Abstract:

I implemented GAS modal damping for SR2.
They seems to wrok well, so they can be implemented into the guardian but not yet to be done.

Detail:

I decoupled the sensors and actuators with the same manner with SR3.
Figure 1 and 2 show the sensor and actuator matrices, respectively.
Figure 3-5 show the suspension plants at modal basis.
Figure 6-8 show the OLTF of modal damping control loops.

Figure 9 shows the spectrum comparison of IMV OSEM with LOCK_ACQUISITION state (blue), OBSERVATION state (green), and modal damping (brown).
The noise above 0.5 Hz can be reduced by using modal damping, so the modal damping seems to work well.

Due to the large earthquake, I gave up to implement them into the guardian today.

Images attached to this report

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36780_1776672881_Screenshot from 2026-04-20 17-14-28.png

36780_1776673808_Screenshot from 2026-04-20 17-17-31.png

Comments to this report:

takafumi.ushiba - 11:49 Monday 15 June 2026 (37071)

I implemented the GAS modal damping control of SR2 into the guardian (fig1).
As discussed in klog36787, only M1 modal damping is engaged with IMV damping.
In addition, I disengaged the sensor correction of F0 GAS because it would conflict with the modal damping controls.

After implementation into the guardian, I tested and no issue was found.

Images attached to this comment