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Python package for KAGRA suspension and seismic isolation control.
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The name "Kontrol" is a blend word combining KAGRA, the gravitational-wave detector in Japan, and control, as in control system. The package contains necessary features for commissioning a KAGRA suspension. These features include:
kontrol.sensact):
Calibration and Sensing/Actuation Matriceskontrol.curvefit): Fitting frequency response data
using Transfer function model.kontrol.regulator):
Damping and position controller
with stabilizing post filters such as low-pass and notch filters.To interface the results generated from the above functionalities to the KAGRA control system, Kontrol also provides:
kontrol.foton): converting transfer function to/from
Foton strings.kontrol.ezca): Fetch/put control matrices to/from
the digital system.The above features form a control design pipeline from calibration to controller design for commissioning KAGRA suspension with basic functionality.
Besides the basic functionalities, Kontrol also contains advanced features are being continuously developed in order to further enhance seismic isolation performance. Currently, Kontrol contains:
kontrol.ComplementaryFilter):
Solves complementary control problems, optimizing control filters for
sensor fusion, sensor correction, and vibration isolation control
problems [1] [2].kontrol.dmd): Dynamic mode decomposition
for time-series forecasting and modeling. For future model predictive
control work.To familiarize users with the package,
step-by-step
tutorials <https://kontrol.readthedocs.io/en/latest/tutorial.html>_
are provided. Upon finishing the tutorials, the users should
be able to convert the scripts into usable ones interfacing real data that
can be used for the physical systems.
While Kontrol was created for setting up active isolation systems for systems in gravitational-wave detectors, it is not exclusive for usage in gravitaional-wave detectors or suspensions. The setup of an active isolation system is similar to many control systems. Kontrol is coded with no presumption of the system in question. So users outside the gravitational-wave and active isolation community may also find this tutorial/package useful.
Required ^^^^^^^^
Optional ^^^^^^^^
vishack <https://github.com/gw-vis/vishack>
or dttxml <https://github.com/mccullerlp/dttxml>
(For extracting data from diaggui xml files.)If you would like to install Kontrol on your local machine with, then pip should install the required dependencies automatically for you. However, if you use Kontrol in a Conda environment, you should install the dependencies before installing Kontrol to avoid using pip. In Conda environment, simply type
.. code-block:: bash
conda install -c conda-forge numpy scipy matplotlib control ezca
Using Conda is strongly recommended because control
depends on slycot which can be cumbersome to install without conda.
Check this issue <https://github.com/terrencetec/kontrol/issues/19>_ out
if you wish to install slycot on a Linux machine.
.. code-block:: bash
pip install kontrol
For local usage, type
.. code-block:: bash
$ git clone https://github.com/terrencetec/kontrol.git $ cd kontrol $ pip install .
For k1ctr workstations, make sure a virtual environment is enabled before installing any packages.
Please comply with the following standards/guides as much as possible.
Coding style ^^^^^^^^^^^^
CHANGELOG ^^^^^^^^^
Versioning ^^^^^^^^^^
Packaging ^^^^^^^^^
Documentation ^^^^^^^^^^^^^
.. |logo| image:: https://raw.githubusercontent.com/terrencetec/kontrol/master/images/kontrol_logo_256x128.svg :alt: Logo :target: https://github.com/terrencetec/kontrol
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.. [1] T. T. L. Tsang, T. G. F. Li, T. Dehaeze, C. Collette. Optimal Sensor Fusion Method for Active Vibration Isolation Systems in Ground-Based Gravitational-Wave Detectors. https://arxiv.org/pdf/2111.14355.pdf
.. [2] Terrence Tak Lun Tsang. Optimizing Active Vibration Isolation Systems in Ground-Based Interferometric Gravitational-Wave Detectors. https://gwdoc.icrr.u-tokyo.ac.jp/cgi-bin/DocDB/ShowDocument?docid=14296