sas / tama collaboration update · sas / tama collaboration update riccardo desalvo august 16, 2000...
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SAS / TAMA Collaboration Update
Riccardo DeSalvo
August 16, 20007th LSC Meeting at LHO
LIGO-G000267-00-D
People
University of TokyoProf. Kimio TsubonoDr. Masaki AndoKenji NumataAkiteru TakamoriTatsuo Yoda
NAO JapanProf. Seiji KawamuraDr. Ryutaro TakahashiMitsuhiro Fukushima
CaltechDr. Riccardo DeSalvoDr. Szabolcs MrkaDr. Virginio SannibaleDr. Hiroaki Yamamoto
University of PisaAlessandro BertoliniDr. Giancarlo Cella
and supports from other institution
LSC Meeting at LHO 16/08/00
Inverted Pendulum
Vertical DC Actuator
LVDTPosition Sensor
Coil-Magnet Actuator
Standard Filter
Monolithic GAS
Vertical Pre-Isolator
Recoil Mass
Mirror
TAMA SAS Overview
Passive Damper
Accelerometer
Horizontal DC Actuator
Caltech
TAMA
Univ. Pisa
Univ. Firenze
Oil Bearing
IP
Filter Zero
Counter Weight
Accelerometer
Accelerometer
IP Test Facility
Szabolcs Mrka, Riccardo DeSalvo, Hareem Tariq,Ryutaro Takahashi, Mitsuhiro Fukushima, Akiteru Takamori
-60 -60
-40 -40
-20 -20
0 0
20 20
40 40
Mag
nitu
de [d
B]
5 6 7 8 90.1
2 3 4 5 6 7 8 91
2 3 4 5 6 7 8 910
2 3
Frequency [Hz]
Measurement Model Simulation with Ideal CW
Yaw Mode
Horizontal Transfer Function of IPwithout Center of Percussion Tuning
Akiteru Takamori
Note: Maximum attenuation is limited by available counter weights.Expected improvement with optimized counter weights.
Shaker
Monolithic GASF
Accelerometer
Payload
Vertical Transfer Function of MGASF
Measurement Setup
Kenji Numata, James Donald
Monolithic Geometric Anti-Spring (MGAS)
-80
-60
-40
-20
0
20
40
Isol
atio
n R
atio
[dB
]
0.12 3 4 5 6 7
12 3 4 5 6 7
102 3 4 5 6 7
100Frequency[Hz]
2mm Blade 1.5 mm Blade
Vertical Transfer Function of Monolithic GASF
Kenji Numata, James Donald
ActuationMatrices
AD
AD
AD
AD
AD
AD
Alignment (WFS)
Length
Beam Centering
AD
AD
Drivers
Threshold DC
Threshold DC
A BC D
A BC D
100 mHz ~ 1kHz
100 mHz ~ 1Hz
10 mHz ~ 100 mHz
DCThreshold
DC ~ 10 mHz
Interferometer
LVDTPosition Sensors
Accelerometers
Sensing Matrices
A BC D
A BC D
AD
Digital Signal
Analog Signal
Drivers
TAMA SAS Control Scheme
Akiteru Takamori
April 30th, 2000 APS MeetingGO
LVDT Sensors Diagonalization(Direct Transfer Functions)
10−3
10−2
10−1
100
Frequency (Hz)
10−4
10−3
10−2
10−1
100
101
Am
plitu
de (
A.U
.)
IP Prototype Control(LVDT Diagonalization Meas. 06)
LVDT 1LVDT 2LVDT 3
Sun Apr 16 12:26:48 2000
Meas. time: 2hours
LIGO-G000126-00-R Virginio Sannibale
April 30th, 2000 APS MeetingGO
SAS-SUS LVDT
(Diagonalized Transfer FunctionDegenerate case)
10−3
10−2
10−1
100
Frequency (Hz)
10−5
10−4
10−3
10−2
10−1
100
Am
plitu
de (
A.U
.)
IP Prototype Control(LVDT Diagonalization Degen Case Meas 1_06 2,3_05)
xytheta
Meas. time: 2hours
LIGO-G000126-00-R Virginio Sannibale
April 30th, 2000 APS MeetingGO
Normal Mode RingDown (Yaw Mode)
0 25 50 75 100 125 150 175 200time(s)
−0.1
0.0
0.1
0.2
0.3
0.4FitData
0 250 500 750 1000 1250 1500 1750 2000−4
−3
−2
−1
0
1
2
3
4
LVTP IP Diagonalization(Yaw Mode Ring−Down)
Am
plitu
de (
A.U
.)
f =242.0mHzQ = 316.5
LIGO-G000126-00-R Virginio Sannibale
May 21st-27th 8th Pisa MeetingGO
SAS Control :(Recent Results)
� Position Sensor Diagonalization working
� Actuator Diagonalization Working
� Closed the Loops in the 3 DOF
Example: Residual Seismic Noise Spectral Desinty DOF : y
(Very Preliminary Result)
10−3
10−2
10−1
100
101
Frequency (Hz)
0
0
0
0
0
0
1
10
100
Rel
ativ
e S
eism
ic N
oise
Spe
c. D
ens
(Vrm
s/S
qrt(
Hz)
)
Gain too high
LIGO-G000149-00-R Virginio Sannibale
16/08/2000
www.ligo.caltech.edu/~citsas Akiteru Takamori
-60 -60
-40 -40
-20 -20
0 0
20 20
40 40
60 60
Mag
nitu
de [d
B]
0.001 0.01 0.1 1 10 100
Open loop transfer function for inertial damping
150 150
100 100
50 50
0 0
-50 -50
-100 -100
-150 -150
Pha
se [d
egre
e]
0.001 0.01 0.1 1 10 100
Frequency [Hz]
TAMA SAS
16/08/2000
www.ligo.caltech.edu/~citsas Akiteru Takamori
10-14 10-14
10-12 10-12
10-10 10-10
10-8 10-8
10-6 10-6
10-4 10-4
Dis
plac
emen
t (H
oriz
onta
l) [m
/Hz1/
2 ]
0.012 3 4 5 6 7 8 9
0.12 3 4 5 6 7 8 9
12 3 4 5 6 7 8 9
10
Frequency [Hz]
Damping OffDamping On
Accelerometer Sensitivity
Horizontal Displacement at IP Stage(Preliminary Simulation)
TAMA SAS
16/08/2000
www.ligo.caltech.edu/~citsas Akiteru Takamori
TAMA SAS
10-14 10-14
10-13 10-13
10-12 10-12
10-11 10-11
10-10 10-10
10-9 10-9
10-8 10-8
10-7 10-7
10-6 10-6
10-5 10-5
10-4 10-4
r.m
.s. D
ispl
acem
ent [
m]
0.012 3 4 5 6 7 8 9
0.12 3 4 5 6 7 8 9
12 3 4 5 6 7 8 9
10
Frequency [Hz]
Damping OffDamping On
r.m.s. Redidual Displacement at IP Stage(Preliminary Simulation)
16/08/2000
www.ligo.caltech.edu/~citsas Akiteru Takamori
TAMA SAS
10-20 10-20
10-18 10-18
10-16 10-16
10-14 10-14
10-12 10-12
10-10 10-10
10-8 10-8
10-6 10-6
10-4 10-4
Dis
plac
emen
t (H
oriz
onta
l) [m
/Hz1/
2 ]
0.012 3 4 5 6 7 8 9
0.12 3 4 5 6 7 8 9
12 3 4 5 6 7 8 9
10
Frequency [Hz]
Damping OffDamping On
Horizontal Displacement at Mirror Stage(Preliminary Simulation)
16/08/2000
www.ligo.caltech.edu/~citsas Akiteru Takamori
TAMA SAS
10-20 10-20
10-18 10-18
10-16 10-16
10-14 10-14
10-12 10-12
10-10 10-10
10-8 10-8
10-6 10-6
10-4 10-4
Dis
plac
emen
t [m
]
0.012 3 4 5 6 7 8 9
0.12 3 4 5 6 7 8 9
12 3 4 5 6 7 8 9
10
Frequency [Hz]
r.m.s. Redidual Displacement at Mirror Stage(Preliminary Simulation)
Damping OffDamping On