1 stabilization projects at slac eric doyle, leif eriksson, josef frisch, linda hendrickson, thomas...
TRANSCRIPT
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Stabilization Projects at SLAC
Eric Doyle, Leif Eriksson, Josef Frisch, Linda Hendrickson, Thomas Himel, Thomas Markiewicz
Richard Partridge
NLC Project, SLAC
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Beam Stabilization
● Goal: Stabilize beams to ~1nm at a Linear Collider IP
● Slow Beam Based Stabilization (luminosity)● Fast Beam Based Stabilization (IP deflection)● Magnet position Stabilization:
– Interferometer, Inertial Sensor based.● Very fast Beam Based Stabilization: Feather /
Font● Nanometer BPMs
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Ground Motion
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Beam Based Stabilization
● Beam based measurements are the only long term measurement of beam positions– Mechanical objects are not stable to nanometers!
● For Timescales > 10 minutes, Luminosity Optimization feedback
● 120 Hz Feedback (for NLC) based on deflection scans.
● Note that 120Hz feedback has unity gain at ~10Hz.
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Calculated Gain for 120Hz Beam feedback
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Magnet Position Stabilization
● Interferometer based feedback– Measures magnet position relative to ground– Work ongoing at UBC (Tom Mattison).
● Accelerometer based feedback– Measures magnet position relative to "fixed stars" – Work ongoing at SLAC (this talk).
● Ground referenced (Interferometer) and inertial feedback both work in simulation. Effectiveness depends on ground motion spectrum.
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Commercial Interferometer Technology
• Heterodyne system provides immunity to ambient light, and high resolution phase measurement.
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Interferometer Measurement Limits
• Zygo company ZMI-4004 Measurement resolution 1/2048 Fringe – 0.31 Nanometer single pass
• 4 axis / VME module
• Data rate 10MHz.
• Zygo #7712 Laser Head– 0.5ppb Stability 1 Hour– OK for 1nm to > 1Meter
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Environmental Effects - Air
● Air tpemerature and Pressure:– 1ppm/°C – 1ppm/2.8mm Hg pressure, – 1ppm/90% Humidity
● Compensation – 0.1ppm to 1ppm from calculation– < 0.1ppm from refractometer compensation
● Difficult to get 1nm over 1M in Air.
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Other Environmental Effects
● Even Vacuum not ideal - windows– Fused Silica has small temperature coeficient, but
index variation with temperature is large ~10ppm/°C– For 1 cm path in fused silica, need .01°C
● May be difficult to provide vacuum paths for interferometers.
● Assuming 10cm between reflector and center of magnet / BPM, need .001°C short term stability.
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Interferometer Overall
● Performance typically limited by environmental issues.
● Commercial heterodyne systems available from Zygo, Agilent, probably other companies
● Provide stabilization to the GROUND – Cannot do better than a perfectly rigid mechanical
support.– Need to decide how to evaluate performance
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Inertial Stabilization Work at SLAC
1. Stabilize a simple block using low sensitivity commercial seismometers (done)
2. Stabilize an “extended object” with mechanical properties similar to a final focus magnet using low sensitivity commercial seismometers.
3. Stabilize an “extended object” with high sensitivity seismometers
4. Construct a high sensitivity non-magnetic seismometer suitable for use in a detector.
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Magnet Suspension
Hard Support
Small motion without feedback
Couples high frequencies: will excite internal modes
Requires high actuator forces: 10 N
Soft SupportLarge motion at support
resonance without feedback
Attenuates high frequencies, minimal excitation of higher modes
Low actuator forces: .01 N
Used for this project
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Actuator, Sensor
● With soft supports, actuator strengths can be low ~.01 N (100Kg, 100nm, 5Hz Resonance)
● Use “electrostatic Actuators”– Capacitive gap, ~100cm2, 1mm, gap, 1KV– Low stiffness, Fast response time– Force proportional to V2, not dependant on position
(if motion << 1mm).● Sensor: Low cost, low sensitivity geophones for
now
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Data Acquisition System
● DSP (Old TI TMS320C40), for closed loop feedback– May upgrade to modern DSP if needed (C6000 series)– So far not a performance limit
● 24 channel A-D, D-A. – 16 bit, 250KHz hardware, Typically operated at a few KHz
● Variable gain input amplifiers● Variable frequency input filters for anti-alias.● Hardware: MIX bus / VME / Ethernet / Sun● Software: DSP C, VxWorks, (EPICS), Solaris, Matlab
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Feedback Algorithm
● Characterize system – Drive all actuators, measure all sensors, all
frequencies ● Find normal modes● Find sensor resonances● Find couplings
– ~96 parameter fit (works!) ● Six independent feedback loops● State-space type feedback.
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Single Block Stabilization System
Note: frequencies below 2 Hz filtered out
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Spectrum, Feedback On / Off
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Integrated spectrum with simulated beam / beam feedback
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“Extended Object”
● Designed for same resonant frequencies and masses as a real magnet support.
● Magnet support tube replaced by support beam under magnet for convenience
● Use “Soft” supports ~ 3-7 Hz. ● Use 8 sensors, 6 for solid body modes, 2 for first
higher modes● Use 8 electrostatic actuators
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Extended Object Drawings
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Extended Object
Actuator
Support Spring
Sensor
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Extended Object
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Extended Object
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Characterization of Extended Object
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Extended Object Status
● Sensors, actuators, DAQ operating● 6 solid body, and 2 internal modes identified● Feedback software requires minor modifications
from single block system– 6 to 8 sensors and actuators– “Code Rot” since single block tests
● Attempt to close loop soon
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Possible Technical Issues
● Extended object is far from symmetric – expect wide range of couplings to sensors, actuators and modes.– Very weak control over “roll” mode
● Internal modes are high frequency (75, 120Hz), probably not excited.
● Sensor tilt sensitivity: Tilt indistinguishable from transverse acceleration– Orthogonalization now frequency dependant.
– May need to solve fully coupled problem (more computation)
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Why Build Our Own Sensor?
● Want ~3x10-9M/s2/sqrt(Hz) noise at F > 0.1Hz. ● Compact sensors for machinery vibration
measurements (used for single block test) have noise ~300X larger
● Geo Science seismometers have good noise < 10-9M/s2/sqrt(Hz), but are magnetically sensitive and physically large
● Could not find commercial sensors which met our requirements
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General Seismometer Design• Thermal mechanical
noise sets ultimate limit
• Readout noise can be low
• Thermal noise limited acceleration given by
0
04
mQ
TkA b
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Vertical Sensors Difficult
● Need to measure 3x10-9M/s2/sqrt(Hz) on top of Earth's gravity 9.8M/s2.
● Spring "sag" under gravity is large for low frequency suspension
● Small changes in suspension spring length or spring constant will appear as acceleration signals
– Thermal changes typically limit low frequency performance - typically operate in vacuum
– Material creep can be a serious issue
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Suspension Design
● Want low fundamental resonance frequency in a compact geometry.
● Simple mass on spring frequency goes as
f=(1/2)sqrt(g/L): f = 1.5Hz (our design) L = 11cm● Pre-bent spring gives high second order mode f.
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Feedback Seismometers
● High suspension mechanical Q improves sensitivity - but results in large amplitude motion at resonance
● Below resonance sensitivity decreases as 2 - leads to dynamic range problems
● Use feedback to keep suspended mass motionless relative to sensor housing. (Standard technique)– Can use feedback force as acceleration signal– Optionally use force and residual error as signal
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Sensor Housing
Adjust motor
Cantilever
Suspension flexure spring (pre-bent to be flat under gravity load)
Slow adjustflexure
Electrostaticfeedback pusher~50V, 500um
Cable delay1 nanosecond
Signal split
Signal combine
Mass
I/Q
Signal nullat center
ADC - get positionand phase mismatchinformation
VCO~20dBm
DACphase match feedback
DACposition feedback
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Sensor Parameters● Suspended mass 40 grams● Resonant frequency 1.46Hz
– Next mode ~96Hz, ANSYS simulation (not seen)● Mechanical Q ~50 ● Theoretical Thermal Noise 2.5x10-10
M/s2/sqrt(Hz)– 10X better than needed
● Theoretical electrical noise X2 smaller than mechanical thermal noise
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Spring
Cantilever
Electrodes on PCB
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Mechanical Design Issues
● BeCu spring (high tensile strength, non magnetic)– Pre-bent, operated at high stress to increase higher
mode frequencies– Extensive creep measurements done at SLAC
● Thermal effects very large!!– ~10-8Co corresponds to (0.1Hz) noise limit– Use multiple "thermal filters", Gold plating to reduce
temperature variations. Operate in < 1 um vacuum.– Expected to be ultimate low frequency noise limit
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Spring
Cantilever
Electrodes, Test Mass
RF IN
RF Out
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Sensor Status
● Construction of prototype sensor complete● RF system operational, but with kludged control
of out of phase signal. ● Sensor mounted on 30 Ton Shielding block on
elastomer supports.● Two Streckheisen STS-2 Seismometers mounted
on block to provide reference signals.● Data very very preliminary!!!
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Sensor Testing
● Do not have a location sufficiently quiet to measure sensor noise
● Compare sensor with STS-2 seismometer– STS-2 noise much better than we need in this
frequency range● Look for correlation with STS-2
– Compare with correlation between two STS-2s.● Data analysis very preliminary
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Data Interpretation
● All noise issues expected to be at low frequencies● Expect sensor noise to be flat in acceleration
frequency down to some frequency. Then expect 1/f noise to cut in (unknown frequency).
● Expect STS-2 noise to be flat in acceleration down to 0.01 Hz.
● Compact Geophone (used for single block test), expect noise to be 1/f in acceleration (velocity sensor).
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Sensor Noise Estimate From Correlations
● STS-2 to STS-2 Correlation good to ~10-8M/s2
to .025Hz. – Actual sensor limit probably 10x better, but indicates
measurement limits in this setup● Compact geo-sensor to STS-2 correlation good to
~7x10-7M/s2 at 0.25Hz● New sensor to STS-2 correlation good to
~4x10-8M/s2 to 0.05Hz.
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Noise Estimates
● Use correlation and assumed frequency spectrum.● STS-2, measured: <0.25nm at 1Hz, 25nm at 0.1Hz.
Probably measurement limit.● Compact Geosensor (used for block tests). 5nm at 1Hz.
5000nm at 0.1Hz (This is a velocity sensor, below resonance, noise ~1/F3).
● New Sensor: 1nm at 1Hz, 100nm at 0.1Hz. ● With “NLC” style beam-beam feedback, demonstrated
sensor noise is OK down to < .01Hz.
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Sensor Noise Limits
● Sensor operating at low RF power. Results in x10 reduction of ideal sensitivity. (probably not the limit now)
● Some evidence of spring “creak” – small steps during creep. Investigating
● Sensor not magnetic immune – contains low resistance current loop on cantilever. Being replaced with insulating cantilever.
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Sensor Upgrades
● Non-conducting cantilever Aluminum Oxide.● Non-conducting mass Hafnium Oxide (dense).● RF splitting on PC board (probably ceramic), to
replace kludged connector.● Various detailed mechanical changes to reduce
size, improve manufacturability
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Stabilization for ATF Nano-BPM
● Inertial and / or interferometer stabilization● Beam rate 1-6 Hz (compare with 120Hz for
NLC), Need low frequency system.● Need good stability at least to <1Hz, probably to
<0.1Hz.● Need to understand how to use beam to evaluate
system performance
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Inertial Stabilization Issues
● Inertial sensor: Low beam rate (< 6 Hz, vs. 120Hz for NLC) requires very low frequency sensor. – Sensor noise scales as 1/F2
– Present performance of SLAC sensor not good enough.
– May want to use 3 Streckheisen STS-2 sensors.
● Can probably measure 1nm down to ~0.25 Hz.– 1nm at 0.1 Hz very difficult
– Only interesting if beam rate ~ few Hz.
● At best, performance is somewhat marginal
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Interferometer Stabilization Issues
● Interferometers should be good to <1nm for timescales of seconds
● Not pushing state of the art!● Ground motion at single point >>1nm at 0.1Hz.
– At SLAC see ~300nm at > 0.1Hz
● Need to measure 2 point relative ground motion.– Use STS-2 or similar – best measurement
● Quandary: Need inertial sensor to measure ground motion to evaluate interferometer performance!
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Beam Issues
● Need to make 2 point comparison – compare line fit to one (3 BPM) structure with next structure.
● Magnetic fields – need ~micro-Gauss-M field variation for nm motion.– Need to measure. Typically see mill-gauss at 50Hz in
laboratory.– Phase shifts relative to power line can be a problem!– Must turn off all magnets between BPMs.
● May need to build magnetic field feedback system.● Lever arm: 3 BPMs projecting to more distant point.
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Ignoring problems:
● Place inertial sensors on LLNL support frame– Space for 3 Streckheisens, or 3 pairs of SLAC sensors.
● Place 6 interferometer beam lines (in vacuum) to ground).
● Replace LLNL support frame supports with springs, and electrostatic actuators.
● Use SLAC DAQ system to close loop based on both seismic sensors and interferometers– Adjust frequency roll-off between inertial and ground
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Comments on ATF stabilization
● System is complex, and requires complex mechanical integration
● Light paths through support table are required for interferometers.
● Need to integrate LLNL support / feedback system with LLNL support / feedback system
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Short Term Plan
● Stabilize extended object with commercial low noise (but magnetic sensitive) sensors.– Hope to meet NLC performance
● Construct an updated non-magnetic seismometer which meets NLC requirements.
● Work on stabilization of ATF NanoBPM system