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takafumi.ushiba - 18:58 Sunday 08 August 2021 (17850) Print this report
Implementation of damp filter for MN_DAMP filter bank of ITMX

Abstract:
I implemented photosensor damping of ITMX for 5 degrees of freedom (L,T,R,P,Y) and seems working well.

Detail:
Using Miyo-kun's transfer function measurement result, I implemented DAMP filter at MN_DAMP filter bank of ITMX.
First, I implemented damping without considering noise injection due to sensor noise.
Then, it seems that the following resonances below 10 Hz can be damped by using photosensors.

L: 0.621, 1.45, 2.47, and 5.03 Hz
T: 0.621, 1.5, 2.49, and 5.1 Hz
R: 0.71 Hz
P: 0.765 and 7.34 Hz
Y: 0.293, 1.66, 3.14, and 4.06 Hz

Since Q-value is not so high in air condition, almost all resonant peaks cannot be seen in photosensor signals, so the damping controls introduces noise at this moment but I confirm that the control loop itself seems healthy.
I didn't check damping performance well, for example Q-value change, decay time, and so on, due to the lack of time.

Damping filter is implemented FM2 (and FM3 if necessary) of K1:VIS-ITMX_MN_DAMP_{L,T,R,P,Y} filter bank.
I also make PLANT at FM10 except for V degrees of freedom (see attached figure).

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