Upload
akeem-hardin
View
54
Download
3
Tags:
Embed Size (px)
DESCRIPTION
QD0 stabilization. L. Brunetti 1 , B. Aimard 1 , J.-P. Baud 1 , G. Balik 1 , G. Deleglise 1 , A. Jeremie 1 , S. Vilalte 1 B. Caron 2 , C. Hernandez 2 , (LAViSta Team) 1 : LAPP-IN2P3-CNRS, Université de Savoie, Annecy, France & - PowerPoint PPT Presentation
Citation preview
QD0 stabilization
L. Brunetti1, B. Aimard1, J.-P. Baud1, G. Balik1 , G. Deleglise1, A. Jeremie1, S. Vilalte1
B. Caron2, C. Hernandez2,(LAViSta Team)
1: LAPP-IN2P3-CNRS, Université de Savoie, Annecy, France&
2: SYMME-POLYTECH Annecy-Chambéry, Université de Savoie, Annecy, France
2
Transfer on a real scale
2014-06-13 MDI QD0 Stabilisation 2
• Demonstration active table to QD0 active control ?
One active foot
Several active feet
Structure : QD0 Magnet Sensors Actuators Integration: control, data processing, real time…
• Mecatronics challenge
Schedule : CLIC development phase
0,6 nm RMS@4Hz
2014-06-13 MDI QD0 Stabilisation 3
Sensor
• Comparison with Guralp and Wilcoxon:
100
101
102
10-25
10-20
10-15
10-10
Frequency [Hz]
PS
D d
ispl
acem
ent [
m²/
Hz]
PSD of ground motion
Wilcoxon
Guralp6T
Guralp3ESP
Capteur LAPP
Efficient Approach validated → patent Next stage : miniaturization
Demonstration sensor
2014-06-13 MDI QD0 Stabilisation 4
Sensor
• Comparison with Guralp and Wilcoxon:
10-1
100
101
102
10-24
10-22
10-20
10-18
10-16
10-14
10-12
Frequency [Hz]
PS
D d
ispl
acem
ent
[m²/
Hz]
Comparison with different sensors
Wilcoxon
guralp6T
Corrected difference 6T
Lapp Miniaturized Sensor
Miniaturized sensor
Accele
romete
r
LAPP senso
r
Geophone 6
T
Geophone 3
ESP
Still efficient Control :
10-1
100
101
10210
-25
10-20
10-15
10-10
Guralp FB: 1 | Guralp FF: 0 | Will FB: 0 | Will FF: 0 | file: Control data.mat (08-août-2013 14:16:35)
Frequency [Hz]
PS
D [
m²/
Hz]
Displacement LAPIv2 on groundDisplacement LAPIv1 on foot
2 units have be machined
2014-06-13 MDI QD0 Stabilisation 5
Sensor
• Has to be optimized vs drift, repetitivity, tolerance/sensitivity and one spurious frequency.
Last version, more “industrial” (intermediary prototype vs performances)
Drift: thermal analysis and tests were performed. Problem identified. Study in progress.
Tolerances and tuning are improved → sensitivity x 1,5. The solution will be adapted for the next version.
Spurious frequency : in progress… Repetitivity: better
New version will be machined
• Low cost version Development of our own electronics and of our own sensitive part…
Valorisation - dissemination
2014-06-13 MDI QD0 Stabilisation 6
Structure
• Objectives:
Modal analysis of short QD0 in order to adapt the simulation of QD0 Design and simulation of a dummy QD0 to machine a new test bench Integration of the PZT actuators in the simulation to develop the control laws Control of this short QD0
2014-06-13 MDI QD0 Stabilisation 7
1st flexion mode vs x axe 2nd flexion mode vs x axe1st torsion mode 1st flexion mode vs y axe 2nd flexion mode vs y axe
Modes Pulse + Me’scope DSpace + Matlab Theoritical
1st x flexion 100 100 127
1st y flexion 200 200 189
1st torsion 370 350 315
2nd x flexion 680 640 714
2nd y flexion 780 820 858
Comparison experimental tests and theoretical results…
• Clamped magnet:
- Experimental analysis -
2014-06-13 MDI QD0 Stabilisation 8
Modes Pulse + Me’scope DSpace + Matlab Theoritical
1st x flexion 520 540 600
1st y flexion 600 580 963
1st torsion 660 640 457
2nd x flexion 760 740 1638
2nd y flexion 1250 - 1736
Comparison experimental tests and theoretical results…
• Free - free magnet:
• Why are there so many differences? Matter of the 2 blue U, new simulation will be done… Problem of boundary conditions
• In progress: Control of this short QD0 on our active foot.
New magnet clamping in progress
2014-06-13 MDI QD0 Stabilisation 9
Design of a dummy structure…
Has to be adapted after the short QD0 study will be corrected.
• Design and machining of a dummy structure:
Avalaibility to design a dummy structure even if the mode has to be corrected.
• Integration of the PZT actuators in the state space model for the control.
2014-06-13 MDI QD0 Stabilisation 10
Actuator
• Industrial solution : PZT actuator
Two challenging ways : internal development or industrial partnership…
Foreseen collaboration: SYMME, G2Elab, CEDRAT Technologies and LAPP ANR (French agency) submitted (for 2 years). Pre-proposal ok, final report mid-
July…
• No commercial solution for dynamics, resolution, load, stiffness…
The ANR decision is a strategic step for the future of the project…
Example of an large actuator
Small size PZT actuator
Specifications and tests vs ANR
Conceptual views of the future tests benches
2014-06-13 MDI QD0 Stabilisation 11
Conclusion vs QD0 stabilization
• Structure:
Analysis has to be corrected…
• Actuator:
Partnerships identified and the strategy chosen ANR decision in July
• Sensor:
A first innovative version has demonstrated the feasibility : performances are about the same as Guralp 6T.
2 miniaturized versions with our own electronics : still almost the same performance, but small adjustments have to be made (tuning, drift...)
Promising results in control A “more industrial” version allows to adjust some aspects A new version will be done. Advantages: adapted to control, cost, size Future: sensitivity to magnetic field and tests on an experimental site: first at CERN
(stabilization group), then ATF2, CLIC module or CLEX…