While continuing our efforts to lock, we noticed the procedure failed at a point it had gotten past last night: turning on the bounce/roll filters in MICH, PRC, and SRC. We checked the MICH transfer function and noticed that the unity gain point was ~10 Hz, well below the bounce modes. We tried increasing the gain but found saturation, and Rob suggested that there could be misalignment on the AP table, which Steve worked on today. We went out and found two of the PDs (ASDD133 and AS166) to be badly misaligned probably due to a bumped optic upstream. We re-aligned.
We ran cable from the suspension rack to the IOO rack to record the signals with DAQ channels.
The test channels:
UL coil C1:IOO-MC_DRUM1 (Caryn was using, we will replace when we are done)
UL input C1:IOO-MC_TMP1 (Caryn was using, we will replace when we are done)
LR coil C1:PEM-OSA_SPTEMP
LR input C1:PEM-OSA_APTEMP
We will leave these overnight; we intend to remove them tomorrow or Monday.
We closed the PSL shutter and killed the MC autolocker.
Last night, we put the IFO in FP Michelson configuration. We took transfer functions of CARM and DARM, first using CM excitations directly on the ETMs, and then using modulations of the laser frequency via MC excitation. We found that there was basically no coupling into DARM using the MC excitation, but that there was coherence in DARM using the ETM excitation. Therefore, I tuned the ETM common mode in the output matrix. I did this by taking transfer functions of PD1_Q with PD2_I (see attached plot). I changed the drdown_bang script to set C1:LSC-BTMTRX_14 0.98 and C1:LSC-BTMTRX_24 1.02.
We installed the watchLockLoss script in scripts/AutoDTT/. This script monitors arm power and uses command line
DTT to save 5 s snapshot of the interferometer when it senses loss of lock. We ran it on linux and it seemed to
save an xml file about half the time; we'll try it on solaris.
I managed to get up to arm power of about 20 a couple of times. IFO lost lock a couple of times after turning
off moving zero. MC2 would often get tripped by lock loss and need resetting. Maybe we will try to stiffen the
At about 1am or so Yoichi and I opened VC1. CC1 had fallen to about 5e-5 torr.
I've plotted TRX, TRY, PD12I and PD11Q. Arm powers after locking increase for a few tens of minutes, peak out, and then decrease before lock is lost.
I should have mentioned that the AS port camera image seems to get progressively uglier over the course of these locks. Maybe we can use the JoeCam to make a movie of it.
locks last for about an hour. this was true last night as well (see "arm power curve" entries). the second lock shown here evolves differently for unknown reasons. the jumps in the arm powers of the first lock are due to turning on DC readout. length-to-angle needs tuning.
the align script was run after the third lock here. it would have been interesting to see the arm powers in a 4th lock
After looking at some oplev noise spectra in DTT, we discovered that the ETMY quad (serial number 115) was noisy. Particularly, in the XX_OUT and XX_IN1 channels, quadrants 2 (by a bit more than an order of magnitude over the ETMX ref) and 4 (by a bit less than an order of mag). We went out and looked at the signals coming out of the oplev interface board; again, channels 2 and 4 were noise compared to 1 and 3 by about these same amounts. I popped in the ETMX quad and everything looked fine. I put the ETMX quad back at ETMX, and popped in Steve's scatterometer quad (serial number 121 or possibly 151, it's not terribly legible), and it looks fine. We zeroed via the offsets in the control room, and I went out and centered both the ETMX and ETMY quads.
Attached is a plot. The reference curves are with the faulty quad (115). The others are with the 121.
I adjusted the ETMY quad gains up by a factor of 10 so that the SUM is similar to what it was before.
It seems that the MC3 problem is intermittent (one-day trend attached). I tried to take advantage of a "clean MC3" night, but the watch script would usually fail at the transition to DC CARM and DARM. It got past this twice and then failed later, during powering up. I need to check the handoff.
I checked the four rear coils on ETMX by exciting XXCOIL_EXC channel in DTT with amplitude 1000@ 500 Hz and observing the oplev PERROR and YERROR channels. Each coil showed a clear signal in PERROR, about 2e-6 cts. Anyway, the coils passed this test.
I found some neat signal analysis software for my mac (http://www.faberacoustical.com/products/), and took a spectrum of the ambient noise coming from the cryopump. The two main noise peaks from that bad boy were nowhere near 3.7 kHz.
I also made xfer fctns of the 4 piston coils on ETMY and ETMX with OL_PIT. (I looked at all 4 even though the attached plot only shows three.) So it looks ike the coils are OK.
Looks like something went nuts in late April. We have yet to try a hard reboot.
We worked on tuning the DD handoff tonight. We checked the DD PD alignments and they looked fine. First I tuned the 3 demod phases to minimize offsets. Then I noticed that the post-handoff MICH xfer function needed an increase in gain to look like the pre-handoff xfer function (which has a UGF of about 25 Hz). I increased the MICH PD9_Q gain from 2 to 7 in the input matrix. But, the handoff to PRC still failed, so tomorrow we will try to find out why.
In the plot, ref0 is before MICH handoff, and ref1 is after MICH handoff. There is also a PRC trace (before PRC handooff).
rob, alberto, rana, pete
we reset this computer, which was out of sync (16384 in the FE_SYNC field instead of 0)
Rana, Alberto, Pete
We have the DD handoff nominally working. Sometimes, increasing the SRC gain at the end makes MICH get unstable. This could be due to a non-diagonal term in the matrix, or possibly because the DRM locks in a funky mode sometimes.
To get the DD handoff working, first we tuned demod phases in order to zero the offsets in the PD signals handed-off-to. Based on transer function measurements, I set the PRC PD6_I element to 0.1, and set the PD8_I signal to 0, since it didn't seem to be contributing much. We also commented out the MICH gain increase at the end of the DD_handoff script.
It could still be more stable, but it seems to work most of the time.
I played with the DD handoff during the day. The DRM dark port was flickering like a candle flame in Dracula's castle. The demod offsets for the handoff signals looked fine. After MICH handoff, the MICH_CTRL started to get unstable at some low frequency, maybe 3 Hz (I didn't measure). So I increased the MICH gain from 0.1 to 0.17 and it settled down. PRC and SRC went fine. Then the DD_handoff script raised the MICH gain to 0.7, and an instability started to grow in MICH_CTRL (at some higher frequency). I decreased the MICH gain from 0.7 to 0.5, and it settled down and stayed stable.
Looks like yesterday was particularly noisy. It's unclear to me why diurnal variation much more visible in MC1_Y, and why the floor wanders.
The first plot shows 5 days. The second plot shows 20 days.
After fixing the tp problem, I tried locking again. Grabbing and DD handoff, no problem. Died earlier than last night, handing off CARM to REFL_DC, around arm power of 4 or so. Seems to happen after turning off the moving zero, Rob says it might be touchy in daytime.
Last night Rob ran senseDRM and loadDRMImatrixData and came up with the following for the input matrix:
tdswrite C1:LSC-ITMTRX_b2 0.065778 \
C1:LSC-ITMTRX_d2 2.2709 \
C1:LSC-ITMTRX_f2 2.9361 \
C1:LSC-ITMTRX_122 0.42826 \
C1:LSC-ITMTRX_b3 -0.064839 \
C1:LSC-ITMTRX_d3 -0.016913 \
C1:LSC-ITMTRX_f3 -0.021576 \
C1:LSC-ITMTRX_123 -0.0025243 \
C1:LSC-ITMTRX_b5 0.3719 \
C1:LSC-ITMTRX_d5 1.3109 \
C1:LSC-ITMTRX_f5 -0.16412 \
C1:LSC-ITMTRX_125 0.39574 \
C1:LSC-ITMTRX_33 0 \
C1:LSC-ITMTRX_42 0 \
Today, I reran these and got the following, and DD_handoff remained happy:
tdswrite C1:LSC-ITMTRX_b2 -0.10329 \
C1:LSC-ITMTRX_d2 2.0344 \
C1:LSC-ITMTRX_f2 3.2804 \
C1:LSC-ITMTRX_122 0.22516 \
C1:LSC-ITMTRX_b3 -0.076292 \
C1:LSC-ITMTRX_d3 -0.014603 \
C1:LSC-ITMTRX_f3 -0.12101 \
C1:LSC-ITMTRX_123 0.0054128 \
C1:LSC-ITMTRX_b5 0.33521 \
C1:LSC-ITMTRX_d5 1.1425 \
C1:LSC-ITMTRX_f5 -0.32759 \
C1:LSC-ITMTRX_125 0.25877 \
C1:LSC-ITMTRX_33 0 \
C1:LSC-ITMTRX_42 0 \
I wanted to remeasure with the canonical output matrix (-0.7 from MICH to PRM and 0.7 from MICH to SRM), but the DRM freaked out when MICH to PRM went below -0.3.
I added a temporary channel, to input 9 on the PEM ADCU. Beware the 30, 31, and 32 inputs. I tried 32 and it only gave noise.
I compiled and ran a simple (i.e. empty) front end controller on scipe12 at wilson house. I hooked a signal into the ADC and watched it in the auto-generated medm screens.
There were a couple of gotchas:
1. Add an entry SYS to the file /etc/rc.local, to the /etc/setup_shmem.rtl line, where the system file is SYS.mdl.
2. If necessary, do a BURT restore. Or in the case of a mockup set the BURT Restore bit (in SYS_GDS_TP.adl) to 1.
Yesterday, Jay brought over the IO box for megatron, and got it working. We plan to firewall megatron this afternoon, with the help of Jay and Alex, so we can set up GDS there and play without worrying about breaking things. In the meantime, we went to Wilson House to get some breakout boards so we can take transfer functions with the 785, for an ETMX controller. We put in a sine wave, and all looks good on the auto-generated epics screens, with an "empty" system (no filters on). Next we'll load in filters and take transfer functions.
Unfortunately we promised to return the breakout boards by 1pm today. This is because, according to denizens of Wilson House, Osamu "borrowed" all their breakout boards and these were the last two! If we can't locate Osamu's cache, they expect to have more in a day or two.
Here is the transfer function of the through filter working at 16KHz sampling. It looks fine except for the fact that the dc gain is ~0.8. Koji is going to characterize the digital down sampling filter in order to try to compare with the generated code and the filter coefficients.
Alex has firewalled megatron. We have started a framebuilder there and added testpoints. Now it is possible to take transfer functions with the shared memory MDC+MDP sandbox system. I have also copied filters into MDC (the controller) and made a really ugly medm master screen for the system, which I will show to no one.
Yesterday we found that the channel C1:MDP-POS_EXC looked distorted and had what appeared to be doubled frequency componenets, in the dataviewer. This was because the dcu_rate in the file /caltech/target/fb/daqdrc was set to 16K while the adl file was set to 32K. When daqdrc was corrected it was fixed. I am going to recompile and run all these models at 16K. Once the 40 m moves over to the new front end system, we may find it advantageous to take advantage of the faster speeds, but maybe it's a good idea to get everything working at 16K first.
We put a simple pendulum into the MDP model, and everything communicates. We're still having some kind of TP or daq problem, so we're still in debugging mode. We went back to 32K in the .adl's, and when driving MDP, the MDC-ETMX_POS_OUT is nasty, it follows the sine wave envelope but goes to zero 16 times per second.
The breakout boards have arrived. The plan is to fix this daq problem, then demonstrate the model MDC/MDP system. Then we'll switch to the "external" system (called SAM) and match control TF to the model. Then we'd like to hook up ETMX, and run the system isolated from the rest of the IFO. Finally we'd like to tie it into the IFO using reflective memory.
The daq on megatron was nuts. Alex and I discovered that there was no gds installation for site_letter=C (i.e. Caltech) so the default M was being used (for MIT). Apparently we are the first Caltech installation. We added the appropriate line to the RCG Makefile and recompiled and reinstalled (at 16K). Now DV looks good on MDP and MDC, and I made a transfer function that replicates bounce-roll filter. So DTT works too.
Today I was able to make low frequency transfer function with DTT on megatron. There seems to have been a timing problem, perhaps Alex fixed it or it is intermittent.
I have attached the open loop transfer function for the un-optimized system, which is at least stable to step impulses with the current filters and gains. The next step is to optimize, transfer this knowledge to the ADC/DAC version, and hook it up to isolated ETMX.
I've added the PIT and YAW dofs to the MDC and MDP systems. The pendula frequencies in MDP are 0.8, 0.5, 0.6 Hz for POS, PIT, and YAW respectively. The three dofs are linear and uncoupled, and stable, but there is no modeled noise in the system (yet) and some gains may need bumping up in the presence of noise. The MDC filters are identical for each dof (3:0.0 and Cheby). The PIT and YAW transfer functions look pretty much like the one Rana recently took of POS, but of course with the different pendulum frequencies. I've attached one for YAW.
We discussed a preliminary game plan for this project. The thing I really want to see is an ETMX RCG controller hooked into the existing frontend via reflective memory, and the 40 m behaving normally with this hybrid system, and my list is geared toward this. I suspect the list may cause controversy.
+ copy the MDC filters into SAM, and make sure everything looks good there with DTT and SR785.
+ get interface / wiring boards from Wilson House, to go between megatron and the analog ETMX system
+ test tying the ETMX pendulum and bare-bones SAM together (use existing watchdogs, and "bare-bones" needs defining)
+ work some reflective memory magic and create the hybrid frontend
In parallel with the above, the following should also happen:
+ MEDM screen design
+ add non-linear bits to the ETMX MDP/MDC model system
+ make game plan for the rest of the RCG frontend
Joe and I moved megatron and its associated IO chassis from 1Y3 to 1Y9, in preparations for RCG tests at ETMY.
Koji, Joe, and I are planning to try controlling the ETMY, on Monday or Tuesday. Our plan is to try to do this with megatron out of the RFM loop. The RCG system includes pos, pit, yaw, side, and oplevs. I will use matrix elements as currently assigned (i.e. not the ideal case of +1 and -1 everywhere). I will also match channel names to the old channels. We could put buttons on the medm screen to control the analog DW by hand.
I've added the side coil to the model controller and plant, and the oplev quad to the model controller and plant. After the megatron wipe, the code now lives in /home/controls/cds/advLigo/src/epics/simLink. The files are mdc.mdl (controller) and mdp.mdl (plant). These RCG modules go at 16K with no decimation (no_oversampling=1 in the cdsParameters block) so hopefully will work with the old (16K) timing.
I've loaded many of the filters, there are some eft to do. These filters are simply copied from the current frontend.
Next I will port to the SUS module (which talks to the IO chassis). This means channel names will match with the current system, which will be important when we plug in the RFM.
The .mdl code for the mdc and mdp development modules is finished. These modules need more filters, and testing. Probably the most interesting piece left to do is putting in the gains and filters for the oplev model in mdp. It might be OK to simply ignore oplevs and first test damping of the real optic without them. However, it shouldn't be hard to get decent numbers for oplevs, add them to the mdp (plant) module, and make sure the mdc/mdp pair is stable. In mdp, the oplev path starts with the SUSPIT and SUSYAW signals. Kakeru recently completed calibration of the oplevs from oplev cts to radians: 1403 . From this work we should find the conversion factors from PIT and YAW to oplev counts, without making any new measurements. (The measurements wouldn't be hard either, if we can't simply pull numbers from a document.) These factors can be added to mdp as appropriate gains.
I've also copied mdc to a new module, which I've named "sas" to address fears of channel name collisions in the short term, and replaced the cpu-to-cpu connections with ADC and DAC connections. sas can be the guy for the phase I ETMY test. When we're happy with mdc/mdp, we hopefully can take the mdc filter file from chans, replace all the "MDC" strings with "SAS", and use it.
/cvs/cds/caltech/target/fb/daqd -c daqdrc
This starts the FB.
Now the dataviewer and DTT work!
0) Now the connection for the ETMY suspension was restored in a usual state. It damps well.
1) I thought it would be nice to have dataviewer and DTT working.
So far, I could not figure out how to run daqd and tpman.
- I tried to configure
/cvs/cds/caltech/chans/daq/C1TST.ini (via daqconfig)
- I also looked at
but I don't understand how it works. The entries have dcuids of 13 and 14 although C1TST has dcuid of 10.
The file is unmodified.
I will try it later when I got a help of the experts.
2) Anyway, I went ahead. I tried to excite suspension by putting some offset.
I looked at DAC output by putting 5000,10000,15000,20000,25000cnt to UL/UR/LR/LL/SD coils.
I could not find any voltage out of the DAC in any channels.
Then, I checked the timing signal. This clock seems to have wrong frequency.
What we are using now is a clock with +/-4V@4MHz. (Differential)
Maybe 4194304Hz (=2^22Hz)?
I went to 1Y3 and checked the timing signal for 16K. This was +/-4V@16kHz. (Diffrential)
The possible solution would be
- bring a function generator at the end and try to input a single end 4V clock.
- stretch a cable from 1Y3 to 1Y9. (2pin lemo)
I have connected ETMY sus electronics to megatron ADC/DAC.
We continue this state until 15:00 of today.
Instead of doing RCG stuff, I went to Millikan to work on data analysis as I couldn't stand the fumes from the construction. (this morning, 8am)
tdsavg 5 C1:LSC-PD4_DC_IN1
was causing grievous woe in the cm_step script. It turned out to fail intermittently at the command line, as did other LSC channels. (But non-LSC channels seem to be OK.) So we power cycled c1lsc (we couldn't ssh).
Then we noticed that computers were out of sync again (several timing fields said 16383 in the C0DAQ_RFMNETWORK screen). We restarted c1iscey, c1iscex, c1lsc, c1susvme1, and c1susvme2. The timing fields went back to 0. But the tdsavg command still intermittently said "ERROR: LDAQ - SendRequest - bad NDS status: 13".
The channel C1:LSC-SRM_OUT16 seems to work with tdsavg every time.
Let us know if you know how to fix this.
attached plot shows MC_IN1/MC_IN2. needs work.
This is supposed to be a measurement of the relative gain of the MCL and AO paths in the CM servo. We expect there to
be a more steep slope (ideally 1/f). Somehow the magnitude is very shallow and so the crossover is not stable. Possible
causes? Saturations in the measurement, broken whitening filters, extremely bad delay in the digital system? needs work.