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* Measurements for characterization >>> [[http://klog.icrr.u-tokyo.ac.jp/osl/?r=3893|klog #3893]] ==== Frequency response ==== |
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{{texclip20171227223533.png||width=600pt}} ||'''Sensor'''|| || || || |
{{attachment:texclip20171227223533.png||width=350}} * Ge: Generator constant [V/(m/s)] * η: Intrinsic damping ratio * ω0: Resonant angular frequency [rad/s] ||'''Sensor'''||'''S/N'''||'''Generator constant (nominal) [V/(m/s)]'''||'''Damping ratio (estimated)'''||'''Resonant frequency [Hz]'''|| || GEO H1 || #11 || 282.26 || 0.34 || 1.07 || || GEO H2 || #12 || 282.30 || 0.315 || 1.065 || || GEO H3 || #13 || 286.47 || 0.27 || 1.31 || {{attachment:respGEOall20171220.png||width=500}} ==== Noise ==== ||'''Sensor'''||'''Noise [m/rtHz] @ 0.1 Hz'''||'''Noise [m/rtHz] @ 10 Hz'''|| || GEO H1 || 8e-9 || 3e-13 || || GEO H2 || 8e-9 || 3e-13 || || GEO H3 || 1e-8 || 3e-13 || {{attachment:psdGEOnoiseVel20171220.png||width=500}} {{attachment:psdGEOnoiseDisp20171220.png||width=500}} ==== Calibration ==== * Converted displacement [um] = 6.104 x 10^-4^ [V/cnt] / H,,GEO,,(ω) / (gainPreamp) x (DC cutoff) x 1/s (m/(m/s)) x 10^6^ {{attachment:tfmdlETMX_GEOH1calib20180205.png||width=500}} |
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|| 0.6440 ||-0.1726 ||-0.4714 ||''Long.''|| || 0.1726 ||-0.6440 || 0.4714 ||''Trans.''|| || 0.6833 || 0.6833 || 0.6833 ||''Yaw'' || |
|| 0.6440 ||-0.1725 ||-0.4714 ||''Long.''|| || 0.1725 ||-0.6440 || 0.4714 ||''Trans.''|| || 0.5635 || 0.5635 || 0.5635 ||''Yaw'' || |
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''See also:'' [[http://gwwiki.icrr.u-tokyo.ac.jp/JGWwiki/KAGRA/Subgroups/DGS/Projects/StepperMotor|Stepper motor setup]] |
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''See also:'' [[http://gwwiki.icrr.u-tokyo.ac.jp/JGWwiki/KAGRA/Subgroups/DGS/Projects/StepperMotor|Stepper motor setup]] ==== Motor driver ==== |
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==== Movable range ==== * F0 GAS: * F1 GAS: * F2 GAS: * F3 GAS: * BF GAS: full range (11 mm) |
==== Property ==== |
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|| ||'''F0 GAS'''||'''F1 GAS'''||'''F2 GAS'''||'''F3 GAS'''||'''BF GAS'''|| || Movable range || 6 mm (± 3 mm) ||''(TBC)''||''(TBC)''||''(TBC)''|| full range (± 5.5 mm) || || +step direction || down || down || down || down || down || |
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* COIL V1: ??? * COIL V2: ??? * COIL V3: ??? |
* COIL V1: positive * COIL V2: positive * COIL V3: negative |
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=== Picomotor === ''See also:'' [[http://gwwiki.icrr.u-tokyo.ac.jp/JGWwiki/KAGRA/Subgroups/DGS/Projects/PicoMotor|Picomotor digital setup]] ||<:-3> ''Epics channel name: K1:PICO_ETMX'' || ||<:-3> ''Driver IP address: 10.68.150.20'' || ||'''CH1'''||'''CH2'''||'''CH3'''|| || BF moving mass A || BF moving mass B || Payload yaw || * BF moving masses (both A and B ) are currently disabled because of weight limit for upper GAS stages |
Type-A Tower ETMX Specification
Contents
IP
Geophone (GEO)
Measurements for characterization >>> klog #3893
Frequency response
Geophone's frequency response to the ground velocity:
- Ge: Generator constant [V/(m/s)]
- η: Intrinsic damping ratio
- ω0: Resonant angular frequency [rad/s]
Sensor |
S/N |
Generator constant (nominal) [V/(m/s)] |
Damping ratio (estimated) |
Resonant frequency [Hz] |
GEO H1 |
#11 |
282.26 |
0.34 |
1.07 |
GEO H2 |
#12 |
282.30 |
0.315 |
1.065 |
GEO H3 |
#13 |
286.47 |
0.27 |
1.31 |
Noise
Sensor |
Noise [m/rtHz] @ 0.1 Hz |
Noise [m/rtHz] @ 10 Hz |
GEO H1 |
8e-9 |
3e-13 |
GEO H2 |
8e-9 |
3e-13 |
GEO H3 |
1e-8 |
3e-13 |
Calibration
Converted displacement [um] = 6.104 x 10-4 [V/cnt] / HGEO(ω) / (gainPreamp) x (DC cutoff) x 1/s (m/(m/s)) x 106
LVDT
Sensor |
Efficiency [um/cnt] |
LVDT H1 |
-0.258 |
LVDT H2 |
-0.252 |
LVDT H3 |
-0.233 |
Actuator polarization
Polarity is determined so that an +offset at the COILOUTF applies +yaw force in each actuator.
- COIL H1: negative
- COIL H2: negative
- COIL H3: positive
Diagonalization matrix
- ACC2EUL
H1 |
H2 |
H3 |
To: |
0.6440 |
-0.1725 |
-0.4714 |
Long. |
0.1725 |
-0.6440 |
0.4714 |
Trans. |
0.5635 |
0.5635 |
0.5635 |
Yaw |
- LVDT2EUL
H1 |
H2 |
H3 |
To: |
0.6666 |
-0.3333 |
-0.3333 |
Long. |
0 |
-0.5774 |
0.5774 |
Trans. |
0.5612 |
0.5612 |
0.5612 |
Yaw |
- EUL2COIL
Long. |
Trans. |
Yaw |
To: |
1. |
0 |
0.5940 |
H1 |
-0.5000 |
-0.8660 |
0.5940 |
H2 |
-0.5000 |
0.8660 |
0.5940 |
H3 |
Stepper motor
See also: Stepper motor setup
Epics channel name: K1:STEPPER_EXV_IP |
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Driver IP address: 10.68.150.46 |
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Motor 0 |
Motor 1 |
Motor 2 |
Motor 3 |
Motor 4 |
Motor 5 |
F0 Yaw |
IP H1 |
IP H2 |
IP H3 |
<blank> |
<blank> |
GAS
LVDT
Sensor |
Efficiency [um/cnt] |
F0 LVDT GAS |
-0.172 |
F1 LVDT GAS |
-0.215 |
F2 LVDT GAS |
-0.243 |
F3 LVDT GAS |
-0.225 |
BF LVDT GAS |
0.204 |
Fishing Rod (stepper motor)
See also: Stepper motor setup
Motor driver
Epics channel name: K1:STEPPER_EXV_GAS |
|||||
Driver IP address: 10.68.150.45 |
|||||
Motor 0 |
Motor 1 |
Motor 2 |
Motor 3 |
Motor 4 |
Motor 5 |
F0 GAS |
F1 GAS |
<blank> |
F3 GAS |
BF GAS |
F2 GAS |
Property
|
F0 GAS |
F1 GAS |
F2 GAS |
F3 GAS |
BF GAS |
Movable range |
6 mm (± 3 mm) |
(TBC) |
(TBC) |
(TBC) |
full range (± 5.5 mm) |
+step direction |
down |
down |
down |
down |
down |
BF
LVDT (BF Damper)
Sensor |
Efficiency [um/cnt] |
LVDT V1 |
-0.3785 |
LVDT V2 |
0.3852 |
LVDT V3 |
0.3902 |
LVDT H1 |
0.4060 |
LVDT H2 |
-0.3821 |
LVDT H3 |
-0.3629 |
Note: The polarities are determined to output positive signals when the BF shifts respectively to +vertical/+yaw direction for Vertical/Horizontal LVDTs.
Actuator polarization
Polarity is determined so that an +offset at the COILOUTF applies +yaw force in each actuator.
- COIL V1: positive
- COIL V2: positive
- COIL V3: negative
- COIL H1: positive
- COIL H2: negative
- COIL H3: negative
Note: Polarity may change when connecting the secondary coil to the cable. This configuration is confirmed on [2017.10.27]
Diagonalization matrix
- LVDT2EUL
V1 |
V2 |
V3 |
H1 |
H2 |
H3 |
To: |
0 |
0 |
0 |
-0.6667 |
0.3333 |
0.3333 |
Long. |
0 |
0 |
0 |
0 |
0.5774 |
-0.5774 |
Trans. |
0.3333 |
0.3333 |
0.3333 |
0 |
0 |
0 |
Vert. |
0.9158 |
0.9158 |
-1.8315 |
0 |
0 |
0 |
Roll |
1.5861 |
-1.5861 |
0 |
0 |
0 |
0 |
Pitch |
0 |
0 |
0 |
0.8170 |
0.8170 |
0.8170 |
Yaw |
- EUL2COIL
L |
T |
V |
R |
P |
Y |
To: |
0 |
0 |
1. |
0.1820 |
0.3152 |
0 |
V1 |
0 |
0 |
1. |
0.1820 |
-0.3152 |
0 |
V2 |
0 |
0 |
1. |
-0.3640 |
0 |
0 |
V3 |
-1 |
0 |
0 |
0 |
0 |
0.4080 |
H1 |
0.5 |
0.8660 |
0 |
0 |
0 |
0.4080 |
H2 |
0.5 |
-0.8660 |
0 |
0 |
0 |
0.4080 |
H3 |
Picomotor
See also: Picomotor digital setup
Epics channel name: K1:PICO_ETMX |
||
Driver IP address: 10.68.150.20 |
||
CH1 |
CH2 |
CH3 |
BF moving mass A |
BF moving mass B |
Payload yaw |
- BF moving masses (both A and B ) are currently disabled because of weight limit for upper GAS stages