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Entry  Wed Mar 7 04:08:48 2012, kiwamu, Update, SUS, BS SIDE gain was too low 
    Reply  Wed Mar 14 03:34:44 2012, kiwamu, Update, SUS, Adjustment of BS suspension output matrix : coupling from SIDE to POS Untitled.png
Message ID: 6369     Entry time: Wed Mar 7 04:08:48 2012     Reply to this: 6409
Author: kiwamu 
Type: Update 
Category: SUS 
Subject: BS SIDE gain was too low 

The BS SIDE damping gain seemed too low. The gain had been 5 while the rest of the suspensions had gains of 90-500.

I increased the gain and set it to be 80.


I did the "Q of 5" test by kicking the BS SIDE motion to find the right gain value.

However there was a big cross coupling, which was most likely a coupling from the SIDE actuator to the POS motion.

Due to the cross coupling, the Q of 5 test didn't really show a nice ring down time series. I just put a gain of 80 to let the Q value sort of 5.

I think we should diagonalize the out matrices for all the suspensions at some point.

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