Methods for dynamic servo optimization based on tape position
The present disclosure is generally related to a tape drive comprising a tape and a tape head. The tape drive comprises a processor configured to perform a disturbance profile identification detecting one or more disturbances along a length of a tape. The disturbance profile identification is used to create a peak filter array, which is used to instruct the piezoelectric and/or voice coil motor actuators to move the tape head to adjust a frequency of the disturbances. The peak filter array is further used to partition the tape into a plurality of zones based on a size of the peak filter array. Servo parameters of a servo head are then updated based on the peak filter array within each zone to adjust the control strategy specific to each zone. Utilizing the disturbance profile identification prevents track following capability loss against the dynamic lateral tape motion of the tape drive.
1 . A tape drive, comprising:
a take-up reel and a cartridge reel configured to have a tape coupled thereto;
a tape head configured to write data to and read data from the tape;
a first actuator and a second actuator, each configured to actuate the tape head; and
a processor configured to:
perform a reel rotation per minute (RPM) disturbance profile identification detecting one or more disturbance points in a frequency domain of position error signal (PES) along a length of a tape;
acquire exact information of the disturbance points by applying a filter;
acquire a longitudinal position (LPOS), frequency, and magnitude of the one or more disturbance points to create an updated disturbance profile identification;
use the updated disturbance profile identification to generate a peak filter array; and
use the peak filter array to assist in instructing one or more of the first actuator and the second actuator that are configured to move the tape head, to adjust a disturbance compensation to match a frequency and an amplitude of a disturbance during a read operation or a write operation.
2 . The tape drive of claim 1 , wherein the updated disturbance profile identification is based on a speed of the tape, a radius of the take-up and cartridge reels, a length of the tape, and a thickness of the tape.
3 . The tape drive of claim 1 , wherein the reel RPM disturbance profile identification is performed in a factory setting.
4 . The tape drive of claim 1 , wherein the reel RPM disturbance profile identification is performed one or more times at different tape speeds.
5 . The tape drive of claim 1 , further comprising memory, wherein the peak filter array is stored in the memory.
6 . The tape drive of claim 1 , further comprising a first actuator controller and a second actuator controller, wherein the first actuator controller and the second actuator controller each individually comprise two or more peak filters used to adjust a disturbance compensation to match a frequency and an amplitude of a disturbance.
7 . The tape drive of claim 1 , wherein the first actuator is a voice coil motor actuator and the second actuator is a piezoelectric (PZT) actuator.
8 . A tape drive, comprising:
a take-up reel and a cartridge reel configured to have a tape coupled thereto;
a tape head configured to write data to and read data from the tape;
a first actuator;
a second actuator, the first and second actuators each being configured to actuate the tape head; and
a processor coupled to the tape head, the processor comprising servo controller parameters, wherein the processor is configured to:
perform a reel rotation per minute (RPM) disturbance profile identification detecting one or more disturbance points in a frequency domain of position error signal (PES) along a length of a tape;
partition the tape longitudinally into a plurality of zones based on a size of a peak filter array, wherein one peak filter in the peak filter array corresponds to one zone;
create data write gaps at the boundaries between each of the zones; and
update the servo control parameters when the tape head crosses each boundary when writing data to or reading data from the tape, the updated servo control parameters being based on the peak filter array and a longitudinal position (LPOS) of the disturbances.
9 . The tape drive of claim 8 , further comprising a servo controller, wherein the servo controller comprises the updated servo control parameters.
10 . The tape drive of claim 8 , wherein the processor is further configured to:
acquire the LPOS, frequency, and magnitude of the one or more disturbance points to create an updated disturbance profile identification; and
use the updated disturbance profile identification to generate the peak filter array, the peak filter array being based off of the calculated servo control parameters.
11 . The tape drive of claim 8 , wherein the reel RPM disturbance profile identification is performed in a factory setting.
12 . The tape drive of claim 8 , wherein the reel RPM disturbance profile identification is performed one or more times at different tape speeds.
13 . The tape drive of claim 8 , wherein one or more of the plurality of zones have a different size.
14 . The tape drive of claim 8 , wherein the processor is configured to compare a current LPOS of the tape head to the LPOS of the peak filter array calculated to update the servo control parameters.
15 . The tape drive of claim 8 , wherein the first actuator is a voice coil motor actuator and the second actuator is a piezoelectric (PZT) actuator.
16 . A tape drive, comprising:
a take-up reel and a cartridge reel configured to have a tape coupled thereto;
a tape head configured to write data to and read data from the tape;
a first actuator;
a second actuator, the first and second actuators each being configured to actuate the tape head; and
a processor coupled to the tape head, the processor comprising servo controller parameters, wherein the processor is configured to:
perform a reel rotation per minute (RPM) disturbance profile identification detecting one or more disturbance points in a frequency domain of position error signal (PES) along a length of a tape;
acquire exact information of the disturbance points by applying a filter;
acquire a longitudinal position (LPOS), frequency, and magnitude of the one or more disturbance points to create an updated disturbance profile identification;
use the updated disturbance profile identification to create a peak filter array;
use the peak filter array to assist in instructing one or more of the first actuator and the second actuator that are configured to move the tape head, to adjust a disturbance compensation to match a frequency and an amplitude of a disturbance during a read operation or a write operation;
partition the tape longitudinally into a plurality of zones based on a size of the peak filter array;
create data write gaps at the boundaries between each of the zones; and
update the servo control parameters when the tape head crosses each boundary when writing data to or reading data from the tape, the updated servo parameters being based on the calculated peak filter array.
17 . The tape drive of claim 16 , wherein the updated disturbance profile identification is based on a speed of the tape, a radius of the take-up and cartridge reels, a length of the tape, and a thickness of the tape.
18 . The tape drive of claim 16 , wherein the reel RPM disturbance profile identification is performed in a factory setting, and wherein the reel RPM disturbance profile identification is performed one or more times at different tape speeds.
19 . The tape drive of claim 16 , wherein one or more of the plurality of zones have a different size, and wherein a servo controller of the tape drive is configured to compare a current LPOS of the tape head to the LPOS of each peak of the peak filter array detected to update the servo control parameters.
20 . The tape drive of claim 16 , further comprising memory.
21 . The tape drive of claim 20 , wherein the peak filter array is stored in the memory.
22 . The tape drive of claim 16 , further comprising a first actuator controller and a second actuator controller, wherein the first actuator controller and the second actuator controller each individually comprise two or more peak filters used to adjust a disturbance compensation to match a frequency and an amplitude of a disturbance.
23 . The tape drive of claim 16 , wherein the first actuator is a voice coil motor actuator and the second actuator is a piezoelectric (PZT) r actuator.