Mid Term Review Meeting, 26 September 2012 M. COLCIAGO1

* The research project has been supported by a Marie Curie Early Initial Training Network Fellowship of the European Community’s Seventh Programme under contract number (PITN-GA-2010-264330-CATHI)

CATHIMarie Curie Initial Training Network

Cryogenics, Accelerators and Targets at HIE-ISOLDE

Martino Colciago (EN-STI-ECEWP 6 ESR 12 )*

Mid Term Review Meeting, 26 September 2012

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Outline Background Starting activities Main Topic Experience in the partner company List of trainings attended Future steps

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Background Master degree in Automation Engineering at

Politecnico di Milano

Siberg srl: systems integration and automation systems

Fellow at Universita’ di Brescia (spin off GEXCEL )

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Starting activities Starting date 1° August 2011 Work on position sensors calibration using LabVIEW:

– Eddy current sensor– ironless LVDT prototype sensor – LVDT Test bench software upgrade

Documented in internal reports

Bibliographic research and market investigation on position sensor based on interferometer principle to be used in hard radiation environments. Now at CERN for calibration test

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Main topic: introduction 1/4Aim of the work: develop a new control system for the High Resolution Separator magnet (HRS) in order to achieve better performances for HIE-ISOLDE.

What is the HRS?

GPS= General Purpose Separator (70° magnet )

HRS= High Resolution Separator (90° and 60° magnet )

Isolde has two mass separators and they are used to separate the ions generated in the facility, according to their mass.

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Main topic: system in use 2/4 Study of the current in use control system

Power supply: Bruker

B-MN70/480R

MAGNET

NMR: MetrolabPT2025 +2030 mux

DSC

0-480 Ampere

0.09-0.26 T 0.13-0.52 T

Work documented in a report.

BASIC IDEA: The magnetic field is measured with a Nuclear Magnetic Resonance (NMR) sensor. The control system compares the measured value with the desired one and it calculates the reference current to feed the magnet. – The control system is developed in C.– The algorithm uses a non-linear fitting of the magnetic field to find the

new reference current.

𝐵𝑟𝑒𝑓

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New control under development using LabVIEW Real Time Control loop

– Use an industrial control: Proportional-integral-derivative control (PID) with anti-windup scheme

– Develop a Hysteresis model to support the NMR during blind time

– Matlab-Simulink is used as simulation software

Main topic: new control system 3/4

-

NMR

PID

Power supply MAGNET

Hysteresis

Switch

𝐵𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑑

𝐵𝑠𝑖𝑚𝑢𝑙𝑎𝑡𝑒𝑑

𝐵𝑟𝑒𝑓 error 𝐼 𝑟𝑒𝑓 𝐵

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These gains have to be tuned on the magnet to optimize the behaviour of the control system

Hysteresis model

Main topic: new control system 4/4

This activity is still on going

𝐾 𝑝𝑒 (𝑡 )+𝐾 𝑖∫𝑒 (𝑡 )𝑑𝑡+𝐾 𝑑𝑑𝑒(𝑡)𝑑𝑡

B

H

Simulated hysteresis

𝑢 (𝑡 )=𝐵𝑟𝑒𝑓 𝑎𝑛𝑑 𝑦 (𝑡 )=𝐵𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑑𝑏𝑦 𝑁𝑀𝑅

PID control

𝐾 𝑝=𝑝𝑟𝑜𝑝𝑜𝑟𝑡𝑖𝑜𝑛𝑎𝑙𝑔𝑎𝑖𝑛 ;𝐾 𝑖=𝑖𝑛𝑡𝑒𝑔𝑟𝑎𝑙𝑔𝑎𝑖𝑛 ;𝐾 𝑑=𝑑𝑖𝑓𝑓𝑒𝑟𝑒𝑛𝑡𝑖𝑎𝑙 𝑔𝑎𝑖𝑛 .

Ḃ=𝐶𝜶|Ḣ|[ 𝑓 (𝐻 )−𝐵 ]+Ḣ 𝑔(𝐻 )

– Differential model: Coleman-Hodgdon – The model has 5 parameters which need to be tuned on real data

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Partner company experience Sidea : deal with design, development and distribution of innovative

systems devoted to better performances in industry and research When and where: May to August, near Milano (Italy) LabVIEW Real Time

– Familiarization with LabVIEW Real Time environment– Development of some projects on the communications between

different devices !CHAOS (Control System based on Highly Abstracted Operating

Structure – but not a mess!)– New control system architecture proposed by Istituto Nazionale di Fisica

Nucleare for the SuperB accelerator at Cabibbo Lab (Under development)

– Aim of its design is to provide: redundancy of all its parts, intrinsic scalability and auto configuration

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Attended training courses and workshops LabVIEW For Expert, 24-28 October 2011 C++ Part 2: Object-Oriented, 15-17 November 2011 LabVIEW Embedded Systems Application Design and Development

Training (LabVIEW RT custom course), 10-13 July 2012 Active Materials and actuators and Electronic and control for

piezomechanisms in mechatronics (Custom course), 11-13 October 2011

Training Sidea (Marie Curie partner company), 2 May-10 August 2012 ISOLDE Workshop, 5-7 December 2011 CERN Accelerator School on ION SOURCE (CAS), Senec 29 May-8 June

2012

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Future steps Trainings to be scheduled

– French course– Writing of professional documents course– Making presentation course

Working activity– Testing of the control system on a real magnet will be

needed to tune the hysteresis model and the PID parameters– A feed-forward hysteresis compensation scheme is under

study to further improve the magnet control– Study the problem of the magnetic field multipole error to

understand which is its relation with the feeding current and to develop a model of this relation