Similar work with klog36755, klog36780, klog36781, and so on.
I constructed the sensor and actuator matrices for GAS modal damping of SRM.
Figure 1 and 2 show the sensr and actuator matrices, respectively.
I will test them soon.
Abstract:
I implemented SRM GAS modal damping.
The modal damping will be engaged automatically when SRM is at LOCK_ACQUISITION state.
Detail:
I made mistakes in the calculation of actuator matrix, so I calculated it again.
The new modal actuator matrix is shown in fig1.
After fixing the actuator matrix, I measured the suspension transfer functions from M1, M2, and M3 actuators to M1, M2, and M3 sensors, respectively.
Figures 2, 3 and 4 show the measured transfer functions, which appear to be well decoupled.
As discussed in klog36787, the best performance can be obtained by engaging only M1 modal damping and IMV damping.
So, I designed M1 damping filters and implemented it at FM1 of K1:VIS-SRM_GASMODAL_DAMP_M1 filter bank.
Figure 5 shows the OLTF of M1 damping loop.
To implement the modal damping control in the guardian, I also designed filters for K1:VIS-SRM_{F0,F1,BF}_DAMP_GAS aiming to achieve a DC control UGF of 10 mHz.
These filters are implemented at FM3 of each filter bank.
Figure 6 shows the spectrum of GAS filters, IMV OSEM, and OpLevs with modal damping (red) and at current LOCK_ACQUISITION state (blue).
The noise at high frequency becomes better, especially in IMV OSEM, while keeping the spectrum at low frequency.
So, I implemented the new controls in the guardian, and SRM GAS modal damping is now automatically engaged when SRM is at LOCK_ACQUISITION state.
