Abstract:
Since there is a large oscillation of ITMY at 1 Hz in pitch, I checked the pitch control loops.
There is a unnecessary damping filter at NBDAMP_P2, so I turned it off.
Also, overall gain of MN_MNOLDAMP, MN_OLDAMP filter seems different from the reference, so I tuned them.
After these modification, oscillation seems disappeared.
Detail:
After aligning ITMY from MISAIGNED state, a large oscillation at 1Hz in pitch continues for a long time, recently (fig1).
So, I checked the local damping control of ITMY pitch.
Figure1 shows the OLTF of ITMY pitch loop at LOCK_ACQUISITION state.
Blue lines show the reference and green lines show the OLTF before my control modification.
There are three differences:
1. peaks at 1.6Hz.
2. Gain reduction at high frequency.
3. Gain increase at low frequency.
First, I found that NBDAMP_P2 was turned on at LOCK_ACQUISITION state, which is the NB DAMP filter that the other suspensions doesn't have.
Then, I noticed that the same resonance seems to be damped at NBDAMP_L5 and the P2 loop is unnecessary.
So, I turned off the P2 loop.
Then, I increased MN_MNOLDAMP filter gain by 6.5dB and reduced MN_OLDAMP filter gain by 3dB to adjust the gain at high and low frequency to the reference.
Red lines in fig1 show the OLTF after the above modification.
The gain peaking arond 1 Hz reduced a lot and entire OLTF becomes close to the reference.