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K. Artoos (50 %) , C. Eymin, S. Janssens (100 %), R. Leuxe Work from M. Esposito , P. Fernandez Carmona Exchange with C . Collette ULB. Stabilisation and nano positioning Main Beam Quadrupole. - PowerPoint PPT Presentation
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STABILISATION AND NANO POSITIONINGMAIN BEAM QUADRUPOLE
The research leading to these results has received funding from the European Commission under the FP7 Research Infrastructures project EuCARD
K. Artoos (50 %), C. Eymin, S. Janssens (100 %), R. Leuxe Work from M. Esposito, P. Fernandez CarmonaExchange with C. Collette ULB
K.Artoos, Stabilisation WG , 21th February 2013
2
Outline Requirements evolution + Concept Demonstration actuating support:
stabilisation + nano positioning Mechanical Design Status T1 and T4
MBQ Modules Controller status test modules Objectives 2013 On hold activities…
K.Artoos, Stabilisation WG , 21th February 2013
Requirements
Stability (magnetic axis):Nano-positioning
3992 CLIC Main Beam Quadrupoles:
3
Type 4: 2m, 400 kgType 1: 0.5 m, 100 kg
A. Samoshkin
Main beam quadrupoles
Final Focus
Vertical1.5 nm > 1 Hz
Vertical0.2 nm > 4 Hz
Lateral5 nm > 1 Hz
Lateral5 nm > 4 Hz
Ground motion External forces Flexibility of magnet
4
Integrated luminosity simulations
No stabilization 68% luminosity lossSeismometer FB maximum gain (V1)
13%
Seismometer FB medium gain (V1mod)
6% (reduced peaks @ 0.1 and 75 Hz)
Seis. FB max. gain +FF (FBFFV1mod)
7%
Inertial ref. mass 1 Hz (V3mod)
11%
Inertial ref. mass 1 Hz + HP filter (V3)
3%
Courtesy J. Snuverink, J. Pfingstner et al.Commercial Seismometer
Custom Inertial Reference mass
K.Artoos, Stabilisation WG , 21th February 2013Stef Janssens
5
Inertial Reference mass
No stabilization 68% luminosity lossInertial ref. mass 1Hz (V3mod)
11%
Inertial ref. mass 1Hz + HP filter (V3)
3%
Inertial ref. mass 7 Hz (V3 mod 1)
Orbit fb optimised V3: 0.7%
Courtesy J. Snuverink et al.
Stef Janssens
C. Collette
“Comparison of new absolute displacement sensors”, C. Collette et al. , ISMA 2012K.Artoos, Stabilisation WG , 21th February 2013
K.Artoos, Stabilisation WG , 21th February 2013
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Other requirements
Available spaceIntegration in two beam module620 mm beam heightAccelerator environment- High radiation - Stray magnetic field
Stiffness-Robustness Applied forces (water cooling, vacuum, power leads, cabling, interconnects, ventilation, acoustic pressure)-Compatibility alignment-Transportability/Installation
7
Introduction/Reminder:
Additional study
K.Artoos, Stabilisation WG , 21th February 2013
« Nano-positioning» feasibility studyModify position quadrupole in between pulses (~ 5 ms)
Range ± 5 μm, increments 10 to 50 nm, precision ± 0.25 nm
• Lateral and vertical (Open question: pitch and yaw)•In addition/ alternative dipole correctors• Use to increase time to next realignment with cams
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Introduction/Reminder:
Concept for MBQ
K.Artoos, Stabilisation WG , 21th February 2013
• Inclined stiff piezo actuator pairs with flexural hinges (vertical + lateral motion) (four linked bars system)• X-y flexural guide to block roll + longitudinal d.o.f.+ increased lateral stiffness.• (Seismometers)/ inertial reference masses for sensors
K.Artoos, Stabilisation WG , 21th February 2013
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Type 1
Collocated pair
X-y proto
Seismometer FB max. gain +FF (FBFFV1mod): 7 % luminosity loss(no stabilisation 68 % loss)
Courtesy J. Snuverink, J. Pfingstner et al.
Concept demonstration actuator support with staged test benches
10
Stabilization with Interferometer based geophone
Interferometer based geophone built and tested:-Very high sensitivity, high resolution-Wider bandwidth-Proof of concept
Issue:
Due to higher bandwidth, actuator slew rate gives instabilities in the loop
-> New batch of actuator amplifiers have a higher slew rate
Measured open loop on x-y guide
Stef Janssens
K.Artoos, Stabilisation WG , 21th February 2013
K.Artoos, Stabilisation WG , 21th February 2013
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Extra slide:Measured slew rate of actuator
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X-y prototype: Demonstration Nano positioningResolution, precision, accuracy
Capacitive sensor3 beam interferometer
Optical ruler
Actuators equipped with strain gauges
K.Artoos, Stabilisation WG , 21th February 2013
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X-y positioning: Study precision, accuracy and resolution
The precision required (0.25 nm): • demonstrated with
optical rulers• in a temperature stable
environment • for simultaneous x and y
motion.• Still increase speed
Absolute accuracy:• calibrated within 10-8 m
Tests in a temperature unstable environment will be made (ISR was not available for >two months)
K.Artoos, Stabilisation WG , 21th February 2013
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Optical ruler performance
K.Artoos, Stabilisation WG , 21th February 2013
Repeatability around 0.25 nm(applies for both actuator system and optical ruler)
Cross axis sensitivity
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Optical ruler limitation
K.Artoos, Stabilisation WG , 21th February 2013
Limited in velocity (shocks!)Error in counting or erase counting (power cut)Because of the very short range, difficult to build in a reference
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Absolute Optical ruler
K.Artoos, Stabilisation WG , 21th February 2013
Heidenhain : 1nm resolution < 1000 CHFRenishaw: 1 nm resolution < 1000 CHF
Smallest LSB could be used again as quadrature ….
To be tested on x-y proto
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Comparison sensorsSensor Resolution Main + Main -
Actuator sensor 0.15 nm No separate assembly
ResolutionNo direct measurement of magnet movement
Capacitive gauge 0.10 nm Gauge radiation hard Mounting tolerancesGain change w. Orthogonal coupling
Interferometer 10 pm Accuracy at freq.> 10 Hz
CostMounting toleranceSensitive to air flowOrthogonal coupling
Optical ruler 0.5*-1 nm Cost1% orthogonal couplingMounting toleranceSmall temperature driftPossible absolute sensor
Rad hardness sensor head not knownLimited velocity displacements
Seismometer (after integration)
< pm at higher frequencies
For cross calibration
K.Artoos, Stabilisation WG , 21th February 2013
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X-y Positioning: roll
1&2 Parasitic roll
K.Artoos, Stabilisation WG , 21th February 2013
-2 legs 3 d.o.f. > parasitic roll-Measured with 3-beam interferometer-~3 μm lateral movement leads to < 7 μrad rotation-Early simulations suggest~100 μrad/0.5% luminosity loss (J. Pfingstner)
K.Artoos, Stabilisation WG , 21th February 2013
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Preliminary Roll simulationsJ. Pfingstner
K.Artoos, Stabilisation WG , 21th February 2013
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2013 Build three “best available design” MBQ
modules
Functional performance testing + development time: Study and try assemblyRequires controlled stable environment (Temperature, Vibrations, Access)Demonstration feasibility + ultimate performanceWater cooling + powering magnet
Test module location not adapted for this.Magnetic measurements and fiducialisation
Type 1 Test module with dummy magnetIntegration in test module, connections to other modules, robust show case, transport, …Demonstration alignment and stabilization but not representative for CLIC tunnel
Type 1 ISR
Type 4 ISR
Type 1 CLEX
Type 4 Test moduleMBQ modules upgradable (bolted together, no welds).
K.Artoos, Stabilisation WG , 21th February 2013
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Type 1 status mechanical design status
C. Eymin, K. Artoos
K.Artoos, Stabilisation WG , 21th February 2013
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Type 1 Integration
R. Leuxe, C. Eymin, K. Artoos
Cla sh
1
23
Analytical & FE results
K.Artoos, Stabilisation WG , 21th February 2013
Hz kh[N/μm]
Vt kv[N/μm]
4-bar mode θ mode Vertical modef
[Hz] shape f [Hz] shape f
[Hz] shape
Without xy
guide
Analytical 0.21 203 9.2 255 319
Ansys classic 0.21 204 9.2 255 319Ansys
WB 0.21 203 8.3 245 312
With xy
guide
Analytical 35 229 153 310 339
Ansys classic 44 225 125 275 327Ansys
WB 38 220 145 303 336Type 1 MBQ with xy guide
kh=69[N/μm]
kv=227[N/μm]
119
[Hz]
303[Hz]
319[Hz
]
Longitudinal stiffnessWithout xy guide0.03 N/μm
With xy guide(pins totally fixed on 1 end)278N/μm
With xy guide(pins fixed to steel plates)48 N/μm
Longitudinal modeWithout xy guide3.4 Hz
With xy guide(pins totally fixed on 1 end)280 Hz
With xy guide(pins fixed to steel plates)65 Hz
Marco Esposito
K.Artoos, Stabilisation WG , 21th February 2013
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Type 4 mechanical design
C. Eymin, K. Artoos
25
3D simulated Kinematics
K.Artoos, Stabilisation WG , 21th February 2013
PITCH YAW
T1 MBQ
T4 MBQ
• No loss of translation range for T4• About 25% of loss of vertical translation range for T1 pitch• About 80% of loss of lateral translation range for T1 yaw
26
Concept open points
1&2
K.Artoos, Stabilisation WG , 21th February 2013
• Decrease parasitic roll• Increase hinge longitudinal stiffness ?• Increase still lateral stiffness ?• But: Overdetermined structure !!! Stresses due to mountingNeeds optimisation• Simplify mounting, improve precision mounting• Sensitivity to temperature not well known yet• Increase natural frequencies actuating support (longitudinal mode)• Decrease support mass, especially for type 1• Nano positioning Tilt and pitch of type 1 limited. But does it make sense?• ….
K.Artoos, Stabilisation WG , 21th February 2013
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Planning for mechanics
12 Piezo actuators with integrated sensors + amplifiers/controllers ReceivedFabrication drawings type 1 has started , finished first week of March.Fabrication 1.5 monthsFabrication drawings type 4 third week of March + 1.5 months fabrication
Start assembly type 1end of April
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Controller Electronics StatusHybrid Second generation
2 d.o.f. Position input terminal Switchable
(displacement/velocity) Manual or Digital gain/filter
control FPGA control digital part
started Improved radiation hardness
(choice components Tested for SEU and induced
noise at H4HIRRAD
P. Fernandez Carmona
H4IRAD test stand
No damage nor SEU after 18 GyTest not completeReport to be finalized
Piezo amplifier not radhardK.Artoos, Stabilisation WG , 21th February 2013
K.Artoos, Stabilisation WG , 21th February 2013
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Electronic boards in production
20x Analogue 1 d.o.f. 20xHybrid V2
114 electronic components/board
1 d.o.f. Seismometer Manual gain/filter control For 10 actuator pairs
230 electronic components/board 2 d.o.f. Position input terminal Switchable for geophone/seismometer Manual or Digital gain/filter control For 20 actuator pairs
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Combination of fast positioning and stabilization
Combining positioning and stabilization:
-Making error to requested position R as small as possible-Additional displacement measurement for low frequency to DC-Sensors separated in bandwidth-integrator at low frequency to eliminate drift-Simulations function > To be implemented on x-y prototype
Stef Janssens
K.Artoos, Stabilisation WG , 21th February 2013
31
To do for controller
K.Artoos, Stabilisation WG , 21th February 2013
Make for CLEX a link to the CLIC ACM
• Change remotely the controller settings Gain, filter frequencies,…(partially already done)• Design a remote diagnosis/error detection system light on data transfer• Design the positioning controller (open loop with trajectory shaping or closed loop)• Design the input signal transmission (resolution 0.25 nm over 10 micron) vertical + lateral and implement jacobian
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Inertial sensor
K.Artoos, Stabilisation WG , 21th February 2013
Presentation Stef
33Build and test 3 MBQ modules with controller hardware
Type 1 ISR + CLEX (precursor PACMAN) Type 4 ISR + Test moduleType 1 Test module
X-Y guide:Continue tests stopped in 2012Test absolute sensorsDevelop and test positioning controllerTest inertial sensors prototypes + stabilisation controller
Vibration measurements module + pulsed dipole correctors
• Outsource: • Construction of adapted sensors
(transfer function, AE compatible, noise level)• Collocated sensor-actuators
If time permits: Ground motion measurements around CMS
Objectives 2013 at CERN
K.Artoos, Stabilisation WG , 21th February 2013
34
On hold
K.Artoos, Stabilisation WG , 21th February 2013
• Final focus models pre isolator + control
• High load high range high resolution actuators
• Custom hardware for custom digital slow control
• Design mechanics for BDS stabilsiation, monolythic design + 3 actuator design
• Development Radiation hard components
• Radiation testing• Compatibility fast 20 degrees
temperature change• Machine protection during power cut
(switch opening on piezos)• …
35
Questions
K.Artoos, Stabilisation WG , 21th February 2013