Kiwamu, Stefan, We did the PRM M3 pitch L2P decoupling tonight. We followed that same strategy as for the PR2 (alog 9584): - We paid the most attention to the highest peaks in the L2P transfer function. - We fitted L2P and P2P independently to get good initial values for a fit of the ratio. - We had a harder time with the L2P (compared to the PR2) - in particular I couldn't get the phase at 1Hz right. - The result is only Plot 1: transfer functions: - blue: measured L2P TF - green: measured P2P TF - red: L2P/P2P (from measured data) - black: fit (note that we paid more attention to the frequencies between 0.5Hz and 1Hz, because they matter most (see L2P) - Purple: fitted filter times measured P2P. Plot 2: decoupling at 0.75Hz about a factor of 6 better. Plot 3: decoupling at 0.95Hz about a factor of 4 better.
Looks like a typo in the title for this entry; should read:
PRM M3 pitch drivealign work