I don't think I touched/adjusted/whatever anything, but I did open the PSL table ~5-10min ago to measure the size of the Kiwamu-Box, so if the RFAM stuff looks funny for a few minutes, it was probably me.  Just FYI.

 [Mirko,  Jenne]

We're playing with the MC OAF, so we're actuating on MC2.  Again, FYI.

 This is a trend for a day long showing the REFL11/55 demod signals, REFLDC (corresponding to the MC transmitted power) and the PSL booth temperatire.

There are sudden jumps in the REFL55_I and REFL11_Q signals around 5:00 AM this morning, also at the same time the temperature suddenly went up.

But the quality of the signal turned out to be not so good because the fluctuation is still within 1 bit of the ADCs,

we have to try it again with a bigger gain in the analog whitening circuit.

[Jenne, Mirko]

To reiterate: We changed the OSEM loop shape for MC1-MC3. Below in black is the old loop shape, which simulated pendulum response in there. In red is the new loop shape.

The differences are due to extra filter in C1:SUS-MC?_SUSPOS module 6,7,9

6: Elliptical LP @ 2.5Hz
7: Inverse Chebychev HP @0.3Hz
8: 1st order LP @ 10Hz

This has the potential to be unstable, but is not. At some point these filters should be tuned further.

The 2nd trial of the Y arm ALS noise budgeting :

(Removal of broad band noise)

I will add the dark noise of the broad-band beat-note PD  and the MFD read out noise on the budget.

For some reason C1PEM doesn't seem to work anymore after a recompilation. It did recompile fine. We just changed some channel / subsystem names.

Tried reverting to the svn version. Doesn't work. Reboot C1SUS also no good.

Do we care about the AC? I thought what we care is the DC.

 It is fine again. Thanks Jamie.

I found that the slow machine c1auxey, which controls and monitoring the ETMY suspension things, were not responding.

The machine responded to ping but I wasn't able to telnet to it.

I went down there and power-cycled it by keying the power of the VME rack, and then it came back and seems working properly.

I have no idea why it ran into such condition.

I have changed the MC2_YAW DC bias because the PZT1_YAW was railing.

I also realigned the steering mirrors in zig-zag path since the mode cleaner tended to resonate with higher order modes after I have changed the MC2 bias.

  C1:SUS-MC2_YAW_COMM =  -1.1548    => -1.1208

Tonight I built a simpler version of what will be the new general-purpose precision temperature controller. This one is built on a breadboard and will be used for RFAM testing at the 40m until a better version is made. Some  differences between this version and the final one:

• In the interest of time, this controller senses temperature using a DC wheatstone bridge, instead of the audio-frequency bridge of the final controller.
• I eschewed the more complicated transistor current source in favor of a simple current buffer. In effect, using a constant-current source is not absolutely necessary, since we are not interested in constant current but rather a constant system temperature. In this sense, it doesn't matter if we have a transistor current source or a transistor voltage source or a current-buffered op amp voltage source; the loop will simply drive the heater with the proper current to keep the error signal nulled. 

So, how it works:

1. The DC bridge drive voltage is supplied by a voltage-divided and buffered AD587 (low-noise 10-V reference).
2. The reference resistors are just 1% metal film leaded resistors, but I have put some effort into making them quiet:
   1. Each resistor's body is wrapped in Al tape, and then all the resistors are taped together using Al tape, as well. This is to strongly couple them to each other thermally.
   2. All the reference resistors are embedded in some foam I found in the Bridge sub-B hallway. It's nothing fancy, but it keeps large advection currents from causing thermal drifts.
3. The sensing element is a PT100 100-ohm RTD. Tempco is ~0.0037 1/K
4. The bridge differential voltage is read out by an AD620 instrumentation amplifier with G = 100
5. The AD620 output is fed directly to an OP27 with G = 0-20
6. This is fed to an LF356 (FET-input op amp, to reduce the effects of bias current when the integrator is on) with a single pole at 0.1 Hz, switchable via jumper to DC for true integration
7. This is summed with an offset via an OP27 summer (the offset determines the heater current with no signal---half the maximum current of ~120 mA is optimal)
8. The summer output is buffered with a BUF634, which can provide well over the maximum current we can push through our heater, and the BUF634 directly drives the heater
9. Between the BUF634 and the heater is a back-biased diode to ground. This is to prevent the current from going negative when the error signal is well below zero.

I have tested the circuit using a spare resistive heater and a potentiometer to simulate the RTD. First I tested the sensing and drive circuits separately, then I connected the sensor output to the drive input and modulated the potentiometer resistance while monitoring the current. The circuit behaved as expected.

When I got to the 40m, it struck me that the resistance I had chosen (115 ohms) corresponded to 40 C, which I realized might be above what we could reach with the current we can provide. I used the Newport 6000 via telnet to drive the heater at several current values and see what the resistance became. I found that with I = Imax/2 ~ 0.6, the resistance was around 113 ohms (it was ~111 at room temp). So, I switched the reference resistor in the leg above the PT100 from 115 -> 113.

I then plugged everything in while monitoring the heater current and AD620 output (error signal), and it seemed not to do anything. I was tired so I figured I'd leave it for tomorrow.

Here is a sketch of the schematic, as well as some pictures:

Gave the elog its afternoon / tea-time reboot, since it was hanging yet again.

(The broad-band noise vs. gain of the Y end green PDH)

 Last night I was trying to identify the broad band noise which is white and dominant above 20 Hz (#5970).

I found that the level of the noise depended on the servo gain of the Y end green PDH loop.

Decreasing the servo gain lowers the noise level by a factor of 2 or so. This was quite repeatable.

(I changed the gain knob of the PDH box from the minimum to a point where the servo starts oscillating)

(Malfunction in the comparator)

  However I had to give up further investigations because the comparator signal suddenly became funny: sometimes it outputs signals and sometimes not.

It seems the comparator circuit became broken for some reason. I will fix it.

c1iscex has not been running for a couple of days (since the power shutdown at least). I was assuming that the problem was recurrence of the c1iscex IO chassis issue from a couple weeks ago (5854).  However, upon investigation I found that the timing signals were all fine.  Instead, the IOP was reporting that it was finding now ADC, even though there is one in the chassis.

Since I had a spare ADC that was going to be used for the CyMAC, I decided to try swapping it out to see if that helped.  Sure enough, the system came up fine with the new ADC.  The IOP (c1x01) and c1scx are now both running fine.

I assume the issue before might have been caused by a failing and flaky ADC, which has now failed.  We'll need to get a new ADC for me to give back to the CyMAC.

Tried measuring the actuator matrix for MC1.

With the watchdogs tripped I cut the loops for pos, pitch and yaw open just before the servos. Then I injected a fixed sine at 0.4Hz into the three DOFs (suspos, suspit, susyaw) one by one, while looking into the error signal just before the servos.

                                                         Response DOF

                                     pos                 pit             yaw

Injection DOF pos          0.008417       0.00301        0.004975
                     pit            0.01295         0.01959        0.0158
                     yaw         0.007188        0.002152     0.0144

Inverting that and dividing by the norm gives us

 0.8322   -0.1096   -0.1669
-0.2456    0.2869   -0.2293
-0.3777    0.0118    0.4211

Somehow putting this into the 'To coil' matrix has an effect even with the watchdog tripped!?!?

[Rana / Mirko / Kiwamu]

 The watchdogs on the MC suspensions are not working.

Switching off the watchdogs doesn't stop feeding signals to the suspensions.

For tonight, we will leave the controller of the MC suspensions switched off so that the computer won't smash the optics accidentally.

[Jenne, Zach]

We did some testing of the prototype temperature controller. When I left it late last night, it was not working in conjunction with the real heater and PT100 mounted to the EOM, but had been tested using simulated loads (a spare heater and a potentiometer for the RTD).

We measured each of the reference resistors carefully, as I should have done in the first place since they are only 1% tolerance (I am using 100-ohm ones in series with ~15-ohm ones, so they have a variation of +/- an ohm or so, which is consequential). We calculated the estimated zero-signal resistance of the RTD, then used a trimpot to verify that the AD620 output behaved as expected. We realized that I didn't tie the 620's reference to ground, so the output was floating around by a lot. Once we did that, the readout was still not working properly, but eventually magic happened and we got an appropriate signal. I did find that there was a discrepancy between the estimated zero-signal resistance and that measured across the trimpot with the readout nulled---this may be caused by a small offset in the 620, but is not important so long as the output still scales properly.

Before trying it out again on the real McCoy, I tested the whole, closed-loop circuit with the spare EOM on Jenne's desk. The temperature oscillated at first, but a reduction of gain at the input stage of the driver allowed it to stabilize. The temperature of the EOM (sitting on the electronics bench) was kept constant with a control current that varied from ~40 - 70 mA, depending on how many people were around it, etc. This is pretty much perfect for the quiescent level, but that means that we might have to increase the baseline operating resistance of the PT100 (by changing the reference resistors) once it is sitting in a hot foam box. Otherwise, we will have no gain on the cooling side. I tested the circuit response by cupping my hands over the EOM to increase the temperature and ensuring that the current dropped so as to null the error signal. It worked pretty well, with a thermally-limited bandwidth of I would estimate around 0.1 Hz. 

I went to try it out on the PSL table, but again it didn't work. It turned out that this time I had broken one of the soldered connections from the broken-out D-sub cable to the (tiny) wires going to the PT100, so there was no temperature signal. I resoldered it, but I forgot that there is a thin insulating layer on the wire, so no connection was made. Frank tutored Jenne on how to properly strip these wires without damaging the core, but alas I didn't pay attention.

The RTD/heater/D-sub package lies in wait on Jenne's desk, where I have left an apologetic note. Once it is fixed, we should be able to finally hook it up for realz.

Tried the script 3 times and it didn't come back. Pkill'd and then scripted. That worked.

The Striptool for the BLRMS seismic channels is running now. Channels are ( still ) recorded as slow EPICS channels.

A big peak in the 0.1 - 0.3Hz seismic region in both GUR1 and STS1 irritated us for a while. I added an extra LP filter @ 0.05Hz to the RMS_LP modules.

The in-loop Y-Arm error signal looks equal to the beat note noise divided by the Y-Arm OL gain in the broadband-noise region (>20 Hz), which would be the case if the loop was dominated by sensor noise here.

I would re-check the Y-Arm dark noise, or at least check for coherence between the Y-Arm error signal and the beat signal above 20 Hz. The input-referred PDH box noise should not be flat there according to the LISO model, but that might be worth checking, too.

[Koji Suresh]

As part of the general lab clean up we removed many unused BNC cables (long and short) from around the SP table.  We removed one very long BNC cable which was connected on one side to an PEM input and not connected on the other side near the 1X2 rack..   There were several cables from an old SURF phase camera project which were still attached to a couple of RF amps on the SP tables and running towards the 1X6 rack. 

We also removed some unused power cables  plugged into a power distribution strip near Megatron.

The PSL alignment into the MC was too poor for the autolocker to engage.  So retaining the last coil slider settings on the MC_Align screen that Kiwamu wanted, I have realigned the PSL beam and recentered the beam on the WFS.

When the WFS_MASTER was burtrestored after the recent power shutdown, the values loaded into the output matrix were not optimal.  When we switch on the WFS loops now, the MC_TRANS loops seem to push the WFS into away from the best possible coupling to PSL.  So I have switched them off for now.   Will load a new optimised output matrix and measure the transfer functions to see what is going on.

The following channels have been registered in c1iool0 database, and are now recorded by FB

C1:IOO-RFAMPD_11MHZ
C1:IOO-RFAMPD_29_5MHZ
C1:IOO-RFAMPD_55MHZ
C1:IOO-RFAMPD_DCMON
C1:IOO-EOM_TEMPMON
C1:IOO-EOM_HEATER_DRIVEMON

PROCEDURE

1) The EPICS database file has been edited to rename/add some channels

/cvs/cds/caltech/target/c1iool0/ioo.db

REMOVED
#grecord(ao,"C1:IOO-RFAMPD_VC")
#grecord(ai,"C1:IOO-RFAMPD_TEMP")
#grecord(ai,"C1:IOO-RFAMPD_DCMON")
#grecord(bo,"C1:IOO-RFAMPD_BIAS_ENABLE")
#grecord(bi,"C1:IOO-RFAMPD_BIAS_STATUS")
#grecord(calc, "C1:IOO-RFAMPD_33MHZ_CAL")
#grecord(calc, "C1:IOO-RFAMPD_133MHZ_CAL")
#grecord(calc, "C1:IOO-RFAMPD_166MHZ_CAL")
#grecord(calc, "C1:IOO-RFAMPD_199MHZ_CAL")


ADDED/EDITED
grecord(ai,"C1:IOO-RFAMPD_11MHZ")
        field(DTYP,"VMIVME-3113")                                              
        field(INP,"#C1 S25 @")
...
grecord(ai,"C1:IOO-RFAMPD_29_5MHZ")
        field(DTYP,"VMIVME-3113")                                              
        field(INP,"#C1 S26 @")
...
grecord(ai,"C1:IOO-RFAMPD_55MHZ")
        field(DTYP,"VMIVME-3113")                                              
        field(INP,"#C1 S27 @")
...
grecord(ai,"C1:IOO-RFAMPD_DCMON")
        field(DTYP,"VMIVME-3113")                                              
        field(INP,"#C1 S28 @")
...
grecord(ai,"C1:IOO-EOM_TEMPMON")                                                
        field(DTYP,"VMIVME-3113")                                               
        field(INP,"#C1 S29 @")
...
grecord(ai,"C1:IOO-EOM_HEATER_DRIVEMON")
        field(DTYP,"VMIVME-3113")                                              
        field(INP,"#C1 S30 @")

2) The channels have been added to the frame builder database

/cvs/cds/rtcds/caltech/c1/chans/daq/C0EDCU.ini

[C1:IOO-RFAMPD_11MHZ]
[C1:IOO-RFAMPD_29_5MHZ]
[C1:IOO-RFAMPD_55MHZ]
[C1:IOO-RFAMPD_DCMON]
[C1:IOO-EOM_TEMPMON]
[C1:IOO-EOM_HEATER_DRIVEMON]

Note that this C0EDCU.ini is the file that has been registered in

/cvs/cds/rtcds/caltech/c1/target/fb/master

3) burt restore request files were updated

RFAM related settings were removed as they don't exist anymore.

/cvs/cds/caltech/target/c1iool0/autoBurt.req
/cvs/cds/caltech/target/c1iool0/saverestore.req

4) c1iool0 were rebooted. Framebuilder restarted. c1iool0 were burtrestored.

Keying again did not help to solve the issue. I turned off the power at the back of the crate, and turn it on again.
Then the key worked again.

c1iscaux2 is burtrestored and running fine now.

 The 1X8 Sorensen's issue has been solved somehow.

EOM TEMPMON and HEATER DRIVEMON have been hooked up to the following channels.

C1:IOO-EOM_TEMPMON
C1:IOO-EOM_HEATER_DRIVEMON 

What a fragile circuit...

I found some of the resistors popped up from the board because of the tension by the Pomona grabbers.
I tried to fix it based on the schematic (photo) and the board photo.

Here is a drawing of where the monitors are coming from:

 Since we can't put current into the ADC, the heater drivemon is measuring the input of the OP27, which is related to the amount of current sent to the heater.

Jenne: The point you indicate for the heater monitor is a virtual ground--it will be driven to zero by the circuit if it's functioning properly; the readout should be done at the input pin (2, I think) to the BUF634.

Koji: This is odd, as I made a point of not attaching any clips directly to resistors for exactly this reason. I was also careful to trim resistor/capacitor leads so that they were not towering over the breadboard and prone to bending (with the exception of the gain-setting resistor of the AD620, which was changed at the last minute). At the end of the day, it is a breadboard circuit with Pomona "readout", so it's not going to be truly resilient until I put it on a protoboard. Another thing: I think the small Pomona clips are absolutely terrible, since they slip off with piconewtons of tension; I could not find any more regular clips, so I used them against my better judgment.

Those clips for the readouts were the ones who popped out.
When I have restored the connections, I checked the schematic and the heater drive mon is clipped on the output side of the OP27.

I left the HEPA at the 50% level @5AM, Nov 24

I modified elogd.c as shown below in order not to allow to display all of the entries at once by specifying page number "0".

After this modification, elog seems to have survived 66 times of attacks by googlebots.

==============================

rossa:src>pwd
/cvs/cds/caltech/elog/elog-2.8.0/src

rossa:src>diff elogd.c_orig elogd.c
19912a19913,19917
>
>    /* KA */
>    if (page_n<1)
>      page_n = 1;
>


I calculated the F2A filters for the input mode cleaner optics as described in T010140-01-D eq (4). On Ranas recommendation I added an s/ ( w_0 * Q ) term to the numerator.

The used values are:

w_0 = 2pi / s
h= 0.0009
D= 2.46957E-2
Q=10

I put theses filters into C1:SUS-MC1_TO_COIL_1_1 to _4_1 . For convenience split in Z and P. Well it doesn't work. After a few seconds the optic begins to swing wildly.

Tried the wiener filter with the TF from p.5900

Tried it out with the TFs from p.5900:

Adding a filter element that compensates the acutator TF makes the MC lose lock.

Woo. Pretty crazy. The numerators should only be ~10% larger than the denominator below 1 Hz. Let's try again.

 New RFAM mon calibration

It seems as if someone was looking into this on Wednesday, but as there's no elog, I think probably not.

Tonight we noticed that, in fact, the watchdogs don't work for any of the corner optics (I confirmed that they do work for the ETMs).

Whether the switch for the coil drivers is enabled or disabled, the voltage monitor on the coil drivers responds to the digital signals.

I tried restarting the c1susaux process, hitting reset on the crate, and also keying the crate. The +5V light on the front of the crate is flickering somewhat, but I'm not sure if this is new or not since the power outage. The next step is to track the Xycom signal from the card over to the coil driver to find where the signal is failing to happen.

Since its not working for any of the corner optics, I suspect the crate and not the cards. If that's the issue this will be a painful fix. We are sort of assuming that this is due to the power outage, but in fact, I cannot tell when the last time was that someone rigorously verified the working of these switches. [

I][B]We had better get ready for upgrading our SLOW controls, Jamie.[/B][/I]

[Rana, Den, Mirko]

It seems you can shoot yourself in the foot if your filter modules are too complex.

Den discovered this when looking into the C1:SUS-MC?_SUSPOS filter module named Cheby, consisting of cheby1("LowPass",6,1,12)cheby1("LowPass",2,0.1,3)gain(1.13501) by noticing that the coherence between input and output of the filter is low.

Cheby filter:

This is most likely due to the filter spanning more than the 16 orders of precision that the double data type spans.

The coherence is fine when one splits the filter in two, giving every cheby1 filter its own module. The coherence is also fine when you use the Cheby filter in a 2kHz system, although the freq. response looks very odd

Black: 16kHz, Red 2kHz (yes the filter was converted correctly, no text file editing there)

The problem occurs on c1lsc as well as c1sus computer.

Looking into the foton files actually points to a precision problem, with the huge range of scale covered in there:

C1:MCS 16kHz (Cheby: Original filter with low coherence. CHbyTST & ChebyTST: Original filter split amongst two filter modules)
################################################################################
### SUS_MC3_LSC                                                              ###
################################################################################
# DESIGN   SUS_MC3_LSC 0 zpk([0],[30],0.333333,"n")
# DESIGN   SUS_MC3_LSC 1 cheby1("LowPass",6,1,12)
# DESIGN   SUS_MC3_LSC 2 cheby1("LowPass",2,0.1,3)gain(1.13501) \
#                       
# DESIGN   SUS_MC3_LSC 3 cheby1("LowPass",2,0.1,3)gain(1.13501)cheby1("LowPass",6,1,12)
# DESIGN   SUS_MC3_LSC 4 ellip("BandStop",4,1,40,16.1,16.9)ellip("BandStop",4,1,40,23.7,24.5)gain(1.25871)
###                                                                          ###
SUS_MC3_LSC 0 12 1  32768      0 30:0.0          9.942903833923793  -0.9885608209680459   0.0000000000000000  -1.0000000000000000   0.0000000000000000
SUS_MC3_LSC 1 21 3      0      0 CHbyTST     9.095012702673064e-18  -1.9978637592754149   0.9978663974923444   2.0000000000000000   1.0000000000000000
                                                                 -1.9984258494490537   0.9984376515442090   2.0000000000000000   1.0000000000000000
                                                                 -1.9994068831713223   0.9994278587363880   2.0000000000000000   1.0000000000000000
SUS_MC3_LSC 2 12 1  32768      0 ChebyTST    1.228759186937126e-06  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000
SUS_MC3_LSC 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000
                                                                 -1.9978637592754149   0.9978663974923444   2.0000000000000000   1.0000000000000000
                                                                 -1.9984258494490537   0.9984376515442090   2.0000000000000000   1.0000000000000000
                                                                 -1.9994068831713223   0.9994278587363880   2.0000000000000000   1.0000000000000000
SUS_MC3_LSC 4 12 8  32768      0 BounceRoll     0.9991466189294013  -1.9996634951844035   0.9997010181703262  -1.9999611719719754   0.9999999999999997
                                                                 -1.9999303040590390   0.9999684339228864  -1.9999605309876360   0.9999999999999999
                                                                 -1.9999248796830529   0.9999668732412945  -1.9999594299327190   1.0000000000000002
                                                                 -1.9996385459838455   0.9996812069238987  -1.9999587601905868   1.0000000000000000
                                                                 -1.9996161812709703   0.9996978939989944  -1.9999163485656493   0.9999999999999999
                                                                 -1.9998855694973159   0.9999681878303275  -1.9999154056705493   0.9999999999999998
                                                                 -1.9998788577090287   0.9999671193335300  -1.9999137972442669   1.0000000000000000
                                                                 -1.9995951159123118   0.9996843310430819  -1.9999128255920269   1.0000000000000000

C1:OAF 2kHz
###############################################################################
### YARM_IN                                                                  ###
################################################################################
# DESIGN   YARM_IN 0 zpk([0],[30],0.333333,"n")
# DESIGN   YARM_IN 3 cheby1("LowPass",6,1,12)cheby1("LowPass",2,0.1,3)gain(1.13501)
# DESIGN   YARM_IN 4 ellip("BandStop",4,1,40,16.1,16.9)ellip("BandStop",4,1,40,23.7,24.5)gain(1.25871)
# DESIGN   YARM_IN 8 cheby1("LowPass",6,1,12)cheby1("LowPass",2,0.1,3)gain(1.13501)zpk([],[10],1,"n")
###                                                                          ###
YARM_IN  0 12 1   4096      0 30:0.0           9.56649943398763  -0.9119509539166185   0.0000000000000000  -1.0000000000000000   0.0000000000000000
YARM_IN  3 12 4   4096      0 Cheby       1.829878084970283e-16  -1.9828889048300398   0.9830565293861987   2.0000000000000000   1.0000000000000000
                                                                 -1.9868188576622443   0.9875701115261976   2.0000000000000000   1.0000000000000000
                                                                 -1.9940934073784453   0.9954330165532327   2.0000000000000000   1.0000000000000000
                                                                 -1.9781245722853238   0.9784022621062476   2.0000000000000000   1.0000000000000000

 [Rana, Mirko]

I redid this calculation. The idea behind it is to get rid on any pitch that is introduced by applying longitudinal feedback to the mirrors. This coupling happens because the center of percussion for pitch , which is identical with the point where the wires lift off of the mirror, is above the center of mass.

With the same values as before, just less faulty math and Q = 2 instead of 10 we end up with the following filters:

For the lower coils (red), compared to corresponding preexisting BS filters (black):

The upper coils' TF is just mirrored at the 0dB magnitude axis, and have a corresponding frequency response.

I switched the F2a filters on for all MC mirrors. For convenience they are split into F2aZeros and F2aPoles. Everything seems fine. The F2a filters seem to be off for ( all ?) other mirrors.

We replaced the complicated Cheby filter module with three separate filter modules. Probably the filter doesn't need to be so complicated, but rather not change too many things at once. The new filter modules are called:
Ch1, Ch2, Ch3 and are in filter module 3,9, and 10 of the C1:SUS-MC?_SUSPOS filters. The coherence with these filters is fine. Someone should look into the possibility of simplifying these filters.

It would be good to check for numerical problems in other filters!

[Rana, Mirko]

I tried out the virtual pendulum idea today. The idea is to compensate the physical pendulum via the control system, and then add a virtual pendulum formed in the control system. We know the actuator TF from p. 5900 and apply its inverse to the C1:SUS-MC?_SUSPOS filters. Also we add an pendulum Q=3 with a resonance frequency of 0.1Hz to the POS control loops.

The result is pretty awesome!

1. Black: Standard config. Wfs on. New Cheby filter in place ( p. 6031 )
2. Red: With virtual pendulum. Extra eliptic LP filter @ 2.5Hz

Filter shape:

This is stable for 5-10minutes, at which point it falls out of lock, swinging in yaw.

What I did:

    I have changed the c1ioo model such that the signals which are demodulated in the WFS lockin (the SIG inputs) are now picked up just after the input matrix.  This permits us to put a notch filter at the excitation frequency into the WFS servo filterbanks and thus prevent the excitation of all the actuators when we wish to excite just one of them. 

The Problem:

    I had followed the procedure of determining the TF coefs between actuators (MC1,2,3 P and Y ) and sensors (WFS1, 2 and MC2Trans P and Y)  and found the output matrix by inverting this TF coef matrix. However these matrices, once substituted for the heuristically determined matrices were always unsuccessful in keeping the WFS servo lock.  The reason appeared to be that when the loops are closed the exitation of one actuator led to the excitation of all actuators through the cross couplings in the output matrix.    In order to prevent this we need a notch filter in the servo filter banks.   But then we will not be able to see the sensor response after the servo filters since the response at 10Hz would be blocked from reaching the lockins.  So I shifted the point at which we sample the sensor response to a point before the WFS servo filters. 

The solution:

a) shift the point where the lockin input signals are picked up in the c1ioo model.

b) retune the lockin servo phases to minimise Q phase

c) edit the WFS lockin scripts to ensure that the 10Hz notch is turned on

d) measure the TF coefs and compute the -1*inverse

e) plug it into the output matrix and tweak the gains to ensure a stable lock

f) examine cross talk by comparing the expected TF in each loop with the expected loop TF.

Current state:

  I have completed steps a to e above.  The loops are stable and the error signal is suppressed (see attached pdf files)

To be done:

  The open loop transfer function has to be compared with expected OLTF to be sure we have minimised cross talk.

c1sus has been shutdown so that the optics dont bang around.  This is because the watch dogs are not working.

 Could be that what we're seeing is the noise floor of the Direct Form II filter structure (see Matt's 2008 elog) which shows an example (also see G0900928-v1 ).

 I've checked foton files for small numbers. There are several other filters besides "Cheby" that are presented with small numbers. For example, "BTW0.01" in the LOCKING_Q, LOCKING_I modules,  "SeisDaytime"  in the SUP_MC3_SP_NOISE and others. The output of the commands is presented below.

>chans

>cat C1???.txt | grep e-23

SUP_MC3_SP_Y_NOISE 2 12 4  16384      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUP_MC3_SP_YAW_NOISE 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUP_MC3_SP_ROLL_NOISE 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUP_MC3_SP_PIT_NOISE 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUP_MC2_SP_Y_NOISE 2 12 4  16384      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUP_MC2_SP_YAW_NOISE 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUP_MC2_SP_ROLL_NOISE 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUP_MC2_SP_PIT_NOISE 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUP_MC1_SP_Y_NOISE 2 12 4  16384      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUP_MC1_SP_YAW_NOISE 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUP_MC1_SP_ROLL_NOISE 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUP_MC1_SP_PIT_NOISE 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUS_MC3_SUSYAW 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_MC3_SUSSIDE 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_MC3_SUSPOS 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_MC3_SUSPIT 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_MC3_LSC 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_MC2_SUSYAW 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_MC2_SUSSIDE 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_MC2_SUSPOS 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9978637592754149   0.9978663974923444   2.0000000000000000   1.0000000000000000

SUS_MC2_SUSPIT 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_MC1_SUSYAW 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_MC1_SUSSIDE 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_MC1_SUSPIT 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_SRM_SUSYAW 3 12 4  32768      0 Cheby         1.1175580413719e-23    -1.99726998010527     0.99727436063954     2.00000000000000     1.00000000000000

SUS_SRM_SUSPOS 3 12 4  32768      0 Cheby         1.1175580413719e-23    -1.99726998010527     0.99727436063954     2.00000000000000     1.00000000000000

SUS_SRM_SUSPIT 3 12 4  32768      0 Cheby         1.1175580413719e-23    -1.99726998010527     0.99727436063954     2.00000000000000     1.00000000000000

SUS_PRM_SUSYAW 3 12 4  32768      0 Cheby         1.1175580413719e-23    -1.99726998010527     0.99727436063954     2.00000000000000     1.00000000000000

SUS_PRM_SUSPOS 3 12 4  32768      0 Cheby         1.1175580413719e-23    -1.99726998010527     0.99727436063954     2.00000000000000     1.00000000000000

SUS_PRM_SUSPIT 3 12 4  32768      0 Cheby         1.1175580413719e-23    -1.99726998010527     0.99727436063954     2.00000000000000     1.00000000000000

SUS_ETMX_SUSYAW 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_ETMX_SUSSIDE 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_ETMX_SUSPOS 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_ETMX_SUSPIT 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_ETMX_LOCKIN1_I 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

SUS_ETMX_LOCKIN1_Q 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

SUS_ETMX_LOCKIN2_I 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

SUS_ETMX_LOCKIN2_Q 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

SUS_ETMY_SUSYAW 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_ETMY_SUSSIDE 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_ETMY_SUSPOS 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_ETMY_SUSPIT 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SUS_PIT_NOISE_FILT 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUS_ROLL_NOISE_FILT 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUS_YAW_NOISE_FILT 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUS_Y_NOISE_FILT 2 12 4  16384      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUS_PIT_NOISE_FILT 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUS_ROLL_NOISE_FILT 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUS_YAW_NOISE_FILT 2 21 4      0      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

SUS_Y_NOISE_FILT 2 12 4  16384      0 SeisDaytime    4.3736847644382e-23    -1.99994247406600     0.99994247737496    -0.00000000000000    -1.00000000000000

BS_LOCKIN2_Q 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

BS_LOCKIN2_I 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

BS_LOCKIN1_Q 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

BS_LOCKIN1_I 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

BS_SUSPIT 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

BS_SUSPOS 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

BS_SUSSIDE 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

BS_SUSYAW 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

ITMX_LOCKIN2_Q 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

ITMX_LOCKIN2_I 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

ITMX_LOCKIN1_Q 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

ITMX_LOCKIN1_I 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

ITMX_SUSPIT 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

ITMX_SUSPOS 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

ITMX_SUSSIDE 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

ITMX_SUSYAW 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

ITMY_LOCKIN2_Q 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

ITMY_LOCKIN2_I 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

ITMY_LOCKIN1_Q 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

ITMY_LOCKIN1_I 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

ITMY_SUSPIT 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

ITMY_SUSPOS 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

ITMY_SUSSIDE 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

ITMY_SUSYAW 3 21 4      0      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

PRM_LOCKIN2_Q 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

PRM_LOCKIN2_I 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

PRM_SUSPIT 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

PRM_SUSPOS 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

PRM_SUSSIDE 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

PRM_SUSYAW 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SRM_LOCKIN2_Q 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

SRM_LOCKIN2_I 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

SRM_LOCKIN1_Q 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

SRM_LOCKIN1_I 5 21 2      0      0 BTW0.01     1.351815922494362e-23  -1.9999929139431329   0.9999929139578397   2.0000000000000000   1.0000000000000000

SRM_SUSPIT 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SRM_SUSPOS 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SRM_SUSSIDE 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

SRM_SUSYAW 3 12 4  32768      0 Cheby       1.117558041371939e-23  -1.9972699801052749   0.9972743606395355   2.0000000000000000   1.0000000000000000

I have restarted the c1sus machine around 9:00 PM yesterday and then shut it down around 4:00 AM this morning after a little bit of taking care of the interferomter.

Our approach to making the F2A or F2P filters for the MC is to use the measured resonant frequencies and then calculating the appropriate mechanical dimensions of each suspension. This is basically because we don't have optical levers with normal incidence on these optics, but the method should be fine.

To find the formulas, I asked Gaby for her old cheat sheet: Its now in the DCC. Its only for Large optics, but you should be able to reconstruct the right ones for SOS by just changing the parameters.

Here is 5 days of trend of the EOM temp sensor and the heater driver monitor.  Unfortunately, it looks like we're regularly railing the heater.  Not so awesome. 

Can you zoom the temp mon? (V= -0.1 ~ +0.1)
The crystal was too cold and I tried to heat the PSL table by the lighting. But it seemed in vain.