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1
Nanopositioning of the main linac quadrupole as means of laboratory pre-alignment
David Tshilumba, Kurt Artoos, Stef Janssens
D. Tshilumba, CERN, 03 February 2015
2
OBJECTIVES
• Investigate ways to combine alignment and nanopositioning into one actuation system
•Upgrade of Type 1 nanopositioning prototype
• Treatment of parasitic resonance modes
• Reduction of translation – roll motion coupling
D. Tshilumba, CERN, 03 February 2015
3
CURRENT SYSTEM OVERVIEW
• Coarse stage (cams)• Resolution : 0.35µm• Stiffness: 50kN/µm• Stroke: 3mm
• Fine stage (piezo stacks)• Resolution: 0.25nm • Stiffness : 460N/um (piezo)• Stroke: 5µm
• Limitations: • precision of coarse stage (~10µm)• insufficient stroke of fine stage for
thermal load in tunnel ( >100µm)
D. Tshilumba, CERN, 03 February 2015
4
GOALS
Goals:
increase the range of fine stage Perform nanopositioning
Parameters ValueResolution <0.25nmPrecision 0.25nm
step displacement 0.25nm up to 50nmSpeed 10μm/s
Rise time 1msSettling time 5ms
D. Tshilumba, CERN, 03 February 2015
5
DISTURBANCE SOURCES
• Ground motion• External forces (Water cooling, ventilation,…)
D. Tshilumba, CERN, 03 February 2015
6
STIFFNESS REQUIREMENTS
• External forces (Water cooling, ventilation,…)
• High stiffness • lateral stability requirement met passively (0.55kN/µm)• Active control still needed for vertical direction (1kN/µm)
D. Tshilumba, CERN, 03 February 2015
7
CONTROL FORCE REQUIREMENTS
• Assuming P controller• Control force for ground motion compensation (~10N integrated RMS)• Nanopositioning force (~50N integrated RMS)
D. Tshilumba, CERN, 03 February 2015
8
FUNCTIONAL AND PERFORMANCE REQUIREMENTS
Parameters ValueResolution <0.25nmPrecision 0.25nm
Stroke ± 3mm step displacement 0.25 up to 50nm
Speed 10μm/sRise time 1ms
Settling time 5msControl bandwidth 300Hz
Stiffness (vertical/lateral)
1/0.55 kN/μm
Vertical force (dynamic)
50N
Horizontal force (dynamic)
30N
D. Tshilumba, CERN, 03 February 2015
9
One single stage: Flexure lever mechanism
• Possible monolithic design• No friction• No backlash• No wear
• Avoid plastic deformation!• Effect on the dynamics of the system
n<1 => benefic effect on the dynamics of the system
• Parameters to consider• Coupling stiffness• Pivot stiffness• Intrinsic flexure stiffness
• Effect on the effective attenuation factor•
•
•
in
out
x
x
a
bn
out
in
F
Fn
out
in
k
kn 2
OPTIONS TO FULFIL THE REQUIREMENTS
D. Tshilumba, CERN, 03 February 2015
10
One single stage: active feedback
• Features:• Bandwidth increase• Higher robustness to disturbance at low frequency• Removal of steady state error
OPTIONS TO FULFIL THE REQUIREMENTS
D. Tshilumba, CERN, 03 February 2015
11
OPTIONS TO FULFIL THE REQUIREMENTS
• Coarse – fine resolution approach
• Improvement of Coarse stage (Juha Kemppinen)• Improvement in the WPS measurement speed• Improvement in precision via feedback loop
• Improvement of fine stage• Higher stiffness• Larger stroke (>200μm)
Compensation of thermal loads in tunnel Beam time > 50 days
D. Tshilumba, CERN, 03 February 2015
12
ACTUATORS
Lorentz actuators
• Based on Lorentz force
• Linear: • Zero stiffness• Resolution dependent on amplifier• Stroke: up to 75mm• Heat dissipation• Compatibility with collider environment?
iF
D. Tshilumba, CERN, 03 February 2015
13
ACTUATORS
Hydraulic actuators
• Based on hydraulic pressure
• • High stiffness achievable:
• Resolution dependent of control valves • Stroke: >>1mm• Friction between cylinder and piston• Susceptible to leakage
h
S
h
Fk
rodcapp APAPF 21
D. Tshilumba, CERN, 03 February 2015
14
ACTUATORS
Piezoelectric actuators• Based on inverse piezo effect
• Piezo stacks • High stiffness (480N/μm)• Limited stroke: up to 0.2%
• Piezo stepper• Lower stiffness (150N/μm)• Higher stroke (20mm)
• No Heat dissipation• Compatible with collider environment
D. Tshilumba, CERN, 03 February 2015
15
ACTUATORS COMPARISON
Resolution Stiffness Stroke Remarks
Lorentz +++ + +++ Compatibility to external magnetic field
hydraulic + +++ +++ Reliability
Piezo stack +++ +++ + Lack in stroke
Piezo stepper
+++ ++ +++Lack in stiffness
Piezo stepper: good candidate for mechanical attenuation
D. Tshilumba, CERN, 03 February 2015
16
INTERMEDIATE CONCLUSION
• Overview of the current system
• Requirements for Nano-positioning summarized
• Alternatives to increase the range• single stage
• Passive mechanical solution• Active solution
• coarse-fine stage
• Comparison of classical actuators• Piezo stepper + mechanical attenuation
D. Tshilumba, CERN, 03 February 2015
17
UPGRADE TYPE 1
Parasitic resonance modes
• Unexpected eigen modes detected by EMA between 30Hz and 50Hz
• Suspect root cause: connection stiffness between components
• Bolting: up to 40% drop in eigen frequency• Gluing: up to 8.5% drop in eigen frequency
Courtesy of M. Guinchard
D. Tshilumba, CERN, 03 February 2015
18
UPGRADE TYPE 1
Parasitic resonance modes
• Problematic region: base plate
• Improvement after gluing instead of bolting: lowest eigen mode at 50Hz
Courtesy of M. GuinchardD. Tshilumba, CERN, 03 February 2015
19
UPGRADE TYPE 1
Parasitic resonance modes
Further improvement:
• Monolithic base plate design
•Additional stiffeners
D. Tshilumba, CERN, 03 February 2015
20
UPGRADE TYPE 1
Roll motion reduction: parallel kinematics • Permissible roll displacement: 100μrad
• Aluminum eccentric shear pins • 5.15μrad/μm coupling
• Alternative: rotational symmetry hinges• 0.47μrad/μm coupling
• Features:• Less components• Tunable translational stiffness
•Design optimization required (Space availability)
D. Tshilumba, CERN, 03 February 2015
21
UPGRADE TYPE 1
Roll motion reduction: parallel kinematics
• Permissible roll displacement: 100μrad
• Rotational symmetry hinges • 0.47μrad/μm coupling• Lost motion: 5% (vertical)
• High resonance frequencies
D. Tshilumba, CERN, 03 February 2015
22
UPGRADE TYPE 1
Roll motion reduction: serial kinematics
• Permissible roll displacement: 100urad
• Further coupling reduction• 0.094urad/um coupling • Lost motion: 0.02% (vertical)
• Design optimization required• More compact• Avoid flexible deformation modes
D. Tshilumba, CERN, 03 February 2015
23
CONCLUSION
• Actuator requirements defined
• Existing actuation technologies Vs performance requirements
• Introduction of concepts for further study to increase the range
• Type 1 upgrade proposals under study
D. Tshilumba, CERN, 03 February 2015
24
FUTURE WORK
• Optimize the presented alternative concepts for the kinematic decoupling in type 1 stage • Design a 1dof extended nanopositioning stage with attenuation mechanism + Experimental validation
• Secondment at TUDelft and TNO almost finished
D. Tshilumba, CERN, 03 February 2015