low level rf control system - indico-fnal (indico) · 2016. 3. 15. · r fqfw d bcavre1 b cavfw1 2...

Low Level RF Control System!

Brian Chase for the LLRF team!PIP-II Machine Advisory Committee Meeting!15-17 March 2016!!!

Outline!

•  System overview!–  LLRF!–  Reference line!–  ! 4 cavity Station!–  Controller cards!–  Piezo amp for resonance control!

•  RFQ commissioning results!•  Requirements and design approach!

–  0.01°, 0.01% rms beam stability!–  0.1°, 0.1% rms field stability per cavity!–  Large non deterministic detuning errors !

•  Collaborations!–  India !–  Colorado State University!

•  Current system development!–  Master Oscillator and Reference line!–  Controller module!

•  System on module!

3/16/2016!Brian Chase | P2MAC_2016!2!

TeamADLLRF-E.Cullerton,P.Varghese,J.Edelen,J.Einstein,D.KlepecIIFC-G.Joshi,S.Khole,D.Sharma,&manyothersCSU–A.Edelen

PXIE Low Level RF Group Involvement!

3/16/2016!Brian Chase | P2MAC_2016!3!

PXIE will address the address/measure the following:!–  LEBT pre-chopping !–  Vacuum management in the LEBT/RFQ region!–  Validation of chopper performance!–  Bunch extinction!–  MEBT beam absorber!–  MEBT vacuum management!–  Operation of HWR in close proximity to 10 kW absorber!–  Operation of SSR with beam, including resonance control and LFD compensation

in pulsed operations!–  Emittance preservation and beam halo formation through the front end!

40 m, ~25 MeV

30keVRFQ MEBT HWR SSR1 HEBT LEBT

2.1MeV 10MeV 25MeV201720162015Now 2018

LLRF Systems needed to meet R&D Goals!

•  325 MHz Horizontal test stand !–  Support for CW and pulsed mode operation!–  Operational !

•  650 MHz Horizontal test stand !–  Support for CW and pulsed mode operation!–  Supplied by India Q3FY16!

•  PXIE !–  Master Oscillator and Phase Reference distribution line!

•  162.5 MHz & 325 MHz (Operational with synthesizer)!–  RFQ – 162.5 MHz (Q4FY15)!

•  2 RF amplifier system (In system test/ resonance testing)!–  Buncher - 3 cavities - 162.5 MHz (FY15) (Ready for 1st buncher)!–  Half Wave Resonators - 8 cavities @162.5 MHz (FY17)!–  SSR1 - 8 cavities @ 325 MHz (FY17)!–  Kicker waveform generator!

3/16/2016!Brian Chase | P2MAC_2016!4!

PIXIE RF Stations Diagram!

5!

January 14, 2013

Page 1

PXIE LLRF DIAGRAM

M M M M M M M M M M M M M M M M

Half-wave Resonator Cryomodule(HWR)(162.5MHz.)

Single-spoke Resonator Cryomodule(SSR1)(325MHz.)

RFQ

BUNCHING CAVITY1

#1

FAST CHOPPER

#2

FAST CHOPPER

BUNCHING CAVITY2

BUNCHING CAVITY3

ABSORBER

MEBT(162.5MHz.)LEBT

HWR

BPM & Corrector

coilHWR

HWR

HWR

HWR

HWR

HWR

HWR

Corrector

coil & BPM

SSR1

DUMP

(162.5MHz.)

LLRF crate 1:- CPU, PS- 2 LLRF MFC- Timing Distribution

SSRCavREV [1..8]SSRCavFWD [1..8]

SSRCavProbe [1..8]

1……………………...8

3XLLRF crate 1:- CPU, PS- 3 LLRF MFC- Timing Distribution HWRCavREV[1..8]

HWRCavFWD[1..8]HWRCavProbe [1..8]

3X

1……………………...8

PAPA

CHOPPERPROGRAM MODULE

BCavProbe3

BCavProbe2BCavProbe1

RFQProbe

RFQREV

RFQFWD

BCavREV1

BCavFWD1

BCavREV2

BCavFWD2 BCavFWD3

BCavREV3

2X

RFQProbe, BCavREV[1..3]RFQFWD, BCavFWD[1..3]RFQREV, BCavProbe[1..3]

Reference Tap

HWRCavREV1

HWRCavFWD1 HWRCavFWD8

HWRCavREV8 SSRCavREV1

SSRCavFWD1 SSRCavFWD8

SSRCavREV8

HWRCavProbe1

HWRCavProbe8

SSRCavProbe1 SSRCavProbe8

Reference Tap

PA PA PA PA PA PA

LLRF crate 2:- CPU, PS- Interlock Systems

LLRF crate 2:- CPU, PS- Interlock Systems

LLRF crate 3:- CPU, PS- Motor Controller- Resonance Controller


Local OscillatorTiming & Synchronization

Inter-System Feedback Network/BusMPS Network/Bus

RT Control Network


162.5Interlock[1..12] 325Interlocks[1..8]

162.5Interlock1 162.5Interlock5 162.5Interlock12 325Interlock1 325Interlock8162.5Interlock2 162.5Interlock3 162.5Interlock4

162.5ResonanceCntrl[1..12] 325ResonanceCntrl[1..8]

24

36

16

24

162.5ResonanceCntrl5

162.5ResonanceCntrl12 325ResonanceCntrl1 325ResonanceCnrtl8162.5ResonanceCntrl1

162.5ResonanceCntrl4

162.5ResonanceCntrl3162.5ResonanceCntrl3

FAST CHOPPER

B. Chase, E. Cullerton, D. Klepec1/14/13

Version 1.0

Brian Chase | P2MAC_2016! 3/16/2016!

Phase Reference Lines (162.5, 325, 650 ,1300 MHz)!

3/16/2016!Brian Chase | P2MAC_2016!6!

MulI-frequencyPhaseReferencesandLocalOscillatorsWearebuildingupthefirstsecIonsforPXIE

Details of First 162.5 MHz RF Section!

3/16/2016!Brian Chase | P2MAC_2016!7!

Phasestabilityacrossharmonics(400fs)TemperaturecontrolledracksandcomponentplatesWehavethisexperienceandseeapathforward

PIP-II LLRF 4 Cavity LLRF Rack Layout!

DownconvertersforPXIEaredoneController,PZTamp,steppermotorcontroller,Upconverterindesignstage

3/16/2016!Brian Chase | P2MAC_2016!8!

Basic LLRF Station Diagram for 4 cavities!

2/17/2016Presenter | Presentation Title1

RF Boards

UC

DCN

N

N

N

DCN

N

N

N

SMA

SMA

N

N

N

RFPI

FPGASMA SMA

GbE

Cavity2

Amp CirRFS/W

DC

RFPI

FPGASMA SMA

GbE

Cavity1

Amp CirRFS/W

DC

Timing / Events

MPS

Controls

LLRF Controller

SOCFPGABoard

CLK

ADC

FMC

SFPSFP

SFP DAC

GbE

SMA

SFP

SMA

SMA

SMA

LLRF Controller

SOCFPGABoard

CLK

ADC

FMC

SFPSFP

SFP DAC

GbE

SMA

SFP

SMA

SMA

SMA

Cavity4

Amp CirRFS/W

DC

Cavity3

Amp CirRFS/W

DC

Clock Distribution

N

N

Resonance Controller

StepperControl

PiezoControl

SOCFPGABoard

FMC

SFPSFP

SFP

GbE

SMA

SFP

Audio

Audio

345 MHzTiming/Triggers(Optical)

MPS Triggers (Optical)

Signal Name (Optical)

1320 MHz

Ref Clk

Ref Clk

6

2

2

2

2

8

8

2

2

6

Signal Name (Optical)

2

3

3

3

3

3

Controls Signal for LLRF (GbE)

Controls Signal for RFPI (GbE)

Controls Signal for RFPI (GbE)

325 MHz

325 MHz

325 MHz

325 MHz

325 MHz

325 MHz

20 MHz

20 MHz

Signal Name

Signal Name? MHz

? MHz

3/16/2016!Brian Chase | P2MAC_2016!9!

PXIE LLRF rack layout - front and rear view!

3/16/2016!Brian Chase | P2MAC_2016!10!

RFQ HWR SSR

System on Chip Multi-channel Field Controller!

3/16/2016!Brian Chase | P2MAC_2016!11!

(16)14bitADCs (8)14bitDACs SystemonModule

DualcoreArmprocessorwithFPGAmayeliminatetheneedforabackplaneandCPUcard

12! Brian Chase | P2MAC_2016!

•  Minimize microphonics to <10 Hz !•  1 Hz or better resolution !•  +- 1kHz tuning range !•  2 drive amplifiers for 2 piezo stack groups per cavity (1 module per cavity)!4 drive modules per chassis!

3/16/2016!

Piezo Resonance Control Requirements!

13! Brian Chase | P2MAC_2016!

Piezo Amplifier – PDu150!

Each amp drives 2.2uF piezo loads

Resonance Control Loop!

Brian Chase | P2MAC_2016!14!

Cavity Tuner

System

Stepper Control

Piezo Control Loop

n

Disturbances

Feed Forward

Error

Flags High-Level Piezo

Control

Range Check

LLRF Controller

(RF Vectors)

+ -

+

Setpoint (Hz)

Controller

FF

++

+ Hz-to-V

(Flags)

(Hz)

(ENABLE) (Hz) (Volts)

Cavity Resonance Frequency Error (Hz)

Piezo Amplifier single tone and noise performance!


LowdistorIonwith86Hzsinewave-109dBV/√Hz@292Hz

IIFC LLRF Status!

5

5

4

4

3

3

2

2

1

1

D D

C C

B B

A A

ADC_FCO_NADC_FCO_P

ADC_DCO_NADC_DCO_P

ADC_A_D0_NADC_A_D0_P


ADC_MOSIADC_SCK

ADC_CS

ADC_B_D0_NADC_B_D0_P


ADC_C_D0_NADC_C_D0_P


ADC_D_D0_NADC_D_D0_P


ADC_CLK_PADC_CLK_N

ADC_FCO_NADC_FCO_P

ADC_DCO_NADC_DCO_P









GND

GND

VCM

VIN_A_P

VIN_A_N

VIN_B_N

GND

GND VIN_B_P

VIN_C_N

VIN_D_N

GND

GND VIN_D_P

GND

GND VIN_C_P

VIN_A_NVIN_A_P

VIN_B_NVIN_B_P

VIN_C_NVIN_C_P

VIN_D_NVIN_D_P

VCMGND

GND VCM

GND VCM

GND VCM

AVDD_1.8V

AV

DD

_1.8

VA

VD

D_1.8

V

AV

DD

_1.8

VA

VD

D_1.8

V

DV

DD

_1.8

V

GN

D

AV

DD

_1.8

VA

VD

D_1.8

VA

VD

D_1.8

V

DV

DD

_1.8

V

GND

ADC_VREF

GND

ADC_CLK_P

ADC_CLK_N

ADC_SYNCADC_PDWN

GND

DVDD_1.8V

AVDD_1.8V

GND

ADC_VREF

ADC_SYNC

ADC_PDWN

ADC_MOSI

ADC_SCK

ADC_CS

ADC_DCO_PADC_DCO_N

ADC_A_D1_PADC_A_D1_N

ADC_A_D0_PADC_A_D0_N

ADC_B_D1_PADC_B_D1_N

ADC_B_D0_PADC_B_D0_N

ADC_C_D1_PADC_C_D1_N

ADC_C_D0_PADC_C_D0_N

ADC_D_D1_PADC_D_D1_N

ADC_D_D0_PADC_D_D0_N

ADC_FCO_PADC_FCO_N

ADC_CLK_P

ADC_CLK_N

DAC_GND

ADC_DVDD_1.8V

ADC_AVDD_1.8V

ADC_VREF

ADC_SCK

ADC_MOSI

ADC_CS

ADC_SYNC

ADC_PDWNTitle

Size Document Number Rev

Date: Sheet of

<Doc> <RevCode>

<Title>

B

1 1Friday, February 19, 2016

Title


Date: Sheet of

<Doc> <RevCode>

<Title>

B


Title


Date: Sheet of

<Doc> <RevCode>

<Title>

B


R?

10k

R?

10k

R?

49.9

R?

49.9

C14 100nC14 100n

R?

200

R?

200

C19

10n

C19

10n

C21

10n

C21

10nT5

ADT2-1T-1P

T5

ADT2-1T-1P

P13 S1 4

SC 5

P21 S2 6

NC2

L4

100n

L4

100n

1

2

C13634PC13634P

C18

10n

C18

10n

C6 100nC6 100n

L1

100n

L1

100n

1

2

C15 100nC15 100n

R?

49.9

R?

49.9

R?

200

R?

200

J3J31

2345

C12 100nC12 100n R?

200

R?

200

R?

49.9

R?

49.9

R?

49.9

R?

49.9

C20

10n

C20

10n

C22

10n

C22

10n

J1J11

2345

R?

100

R?

100

T1

ADT2-1T-1P

T1

ADT2-1T-1P

P13 S1 4

SC 5

P21 S2 6

NC2

C5 100nC5 100n

C7634PC7634P

C11 100nC11 100nT4

ADT2-1T-1P

T4

ADT2-1T-1P

P13 S1 4

SC 5

P21 S2 6

NC2

C8 100nC8 100n

J4J41

2345

C17

10n

C17

10n

C24 100nC24 100n

R?

49.9

R?

49.9

T3

ADT2-1T-1P

T3

ADT2-1T-1P

P13 S1 4

SC 5

P21 S2 6

NC2

L2

100n

L2

100n

1

2

J5J51

2345

U1

AD9653BCPZ-125

U1

AD9653BCPZ-125

VIN+D1

VIN-D2

AV

DD

3

AV

DD

_1

4

CLK-5CLK+6

AV

DD

_2

7

DR

VD

D8

D1-D 9D1+D 10

D0-D 11D0+D 12

D1-C 13D1+C 14

D0-C 15D0+C 16

DCO- 17

DCO+ 18

FCO- 19FCO+ 20

D1-B 21

D1+B 22

D0-B 23D0+B 24

D1-A 25D1+A 26

D0-A 27D0+A 28

DR

VD

D_1

29

SCLK/DTP 30

SDIO/OLM 31

CSB 32

PDWN 33

AV

DD

_3

34

VIN-A35VIN+A36

VIN+B37

VIN-B38

AV

DD

_4

39

RBIAS40

SENSE41

VREF42

VCM43

SYNC 44

AV

DD

_5

45

AV

DD

_6

46

VIN-C47VIN+C48

EP

49

C23 100nC23 100n

C16634PC16634P

R?

10k

R?

10k

C9 100nC9 100n

R?

49.9

R?

49.9

L3

100n

L3

100n

1

2

C10634PC10634P

R?

1K 0.1%

R?

1K 0.1%

R?

49.9

R?

49.9

R?

49.9

R?

49.9

R?

200

R?

200

3/16/2016!Brian Chase | P2MAC_2016!16!

CardswithschemaIcs-  ADC/DAC,FPGA,Up-converter-  Down-converter,PiezoamplifierLayoutsarecomingsoonTwoengineersareworkingherewithusforatwoyearperiod

RFQ disturbance response!

3/16/2016!Brian Chase | P2MAC_2016!17!

ClosedloopQl=6900Kp=6Ki=3.5e6sehlingIme~10µsecInloopnoisemeasurement0.008%rms,<0.002°rms

Openloopresponsetoa20µsecfullscaledisturbance

Feedback gain studies!

•  Percentage error in the cavity field amplitude at 20 microseconds after a disturbance!

•  The disturbance was 10% of full scale !

•  For cases with large integral gain and low proportional gain, the feedback loop is unstable !

3/16/2016!Brian Chase | P2MAC_2016!18!

RFQ resonance controlvane system step response!

•  Transient response of the RFQ resonant frequency due to change in the vane flow control valve. Prior to changing the flow valve, the intermediate skid was cooled to approximately 25C. The control valve was stepped from 0% open to 50% open.

!

initial transient steady stateTime 0 7.2 min 115.4 min�f

res

0 46.13 kHz 21.15 kHzTT101 22.280 oC 25.796 oC 25.649 oCTT102 31.489 oC 28.126 oC 26.141 oCTT103 30.941 oC 27.639 oC 26.284 oC

flow path time delay [s]

TT101 ! TT103 1.0

TT103 ! TT102 17.0

3/16/2016!Brian Chase | P2MAC_2016!19!

RFQ Water system overview!

M4#

M3#

M2#

M1#

M4#

M3#

M2#

M1#

π

Wall Vane

filter# filter#

pump# pump#

thermal connection through Cu cold supply warm return π

π

π

FCV#FCV#

delay#

Helical#mixer#

Helical#mixer#

delay#

delay#

delay#

delay#

damping#damping#

varied#delay#

varied#delay#

cave wall delay#

Intermediate#Skid#Brian Chase | P2MAC_2016!20!

Feedback modeling!

•  Expecting large disturbances from LFD, want fast response from beam loading transient !

–  get 15 dB from feedforward beamloading compensation!

•  Approach - find highest stable loop gain and determine system noise requirements !

•  Determine best gain settings from operational experience and needs of beam-based feedback!

–  It is easy to turn down the gain on a well designed system, impossible to turn up gain on a poorly designed one!

•  Assume a low noise oscillator!–  Wenzel VHF ULN 100 MHz 13.7 dBm!–  % http://www.wenzel.com/model/vhf-uln/!

•  System loop delay of 2.1 µsec!•  Cavity bandwidth 30 Hz

3/16/2016!Brian Chase | P2MAC_2016!21!

o Baseband cavity model is a low pass filter with a bandwidth determined by Ql and !0:

Tcav(s) =

!0/Qls+!0/Ql

o In the simplest case the feed-forward component of the system is simply the set-point

o Initially assume that the I and Q loops are driven with the same PI parameters

Vbeam

Vset Kp +

1sKi Tcav(s) Vcav

�e�st0

Figure: Baseband model of LLRF control system. Middle row (from left to right): Set-point,

summing junction for feedback, PI controller, summing junction for feed-forward, summing

junction for beam-loading, cavity transfer function, and cavity probe signal. Bottom row:

group delay (negative for negative feedback). Top row: beam-loading

Simulation of open loop transfer function of cavity and controller!

3/16/2016!Brian Chase | P2MAC_2016!22!

Magnitude Phase

Closed-loopbandwidth:~50kHzControlsystemzero:15kHzProporIonalgain:1500Integralgain:1.44e+08

CodedevelopedforLCLS-IILarryDoolihleLBNLandFNAL

Total phase noise to SSA from controller and oscillator sources!

•  Cavity: 0.00078° rms!•  SSA: 1.04°!•  SSA from ADC: 0.96°!

3/16/2016!Brian Chase | P2MAC_2016!23!

Closedloopresponse CumulaIveSSAphasenoisevoltage

CarefulahenIontonoisetermswillallowhighcontrollergains

Conclusions!

•  The LLRF Group is commissioning and developing systems for PXIE!–  Development of a next generation system controller card!–  Development of the multi-frequency reference !–  RFQ resonance control!–  MEBT/kicker waveform generator!–  Simulation tools!

•  Collaboration with India to deliver next generation systems for test stands and LLRF control for the 120 cavities of PIP-II!

3/16/2016!Brian Chase | P2MAC_2016!24!

Thank you for your attention!!

3/16/2016!Brian Chase | P2MAC_2016!25!

Primary Technical Risks !

•  Resonance Control for 5 new cavity designs!–  Lorentz Force Detuning compensation for narrow bandwidth cavities operated

in pulsed mode!–  New cavity designs with new mechanical properties!–  ~20 Hz half BW with expected 420 Hz Lorentz Force Detuning in SSR1!

•  Development of the LEBT/MEBT Chopper Program Module!–  Wideband beam-based learning algorithm!

•  10-3 regulation of amplitude and phase in pulsed mode with high Q cavities!

•  10-4 regulation with beam based feedback!

!

!

Brian Chase | P2MAC_2016!

26!!

3/16/2016!

Parameters of RF Cavities!


#Frequency(MHz) Section

Amplitude(MV)

SynchronousPhase(deg) Pg(kW)

1 162.5 MEBT 0.088 -90 2.672 162.5 MEBT 0.065 -90 1.453 162.5 MEBT 0.079 -90 2.134 162.5 HWR 0.44 -48.06 0.3255 162.5 HWR 0.7 -35 0.7896 162.5 HWR 0.85 -33.95 1.1557 162.5 HWR 1 -26 1.6188 162.5 HWR 1.5 -24.03 3.3129 162.5 HWR 1.5 -20.02 3.35110 162.5 HWR 1.6 -22 3.72411 162.5 HWR 1.7 -23.98 4.10512 325 SSR1 1 -32.96 0.90413 325 SSR1 1 -29.99 0.94614 325 SSR1 1.1 -28.01 1.12715 325 SSR1 1.25 -27.03 1.39916 325 SSR1 1.5 -26.03 1.8917 325 SSR1 1.5 -27.01 1.91518 325 SSR1 1.5 -25 1.95619 325 SSR1 2.2 -23.98 3.62220 243.75 HEBT 1.07* n/a 2.9 *Amplitudeoftransversekick

3/16/2016!

Major Milestones !

Brian Chase | P2MAC_2016!28! 3/16/2016!

RF Power budget and Ql!

3/16/2016!Brian Chase | P2MAC_2016!29!

TotalcavitydetuningbudgetincludingLFD

MeasuredLFDis22ImeslargerthantheenIreresonanceerrorbudget

DiscussionsareinprogressaboutopImizingamplifiersandQLforpulsedoperaIon

Ongoingcavitydesigneffortstolowerthesenumbers

Mayneedreal-Imefeedbackduringpulse

low level rf control system - indico-fnal (indico) · 2016. 3. 15. · r fqfw d bcavre1 b cavfw1 2...

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