We demonstrate the control scheme of an active platform with a six degree of freedom (6D) seismometer. The inertial sensor simultaneously measures translational and tilt degrees of freedom of the platform and does not require any additional sensors for the stabilisation. We show that a feedforward cancellation scheme can efficiently decouple tilt-to-horizontal coupling of the seismometer in the digital control scheme. We stabilise the platform in the frequency band from 250 mHz up to 10 Hz in the horizontal degrees of freedom and achieve a suppression factor of 100 around 1 Hz. Further suppression of ground vibrations was limited by the non-linear response of the piezo actuators of the platform and by its limited range (5 {\mu}m). In this paper we discuss the 6D seismometer, its control scheme, and the limitations of the test bed.
@article{arxiv.2207.10417,
title = {Active platform stabilisation with a 6D seismometer},
author = {Amit Singh Ubhi and Leonid Prokhorov and Sam Cooper and Chiara Di Fronzo and John Bryant and David Hoyland and Alexandra Mitchell and Jesse van Dongen and Conor Mow-Lowry and Alan Cumming and Giles Hammond and Denis Martynov},
journal= {arXiv preprint arXiv:2207.10417},
year = {2024}
}