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40m Log |
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Mon Mar 8 12:01:02 2021, Paco, Anchal, Summary, training, Investigate how-to XARM locking
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Mon Mar 8 12:40:35 2021, gautam, Summary, training, Investigate how-to XARM locking
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Mon Mar 8 19:22:56 2021, rana, Summary, SUS, IMC suspension characterization
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Thu Mar 11 08:13:24 2021, Paco, Anchal, Update, SUS, IMC First Free Swing Test failed due to typo, restarting now
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Tue Mar 16 19:13:09 2021, Paco, Anchal, Update, SUS, First success in Input Matric Diagonalization 
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Wed Mar 17 11:57:54 2021, Paco, Anchal, Update, SUS, Tested New Input Matrix for MC1 
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Wed Mar 17 16:30:46 2021, Anchal, Update, SUS, Normalized Input Matrices plotted better than SURF students 
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Thu Mar 18 09:18:49 2021, Paco, Anchal, Update, SUS, Testing of new input matrices with new data 
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Thu Mar 18 12:46:53 2021, rana, Update, SUS, Testing of new input matrices with new data
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Fri Mar 19 10:49:44 2021, Paco, Anchal, Update, SUS, Trying coil actuation balance
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Mon Mar 22 11:57:21 2021, Paco, Anchal, Update, SUS, Trying coil actuation balance 
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Mon Mar 22 15:10:00 2021, rana, Update, SUS, Trying coil actuation balance
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Mon Mar 22 19:07:50 2021, Paco, Anchal, Update, SUS, Trying coil actuation balance 8x
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Tue Mar 23 09:16:42 2021, Paco, Anchal, Update, Computers, Power cycled C1PSL; restored C1PSL 
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Wed Mar 24 09:23:49 2021, Paco, Update, SUS, MC3 new Input Matrix
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Thu Mar 25 11:46:31 2021, Paco, Anchal, Update, SUS, MC2 Coil Balancing updates   
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Thu Mar 25 15:31:24 2021, gautam, Update, IOO, WFS servos
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Fri Mar 26 11:54:37 2021, Paco, Anchal, Update, SUS, MC2 Coil Balancing updates
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Mon Mar 29 10:44:51 2021, Paco, Anchal, Update, SUS, MC2 Coil Balancing updates 
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Mon Mar 29 17:11:54 2021, gautam, Update, SUS, MC2 Coil Balancing updates
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Mon Mar 29 17:34:52 2021, rana, Update, SUS, MC2 Coil Balancing updates
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Wed Mar 31 22:58:32 2021, Anchal, Paco, Update, SUS, MC2 Coil Balancing Test
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Thu Apr 1 13:56:49 2021, Anchal, Paco, Update, SUS, MC2 Coil Balancing Test Results  
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Thu Apr 1 18:01:06 2021, Anchal, Paco, Update, SUS, MC2 Coil Balancing Test Results Success??  
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Thu Apr 1 18:48:45 2021, gautam, Update, SUS, MC2 Coil Balancing Test Results Success??
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Thu Apr 1 21:13:54 2021, Anchal, Update, SUS, Matrix results, new measurement set to trigger
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Fri Apr 2 14:51:20 2021, Anchal, Update, SUS, Bug found, need to redo the balancing
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Tue Apr 6 18:46:36 2021, Anchal, Paco, Update, SUS, Updates on recent efforts
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Wed Apr 7 17:38:51 2021, Anchal, Update, SUS, Trying to uncouple only PIT and YAW first    
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Thu Apr 8 17:04:43 2021, Anchal, Paco, Update, SUS, First Successful Coil Balancing  
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Fri Apr 9 13:13:00 2021, Anchal, Paco, Update, SUS, Faster coil balancing 
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Fri Apr 9 17:41:12 2021, rana, Update, SUS, Faster coil balancing
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Mon Apr 12 10:07:35 2021, Anchal, Update, SUS, What's F2A??
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Tue Apr 13 09:51:22 2021, rana, Update, SUS, What's F2A??
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Wed Apr 14 17:53:38 2021, Anchal, Update, SUS, Plan for calculating filter banks for output matrix aka F2A aka F2P
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Thu Apr 15 11:41:43 2021, Anchal, Update, SUS, Proposed filters for output matrix aka F2A aka F2P
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Fri Apr 16 11:36:36 2021, Anchal, Paco, Update, SUS, Tested proposed filters for POS colum in MC2 output matrix    
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Fri Apr 16 15:47:58 2021, rana, Update, SUS, Tested proposed filters for POS colum in MC2 output matrix
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Mon Apr 19 12:18:19 2021, Anchal, Paco, Update, SUS, Tested proposed filters for POS colum in MC2 output matrix  
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Tue Apr 20 10:52:49 2021, Anchal, Paco, Update, SUS, AC gain coil output balancing for IMC   
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Tue Apr 20 18:19:30 2021, Anchal, Update, SUS, MC2 coil balanced at DC  
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Wed Apr 21 11:38:27 2021, Anchal, Paco, Update, SUS, MC2 Damping Gains Optimized 
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Wed Apr 21 15:50:01 2021, Anchal, Paco, Update, SUS, MC2 Suspension Optimization summary
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Wed Apr 21 18:49:29 2021, rana, Update, SUS, MC2 Suspension Optimization summary
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Thu Apr 22 08:50:21 2021, Anchal, Update, SUS, MC2 Suspension Optimization summary
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Mon Apr 26 18:55:39 2021, Anchal, Paco, Update, SUS, MC2 F2A Filters Tested  
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Tue Apr 27 10:05:28 2021, Anchal, Paco, Update, SUS, MC1 and MC3 F2A Filters Tested   
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Wed Apr 28 10:56:10 2021, Anchal, Paco, Update, SUS, IMC Filters diagnosed 7x
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Wed Apr 28 17:09:11 2021, Anchal, Update, SUS, Tuned Suspension Parameters uploaded for long term behavior monitoring
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Thu Apr 29 10:52:56 2021, Anchal, Update, SUS, IMC Trans QPD and WFS loops step response test 
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Thu Apr 29 18:53:33 2021, Anchal, Update, SUS, IMC Suspension Damping Gains Test  
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Mon May 3 16:24:14 2021, Anchal, Update, SUS, IMC Suspension Damping Gains Test Repeated with IMC unlocked  
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Wed May 5 09:04:47 2021, Anchal, Update, SUS, New IMC Suspension Damping Gains uploaded for long term testing
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Wed May 12 11:45:13 2021, Anchal, Paco, Summary, SUS, New IMC Settings are miserable  
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Wed Jun 2 09:43:30 2021, Anchal, Paco, Summary, SUS, IMC Settings characterization   
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Wed Jun 2 16:20:59 2021, Anchal, Paco, Summary, SUS, IMC Suspension gains reverted to old values
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Sat May 15 14:54:24 2021, gautam, Update, SUS, IMC settings reverted
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Thu May 20 10:35:57 2021, Anchal, Update, SUS, IMC settings reverted
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Thu Apr 22 12:17:23 2021, Anchal, Paco, Update, SUS, MC1 and MC3 Suspension Optimization Summary
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Thu Apr 22 14:22:39 2021, gautam, Update, SUS, Settings restored
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Thu Apr 22 15:36:54 2021, Anchal, Update, SUS, Settings restored
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Thu Apr 22 17:04:17 2021, gautam, Update, SUS, Settings restored
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Sat Apr 10 10:07:47 2021, rana, Update, SUS, Faster coil balancing
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Fri Apr 2 15:22:54 2021, gautam, Update, SUS, Matrix results, new measurement set to trigger
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Sun Mar 28 14:16:25 2021, Anchal, Summary, SUS, MC3 new Input Matrix not providing stable loop
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Mon Mar 29 17:07:17 2021, gautam, Summary, SUS, MC3 new Input Matrix not providing stable loop
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Thu Mar 18 13:12:39 2021, gautam, Update, Computer Scripts / Programs, Omnigraffle vs draw.io
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Message ID: 15943
Entry time: Fri Mar 19 10:49:44 2021
In reply to: 15939
Reply to this: 15951
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Author: |
Paco, Anchal |
Type: |
Update |
Category: |
SUS |
Subject: |
Trying coil actuation balance |
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[Paco, Anchal]
- We decided to try out the coil actuation balancing after seeing some posts from Gautum about the same on PRM and ETMY.
- We used diaggui to send swept sine excitation signal to C1:SUS-MC3_ULCOIL_EXC and read it back at C1:SUS-MC3_ASCPIT_IN1. Idea was to create transfer function measurements similar to 15880.
- We first tried taking the transfer function with excitation amplitude 0f 1, 10, 50, 200 with damping loops on (swept from 10 to 100 Hz lograthmically in 20 points).
- We found no meaningful measurement and looked like we were just measuring noise.
- We concluded that it is probably because our damping loops are damping all the excitation down.
- So we decided to switch off damping and retry.
- We switched off: C1:SUS-MC3_SUSPOS_SW2 , C1:SUS-MC3_SUSPIT_SW2, C1:SUS-MC3_ASCPIT_SW2, C1:SUS-MC3_ASCYAW_SW2, C1:SUS-MC3_SUSYAW_SW2, and C1:SUS-MC3_SUSSIDE_SW2.
- We repeated teh above measurements going up in amplitudes of excitation as 1, 10, 20. We saw the oscillation going out of UL_COIL but the swept sine couldn't measure any meaningful transfer function to C1:SUS-MC3_ASCPIT_IN1. So we decided to just stop. We are probably doing something wrong.
Trying to go back to same state:
- We switch on: C1:SUS-MC3_SUSPOS_SW2 , C1:SUS-MC3_SUSPIT_SW2, C1:SUS-MC3_ASCPIT_SW2, C1:SUS-MC3_ASCYAW_SW2, C1:SUS-MC3_SUSYAW_SW2, and C1:SUS-MC3_SUSSIDE_SW2.
- But C1:SUS-MC3_ASCYAW_INMON had accumulated about 600 offset and was distrupting the alignment. We switched off C1:SUS-MC3_ASCYAW_SW2 hoping the offset will go away once the optic is just damped with OSEM sensors, but it didn't.
- Even after minutes, the offset in C1:SUS-MC3_ASCYAW_INMON kept on increasing and crossed beyond 2000 counts limit set in C1:IOO-MC3_YAW filter bank.
- We tried to unlock the IMC and lock it back again but the offset still persisted.
- We tried to add bias in YAW DOF by increasing C1:SUS-MC3_YAW_OFFSET, and while it was able to somewhat reduce the WFS C1:SUS-MC3_ASCYAW_INMON offset but it was misalgning the optic and the lock was lost. So we retracted the bias to 0 and made it zero.
- We tried to track back where the offset is coming from. In C1IOO_WFS_MASTER.adl, we opened the WFS2_YAW filter bank to see if the sensor is indeed reading the increasing offset.
- It is quite weird that C1:IOO-WFS2_YAW_INMON is just oscillating but the output in this WFS2_YAW filter bank is slowly increasing offset.
- We tried to zero the gain and back to 0.1 to see if some holding function is causing it, but that was not the case. The output went back to high negative offset and kept increasing.
- We don't know what else to do. Only this one WFS YAW output is increasing, everything else is at normal level with no increasing offset or peculiar behavior.
- We are leaving C1:SUS-MC3_ASCYAW_SW2 off as it is disrupting the IMC lock.
[Jon walked in, asked him for help]
- Jon suggested to do burt restore on IOO channels.
- We used
(selected through burtgooey):
burtwb -f /opt/rtcds/caltech/c1/burt/autoburt/snapshots/2021/Mar/19/08:19/c1iooepics.snap -l /tmp/controls_1210319_113410_0.write.log -o /tmp/controls_1210319_113410_0.nowrite.snap -v <
- No luck, the problem persists.
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