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VIS (PR2)

koki.okutomi - 19:37 Monday 18 February 2019 (8128)

Transfer function measurement of the PR2 GAS DoFs

At the request from Fujii-kun,

I measured the transfer functions of the PR2 GAS DoFs.
Note that the measurements were performed with all the actuator outputs turned off (including any loops and DC offsets).

I attached the results as screenshot images.
Comparing to the results taken at 1/20, the transfer functions show almost the same appearance.
After these measurements, the status of the control and outputs are recovered (but I didn't check whether the values went back to ones before the measurements).

The measurement files are put in a directory: /users/VIS/TypeBp/PR2TFs/190218

Images attached to this report

Comments to this report:

yoshinori.fujii - 10:10 Wednesday 20 February 2019 (8149)

> After these measurements, the status of the control and outputs are recovered (but I didn't check whether the values went back to ones before the measurements).

-- Thanks a loy for this help, Okutomi-san.
-- Concerning the issue GAS-LVDT signal started oscillating when the loop was closed, I cut off the higher frequency gain more steeply (a bit).
I also remind this (klog#7111), somehow this works, weird though..
-- Now the gurdian is working.

= ONE SAD NEWS =
-- One signal, BF-LVDT-V2, is *not* sensing the suspension motion. it looks just showning ADC noise.
-- I hope this is issued by a stuff outside the chamber. To be chedced.
I WOULD SAY THERE ARE TOO MANY TRAPS. WE HAVE TAKEN CARE OF YOU SO FAR(klog#7597)!