I'm playing around with the lastest ALS fool feedforward on the Yarm, and I like what I'm seeing.
First, I verified that I could reproduce the TF shapes in ELOG 11041, which I was able to do with a gain of +9.3 and FMs 5 and 6 in the FF module.
Then, I locked the arm on ALS with full bandwidth, and on POY with the settings currently used the MC module, and took their spectra as references. (I put an excitation on the arm at 443Hz to line them up to the same arbitrary units.)
Then, with ALS at its usual 100Hz UGF and boosts on, the Fool path on, and the MC FM set to trigger on/off at 0.8/0.5, I slowly brought ALS towards zero offset and saw it pop right into resonance.  I then manually triggered the PDH boosts.
Here are some spectra, showing that, with the Fool path on:
- POY unsurprisingly picks up the high frequency noise of the ALS. (Could be mitigated by judicious lowpassing?)
- The in-fool-loop POY noise is WAY more supressed at low frequencies, so the loops are definitely working together. RMS is about 2x smaller too.
Once the PDH loop is running, the ALS loop can be switched out at the CARM FM output without much of an effect beyond a small kick.
However, looking at the loop shapes, maybe I got lucky here. I took the usual injection TFs at the MC FM, the CARM FM, and at ETMY, to get the overall OLG; all of them have >0.9 coherence pretty much everywhere except the first two points.
As desired, the PDH loop looks pretty normal.
I have no intuition about how the fooled CARM loop should look, since this is even more complicated than a two-loop system.
I don't currently know what is causing the odd feature in the overall at ~50Hz, and it spooked me out when I saw the multiple UGF crossings. The only thing I could think of happening there is the pole in the ALS phase tracker boost. I turned it off, and remeasured; the feature persists...
To wrap it up, here's something I think is pretty cool. Here's what happens when I give ETMY a 1000 count position step impulse (no ramp). [Here, CARM is on ALS with G=12, but only FM5 on]
Although the arm was controlled with IR before the kick, ALS maintained control. As soon as ALS brought the arm back towards resonance, the PDH loop picked it right back up.
Coooool.
Some random notes:
- We should really DQ the output of the feedforward FM. I'll try to remember to do this tonight
- I was having problems with the zero crossing triggering, so I didn't end up using it, desipte trying to. Maybe we should implement the Schmitt-y style of "Am I below the threshold? Wait. Am I closer to zero now? Ok, Go!"
- The 1Hz pole in the FF FM rings, unsurprisingly, when the MC FM triggers on briefly, which can be a pain. I made a FM4 which is a Q=1 (instead of 7) pole pair for less ringy. This probably hurts the cancellation somewhat, but I was impatient.
- Alternatively, we could try to figure out how to force history clear when the MC filter is triggered off.
DTT data is attached, in case it's useful to anyone! |