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Stabilisation and nano positioning Main Beam Quadrupole

K. Artoos (50 %) , C. Eymin, S. Janssens (100 %), R. Leuxe Work from M. Esposito , P. Fernandez Carmona Exchange with C . Collette ULB. Stabilisation and nano positioning Main Beam Quadrupole.

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Stabilisation and nano positioning Main Beam Quadrupole

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  1. K. Artoos (50 %), C. Eymin, S. Janssens (100 %), R. Leuxe Workfrom M. Esposito, P. Fernandez Carmona Exchange with C. Collette ULB 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

  2. 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… K.Artoos, Stabilisation WG , 21th February 2013

  3. Requirements • Ground motion • External forces • Flexibility of magnet 3992 CLIC Main Beam Quadrupoles: A. Samoshkin Stability (magnetic axis): Nano-positioning Type 4: 2m, 400 kg Type 1: 0.5 m, 100 kg K.Artoos, Stabilisation WG , 21th February 2013

  4. Integrated luminosity simulations Custom Inertial Reference mass Commercial Seismometer K.Artoos, Stabilisation WG , 21th February 2013 Courtesy J. Snuverink, J. Pfingstner et al. Stef Janssens

  5. Inertial Reference mass Stef Janssens Courtesy J. Snuverink et al. “Comparison of new absolute displacement sensors”, C. Collette et al. , ISMA 2012 K.Artoos, Stabilisation WG , 21th February 2013 C. Collette

  6. Other requirements • Stiffness-Robustness • Applied forces (water cooling, vacuum, power leads, cabling, interconnects, ventilation, acoustic pressure) • Compatibility alignment • Transportability/Installation • Available space • Integration in two beam module • 620 mm beam height • Accelerator environment • -High radiation • Stray magnetic field K.Artoos, Stabilisation WG , 21th February 2013

  7. Introduction/Reminder:Additional study 7 « Nano-positioning» feasibility study Modify 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 K.Artoos, Stabilisation WG , 21th February 2013

  8. 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 K.Artoos, Stabilisation WG , 21th February 2013

  9. Concept demonstration actuator support withstaged test benches Collocated pair Type 1 Seismometer FB max. gain +FF (FBFFV1mod): 7 % luminosity loss (no stabilisation 68 % loss) K.Artoos, Stabilisation WG , 21th February 2013 Courtesy J. Snuverink, J. Pfingstner et al. X-y proto

  10. Stabilization with Interferometer based geophone Interferometer based geophone built and tested: -Very high sensitivity, high resolution -Wider bandwidth -Proof of concept Measured open loop on x-y guide Stef Janssens Issue: Due to higher bandwidth, actuator slew rate gives instabilities in the loop -> New batch of actuator amplifiers have a higher slew rate K.Artoos, Stabilisation WG , 21th February 2013

  11. Extra slide: Measured slew rate of actuator K.Artoos, Stabilisation WG , 21th February 2013

  12. X-y prototype: Demonstration Nano positioningResolution, precision, accuracy Capacitive sensor 3 beaminterferometer Actuators equipped with strain gauges K.Artoos, Stabilisation WG , 21th February 2013 Optical ruler

  13. X-y positioning: Studyprecision, 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) K.Artoos, Stabilisation WG , 21th February 2013

  14. Optical ruler performance Repeatability around 0.25 nm (applies for both actuator system and optical ruler) Cross axis sensitivity K.Artoos, Stabilisation WG , 21th February 2013

  15. 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 K.Artoos, Stabilisation WG , 21th February 2013

  16. Absolute Optical ruler Heidenhain : 1nm resolution < 1000 CHF Renishaw: 1 nm resolution < 1000 CHF Smallest LSB could be used again as quadrature …. To be tested on x-y proto K.Artoos, Stabilisation WG , 21th February 2013

  17. Comparisonsensors K.Artoos, Stabilisation WG , 21th February 2013

  18. X-y Positioning: 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) 1&2 Parasitic roll K.Artoos, Stabilisation WG , 21th February 2013

  19. Preliminary Roll simulations J. Pfingstner K.Artoos, Stabilisation WG , 21th February 2013

  20. 2013 Build three “best available design” MBQ modules Type 1 ISR Type 1 CLEX Functional performance testing + development time: Study and try assembly Requires controlled stable environment (Temperature, Vibrations, Access) Demonstration feasibility + ultimate performance Water cooling + powering magnet Test module location not adapted for this. Magneticmeasurements and fiducialisation Type 1 Test module withdummymagnet Integration in test module, connections to other modules, robust show case, transport, … Demonstration alignment and stabilization but not representative for CLIC tunnel Type 4 ISR Type 4 Test module MBQ modules upgradable (bolted together, no welds). K.Artoos, Stabilisation WG , 21th February 2013

  21. Type 1 status mechanical design status K.Artoos, Stabilisation WG , 21th February 2013 C. Eymin, K. Artoos

  22. Type 1 Integration Clash 1 K.Artoos, Stabilisation WG , 21th February 2013 R. Leuxe, C. Eymin, K. Artoos

  23. Analytical & FE results Longitudinal stiffness Longitudinal mode With xy guide (pins fixed to steel plates) 65 Hz With xy guide (pins totally fixed on 1 end) 280 Hz Without xy guide 3.4 Hz Without xy guide 0.03 N/μm With xy guide (pins totally fixed on 1 end) 278N/μm With xy guide (pins fixed to steel plates) 48 N/μm K.Artoos, Stabilisation WG , 21th February 2013 Marco Esposito

  24. Type 4 mechanical design K.Artoos, Stabilisation WG , 21th February 2013 C. Eymin, K. Artoos

  25. 3D simulated Kinematics • 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 K.Artoos, Stabilisation WG , 21th February 2013

  26. Concept open points • Decrease parasitic roll • Increase hinge longitudinal stiffness ? • Increase still lateral stiffness ? • But: Overdetermined structure !!! Stresses due to mounting • Needs 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? • …. 1&2 K.Artoos, Stabilisation WG , 21th February 2013

  27. Planning for mechanics 12 Piezo actuators with integrated sensors + amplifiers/controllers Received Fabrication drawings type 1 has started , finished first week of March. Fabrication 1.5 months Fabrication drawings type 4 third week of March + 1.5 months fabrication Start assembly type 1end of April K.Artoos, Stabilisation WG , 21th February 2013

  28. Controller Electronics Status Hybrid Second generation P. Fernandez Carmona • 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 H4IRAD test stand No damage nor SEU after 18 Gy Test not complete Report to be finalized Piezo amplifier not radhard K.Artoos, Stabilisation WG , 21th February 2013

  29. Electronic boards in production 20xHybrid V2 20x Analogue 1 d.o.f. • 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 K.Artoos, Stabilisation WG , 21th February 2013

  30. 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 K.Artoos, Stabilisation WG , 21th February 2013

  31. 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 K.Artoos, Stabilisation WG , 21th February 2013

  32. Inertial sensor Presentation Stef K.Artoos, Stabilisation WG , 21th February 2013

  33. Objectives 2013 at CERN • Build and test 3 MBQ modules with controller hardware • Type 1 ISR + CLEX (precursor PACMAN) • Type 4 ISR + Test module • Type 1 Test module • X-Y guide: • Continue tests stopped in 2012 • Test absolute sensors • Develop and test positioning controller • Test 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 K.Artoos, Stabilisation WG , 21th February 2013

  34. 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) • … K.Artoos, Stabilisation WG , 21th February 2013

  35. Questions K.Artoos, Stabilisation WG , 21th February 2013

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