Stabilisation and nano positioning Main Beam Quadrupole

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

http://eucard.web.cern.ch/EuCARD/index.html

K.Artoos, Stabilisation WG , 21th February 2013

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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…


Requirements

Stability (magnetic axis):Nano-positioning

3992 CLIC Main Beam Quadrupoles:

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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

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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

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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


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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

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Introduction/Reminder:

Additional study


« 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


• 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


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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

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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



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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


http://irfu.cea.fr/

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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)


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Optical ruler performance


Repeatability around 0.25 nm(applies for both actuator system and optical ruler)

Cross axis sensitivity

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Optical ruler limitation


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


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


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X-y Positioning: roll

1&2 Parasitic roll


-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)


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Preliminary Roll simulationsJ. Pfingstner


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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).


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Type 1 status mechanical design status

C. Eymin, K. Artoos


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Type 1 Integration

R. Leuxe, C. Eymin, K. Artoos

Cla sh

1

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Analytical & FE results


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]

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[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


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Type 4 mechanical design

C. Eymin, K. Artoos

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3D simulated Kinematics


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

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Concept open points

1&2


• 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?• ….


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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


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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


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To do for controller


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


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


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On hold


• 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)• …

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Questions


Documents

Stabilisation and nano positioning Main Beam Quadrupole