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Entry  Mon Mar 8 12:01:02 2021, Paco, Anchal, Summary, training, Investigate how-to XARM locking 
    Reply  Mon Mar 8 12:40:35 2021, gautam, Summary, training, Investigate how-to XARM locking 
    Reply  Mon Mar 8 19:22:56 2021, rana, Summary, SUS, IMC suspension characterization 
       Reply  Thu Mar 11 08:13:24 2021, Paco, Anchal, Update, SUS, IMC First Free Swing Test failed due to typo, restarting now 
          Reply  Tue Mar 16 19:13:09 2021, Paco, Anchal, Update, SUS, First success in Input Matric Diagonalization IMC_InputMatrixDiagonalization.pdfInMatCalcScripts.zip
             Reply  Wed Mar 17 11:57:54 2021, Paco, Anchal, Update, SUS, Tested New Input Matrix for MC1 20210317_MC1_InMATtest.pdfMC1_Input_Matrix_Test.tar.gz
                Reply  Wed Mar 17 16:30:46 2021, Anchal, Update, SUS, Normalized Input Matrices plotted better than SURF students IMC_InputMatrixDiagonalization.pdfNewAndOldMatrices.zip
                   Reply  Thu Mar 18 09:18:49 2021, Paco, Anchal, Update, SUS, Testing of new input matrices with new data MC_Optics_Kicked_Time_Series_1.pdfTEST_Input_Matrix_Diagonalization.pdf
                      Reply  Thu Mar 18 12:46:53 2021, rana, Update, SUS, Testing of new input matrices with new data 
                         Reply  Fri Mar 19 10:49:44 2021, Paco, Anchal, Update, SUS, Trying coil actuation balance 
                            Reply  Mon Mar 22 11:57:21 2021, Paco, Anchal, Update, SUS, Trying coil actuation balance 210322_MC1_ASCY.pdfNewandOldMatrices.tar.gz
                               Reply  Mon Mar 22 15:10:00 2021, rana, Update, SUS, Trying coil actuation balance 
                                  Reply  Mon Mar 22 19:07:50 2021, Paco, Anchal, Update, SUS, Trying coil actuation balance 8x
                                     Reply  Tue Mar 23 09:16:42 2021, Paco, Anchal, Update, Computers, Power cycled C1PSL; restored C1PSL MCWFS1and2PITYAW.pdfMCWFS1and2PITYAW_Zoomed.pdf
                                        Reply  Wed Mar 24 09:23:49 2021, Paco, Update, SUS, MC3 new Input Matrix 
                                           Reply  Thu Mar 25 11:46:31 2021, Paco, Anchal, Update, SUS, MC2 Coil Balancing updates CoilActuationBalancing.ipynb.tar.gzMC2_CoilBalancePITnorm_excSamePIT.pdfMC2_CoilBalanceYAWnorm_excSameYAW.pdf20210325_IMC_CoilBalance.tar.gz
                                              Reply  Thu Mar 25 15:31:24 2021, gautam, Update, IOO, WFS servos 
                                              Reply  Fri Mar 26 11:54:37 2021, Paco, Anchal, Update, SUS, MC2 Coil Balancing updates 
                                                 Reply  Mon Mar 29 10:44:51 2021, Paco, Anchal, Update, SUS, MC2 Coil Balancing updates MC2OutMatCrossCouple_Old-to-It3.pdf20210329_MC2_CrossCoupleTest.tar.gz
                                                    Reply  Mon Mar 29 17:11:54 2021, gautam, Update, SUS, MC2 Coil Balancing updates 
                                                       Reply  Mon Mar 29 17:34:52 2021, rana, Update, SUS, MC2 Coil Balancing updates 
                                                          Reply  Wed Mar 31 22:58:32 2021, Anchal, Paco, Update, SUS, MC2 Coil Balancing Test 
                                                             Reply  Thu Apr 1 13:56:49 2021, Anchal, Paco, Update, SUS, MC2 Coil Balancing Test Results SDistanceFromIdentity.pdfSmatIterations.pdfTestingExcitationAlongYAW.pdf
                                                                Reply  Thu Apr 1 18:01:06 2021, Anchal, Paco, Update, SUS, MC2 Coil Balancing Test Results Success?? SDistanceFromIdentity.pdfSmatIterations.pdfMC2CoilCrossCoupling_opt.png
                                                                   Reply  Thu Apr 1 18:48:45 2021, gautam, Update, SUS, MC2 Coil Balancing Test Results Success?? 
                                                                      Reply  Thu Apr 1 21:13:54 2021, Anchal, Update, SUS, Matrix results, new measurement set to trigger 
                                                                         Reply  Fri Apr 2 14:51:20 2021, Anchal, Update, SUS, Bug found, need to redo the balancing 
                                                                            Reply  Tue Apr 6 18:46:36 2021, Anchal, Paco, Update, SUS, Updates on recent efforts FirstMeasurementPlots.pdf
                                                                               Reply  Wed Apr 7 17:38:51 2021, Anchal, Update, SUS, Trying to uncouple only PIT and YAW first SDistanceFromIdentity.pdfSmatIterations.pdfTimeSeriesPlots.pdfCSDPlots.pdfSmatrixPlots.pdf
                                                                                  Reply  Thu Apr 8 17:04:43 2021, Anchal, Paco, Update, SUS, First Successful Coil Balancing SDistanceFromIdentity.pdfSmatIterations.pdfSmatrixPlots.pdf
                                                                                     Reply  Fri Apr 9 13:13:00 2021, Anchal, Paco, Update, SUS, Faster coil balancing SmatIterations.pdfMC2AllOutmat.txt
                                                                                        Reply  Fri Apr 9 17:41:12 2021, rana, Update, SUS, Faster coil balancing 
                                                                                           Reply  Mon Apr 12 10:07:35 2021, Anchal, Update, SUS, What's F2A?? 
                                                                                              Reply  Tue Apr 13 09:51:22 2021, rana, Update, SUS, What's F2A?? 
                                                                                                 Reply  Wed Apr 14 17:53:38 2021, Anchal, Update, SUS, Plan for calculating filter banks for output matrix aka F2A aka F2P MC2propF2A_UL.pdf
                                                                                                    Reply  Thu Apr 15 11:41:43 2021, Anchal, Update, SUS, Proposed filters for output matrix aka F2A aka F2P MC2propPOSfb.pdf
                                                                                                       Reply  Fri Apr 16 11:36:36 2021, Anchal, Paco, Update, SUS, Tested proposed filters for POS colum in MC2 output matrix 20210416_MC2DCcoilBalancingNoFilters.pdfuncFilters.pdf20210416_MC2DCcoilBalancingWithFilters.pdfuncFilters_v2.pdf20210416_MC2DCcoilBalancingWithFilters_v2.pdf
                                                                                                          Reply  Fri Apr 16 15:47:58 2021, rana, Update, SUS, Tested proposed filters for POS colum in MC2 output matrix 
                                                                                                             Reply  Mon Apr 19 12:18:19 2021, Anchal, Paco, Update, SUS, Tested proposed filters for POS colum in MC2 output matrix CrossCoupleTestForEgToCtFilters.pdfuncFilters.pdfuncFilters_v2.pdf
                                                                                                                Reply  Tue Apr 20 10:52:49 2021, Anchal, Paco, Update, SUS, AC gain coil output balancing for IMC POS2PYuncoupled.pdfPIT2PYuncoupled.pdfMC1YAWexc.pdfMC1PITexc.pdf
                                                                                                                   Reply  Tue Apr 20 18:19:30 2021, Anchal, Update, SUS, MC2 coil balanced at DC MC2_DC_Coil_Balanced_St.pngIMC_F2A_Params_MC2.pdfUploadedPOS_F2A_Filters.pdf
                                                                                                                      Reply  Wed Apr 21 11:38:27 2021, Anchal, Paco, Update, SUS, MC2 Damping Gains Optimized MC2_DampGainStepTestWithNewGains.pngMC2_DampGainStepTestWithOldGains.png
                                                                                                                         Reply  Wed Apr 21 15:50:01 2021, Anchal, Paco, Update, SUS, MC2 Suspension Optimization summary 
                                                                                                                            Reply  Wed Apr 21 18:49:29 2021, rana, Update, SUS, MC2 Suspension Optimization summary 
                                                                                                                               Reply  Thu Apr 22 08:50:21 2021, Anchal, Update, SUS, MC2 Suspension Optimization summary 
                                                                                                                            Reply  Mon Apr 26 18:55:39 2021, Anchal, Paco, Update, SUS, MC2 F2A Filters Tested f2a.pdfIMC_F2A_Params_MC2.pdfMC2_F2A_FilterChar_POS2Ang.pdf
                                                                                                                               Reply  Tue Apr 27 10:05:28 2021, Anchal, Paco, Update, SUS, MC1 and MC3 F2A Filters Tested IMC_F2A_Params_MC1.pdfMC1_POStoAng_CrossCoupling.pdfIMC_F2A_Params_MC3.pdfMC3_POStoAng_CrossCoupling.pdf
                                                                                                                                  Reply  Wed Apr 28 10:56:10 2021, Anchal, Paco, Update, SUS, IMC Filters diagnosed 7x
                                                                                                                                     Reply  Wed Apr 28 17:09:11 2021, Anchal, Update, SUS, Tuned Suspension Parameters uploaded for long term behavior monitoring 
                                                                                                                                     Reply  Thu Apr 29 10:52:56 2021, Anchal, Update, SUS, IMC Trans QPD and WFS loops step response test PIT_OFFSET_ON_MC2.pngYAW_STEP_ON_MC2_complete.png
                                                                                                                                        Reply  Thu Apr 29 18:53:33 2021, Anchal, Update, SUS, IMC Suspension Damping Gains Test MC1_SUSDampGainTest.pdfMC2_SUSDampGainTest.pdfMC3_SUSDampGainTest.pdf
                                                                                                                                           Reply  Mon May 3 16:24:14 2021, Anchal, Update, SUS, IMC Suspension Damping Gains Test Repeated with IMC unlocked MC1_SusDampGainTest.pdfMC2_SusDampGainTest.pdfMC3_SusDampGainTest.pdf
                                                                                                                                              Reply  Wed May 5 09:04:47 2021, Anchal, Update, SUS, New IMC Suspension Damping Gains uploaded for long term testing 
                                                                                                                                                 Reply  Wed May 12 11:45:13 2021, Anchal, Paco, Summary, SUS, New IMC Settings are miserable MC_F_Comparison.pdfMC_TRANS_QPD_Comparison.pdfIMC_REFL_DC_Comparison.pdf
                                                                                                                                                    Reply  Wed Jun 2 09:43:30 2021, Anchal, Paco, Summary, SUS, IMC Settings characterization seismicX.pdfseismicXtoMC_F_TFest.pdfseismicXtoMC_TRANS_PIT_TFest.pdfseismicXtoMC_TRANS_YAW_TFest.pdf
                                                                                                                                                       Reply  Wed Jun 2 16:20:59 2021, Anchal, Paco, Summary, SUS, IMC Suspension gains reverted to old values 
                                                                                                                                                 Reply  Sat May 15 14:54:24 2021, gautam, Update, SUS, IMC settings reverted MC2coilOut.png
                                                                                                                                                    Reply  Thu May 20 10:35:57 2021, Anchal, Update, SUS, IMC settings reverted 
                                                                                                                         Reply  Thu Apr 22 12:17:23 2021, Anchal, Paco, Update, SUS, MC1 and MC3 Suspension Optimization Summary 
                                                                                                                            Reply  Thu Apr 22 14:22:39 2021, gautam, Update, SUS, Settings restored MCdamping.png
                                                                                                                               Reply  Thu Apr 22 15:36:54 2021, Anchal, Update, SUS, Settings restored 
                                                                                                                                  Reply  Thu Apr 22 17:04:17 2021, gautam, Update, SUS, Settings restored 
                                                                                        Reply  Sat Apr 10 10:07:47 2021, rana, Update, SUS, Faster coil balancing 
                                                                         Reply  Fri Apr 2 15:22:54 2021, gautam, Update, SUS, Matrix results, new measurement set to trigger 
                                           Reply  Sun Mar 28 14:16:25 2021, Anchal, Summary, SUS, MC3 new Input Matrix not providing stable loop MC3_Input_Matrix_Diagonalization.pdf
                                              Reply  Mon Mar 29 17:07:17 2021, gautam, Summary, SUS, MC3 new Input Matrix not providing stable loop 
                      Reply  Thu Mar 18 13:12:39 2021, gautam, Update, Computer Scripts / Programs, Omnigraffle vs draw.io 
Message ID: 16089     Entry time: Wed Apr 28 10:56:10 2021     In reply to: 16087     Reply to this: 16091   16094
Author: Anchal, Paco 
Type: Update 
Category: SUS 
Subject: IMC Filters diagnosed 

Good morning!

We ran the f2a filter test for MC1, MC2, and MC3.


Filters

The new filters differ from previous versions by a adding non-unity Q factor for the pole pairs as well.

\frac{f^2 - i \frac{f_z}{Q}f + f_z^2}{f^2 - i \frac{f_0}{Q}f + f_0^2}
This in terms of zpk is: [ [zr + i zi, zr - i zi], [pr + i pi, pr - i pi], 1] where
z_r = -\frac{f_z}{2Q}, \quad z_i = f_z \sqrt{1 - \frac{1}{4Q^2}}, \quad p_r = -\frac{f_0}{2Q}, \quad p_i = f_0 \sqrt{1 - \frac{1}{4Q^2}}, \quad f_z = f_0 \sqrt{G_{DC}}

  • Attachment #1 shows the filters for MC1 evaluated for Q=3, 7,and 10.
  • Attachment #2 shows the filters for MC2 evaluated for Q=3, 7, and 10.
  • Attachment #3 shows the filters for MC3 evaluated for Q=3, 7, and 10.
  • Attachment #4 shows the bode plots generated by foton after uploading for Q=3 case.

We uploaded all these filters using foton, into the three last FM slots on the POS output gain coil.


Tests

We ran tests on all suspended optics using the following (nominal) procedure:

  1. Upload new input matrix
  2. Lower the C1:IOO-WFS_GAIN to 0.05.
  3. Upload AC coil balancing gains.
  4. Take ASD for the following channels:
    • C1:IOO-MC_TRANS_PIT_IN1
    • C1:IOO-MC_TRANS_YAW_IN1
    • C1:IOO-MC_WFS1_PIT_IN1
    • C1:IOO-MC_WFS1_YAW_IN1
    • C1:IOO-MC_WFS2_PIT_IN1
    • C1:IOO-MC_WFS2_YAW_IN1
  5. For the following combinations:
    • No excitation** + no filter
    • No excitation + filter
    • Excitation + no filter
    • Excitation + filter

** Excitation = 0.05 - 3.5 Hz uniform noise, 100 amplitude, 100 gain


Plots

  • Attachment 5-7 give the test results for MC1, MC2 and MC3.
  • In each pdf, the three pages show ASD of TRANS QPD, WFS1 and WFS2 channels' PIT and YAW, respectively.
  • Red/blue correspond to data taken while F2A filters were on. Pink/Cyan correspond to data taken with filters off.
  • Solid curves were taken with excitation ON and dashed curves were taken with excitation off.
  • We see good suppression of POS-> PIT coupling in MC2 and MC3. POS->YAw is minimally affected in all cases.
  • MC1 is clearly not doing good with the filters and probably needs readjustement. Something to do later in the future.
Attachment 1: IMC_F2A_Params_MC1.pdf  42 kB  Uploaded Wed Apr 28 12:01:29 2021  | Hide | Hide all
IMC_F2A_Params_MC1.pdf IMC_F2A_Params_MC1.pdf IMC_F2A_Params_MC1.pdf
Attachment 2: IMC_F2A_Params_MC2.pdf  37 kB  Uploaded Wed Apr 28 12:02:08 2021  | Hide | Hide all
IMC_F2A_Params_MC2.pdf IMC_F2A_Params_MC2.pdf IMC_F2A_Params_MC2.pdf
Attachment 3: IMC_F2A_Params_MC3.pdf  33 kB  Uploaded Wed Apr 28 12:02:21 2021  | Hide | Hide all
IMC_F2A_Params_MC3.pdf IMC_F2A_Params_MC3.pdf IMC_F2A_Params_MC3.pdf
Attachment 4: IMC_F2A_Foton.pdf  33 kB  Uploaded Wed Apr 28 12:25:37 2021  | Hide | Hide all
IMC_F2A_Foton.pdf IMC_F2A_Foton.pdf IMC_F2A_Foton.pdf
Attachment 5: MC1_POS2ANG_Filter_Test.pdf  14 kB  Uploaded Wed Apr 28 12:32:54 2021  | Hide | Hide all
MC1_POS2ANG_Filter_Test.pdf MC1_POS2ANG_Filter_Test.pdf MC1_POS2ANG_Filter_Test.pdf
Attachment 6: MC2_POS2ANG_Filter_Test.pdf  13 kB  Uploaded Wed Apr 28 12:33:03 2021  | Hide | Hide all
MC2_POS2ANG_Filter_Test.pdf MC2_POS2ANG_Filter_Test.pdf MC2_POS2ANG_Filter_Test.pdf
Attachment 7: MC3_POS2ANG_Filter_Test.pdf  13 kB  Uploaded Wed Apr 28 12:33:14 2021  | Hide | Hide all
MC3_POS2ANG_Filter_Test.pdf MC3_POS2ANG_Filter_Test.pdf MC3_POS2ANG_Filter_Test.pdf
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