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Entry  Wed Jun 26 21:52:55 2013, Charles, Update, ISS, CTN Servo Prototype Characterization TF_Mag-CTNServo_v2_Prototype.pngTF_Mag-CTNServo_v2_Prototype_AD829s.png
    Reply  Thu Jun 27 18:24:25 2013, Charles, Update, ISS, CTN Servo Prototype Characterization - Done Correctly TF-CTNServo_v2_Prototype-Individual_Stages.pngTF-CTNServo_v2_Prototype-Calc_vs_Meas.pngTF-CTNServo_v2_Prototype-Individual_Stages.figTF-CTNServo_v2_Prototype-Calc_vs_Meas.fig
Message ID: 8771     Entry time: Thu Jun 27 18:24:25 2013     In reply to: 8759
Author: Charles 
Type: Update 
Category: ISS 
Subject: CTN Servo Prototype Characterization - Done Correctly 

As I showed in [elog 8759], measuring the transfer function of my prototype servo was difficult due to physical limitations of either some portion of the construction or even the SR785 itself. To get around this, I tried using lower input excitation amplitudes, but ran into problems with noise.

Finding a TF consistent with theoretical predictions made by LISO was easy enough when I simply measured the TF of each of the two filter stages individually and then multiplied them to obtain the TF for the full servo. I still noticed some amount of gain limitation for 100 mV and 10 mV inputs, although I only had to lower the input to 5 mV to avoid this and thus did not see significant amounts of noise as I did with a 1 mV input. The individual transfer functions for each stage are shown below. Note that the SR785 has an upper cutoff frequency of 100 kHz so I could analyze the TF beyond this frequency. Additionally, the limited Gain Bandwidth Product of OP27 op-amps (used in the prototype) causes the magnitude and phase to drop off for f > 10^5 Hz approximately. The actual servo will use AD829 op-amps which have a much larger GBWP.

TF-CTNServo_v2_Prototype-Individual_Stages.png

The measured TFs above are very close to ideal and agree quite well with theoretical predictions. Based on the [circuit schematics],

  • Stage 1 should have Gain ~ 10^3 until the pole at f ~ 10 Hz  
  • Stage 2 should exhibit a DC pole, a zero at f ~ 10^3 Hz and then unity gain for f > 10^3 Hz

Indeed, this is exactly what we can see from the above two TFs. We can also multiply the magnitudes and add the phases (full_phase = phase1 + phase2 - 180) to find the TF for the full servo and compare that to the ideal TF produced by LISO,

TF-CTNServo_v2_Prototype-Calc_vs_Meas.png

And we find exceptionally consistent transfer functions, which speaks to the functionality of my prototype 

As such, I'll proceed with designing this servo in Altium (most of which will be learning how to use the software)

Note that all TFs were taken using the netgpibdata python module. Measurement parameters were entered remotely using the TFSR785.py function (via control room computers) and following the examples on the 40m Wiki.

Attachment 3: TF-CTNServo_v2_Prototype-Individual_Stages.fig  43 kB  Uploaded Thu Jun 27 21:12:35 2013
Attachment 4: TF-CTNServo_v2_Prototype-Calc_vs_Meas.fig  60 kB  Uploaded Thu Jun 27 21:12:49 2013
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