# Development of a Double Pendulum for Gravitational Wave Detectors

## Abstract

Seismic noise will be the dominant source of noise at low frequencies for ground based gravitational wave detectors, such as LIGO now under construction. Future interferometers installed at LIGO plan to use at least a double pendulum suspension for the test masses to help filter the seismic noise. We are constructing an apparatus to use as a test bed for double pendulum design. Some of the tests we plan to conduct include: dynamic ranges of actuators, and how to split control between the intermediate mass and lower test mass; measurements of seismic transfer functions; measurements of actuator and mechanical cross couplings; and measurements of the noise from sensors and actuators. All these properties will be studied as a function of mechanical design of the double pendulum.

CGPG-99/11-5

gr-qc/9911027

The next upgrade installed at LIGO  plans to use at least a double pendulum suspension for the test masses to help filter seismic noise. We are constructing a facility to be used as a test-bed for testing the mechanical and local control design of test mass suspension systems for interferometer gravitational wave detectors. The basic design that we are following is based on the GEO gravitational wave detector suspension design, which uses multiple pendulums . Our prototype is shown schematically in Figure 1.

In addition to the double pendulum, which includes the test mass, a second identical double pendulum is just behind the test mass pendulum. This second pendulum acts as a reaction pendulum, which is used to hold the sensors and actuators used to control the test position of the test mass. Putting the sensors and actuators on an identical second pendulums allows a smaller relative motion between the actuators and the test mass. In addition to gaining extra seismic filtering of a double pendulum, the double pendulum also allows the possibility of controlling the test mass at the intermediate mass rather than from the test mass itself. Therefore, the magnets used for position control, which unfortunately ruin the high mechanical Q of the test mass, can be moved to the intermediate mass. The disadvantage of a double pendulum is that it is more complex to model and hence control, so that testing of actual configurations is a critical activity. The double pendulum is hung from cantilever spring, so that there is also vertical seismic isolation. One feature of our test bed facility is that the design is made flexible so that a variety of test mass configurations can be tested, such as changing the positions of the sensors and actuators. Another feature in our test bed facility is the use of a high precision three-axis vibration shaker used for diagnostics. The construction and assembly of the mechanical pieces of the initial single intermediate pendulum supported by cantilever springs is near completion. The first goal is to control this single pendulum in all six degrees of freedoms. Testing and calibration of position controller: sensors (LED shadow detectors) and actuators (magnets and coils) are now in progress. Testing and characterizing the three-axis vibration shaker has been in progress. The next phase will be to build a double pendulum with a dummy test mass of the size of the test masses currently being installed in LIGO. Finally, a double pendulum, with its corresponding double reaction mass pendulum will be built and tested. Some of the tests we plan to conduct include: dynamic ranges of actuators, used to control the position of the double pendulum masses and how to split control between the intermediate mass and lower test mass; measurements of seismic transfer functions of the double pendulum; measurements of actuator and mechanical cross couplings; and measurements of the noise from sensors and actuators. All these properties will be studied as a function of mechanical design of the double pendulum, such as two versus four wire suspension, wire attachment points (which determine the resonant frequencies of the pendulum), actuator and sensor placement, intermediate mass shape and size, cantilever spring design and number, and modal damping versus point to point damping. 

###### Acknowledgements.

We would like to thank Dr. Mike Plissi of the GEO Project for his interest in this work. This research is supported by The Pennsylvania State University and NSF Grant No. PHY-9870032.