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Entry  Tue Mar 21 15:13:44 2017, gautam, Update, IMC, IMC input beam mode matching IMG_7220.JPGIMC_ModeMatch.pdfsingleLensSensitivity.pdfsensitivity.pdfIMCmodeMatch.m
    Reply  Tue Mar 21 21:59:48 2017, gautam, Update, IMC, IMC input beam mode matching IMG_3654.JPGIMG_3655.JPG
       Reply  Wed Mar 22 00:33:00 2017, gautam, Update, IMC, IMC length offset nulling offsetInvestigation.pdfoffset_summing_amp.pdf
          Reply  Wed Mar 22 16:58:25 2017, gautam, Update, IMC, WFS sensing matrix measurements 
             Reply  Thu Mar 23 01:44:53 2017, gautam, Update, IMC, WFS sensing matrix measurements IMC_WFS_segment_TF.pdfIMC_WFS_channels_TF.pdfTFsummary.pdfIMC_WFS_170322.xlsx.zip
                Reply  Thu Mar 23 08:43:11 2017, rana, Update, IMC, WFS sensing matrix measurements 
                   Reply  Thu Mar 23 23:38:58 2017, gautam, Update, IMC, MC SUS damping gains stepped down 
                      Reply  Fri Mar 24 11:26:57 2017, gautam, Update, IMC, MC SUS damping gains restored 
                         Reply  Fri Mar 24 19:04:18 2017, gautam, Update, IMC, Seismic feedforward and WFS MCL_comparison.pdfseis_comparison.pdf
Message ID: 12901     Entry time: Thu Mar 23 01:44:53 2017     In reply to: 12900     Reply to this: 12902
Author: gautam 
Type: Update 
Category: IMC 
Subject: WFS sensing matrix measurements 

Thanks to Koji's nice MATLAB script using DttData functions, I was able to quickly analyze the TF data. Essentially, this measurement was a repetition of what was done here. The difference is that the modulation depth has been increased by ~25x compared to that measurement from December 2016. Here are the measured TFs (before accounting for the 1/f^2 normalization) for the various quadrants and the PIT/YAW channels:

  

The plots above are just to illustrate that the measurement was clean between the band over which the averaging will be done to compute the TF amplitude - i.e. 7-15Hz. The full summary of TF amplitudes, standard deviations, and the sensing matrix in the style of the referenced elog (the actual excel spreadsheet is Attachment #4, minus some of the graphics Koji had on his excel sheet):

Inverting those matrices, we get the matrices that diagonalize the sensor-actuator chain:

PITCH:

\begin{pmatrix} -0.00518 & -0.00305 & -639.6\\ 0.00354 & -0.00281 & 198.8\\ 0.00102 & 0.00672 & -756.6 \end{pmatrix}

YAW:

\begin{pmatrix} 0.00523 & -0.00276 & -856.7\\ 0.000318 & 0.00010 & -366.4\\ 0.00039 & -0.00548 & -851.9 \end{pmatrix}

I will try implementing these matrices tomorrow and take a look at the step responses of the loops - the idea is that perhaps the system wasn't optimally diagonalized before and perhaps we can now improve the bandwidths of all the loops.

 

Attachment 1: IMC_WFS_segment_TF.pdf  1.779 MB  Uploaded Thu Mar 23 02:45:18 2017  | Hide | Hide all
IMC_WFS_segment_TF.pdf
Attachment 2: IMC_WFS_channels_TF.pdf  1.148 MB  Uploaded Thu Mar 23 02:45:35 2017  | Hide | Hide all
IMC_WFS_channels_TF.pdf
Attachment 3: TFsummary.pdf  37 kB  Uploaded Thu Mar 23 02:49:25 2017  | Hide | Hide all
TFsummary.pdf
Attachment 4: IMC_WFS_170322.xlsx.zip  75 kB  Uploaded Thu Mar 23 03:07:34 2017
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