第二磁带滚轴RR2、RRl的相对侧。 Further, the first sensor and the second sensor SI 2 in the first and second tape roller RR2, the opposite side RRl. 第一纵向距离LI表示第一纵向位置xl和头HU之间的距离。 LI represents the first longitudinal distance xl from the first longitudinal position between HU and head. 第二纵向距离L2表示第二纵向位置x2和头HU之间的距离。 The second longitudinal distance L2 represents the distance of the second longitudinal position between x2 and head HU. 再一个第一纵向距离LI*表示第一纵向位置xl和第一磁带滚轴RRl的再一个第一纵向位置xl*之间的距离。 Then a first longitudinal distance LI * xl * denotes a distance between the first longitudinal position xl and first tape roller RRl first longitudinal position again. 再一个第二纵向距离L2*表示第二纵向位置x2和第二磁带滚轴RR2的再一个第二纵向位置x2*之间的距离。 Then a second longitudinal distance L2 * x2 * represents the distance between the second longitudinal position x2 and the second tape roller RR2 a further second longitudinal position. 每个传感器SI、S2优选地可操作以观察磁带边缘E。 Each sensor SI, S2 preferably operable to observe the tape edges E. 第一传感器SI还可操作以根据观察到的磁带边缘E提供第一输出传感器信号。 A first sensor SI is further operable in accordance with the observed tape edge E to provide a first output signal of the sensor. 该第一输出传感器信号表示在第一纵向位置xl处相对于预定参考点REF的第一横向磁带位置yxl (t)。 The first sensor output signal indicative of a first longitudinal position with respect to xl at a first predetermined reference point REF lateral tape position yxl (t). 第二传感器S2可操作以根据观察到的磁带边缘E提供第二输出传感器信号。 According to the second sensor S2 operable to observe the tape edge sensor E provides a second output signal. 第二输出传感器信号表不相对于第二纵向位置x2处的参考点REF的第二横向磁带位置yx2(t)。 The second sensor output signal relative to the second lateral table is not the tape position yx2 reference point REF is at the second longitudinal position x2 (t). 参考点REF例如可以是第一和第二传感器S1、S2的横向位置。 Reference point REF, for example may be a first and second sensors S1, S2 of the lateral position. 第一纵向位置xl和第二纵向位置x2也被确认为纵向捕获位置。 A first longitudinal position and a second longitudinal position x2 xl also identified as longitudinal capture position.

[0033] 图2示出了表示相对于时间t的横向磁带移动的图。 [0033] FIG. 2 shows a representation with respect to the time t of the lateral movement of the tape in FIG. 第一横向磁带位置yxl(t)和位置误差信号PES相对于时间t的波形被示出。 A first lateral tape position yxl (t) and the position error signal PES waveform with respect to time t is shown. 第一横向磁带位置yxl(t)例如由在第一纵向位置xl处的第一传感器SI提供。 The first lateral tape position yxl (t) for example is provided by the first longitudinal position of the first sensor xl SI. 第一横向磁带位置yxl(t)和位置误差信号PES由于横向扰动(例如堆栈移位)所带来的横向磁带移动而随时间变化。 A first lateral tape position yxl (t) and the position error signal PES transverse perturbations due to lateral tape (e.g., stack shift) caused by the movement and change over time. 由于磁带TP的横向磁带移动,引起的磁带移动方向TMD (也见图3)也可包含横方向Y中的移动成分。 Because the lateral movement of the tape the tape TP, the direction of movement of the tape caused TMD (also see FIG. 3) may also be included in the moving direction Y transverse component. 磁带扭斜0表示引起的磁带移动方向TMD和纵向方向X之间的角度(也见图3)。 Tape skew angle of 0 indicates the direction of movement of the tape caused by the longitudinal direction X between the TMD and the (also see FIG. 3).

[0034] 位置误差信号PES优选地由头HU提供,并优选地被控制系统(图4)所控制。 [0034] The position error signal PES to the head HU is preferably provided, and preferably the control system (FIG. 4) is controlled. 位置误差信号PES表示在纵向头位置xO处当前横向头位置y和特定伺服图案中的预定参考位置ry之间的距离。 Position error signal PES ry represents the distance a predetermined reference position in the longitudinal direction of the current head position xO lateral head position y and in particular between the servo pattern. 在图2的图中,位置误差信号PES的波形表示在根据图4的控制系统的开环配置中捕获的位置误差信号。 In Figure 2, the position error signal PES waveform represents the position error signal based on the open-loop control system configuration of FIG. 4 captured. 例如,如果头HU被固定设置到预定横向头位置y (例如参考点REF),则给出控制系统的开环配置。 For example, if the head HU is set to a predetermined fixed lateral head position y (eg reference point REF), the control system is given an open loop configuration.

[0035] 从图2可见,第一横向磁带位置yxl(t)的波形在位置误差信号PES的波形之前运行,由此指示移动磁带TP的向前方向。 [0035] seen in Figure 2, a first lateral tape position yxl (t) of the waveform before the waveform of the position error signal PES running, thereby indicating the direction of moving forward the tape TP. 第一横向磁带位置yxl(t)的波形和位置误差信号PES的波形之间的时滞与磁带TP的预定点以预定的磁带速率V经过第一纵向距离LI的时间段相关联。 Delay tape TP predetermined point of the first lateral tape location yxl (t) of the waveform and position error signal waveform between PES tape velocity V at a predetermined longitudinal distance through the first period of time associated with LI. 第一横向磁带位置yxl(t)有助于在纵向头位置χΟ处的横向磁带位置的估计。 The first lateral tape position yxl (t) would help the estimated lateral longitudinal tape position at the head position χΟ.

[0036] 图3示出了以预定磁带速率V在向前方向上移动的磁带TP。 [0036] FIG. 3 shows a magnetic tape at a predetermined speed V moves in the forward direction of the magnetic tape TP. 在第一时间点tl,横向磁带位置YxU1)例如由在第一纵向位置xl处的第一传感器SI在预定的纵向捕获位置确定。 In the first time point tl, lateral tape position YxU1), for example in a first longitudinal position determined by the first sensor SI xl at a predetermined longitudinal position captured. 在第二时间点t2,再一个横向磁带位置yx(t2)在相同的预定纵向捕获位置处被确定。 In the second point in time t2, then a transverse magnetic tape position yx (t2) captured at the same predetermined position longitudinally OK. 在相反方向上,横向磁带位置yJh)、yx(t2)例如可以由在第二纵向位置χ2处的第二传感器S2确定。 In the opposite direction, the lateral position of the tape yJh), yx (t2) can be determined for example by the second sensor S2 at the second longitudinal position χ2 nm.

[0037] 可替代地或附加地,横向磁带位置1山)、yx(t2)两者都可以由从位置误差信号PES导出的特定横向位置dy导出。 [0037] Alternatively or additionally, the lateral position of the magnetic tape 1 Hill), yx (t2) dy are both derived from a particular lateral position derived from the position error signal PES. 特定横向位置dy表示相应的横向磁带位置。 Dy represents a specific lateral position of the tape corresponding to the lateral position. 如已提到的,位置误差信号PES典型地结合于头HU的横向头位置y的磁道跟随控制中。 As already mentioned, the position error signal PES is typically bonded to the head HU track follow the lateral head position y control. 磁道跟随控制可以在图4中示出的闭环控制系统中实现。 Track following control may be implemented in FIG. 4 closed-loop control system illustrated. 由此,典型地只有闭环捕获的位置误差信号PES是可用地,其典型地不提供直接导出特定横向位置七的可能性。 Thus, typically only the closed-loop position error signal PES captured to be available, which is typically derived directly impossibility of providing specific lateral position seven. 但是,横向位置dy可以从如图4的等式F2中所示出的致动器的模型P的预定第一参数Pyy以及控制器KU的预定控制器增益Ky导出。 However, the predetermined first parameter Pyy and a predetermined lateral position controller gain can dy from the equation shown in FIG. 4 F2 actuator controller KU's model P Ky exported.

[0038] 在本文语境中,横向磁带位置YxU1)可以从在第一时间点&所确定的横向位置dy导出,且再一个横向磁带位置yx(t2)可以从在第二时间点t2所确定的横向位置dy导出。 [0038] In this context, the lateral position of the tape YxU1) from a first time point at the determined transverse position & dy derived, and a further lateral tape position yx (t2) can be determined from the second time point t2 lateral position dy exported. 在第一时间点h所确定的横向位置dy例如可以等于横向磁带位置YxU1)。 At the first time point h to the determined lateral position may be equal to the lateral dy e.g. tape position YxU1). 在第二时间点t2所确定的横向位置dy例如可以等于第二横向磁带位置yx(t2)。 At the second time point t2 the determined lateral position may be equal to the second lateral dy e.g. tape position yx (t2). 横向磁带位置YxU1)、yx(t2)两者都表示两个确定的连续横向磁带位置。 Lateral tape position YxU1), yx (t2) both represent two consecutive lateral tape positions determined.

[0039] 磁带扭斜Θ可以使用图3中的等式H)导出,该等式表示三角形的三角关系。 [0039] tape skew Θ can be derived using the equation in Figure 3 H), those represented by the formula triangles triangular relationship.

第一三角形边dBr表示确定的横向磁带位置^aiKyx(t2)两者之间的横向距离。 Determining a first triangle edge dBr represents lateral position of the tape ^ aiKyx (t2) the lateral distance between the two. 第二三角形边CIab表示由当前磁带速率V和时间差At所引起的磁带移动方向TMD上的距离。 The second triangle edge CIab represents the distance from the current direction of movement of the tape and the tape velocity V At the time difference caused by the TMD on. 时间差At表示第一和第二时间点tpt2之间的时滞。 At the time difference represents the first and second time-delay between the time point tpt2.

[0040] 根据图4,控制系统的致动器可操作以根据预定的位置控制信号Uy至少横向移动头HU。 [0040] According to Figure 4, the control system of the actuator is operable to control signal Uy at least according to a predetermined location laterally moving head HU. 头HU的实际横向位置由横向头位置y表示。 HU actual lateral position of the head of y is represented by lateral head position. 位置控制信号Uy由控制器KU根据预定的控制器增益Ky和位置误差信号PES提供。 Uy position control signal provided by the controller KU according to a predetermined control gain Ky and position error signal PES. 位置误差信号PES从横向位置dy和横向头位置y与特定伺服图案中的参考位置&的差值导出。 PES position error signal derived from the first lateral position and the lateral position y dy with a particular servo pattern in the difference between the reference position &.

[0041] 此外,致动器可操作以根据扭斜控制信号旋转地移动头HU。 [0041] In addition, the actuator is operable to move rotationally skew control signal based on the first HU. 头HU的实际旋转位置由旋转头位置《9来表示。 HU actual rotational position of the head by a rotary head position "9 to represent. 扭斜控制信号由控制器Ku根据再一个预定的控制器增益I#和扭斜误差信号SES来提供。 Skew control signal from the controller Ku According to a predetermined control gain I # and skew error signal SES to offer. 扭斜误差信号SES从当前磁带扭斜Θ和旋转头位置J与预定的参考扭斜值^的差值导出。 Skew error signal SES skew Θ from the current tape and rotating head position J with a predetermined reference value deriving skew the difference ^. 除了控制器KU,控制系统可以包含一单独的控制器,其根据扭斜误差信号SES来提供扭斜控制信号可替代地或附加地,扭斜控制信号可以被提供给倾斜元件,例如第一和第二磁带滚轴RR1、RR2,以相应地倾斜磁带TP。 In addition to the controller KU, the control system may comprise a separate controller, which provides the skew control signal based on the skew error signal SES Alternatively or additionally, the skew control signal may be provided to the tilt element, such as first and The second tape roller RR1, RR2, to correspondingly inclined tape TP.

[0042] 图4中的等式F2是指图4中示出的控制系统。 [0042] FIG. 4 equation F2 refers to the control system in Figure 4 is shown. 致动器的模型P例如可以是图4中的等式F4中所示出的2x2矩阵。 The actuator may be for example a model P in equation 4 shown in Figure F4 of the 2x2 matrix. 由此,致动器模型P表示两个输出和两个输入的系统。 Thereby, the actuator model P represents two outputs and two inputs of the system.

第一参数Pyy建模横向头位置I和位置控制信号Uy之间的关系。 The first parameter Pyy modeling I lateral head position and position control relationship between signal Uy. 第二参数建模旋转头 The second parameter modeling rotating head

位置@和预定的扭斜控制信号1之间的关系。 The relationship between the position 1 @ predetermined skew control signal. 剩余的参数―^#、表示横向头位置y和 The remaining parameters - ^ #, y and a transverse head position

预定的扭斜控制信号之间的交叉耦合以及旋转头位置#和预定的位置控制信号uy之间的交叉耦合。 Cross coupling and swivel head position # and the predetermined position predetermined control signal skew between the control signal uy cross-coupling between.

[0043] 根据图5的流程图的程序例如被存储设备的控制器单元(例如微控制器)执行。 [0043] for example, the storage device controller unit (e.g., microcontroller) performed according to the flowchart of FIG. 5 of the program. 该控制器单元还可以被确认为用于操作存储设备的装置。 The controller unit may also be recognized as a means for operating a storage device. 图5中的程序表示磁带扭斜估计。 Figure 5 indicates that the tape skew estimation procedure.

[0044] 程序的执行在步骤SO开始。 Executive [0044] program starts at step SO. 在步骤S2确定两个连续的横向磁带位置YxU1)、yx(t2)。 OK two consecutive lateral tape position YxU1), yx (t2) in step S2. 此外,另外的横向磁带位置可以被确定。 Furthermore, additional lateral tape location can be determined. 至少两个横向磁带位置^aiKyx(t2)可以例如通过使用致动器模型P和预定的控制器增益Ky从位置误差信号PES导出。 At least two lateral tape positions ^ aiKyx (t2) can be derived for example from the position error signal PES by using the actuator model P and the predetermined control gain Ky. 可替代地或附加地,至少两个横向磁带位置YxU1)、yx(t2)可根据第一或第二横向磁带位置yxl(t)、yx2 (t)来估计,该第一或第二横向磁带位置根据磁带传输方向TPDIR由第一或第二传感器S1、S2提供。 Alternatively or additionally, the at least two lateral tape position YxU1), yx (t2) according to the first or second lateral tape position yxl (t), yx2 (t) to estimate, the first or second transverse magnetic tape According to the position of the tape transport direction TPDIR, S2 by a first or second sensor S1.

[0045] 在步骤S4,磁带扭斜Θ例如根据至少两个横向磁带位置yjtj、yx(t2)以及当前磁带速率V和时间差At来确定。 [0045] step S4, the tape skew Θ example, according to at least two laterally tape position yjtj, yx (t2) and the current tape velocity V and At the time difference to determine. 磁带扭斜Θ可以使用图3中的等式H)并计算其反正弦来确定。 Tape skew Θ can use the equations in Figure 3 H) and calculate the arc sine determined. [0046] 在步骤S6,扭斜误差信号SES根据确定的磁带扭斜Θ和头HU的当前旋转头位置 [0046] In step S6, the skew error signal SES tape skew based on the determined current position Θ swivel head and head of HU

J来确定。 J to determine.

[0047] 在步骤S8,扭斜控制信号Mi9根据扭斜误差信号SES来确定。 [0047] In step S8, the skew control signal Mi9 according to the skew error signal SES to determine. 头HU的旋转头位置ί由致动器P和/或倾斜元件根据确定的扭斜控制信号》#控制,以将头HU与当前磁带移动方向TMD对齐,使得头HU可操作以读和/或写数据。 HU swivel head position of the head of ί by the actuator P and / or tilt element according to the determined skew control signal "# control, to head HU TMD aligned with the current direction of movement of the tape, so head HU operable to read and / or write data. 软件程序的执行在步骤SlO停止。 Executing a software program is stopped at step SlO. 优选地,程序执行且由此磁带扭斜估计在步骤S2重新开始。 Preferably, the program is executed and thus skew the tape estimated start again at step S2.

[0048] 尽管本发明已通过某些示例性实施例来说明,本发明并不限于这样的实施例。 [0048] Although the present invention has been described through some exemplary embodiments, the present invention is not limited to such embodiments. 很明显,本领域技术人员可以对本发明进行各种修改和改变,而不偏离本发明的范围。 Obviously, those skilled in the art of the present invention can be variously modified and changed without departing from the scope of the invention. 本发明旨在覆盖这些修改和改变,只要它们落在所附权利要求及其等价物限定的保护范围中。 The present invention is intended to cover such modifications and variations, provided they come within the scope of the appended claims and their equivalents are defined.

[0049] 参考列表 [0049] Reference List

[0050] /IBrt 二角形 [0050] / IBrt two angle

[0051] Θ磁带扭斜 [0051] Θ tape skew

[0052] J旋转头位置 [0052] J swivel head position

[0053] W5扭斜控制信号 [0053] W5 skew control signal

[0054] Uy 位置控制信号 [0054] Uy position control signal

[0055] ry 参考位置 [0055] ry reference position

[0056] ry 参考扭斜值 [0056] ry reference skew value

[0057] dy 横向位置 [0057] dy lateral position

[0058] 三角形边 [0058] The triangle edges

[0059] yxi (t) > yx(t) > yx(ti) > yx(t2)横向磁带位置 [0059] yxi (t)> yx (t)> yx (ti)> yx (t2) lateral tape position

[0060] Pyy,^ 致动器模型的参数 [0060] parameters Pyy, ^ actuator models

[0061] E 磁带边缘 [0061] E edge of the tape

[0062] HU 头 [0062] HU head

[0063] L1、L2、L1*、L2* 纵向距离 [0063] L1, L2, L1 *, L2 * longitudinal distance

[0064] P 致动器模型 [0064] P actuator model

[0065] PES 位置误差信号 [0065] PES position error signal

[0066] PU 头致动器 [0066] PU head actuator

[0067] RE 伺服读元件 [0067] RE servo read element

[0068] REF 参考点 [0068] REF reference point

[0069] RR、RR1、RR2 磁带滚轴 [0069] RR, RR1, RR2 tape roller

[0070] Rff 头元件 [0070] Rff head element

[0071] S1、S2 传感器 [0071] S1, S2 sensor

[0072] SES 扭斜误差信号 [0072] SES skew error signal

[0073] t、t!、t2 时间 [0073] t, t!, T2 Time

[0074] TMD 磁带移动方向[0075] TP 磁带 [0074] TMD direction of movement of the tape [0075] TP Tape

[0076] TPDIR 磁带传输方向 [0076] TPDIR tape transport direction

[0077] V 磁带速率[0078] X 纵向方向 [0077] V tape speed [0078] X longitudinal direction

[0079] xO 纵向头位置 [0079] xO longitudinal head position

[0080] xl、x2、xl*、x2* 纵向位置 [0080] xl, x2, xl *, x2 * longitudinal position

[0081] y 横向头位置 [0081] y lateral head position

[0082] Y 横向方向 [0082] Y transverse direction

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Classifications
International ClassificationG11B5/56
Cooperative ClassificationG11B5/56
European ClassificationG11B5/56
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