function[pend] = quadopt % FILENAME: QUAD_2003JUL04 % DESCRIPTION: % Design of quad pendulum with blade spring optimisation % VERSION NO: QUAD file version 12 % NOTE: filename format RM.m % version number to be incremented plus date changed %%********************************************************************** %%COMMENTS%% %% QUAD PENDULUM MODEL WITH CANTILEVERS AS SPRINGS %% see pendulum diagram for definitions of parameters %% PARAMETERS FOR THE ETM QUAD %% VERSION HAS NO LEVER_ARM INPUT %%********************************************************************** %**************************************************************************** % FILE LOG: % Written by KAS 7/99 VERSION 00 % edited by CIT 11/99 VERSION 01 % changed again by KAS 12/99 VERSION 02 % changes to use structure 12/99 KAS VERSION 03 % with changes from real mass and moments from pmoment.m - Jan 02 VERSION 04 % with added block 26/Jan/02 VERSION 05 % Calum's/Mike's/Matts blade equations added 12/99 KAS VERSION 06 % routine to optimise blades added 12/99 KAS VERSION 07 % pendulum updated 27/1/00 CIT & KAS VERSION 08 % updated with info from MB @ CIT VERISON 09 % NAR April 2003 VERSION 10 % 23rd April working model for either sapphire or silica test mass NAR %CIT May 07 2003 VERSION 11 %CIT July 29 2003 VERSION 12 % Updated nn1 to fit MPL's layout and tln to include d's %Increased length of l2 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % coordinates x = longitudinal = u_LIGO roll about this axis % y = transverse = v_LIGO pitch about this axis % z = vertical = w_LIGO yaw about this axis % 23rd April working model for either sapphire or silica test mass NAR %******************************************************************** % MASS (N) is REPRESENTED by a rectangular BLOCK % in reality it will be larger and less dense. global pend pend.g = 9.81; pend.nx = 0.13; %dimensions of MASS (N) (square) pend.ny = 0.50; pend.nz = 0.084; pend.denn = 4000; %density (steel w holes) pend.mn = pend.denn* pend.ny* pend.nz* pend.nx; %MASS (N) pend.Inx = pend.mn*( pend.ny^2+ pend.nz^2)/12; %moment of inertia (transverse roll) pend.Iny = pend.mn*( pend.nz^2+ pend.nx^2)/12; %moment of inertia (longitudinal pitch) pend.Inz = pend.mn*( pend.ny^2+ pend.nx^2)/12; %moment of inertia (yaw) %******************************************************************** % MASS (1) is REPRESENTED by a rectangular BLOCK % in reality it will be larger and less dense. pend.ux = 0.13; %dimensions MASS (1) (square) pend.uy = 0.50; pend.uz = 0.084; pend.den1 = 4000; %density (steel w holes) pend.m1 = pend.den1* pend.uy* pend.uz* pend.ux ; %MASS (1) pend.I1x = pend.m1*( pend.uy^2+ pend.uz^2)/12; %moment of inertia (transverse roll) pend.I1y = pend.m1*( pend.uz^2+ pend.ux^2)/12; %moment of inertia (longitudinal pitch) pend.I1z = pend.m1*( pend.uy^2+ pend.ux^2)/12; %moment of inertia (yaw) %******************************************************************** pend.ix = 0.13; %dimension of MASS (2) (cylinder) pend.ir = 0.157; pend.den2 = 3980; %sapphire % alternative for use with silica test mass %pend.ix = 0.2; %dimension of MASS (2) (cylinder) %pend.ir = 0.17; %pend.den2 = 2200; %silica pend.m2 = pend.den2*pi* pend.ir^2* pend.ix; %MASS (2) pend.I2x = pend.m2*(pend.ir^2/2); %moment of inertia (transverse roll) pend.I2y = pend.m2*(pend.ir^2/4+pend.ix^2/12); %moment of inertia (longitudinal pitch) pend.I2z = pend.m2*(pend.ir^2/4+pend.ix^2/12); %moment of inertia (yaw) %********************************************************************* pend.tx = 0.13; %dimensions of MASS (3) (cylinder) pend.tr = 0.157; pend.den3 = 3980; %density (sapphire) %alternative silica test mass %pend.tx = 0.2; %dimensions of MASS (3) (cylinder) %pend.tr = 0.17; %pend.den3 = 2200; %density (silica) pend.m3 = pend.den3*pi*pend.tr^2*pend.tx; %MASS (3) pend.I3x = pend.m3*(pend.tr^2/2); %moment of inertia (transverse roll) pend.I3y = pend.m3*(pend.tr^2/4+pend.tx^2/12); %moment of inertia (longitudinal pitch) pend.I3z = pend.m3*(pend.tr^2/4+pend.tx^2/12); %moment of inertia (yaw) %******************************************************************** pend.ln = 0.54; %wire length 1: short version pend.ln = 0.54-.10; %wire length 1: short version pend.l1 = 0.304; %wire length 2: short version pend.l2 = 0.302; %wire length 3: short version pend.l2 = 0.342; %wire length 3: short version %increased length from 3D design layout pend.l3 = 0.6; %wire length 4 %****************************************************************************************** pend.nwn = 2; %number of wires (= number of cantilevers if fitted) per stage (2 or 4) pend.nw1 = 4; pend.nw2 = 4; pend.nw3 = 4; %*********************************************************************************** pend.rn = 460e-6; %radius of wire (N) % approx scaled from that used in MIT model pend.r1 = 320e-6; %radius of wire (1) % approx scaled from that used in MIT model pend.r2 = 320e-6; %radius of wire (2) % approx scaled from that used in MIT model pend.r3 = 200e-6; %radius of wire (3) % same as conceptual design %new wire radii for better safety pend.rn = 700e-6; %radius of wire (N) % factor of 5 safety pend.r1 = 400e-6; %radius of wire (1) %factor of 4 safety pend.r2 = 350e-6; %radius of wire (2) % factor of 4 safety pend.r3 = 200e-6; %radius of wire (3) % same as conceptual design %************************************************************************************ %pend.Yn = 1.65e11; %Youngs Modulus of wire (N) (s/steel 302) %pend.Y1 = 1.65e11; %Youngs Modulus of wire (1) (s/steel 302) %pend.Y2 = 1.65e11; %Youngs Modulus of wire (2) (s/steel 302) pend.Yn = 2.2e11; %consistent w/ measurements at Caltech pend.Y1 = 2.2e11; pend.Y2 = 2.2e11; pend.Y3 = 7e10; %Youngs Modulus of wire (3) (fused silica) %blade design mntb = (pend.mn+pend.m1+pend.m2+pend.m3)/2;%total per blade mnb = pend.mn/2;%uncoupled mass [uf,lnb,anb,hnb,stn] = opt(mnb,mntb,9e8,0.48,0.10); pend.lnb = lnb; pend.anb = anb; pend.hnb = hnb; pend.ufcn = uf; pend.stn = stn; pend.intmode_n = 55*hnb*0.37^2/(0.002*lnb^2); %scaled from GEO blade %pend.ufcn = 2.36; %override to keep constant when changing to silica test mass %blade design m1tb = (pend.m1+pend.m2+pend.m3)/2;%total per blade m1b = pend.m1/2;%uncoupled mass [uf,l1b,a1b,h1b,st1] = opt(m1b,m1tb,9e8,0.42,0.06); pend.l1b = l1b; pend.a1b = a1b; pend.h1b = h1b; pend.ufc1 = uf; pend.st1 = st1; pend.intmode_1 = 55*h1b*0.37^2/(0.002*l1b^2); %scaled from GEO blade %pend.ufc1 = 2.56; %override to keep constant when changing to silica test mass %blade design m2tb = (pend.m2+pend.m3)/2;%total per blade m2b = pend.m2/2;%uncoupled mass [uf,l2b,a2b,h2b,st2] = opt(m2b,m2tb,8e8,0.34,0.05); pend.l2b = l2b; pend.a2b = a2b; pend.h2b = h2b; pend.ufc2 = uf; pend.st2 = st2; pend.intmode_2 = 55*h2b*0.37^2/(0.002*l2b^2); %scaled from GEO blade %pend.ufc2 = 2.07; %override to keep constant when changing to silica test mass %**************************************************************************************** %dees = 0.001; pend.dm = 0.001; %height of wire break-off above c.of m. mass (N) pend.dn = 0.001; %height of wire break-off below c.of m. mass (N) pend.d0 = 0.001; %height of wire break-off above c.of m. mass (1) pend.d1 = 0.001; %height of wire break-off below c.of m. mass (1) pend.d2 = 0.001; %height of wire break-off above c.of m. mass (2) pend.d3 = 0.001; %height of wire break-off below c.of m. mass (2) pend.d4 = 0.001; %height of wire break-off above c.of m. mass (3) %additional information for ribbon breakoffs %these are needed in translation/roll mode calculations pend.twistlength = 0.00; %length of twist section in ribbon pend.d3tr = pend.d3 - pend.twistlength; pend.d4tr = pend.d4 - pend.twistlength; %****************************************************************************************** %X direction separation pend.sn = 0.00; %1/2 separation of wires (N) pend.su = 0.003; %1/2 separation of wires (1) pend.si = 0.003; %1/2 separation of wires (2) pend.sl = 0.008; %1/2 separation of wires (3) %****************************************************************************************** %Y direction separation pend.nn0 = 0.25; %1/2 separation of wires (N) at suspension point pend.nn1 = 0.12; %1/2 separation of wires (N) at mass (N), value preferred for mechanical fitting pend.nn1 = 0.11; % for better mech fit 30apr pend.nn1 = 0.09; % MPL 28th May request for smaller separation pend.n0 = 0.2; %1/2 separation of wires (1) at mass (N) pend.n1 = 0.07; pend.n2 = 0.12; pend.n3 =pend.ir+0.0065; %1/2 separation of wires (2) at mass (2) pend.n4 =pend.tr+0.0015; %1/2 separation of wires (3) at mass (2) pend.n5 =pend.tr+0.0015; %1/2 separation of wires (3) at mass (3) %now we can work out the true lengths com to com etc. %CIT July 29th 2003 Updated to include the d's in the individual tl# pend.tln = sqrt(pend.ln^2 - (pend.nn0-pend.nn1)^2) + pend.dm; pend.tl1 = sqrt(pend.l1^2 - (pend.n0-pend.n1)^2) + pend.dn + pend.d0; pend.tl2 = sqrt(pend.l2^2 - (pend.n2-pend.n3)^2) + pend.d1 + pend.d2; pend.tl3 = sqrt(pend.l3^2 - (pend.n4-pend.n5)^2) + pend.d3 + pend.d4; % Distance to the centre of mass from suspension point pend.l_suspoint_to_centreofoptic = pend.tln+pend.tl1+pend.tl2+pend.tl3; pend.l_suspoint_to_bottomofoptic = pend.tln+pend.tl1+pend.tl2+pend.tl3+pend.tr; %*********************************************************************************** % represents small loss pend.bd = 0.00; % makes phases of open loop plots look nicer %*********************************************************************************** %mean distances of actuators from axis of rotation % no longer called %pend.lever_pitch = 0.06; %pend.lever_pitch = 0.055; alternate value %pend.lever_yaw = 0.12; %pend.lever_roll = 0.15; %pend.lever_roll = 0.16; alternate value %IMPORTANT FOR REFERENCE ONLY!!! %Gain triangles in pende.m %gain = -1.2; %Gain triangle = (leverarm)^2 * (no. of coils) * gain %***Note that gains are linked in different directions due to common coils as below***** %***If gains in one channel only need to be changed then leverarm can be used*********** %gainzrtrl =gain; % vertical, z, pitch, rt, roll rl (coils on top of upper mass) %gaint = gain.*2; % transverse, t (coil on one end of upper mass) %gainlrz = gain; % longitudinal, l, yaw, rz (coils on long rear side of upper mass) %long = (1)^2 * 2 * gainlrz = -2.4 %pitch = (0.06)^2 * 2 * gainzrtrl = -8.64e-3, alternate value = -7.26e-3 with pitch 0.055 %vert = (1)^2 * 3 * gainzrtrl = -3.6 %yaw = (0.12)^2 * 2 * gainlrz = -2.88e-2 %trans = (1)^2 * 1 * gaint = -2.4 %roll = (0.15)^2 * 3 * gainzrtrl = -8.1e-2, alternate value = -9.216e-2 with roll 0.16 %end %VIEWER PREFERENCES (under edit on LTI viewer) %UNITS %Frequency in Hz using Log scale %Magnitude in absolute using log scale %Phase in degrees %TIME VECTOR %[0:0.01:50] %FREQUENCY VECTOR %logspace(-0.5,1.5,500)