[Ushiba, Kokeyama]
Related to this post and this post, ITMY coil balancing was done after the coil driver change of the payload part.
The resulting gains are attached. There are two strange points we noticed:
1. We noticed that Length DoF of IY_MN_ACTMAT was strange; [H1, H2] = [0.463, -0.5] where they should be [-0.5, -0.5]. We didn't have any idea why, and modified to [-0.5, -0.5]. (See, the first attachment)
2. IM V1 had very weak actuation compared with V3. See the third attachment for IM. The coil out gain of IM V1 is 8.2, w.r.t. V3 of 1. This coil driver used to be used for ITMY BF_V. And there was no output going at that time, there may be a circuiot problem. For now we just put a large number in the coild OUTF instead of debugging the circuit further. Since IM V1 gain got very higher, the balance of the other DoFs of V and R using V1 coil might become strange (but not being actively used).
Because of the gain of 8.2, control signal for PIT damping loop (the new loop) saturates at the IM stage. We will replace the coil driver again from OMMT2 or EY BF V.
The PIT damping loop was kept ON with:
- K1:VIS-ITMY_IM_TMOLDAMP_P_GAIN = 0.3
- BST1:0.5 (FM8) OFF.
Attached screen shot is a TF of MN-MN DAMP loop YAW tf.
