During the evacuation of SR tower, a test on a vertical control of SR base ring has been carried on.
The base ring is the suspension stage placed below the inverted pendulum legs. The stage is equipped with three vertical position sensors (LVDTs) and three actuators (piezos); in principle, it can be use to provide an active pre-isolation of the suspension for three dofs (the vertical one, and the two rotations along the horizontal axes). For the control of the rotation, the inertial rotation sensor is missing, but this is not the case for the vertical, because the suspension itself is a very good inertial sensor.
SR is the only tower where also the driving board of the piezos is installed; a few years ago the sensing and the driving system were prepared for the use and some preliminary loop was closed, just to check the correct functionality of the system. In the past days the work has been finalized and a first result in terms of platform inertial control has been obtained.
The working principle is based on the use of the vertical LVDT, measuring the internal motion of Filter0 attenuation stage, as an accelerometer. A simple reconstruction/calibration, taking into account the mechanical response of the suspension, is required. Then, the usual strategy of blending the accelerometer with a ground-based position sensor (the base ring vertical position, measured through its own LVDTs) can be applied and a loop can be closed on the blended signal. The expected effect is that the top stage internal motion will be suppressed by moving the base ring in the opposite direction of the ground, providing in that way an inertial platform.
Fig 1 shows the three signals when no vertical control is applied:
- blue curve: the ground motion (displacement), obtained from the velocimeter installed in the central building.
- red curve: the motion of the base ring with respect to the ground. The signal is very low because the stage is quite rigid (first resonance 26 Hz).
- yellow curve: the ground motion provided by the reconstructed F0 accelerometer described above. The compensation of the mechanics is good enough, even if not perfect. A remarcable difference between the seismometer and the SUSP accelerometer is visible below 0.1 Hz: SUSP ACC is a very heavy and soft accelerometer, perfect for having a very low noise at low frequency.
The forth curve is taken from the LVDT installed in the second vertical stage of the suspension. It remains out of loop when the others are controlled and can be used for the evaluation of the control performance. In open loop condition, one can see the 6 resonances of the suspension and a steep attenuation starting from about 1 Hz, which puts soon the residual motion at higher frequency well below the sensor noise.
Fig 2 shows the same signals when the control of the base ring is closed. The blending between position and acceleration is about 40 mHz; the UGF of the loop is about 3 Hz. The base ring spectrum copies perfectly the seismic noise. The in-loop signal (yellow) is suppressed up to a factor of 40 and it is low also in the critical region around 0.1 Hz, where normally it is more difficult to have a good performance. The out-of-loop signal (purple) shows small and narrow peaks as residual motion above 0.1 Hz.
Fig 3 shows the same signals when the standard control of the topo stage is closed. The performance visible in the purple signal is much worse at 0.15 Hz. The peak corresponde to a notch in the plant of the control from the top stage, where the perfomance is expected to be lower. The mechanism of noise reintroduction needs to be better studied and understood. This is a lack of accuracy normally present in the vertical control of all the suspensions, but on SR is particularly bad. No attempt of loop optimization has never been performed and maybe it would be better to do something, but after having seen the performance of the base ring control, I think it would be worth to go ahead in that direction.
In order to finalize the development of the new strategy, its impact on the horizontal control needs to be better observed. The actuation of the base ring has been balanced as better as possible, in order to avoid any rotational disturbance, which would become fake acceleration affecting the IP inertial control. The performance needs to be checked when SRCL is locked, because this is the most sensitive condition to observe any additional noise coming from the controls. We need also to check the control behaviour in heavy conditions in terms of seismic noise, because the dynamyc of BR actuation is much more limited than the actuation on F0. Very likely, an earthquake would saturate the control, causing the unlock. An early worning strategy should be applied in order to move in time the control back to the more robust one.