Today we worked on PRM angular servos and Y-arm ALS stabilization.
In the current PRMI angular control configuration two servos simultaneously drive PRM - oplev and POP ASC. We considered 2 ways to redesign this topology:
The first option requires model rewiring so we started from the second one. We had to redesign POP ASC pitch and yaw servos for this because PRM TF has changed. Attached is servo OLTF.
This method worked out well and once PRMI is locked we turned off oplev servo with ramp of 0.5 sec and enable ASC POP servo with ramp of 1 sec.
Once PRMI was locked and ASC running we have turned off PRM angular local damping that presumably prevents us from bringing arms into resonance due to IR coupling to shadow sensors.
PRMI was stable using only ASC POP servo and we moved on to ALS. We found Y-arm beatnote and enabled control to ETMY.
Cavity was stabilized but not robust - we were loosing IR in a minute because green relocked to 01 mode with transmission equal to more than half of 00 mode. This is probably due to angle to length coupling of ETMY.
We were also loosing IMC during cavity stabilization. We made MCL servo and will tune it tomorrow looking at the arm spectrum as an OOL sensor.