XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007
LLRF-ATCA LOW LEVEL APPLICATIONS
Tomasz Czarski, Maciej Linczuk Institute of Electronic Systems, WUT, Warsaw
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 2
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
AGENDA
1. ATCA architecture for low level applicationsrequirements, architecture, communication, scalability
2. ATCA motherboard for low level applications architecture, resources, communication
3. Multiprocessor computation and distribution of algorithms
4. Review of current algorithms5. Future algorithm development
6. Experimental results
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 3
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
ATCA architecture for low level applications
Requirements for LLRF System:
● Total length of the facility: 3.4 km, Accelerator tunnel: 2.1km, Depth underground: 6 - 38 meters
● Wavelength of X-ray radiation: 6 to 0.085 nm
● ~1000 s.c. cavities (1.3 GHz), 30 RF station 30MV/m(10 MW klystron)
● Required field stability : 10-5 in amplitude, 0.01° in phase
● Continuous operation is required: only one maintenance day per month
Advantages:
Scalable / Flexible (modularity - partially upgradeable, add new, not know during design, functionality)
● Reliable / Redundant (VM, timing, power, etc...)
● Fast and high resolution inputs, > 100 inp. a. ch. / RF St.
● Low latency (fast communication links)
● Support modern control algorithms
● Reliability, operability and maintainability
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 4
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
VME SIMCON-DSP
Limits of current architecture:● Communications: ● One FPGA chip for cavity contorller and system communications● Slow VME bus communication● Limits for number of I/O signals● No dual CPU VME boards for support
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 5
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
ATCA architecture for low level applications
● Architecture
● Communication
● Scalability
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 6
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
LLRF-ATCA STANDARD
ATCA and AMC Boards:
● AMC module 8xADC + FPGA (100MHz)
● AMC Vector Modulator + 2xDAC (800MHz) + memory + FPGA
● AMC Vector Modulator + 1xDAC (1600MHz) + memory
● AMC module Timming receiver (Trigger) + clock synthezer
● AMC Piezo Sensors
● AMC Transient Detections
● AMC module 64 ch. digital IO
● AMC for signal processing (FPGA, DSP)
● AMC module 32 ch. slow analog I/O (1MHz)
● AMC stepper motor controller
● RF Reference receiver and distribution
Easy system upgrade -> new AMC boards -> new functionality
Communication to AMC boards
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 7
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
LLRF-ATCA Board
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 8
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
LLRF-ATCA Board
Communications:
GigaBit Ethernet
PCI-E
DLinks
DSP-DSP bus
User-Defined ProtocolsFPGA-FPGA, FPGA-AMC
Resources:
• FPGA
• 3 x DSP TS201
• Easy upgrade via specialized AMC cards !!!
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 9
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
Multiprocessor Computation
Multiprocessor computation and distribution of algorithms
Cluster of Dual CPU Intel Processors Unit (ADLINK CPU-6890 board)
Fast GigaBit Ethernet on backplane
Up to 8 Boards
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 10
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
Low Level Applications
Procedures and supplementary data processing
necessary to execute control algorithms
1. Communication
2. System Identification
3. Control Algorithms
4. Beam Monitoring
5. Tuner Control
6. Exception Detection and Handling
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 11
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
Functional block diagram of LLRF control structure
~1.3 GHz~1.3 GHz
W a v e g u i d eMULTI-CAVITY
MODULE
VectorModulator
CONTROL & IDENTIFICATION SYSTEM
C O N T R O L L E R
Multi-channelI/Q Detector
Amplifier
DAQ memory
M u l t i – c h a n n e l Down-Converter ~250 KHz
C O N T R O L T A B L E S
VectorSum
Couplers
Calibration
M u l t i – c h a n n e l ADC
Field sensors
Klystron
DAC
MasterOscillator
andTiming
Circulator
F P G A SYSTEM
RF SYSTEM
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 12
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
Low Level Applications functional arrangement
OUTPUT
CONTROL ALGORITHMS
INPUTMulti
ChannelADC
F C O N T R O L L E R
DAC
Con
trol
D
ata
MULTI-CAVITY SYSTEM
ADC
SYSTEM IDENTIFICATION
TUNER Control BEAM Monitoring
G M E M O R Y
InputData
DOOCS
M O D E L
Output Data
P Exception Detection and Handling
A C O M M U N I C A T I O N
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 13
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
Functional block diagram of Multi-Cavity Control System
ADC
CALIBRATOR
DAC
ErrorCORRECTORFeedback
Accelerator Cavities System
– +
+
N-channels
Vector Sum
Control
∑
Feed-Forward Set-Point
Control & Identification System
FPGA SYSTEM I/Q DETECTOR
Gain Coefficients
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 14
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
Algebraic model of multi-cavity control system
Calibrator
Ei
Internal CAVITY model
uk = Dk·xk
SPk
{ vik+1 = Ai
k·vik + Bi·uk }
{ Aik = (1-Tωi
1/2) + T∆ωik·i }
– +
N - channels
FFk
Correctorerror
phasor
feedback
phasor+
Klystron Output
{vik}
Controllerphasor
vk
uk
xk
∑ {vik}
B = ∑i (Bi)Ak·vk = ∑i(Aik·vi
k)vk = ∑i (vik)
Multi-Cavity model
klystron
phasor
Cavity phasor
Multi-Cavity
phasor
B = B·eiφ Fk = B·Dk∆ωk = Σαj·wj(k)Ak = (1-Tω1/2) + T∆ωk·i
∑
Calibration:Ei·Ci
= 1vk+1 = Ak·vk + B·uk (= Fk·xk)
Gk Ci
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 15
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
Cavity control systemFunctional block diagram of MATLAB implementation
D A T A M A T R I X DOOCS
Cavity gradient
[ 1:8 ]Calibration
factors
CTRL
[I Q]Estimation
KLY
[I Q] DetectionEstimation
uk
vk
xk
CAV [1:8]
[I Q]
DetectionCalibrationEstimationVector Sum
Base functionsMatrix
W
input factor
Fk = B·Dk
coupling factor
B = B·eiφdynamic factor
Ak = (1-Tω1/2)+T∆ωk·i
P A R A M E T E R S E S T I M A T I O N
Klystron uk = Dk·xk
Controller
xk+1 = FFk + Gk·(SPk – vk)
Cavityvk+1 = Ak·vk + Fk·xk
MODEL
Gain: GkSetting-Point: SPkFeed-forward: FFk
CONTROL TABLES
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 16
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
The functional block diagram of the FPGA controller structure with channel numbers of data flow
[5:6]
SEL 2[1:42]
[1:32]SELECTOR 1-10
SIMULATOR
[9:10]
ErrorCORRECTORFeedback+
FEED-FORWARD
SET-POINT
I/Q DETECTOR
GAIN
[7:8]
COEFFICIENTS
MU
X8
cha
nnel
s
Vector
Sum
DAQ (11:20)
[3:4]
Σ
[33:42]ADC
DAQ (01:10)
[11:12]
– +
I – [13:20]CALIBRATOR
Q – [21:28]
Controller out
I Q M e m o r y
DAC
10 channels~250 KHz
[1:2]
[33:40]
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 17
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
Adaptive Control Algorithmbased on System Identification
CAVITYSYSTEM
CONTROLLER
CONTROL DATAdetermination
PARAMETERSidentification
MATLAB SYSTEM
CONTROL TABLES
FPGA SYSTEM
DAQ MEMORY
DATA MATRIX
IDENTIFICATION
CAVITY SYSTEM
CONTROL
vk+1 = Ak·vk + Fk·xk
CONTROLLER modelController
phasor
Cavityphasor
xk+1 = FFk + Gk·(SPk – vk)
MULTI - CAVITY model
vk+1 = Ak·vk - Fk·Gk-1·vk-1 + Fk·(FFk-1 + Gk-1·SPk-1)
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 18
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
Single cavity control (ACC1 – cavity 4)Adaptive Feed Forward (gain = 0)
0 500 1000 1500 2000
0
2
4
6
8
10
12Cavity output envelope
MV
IQAbs
0 500 1000 1500-2
0
2
4
6
8Klystron output
mA
IQAbs
0 500 1000 1500 2000-0.2
-0.15
-0.1
-0.05
0
0.05
time [10-6 s]
rad
Phase of cavity and klystron [rad]
klystron
cavity
0 500 1000 1500 2000-50
0
50
100
150
200
250
time [10-6 s]
Detuning and half-bandwidth estimation
Hz detuning
half-bandwidth
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 19
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
Single cavity control (ACC1)Adaptive Feed Forward (gain = 0)
0 500 1000 15000
10
20
30
40
KW
Power estimation
time [10-6 s]time [10-6 s]
forwardreflected
0 200 400 600 800 1000 1200
0
20
40
60Controller output
%
200 400 600 800 1000 12000
0.2
0.4
0.6
0.8
1Normalized Klystron characteristics
Abs [ ]
Phase [rad]
600 800 1000 1200
0
0.5
1
1.5
System Gain
Abs [ ]
Phase [rad]
IQ
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 20
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
Vector sum control of 8 cavities – ACC1Adaptive Feed Forward (gain=0)
0 500 1000 1500 2000
0
5
10
15
MV
IQAbs
0 500 1000 1500
0
5
10
mA
Klystron outputCavity envelope
IQAbs
0 500 1000 1500 2000-0.4
-0.2
0
0.2
0.4
time [10-6 s]
rad
Phase of cavity and klystron
klystroncavity
0 500 1000 1500 2000-100
0
100
200
time [10-6 s]
Detuning and half-bandwidth
Hz
detuninghalf-bandwidth
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 21
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
Vector sum control of MTS moduleAdaptive Feed Forward (gain=0)
0 500 1000 1500
0
5
10
15
20Cavity output envelope
MV
0 500 1000 1500
-5
0
5
10
Klystron output
mA
0 500 1000 1500-0.6
-0.4
-0.2
0
0.2
0.4
time [10-6
s]
rad
Phase of cavity and klystron
0 500 1000 1500
-50
0
50
100
150
200
250
time [10-6
s]
Detuning estimation
Hz
IQAbs
cavity
klystron
IQAbs
filling
filling
flattop
flattophalf-bandwidth = 220 Hz
Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, WarsawLLRF ATCA Meeting, 4-5.12.2007 22
XFELThe EuropeanX-Ray Laser Project X-Ray Free-Electron Laser
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