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Entry  Mon Mar 8 12:01:02 2021, Paco, Anchal, Summary, training, Investigate how-to XARM locking 
    Reply  Mon Mar 8 12:40:35 2021, gautam, Summary, training, Investigate how-to XARM locking 
    Reply  Mon Mar 8 19:22:56 2021, rana, Summary, SUS, IMC suspension characterization 
       Reply  Thu Mar 11 08:13:24 2021, Paco, Anchal, Update, SUS, IMC First Free Swing Test failed due to typo, restarting now 
          Reply  Tue Mar 16 19:13:09 2021, Paco, Anchal, Update, SUS, First success in Input Matric Diagonalization IMC_InputMatrixDiagonalization.pdfInMatCalcScripts.zip
             Reply  Wed Mar 17 11:57:54 2021, Paco, Anchal, Update, SUS, Tested New Input Matrix for MC1 20210317_MC1_InMATtest.pdfMC1_Input_Matrix_Test.tar.gz
                Reply  Wed Mar 17 16:30:46 2021, Anchal, Update, SUS, Normalized Input Matrices plotted better than SURF students IMC_InputMatrixDiagonalization.pdfNewAndOldMatrices.zip
                   Reply  Thu Mar 18 09:18:49 2021, Paco, Anchal, Update, SUS, Testing of new input matrices with new data MC_Optics_Kicked_Time_Series_1.pdfTEST_Input_Matrix_Diagonalization.pdf
                      Reply  Thu Mar 18 12:46:53 2021, rana, Update, SUS, Testing of new input matrices with new data 
                         Reply  Fri Mar 19 10:49:44 2021, Paco, Anchal, Update, SUS, Trying coil actuation balance 
                            Reply  Mon Mar 22 11:57:21 2021, Paco, Anchal, Update, SUS, Trying coil actuation balance 210322_MC1_ASCY.pdfNewandOldMatrices.tar.gz
                               Reply  Mon Mar 22 15:10:00 2021, rana, Update, SUS, Trying coil actuation balance 
                                  Reply  Mon Mar 22 19:07:50 2021, Paco, Anchal, Update, SUS, Trying coil actuation balance 8x
                                     Reply  Tue Mar 23 09:16:42 2021, Paco, Anchal, Update, Computers, Power cycled C1PSL; restored C1PSL MCWFS1and2PITYAW.pdfMCWFS1and2PITYAW_Zoomed.pdf
                                        Reply  Wed Mar 24 09:23:49 2021, Paco, Update, SUS, MC3 new Input Matrix 
                                           Reply  Thu Mar 25 11:46:31 2021, Paco, Anchal, Update, SUS, MC2 Coil Balancing updates CoilActuationBalancing.ipynb.tar.gzMC2_CoilBalancePITnorm_excSamePIT.pdfMC2_CoilBalanceYAWnorm_excSameYAW.pdf20210325_IMC_CoilBalance.tar.gz
                                              Reply  Thu Mar 25 15:31:24 2021, gautam, Update, IOO, WFS servos 
                                              Reply  Fri Mar 26 11:54:37 2021, Paco, Anchal, Update, SUS, MC2 Coil Balancing updates 
                                                 Reply  Mon Mar 29 10:44:51 2021, Paco, Anchal, Update, SUS, MC2 Coil Balancing updates MC2OutMatCrossCouple_Old-to-It3.pdf20210329_MC2_CrossCoupleTest.tar.gz
                                                    Reply  Mon Mar 29 17:11:54 2021, gautam, Update, SUS, MC2 Coil Balancing updates 
                                                       Reply  Mon Mar 29 17:34:52 2021, rana, Update, SUS, MC2 Coil Balancing updates 
                                                          Reply  Wed Mar 31 22:58:32 2021, Anchal, Paco, Update, SUS, MC2 Coil Balancing Test 
                                                             Reply  Thu Apr 1 13:56:49 2021, Anchal, Paco, Update, SUS, MC2 Coil Balancing Test Results SDistanceFromIdentity.pdfSmatIterations.pdfTestingExcitationAlongYAW.pdf
                                                                Reply  Thu Apr 1 18:01:06 2021, Anchal, Paco, Update, SUS, MC2 Coil Balancing Test Results Success?? SDistanceFromIdentity.pdfSmatIterations.pdfMC2CoilCrossCoupling_opt.png
                                                                   Reply  Thu Apr 1 18:48:45 2021, gautam, Update, SUS, MC2 Coil Balancing Test Results Success?? 
                                                                      Reply  Thu Apr 1 21:13:54 2021, Anchal, Update, SUS, Matrix results, new measurement set to trigger 
                                                                         Reply  Fri Apr 2 14:51:20 2021, Anchal, Update, SUS, Bug found, need to redo the balancing 
                                                                            Reply  Tue Apr 6 18:46:36 2021, Anchal, Paco, Update, SUS, Updates on recent efforts FirstMeasurementPlots.pdf
                                                                               Reply  Wed Apr 7 17:38:51 2021, Anchal, Update, SUS, Trying to uncouple only PIT and YAW first SDistanceFromIdentity.pdfSmatIterations.pdfTimeSeriesPlots.pdfCSDPlots.pdfSmatrixPlots.pdf
                                                                                  Reply  Thu Apr 8 17:04:43 2021, Anchal, Paco, Update, SUS, First Successful Coil Balancing SDistanceFromIdentity.pdfSmatIterations.pdfSmatrixPlots.pdf
                                                                                     Reply  Fri Apr 9 13:13:00 2021, Anchal, Paco, Update, SUS, Faster coil balancing SmatIterations.pdfMC2AllOutmat.txt
                                                                                        Reply  Fri Apr 9 17:41:12 2021, rana, Update, SUS, Faster coil balancing 
                                                                                           Reply  Mon Apr 12 10:07:35 2021, Anchal, Update, SUS, What's F2A?? 
                                                                                              Reply  Tue Apr 13 09:51:22 2021, rana, Update, SUS, What's F2A?? 
                                                                                                 Reply  Wed Apr 14 17:53:38 2021, Anchal, Update, SUS, Plan for calculating filter banks for output matrix aka F2A aka F2P MC2propF2A_UL.pdf
                                                                                                    Reply  Thu Apr 15 11:41:43 2021, Anchal, Update, SUS, Proposed filters for output matrix aka F2A aka F2P MC2propPOSfb.pdf
                                                                                                       Reply  Fri Apr 16 11:36:36 2021, Anchal, Paco, Update, SUS, Tested proposed filters for POS colum in MC2 output matrix 20210416_MC2DCcoilBalancingNoFilters.pdfuncFilters.pdf20210416_MC2DCcoilBalancingWithFilters.pdfuncFilters_v2.pdf20210416_MC2DCcoilBalancingWithFilters_v2.pdf
                                                                                                          Reply  Fri Apr 16 15:47:58 2021, rana, Update, SUS, Tested proposed filters for POS colum in MC2 output matrix 
                                                                                                             Reply  Mon Apr 19 12:18:19 2021, Anchal, Paco, Update, SUS, Tested proposed filters for POS colum in MC2 output matrix CrossCoupleTestForEgToCtFilters.pdfuncFilters.pdfuncFilters_v2.pdf
                                                                                                                Reply  Tue Apr 20 10:52:49 2021, Anchal, Paco, Update, SUS, AC gain coil output balancing for IMC POS2PYuncoupled.pdfPIT2PYuncoupled.pdfMC1YAWexc.pdfMC1PITexc.pdf
                                                                                                                   Reply  Tue Apr 20 18:19:30 2021, Anchal, Update, SUS, MC2 coil balanced at DC MC2_DC_Coil_Balanced_St.pngIMC_F2A_Params_MC2.pdfUploadedPOS_F2A_Filters.pdf
                                                                                                                      Reply  Wed Apr 21 11:38:27 2021, Anchal, Paco, Update, SUS, MC2 Damping Gains Optimized MC2_DampGainStepTestWithNewGains.pngMC2_DampGainStepTestWithOldGains.png
                                                                                                                         Reply  Wed Apr 21 15:50:01 2021, Anchal, Paco, Update, SUS, MC2 Suspension Optimization summary 
                                                                                                                            Reply  Wed Apr 21 18:49:29 2021, rana, Update, SUS, MC2 Suspension Optimization summary 
                                                                                                                               Reply  Thu Apr 22 08:50:21 2021, Anchal, Update, SUS, MC2 Suspension Optimization summary 
                                                                                                                            Reply  Mon Apr 26 18:55:39 2021, Anchal, Paco, Update, SUS, MC2 F2A Filters Tested f2a.pdfIMC_F2A_Params_MC2.pdfMC2_F2A_FilterChar_POS2Ang.pdf
                                                                                                                               Reply  Tue Apr 27 10:05:28 2021, Anchal, Paco, Update, SUS, MC1 and MC3 F2A Filters Tested IMC_F2A_Params_MC1.pdfMC1_POStoAng_CrossCoupling.pdfIMC_F2A_Params_MC3.pdfMC3_POStoAng_CrossCoupling.pdf
                                                                                                                                  Reply  Wed Apr 28 10:56:10 2021, Anchal, Paco, Update, SUS, IMC Filters diagnosed 7x
                                                                                                                                     Reply  Wed Apr 28 17:09:11 2021, Anchal, Update, SUS, Tuned Suspension Parameters uploaded for long term behavior monitoring 
                                                                                                                                     Reply  Thu Apr 29 10:52:56 2021, Anchal, Update, SUS, IMC Trans QPD and WFS loops step response test PIT_OFFSET_ON_MC2.pngYAW_STEP_ON_MC2_complete.png
                                                                                                                                        Reply  Thu Apr 29 18:53:33 2021, Anchal, Update, SUS, IMC Suspension Damping Gains Test MC1_SUSDampGainTest.pdfMC2_SUSDampGainTest.pdfMC3_SUSDampGainTest.pdf
                                                                                                                                           Reply  Mon May 3 16:24:14 2021, Anchal, Update, SUS, IMC Suspension Damping Gains Test Repeated with IMC unlocked MC1_SusDampGainTest.pdfMC2_SusDampGainTest.pdfMC3_SusDampGainTest.pdf
                                                                                                                                              Reply  Wed May 5 09:04:47 2021, Anchal, Update, SUS, New IMC Suspension Damping Gains uploaded for long term testing 
                                                                                                                                                 Reply  Wed May 12 11:45:13 2021, Anchal, Paco, Summary, SUS, New IMC Settings are miserable MC_F_Comparison.pdfMC_TRANS_QPD_Comparison.pdfIMC_REFL_DC_Comparison.pdf
                                                                                                                                                    Reply  Wed Jun 2 09:43:30 2021, Anchal, Paco, Summary, SUS, IMC Settings characterization seismicX.pdfseismicXtoMC_F_TFest.pdfseismicXtoMC_TRANS_PIT_TFest.pdfseismicXtoMC_TRANS_YAW_TFest.pdf
                                                                                                                                                       Reply  Wed Jun 2 16:20:59 2021, Anchal, Paco, Summary, SUS, IMC Suspension gains reverted to old values 
                                                                                                                                                 Reply  Sat May 15 14:54:24 2021, gautam, Update, SUS, IMC settings reverted MC2coilOut.png
                                                                                                                                                    Reply  Thu May 20 10:35:57 2021, Anchal, Update, SUS, IMC settings reverted 
                                                                                                                         Reply  Thu Apr 22 12:17:23 2021, Anchal, Paco, Update, SUS, MC1 and MC3 Suspension Optimization Summary 
                                                                                                                            Reply  Thu Apr 22 14:22:39 2021, gautam, Update, SUS, Settings restored MCdamping.png
                                                                                                                               Reply  Thu Apr 22 15:36:54 2021, Anchal, Update, SUS, Settings restored 
                                                                                                                                  Reply  Thu Apr 22 17:04:17 2021, gautam, Update, SUS, Settings restored 
                                                                                        Reply  Sat Apr 10 10:07:47 2021, rana, Update, SUS, Faster coil balancing 
                                                                         Reply  Fri Apr 2 15:22:54 2021, gautam, Update, SUS, Matrix results, new measurement set to trigger 
                                           Reply  Sun Mar 28 14:16:25 2021, Anchal, Summary, SUS, MC3 new Input Matrix not providing stable loop MC3_Input_Matrix_Diagonalization.pdf
                                              Reply  Mon Mar 29 17:07:17 2021, gautam, Summary, SUS, MC3 new Input Matrix not providing stable loop 
                      Reply  Thu Mar 18 13:12:39 2021, gautam, Update, Computer Scripts / Programs, Omnigraffle vs draw.io 
Message ID: 16005     Entry time: Wed Apr 7 17:38:51 2021     In reply to: 16001     Reply to this: 16007
Author: Anchal 
Type: Update 
Category: SUS 
Subject: Trying to uncouple only PIT and YAW first 

To test if our method is working at all, we went for the simpler case of just uncoupling PIT and YAW. This is also because the sensor used for these two degrees of freedom is similar (the MC Trans WFS).

We saw a successful decrease in cross-coupling between PIT and YAW over the first 50 iterations that we tried. Here are some results:


Final output matrix:

Output matrix for uncoupling PIT and YAW from eachother
PIT YAW COILS
1.01858 1.16820 UL
0.98107 -0.79706 UR
-0.98107 0.79706 LL
-1.01858 -1.16820 LR

Plots:

  • Attachment 1 shows distance of sensing matrix from identity as iterations go.
  • Attachment 2 shows the off-diagonal elements of sensing matrix as the iterations increase.
    • It is worth noting that PIT -> YAW coupling was the main element that was reduced successfully while the YAW -> PIT was reducing but much more slowly.
    • Most of the remaining cross coupling in the end was from YAW -> PIT.
  • Attachment 3 shows first 10 oscillations in the time series data during excitation of some of the iterations.
  • Attachment 4 shows the cross spectral density of the sensed data during excitation with each other. This has been normalized by reference PSD data (taken with no excitation) of the sensed DOFs involved in the CSD calculation.
  • Attachment 5 shows the TF estimate made by normalizing CSD data column wise by the diagonal elements. The excitation frequency point in these plots become the Sensing matrix in the calculation.
    • One can notice how the PIT -> YAW element is going down in these plots.
    • Even though we are using only the real value of the sensing matrix, the imaginary values are also going down.

Next, tried uncoupling POS and PIT:

  • Next, we tried to uncouple POS and PIT. We expect them to be more coupled than with YAW.
  • At the time of writing this post, 15 iterations of this attempt have been completed and it is not looking good sad.
  • The distance of the sensing matrix from identity is growing at an accelerated rate.
  • The POS output matrix column seems to be trying to go towards the negative of PIT output matrix column! Why? We don't know.
  • We have seen in the past that once POS transforms into PIT or YAW, it just makes the output matrix worse as no feedback actually goes into the POS column. Eventually, the IMC will cease to remain locked.
  • So, I'm cancelling this attempt for now. Will consider more alternatives later.
Attachment 1: SDistanceFromIdentity.pdf  12 kB  Uploaded Wed Apr 7 18:46:10 2021  | Hide | Hide all
SDistanceFromIdentity.pdf
Attachment 2: SmatIterations.pdf  15 kB  Uploaded Wed Apr 7 18:46:25 2021  | Hide | Hide all
SmatIterations.pdf
Attachment 3: TimeSeriesPlots.pdf  232 kB  Uploaded Wed Apr 7 18:50:03 2021  | Hide | Hide all
TimeSeriesPlots.pdf TimeSeriesPlots.pdf TimeSeriesPlots.pdf TimeSeriesPlots.pdf TimeSeriesPlots.pdf TimeSeriesPlots.pdf TimeSeriesPlots.pdf TimeSeriesPlots.pdf
Attachment 4: CSDPlots.pdf  36 kB  Uploaded Wed Apr 7 18:50:26 2021  | Hide | Hide all
CSDPlots.pdf CSDPlots.pdf CSDPlots.pdf CSDPlots.pdf CSDPlots.pdf CSDPlots.pdf CSDPlots.pdf CSDPlots.pdf
Attachment 5: SmatrixPlots.pdf  35 kB  Uploaded Wed Apr 7 18:50:51 2021  | Hide | Hide all
SmatrixPlots.pdf SmatrixPlots.pdf SmatrixPlots.pdf SmatrixPlots.pdf SmatrixPlots.pdf SmatrixPlots.pdf SmatrixPlots.pdf SmatrixPlots.pdf
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