STABILISATION WP STATUSCTC DECEMBER 2012

The research leading to these results has received funding from the European Commission under the FP7 Research Infrastructures project EuCARD

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Outline

K.Artoos, CTC December 2012

Manpower & collaboration status Review status 2012

MBQ stabilisation and Nano-positioning status

Final focus status Other

Plans for 2013, objectives

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Manpower + collaborationstatus

K.Artoos, CTC December 2012

CERN S.Janssens (PhD > Fellow) 100%K.Artoos (100% > 50%)M. Esposito (50%, 12/2012)P. Fernandez Carmona (August 12)Designers: R. Leuxe, C. Eymin (jobs)

MBQ stabilisation + nano-pos.Sensor development

LAPP/Symme

A.Jeremie, G.Deleglise 30%L.Brunetti, J.Allibe (=> July 2013)G.Balik (=> Sept. 2014), J.P. Baud 50%SYMME: B.Caron

Final focus stabilisationSensor development

ASL (ULB)

Chr. Collette + Master students“Brains back to Brussels” Grant until end 2013 (might be extended)

Controller design MBQ & Final FocusSensor R&DNetworking

CEA/IRFU

F. Ardellier Desages, M. Fontaine, N. Pedrol Margaley (K contract finished)

Optical measurement methodsCalibration absolute reference

To be streamlined at CLIC workshop

LAPP/Symme Budget: EuCARD will end soon and not in EuCARD2, ANR on ATF2 just

ended, CERN White-Paper finished so no more outside resources available; IN2P3 Budget will probably be reduced again after 30% cut last year; Marie-Curie PACMAN, only a few months of a PhD (if it passes)

LAPP/Symme Space: will move soon in Maison de la Mecatronique => about the same

space available as now, but nearer to SYMME

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Manpower + collaboration status (2)

CERN Networking with NIKHEF (PhD Stef, TNO, MI Partners, TU Delft,… Synergy sensor development with LIGO, VIRGO. Contact Christophe Colette

Action CLIC : new collaboration agreements + K contracts

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Review status 2012MBQ Stabilisation

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.

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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%

K.Artoos, CTC December 2012

Courtesy J. Snuverink et al.

Stef Janssens

C. Collette

“Comparison of new absolute displacement sensors”, C. Collette et al. , ISMA 2012

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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 unstabilities in the loop

-> New batch of actuators have a higher slew rate

Measured open loop on x-y guide

Stef Janssens

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X-y prototype Nano positioningResolution, precision, accuracy

Capacitive sensor3 beam interferometer

Optical ruler

Actuators equipped with strain gauges

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Comparison sensors

M. Esposito, IWAA 2012 Fermilab

Sensor 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: Study precision, accuracy and resolution

The precision required by beam dynamics for nano positioning (0.25 nm) was demonstrated with optical rulers in a temperature stable environment and for simultaneous x and y motion.Absolute accuracy can be calibrated within 10-8 m.Tests in a temperature unstable environment will be made (ISR re installation)

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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-integrator at low frequency to eliminate drift-Simulations function -> To be implemented on x-y prototype Stef Janssens

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Controller ElectronicsHybrid Second generation

2 d.o.f. Position input terminal Switchable

(displacement/velocity) Manual or Digital gain/filter

control Improved radiation hardness

(choice components Tested for SEU and induced

noise at H4HIRRAD FPGA control digital part

started

P. Fernandez Carmona

H4IRAD test stand

No damage nor SEU after 18 GyTest not completeReport to be finalized

Piezo amplifier not radhard

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Preparation test modules and CLEX:Two type 1 MBQ and one Type4

• Flexural joints machined. Actuators with amplifiers and sensors to be delivered January 2013.

• Electronic boards in construction, 80% of components received

• Second generation electronics built (more radhard) tested at H4IRRAD

• Design Type 1 and type 4 mechanical support ongoing (70% ready)

• Demonstrators T1 and T4 planned for April 2013.

• Issue: Reduction manpower stabilisation MME in 2013EUCARD deliverable

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Analytical & FE results

M. Esposito, IWAA 2012 Fermilab

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]

119

[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

“Development of advanced mechanical systems for stabilization and nano-positioning of clic main beam quadrupoles” , IWAA2012

Andrea JEREMIE CTC 12/12/12

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RMS ground at 4 Hz: 5 nmRMS on foot at 4Hz: 0,6nmRMS ratio: 8,3

Attenuation up to 50dB between 1,5-100Hz1,5Hz-100Hz

0,6 nm

5 nm

For all tests done, limited by sensor noise

Final Focus stabilisation

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Final Focus Stabilisation

K.Artoos, CTC December 2012

[C. Collette et al. “Control strategies for the final focus of future linear

particle collider” Nuclear Instruments and Methods in Physics Research, Section A Vol. 684 (August 2012), pp. 7-17] Test set-up with carbon cables and IFF

C. Collette et al.Presentation MDI this Friday

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CMS synchronous Final focus ground motion measurements

Other subjects:

M. Guinchard

Equipment available and validatedOrganise access, availability people

ATF2 Ground motion measurementsCabling sensors doneNoise tests long cables doneDAQ programming doneElectronics powering doneAll sent to LAPP

Preparation displacement measurements

0.2 µm12 mm

K.Artoos, CTC December 2012

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K.Artoos, CTC December 2012

Objectives 2013

CERN “team”: Build and test 3 MBQ modules Type 1 ISR + CLEX (precursor PACMAN) Type 4 ISR + Test moduleType 1 Test module

Outsource:* Construction of adapted sensors(transfer function, AE compatible, noise level)High stiffness actuators (done)* Collocated sensor-actuatorsCharacterization existing systems? Study pre-isolator Final FocusHigh load high range high resolution actuators* Construction electronicsImplementation of custom digital slow controlConstruction mechanics: flexural joints, monolithic , machining, assembly,…Displacement sensors and their implementation Development Radiation hard components

K.Artoos, CTC December 2012

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Budget 2013

Purchase 12 piezo actuators with amplifiers 68 kCHF (Delivery 15th January)Usinage + achat Type 1 TM, Type 1 ISR, Type 4 ~80000 CHFTravelling KEK, installation GM measurements, Transport equipment (stay 2 weeks 2-3 people): 30 kCHFInstrumentation optical rulers 20 kCHFComponents mounting electronics 20 kCHF

Subcontracting :Inertial mass : 150 kCHF ?Study pre-isolator: 100 kCHF

Budget estimation to be completed with information from collaborations

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SPARES

K.Artoos, CTC December 2012

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Five R&D themes :

K.Artoos, CTC December 2012

1. Performance increase →Reach requirements from higher background vibrations + include direct forces

→ Increase resolution (Final focus)2. Compatibility with environment → Radiation, magnetic field,

Operation, Temperature3. Cost optimization → Standardize and optimize

components, decrease number of components, simplify mounting procedures,…

4. Overall system analysis → Interaction with the beam-based orbit and IP feedback to optimise luminosity Integration with other CLIC components

→ Adapt to changing requirements5. Pre-industrialization → Ability to build for large

quantities

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Extra slide:Measured slew rate of actuator

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Bill of Materials Amplifiers

LMP2022MA: Zero Drift, Low Noise, EMI Hardened Amplifier AD8230YRZ:  Zero-Drift, Precision Instrumentation Amplifier AD8691AUJZ: Low Cost, Low Noise, CMOS Rail-to-Rail Output

Operational Amplifier Power regulator ICs: TPS76550, REG1117-2.5, TPS72325,

UCC284-5 FLASH Digital potentiometers: AD5231, AD5204 Diodes: BAV199 Capacitors: Tantalum Resistors: Thin film 1% Potentiometers: Cermet Digital slow control

National Instruments PXI with DAQmx card FPGA: Spartan 6 evaluation board (under development)

P. Fernandez Carmona, RadWG meeting, Geneva, 17 January 2012

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Controller electronics: Hybrid

2 analogue chains+ positioning offset

Local electronics ADCs digitize signalsFor remote monitoring

Communication to remote control center with optical fiber

K.Artoos, CTC December 2012

SPIP. Fernandez Carmona(until end of August)

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X-y Positioning

1&2 Parasitic roll

M. Esposito, IWAA 2012 Fermilab

K.Artoos, CTC December 2012

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Inertial reference mass proto (v3): With interferometer/with capacitive gauge