QD0 stabilization

L. Brunetti1, B. Aimard1, J.-P. Baud1, G. Balik1 , G. Deleglise1, A. Jeremie1, S. Vilalte1

B. Caron2, C. Hernandez2,(LAViSta Team)

1: LAPP-IN2P3-CNRS, Université de Savoie, Annecy, France&

2: SYMME-POLYTECH Annecy-Chambéry, Université de Savoie, Annecy, France

2

Transfer on a real scale

2014-06-13 MDI QD0 Stabilisation 2

• Demonstration active table to QD0 active control ?

One active foot

Several active feet

Structure : QD0 Magnet Sensors Actuators Integration: control, data processing, real time…

• Mecatronics challenge

Schedule : CLIC development phase

0,6 nm RMS@4Hz

2014-06-13 MDI QD0 Stabilisation 3

Sensor

• Comparison with Guralp and Wilcoxon:

100

101

102

10-25

10-20

10-15

10-10

Frequency [Hz]

PS

D d

ispl

acem

ent [

m²/

Hz]

PSD of ground motion

Wilcoxon

Guralp6T

Guralp3ESP

Capteur LAPP

Efficient Approach validated → patent Next stage : miniaturization

Demonstration sensor

2014-06-13 MDI QD0 Stabilisation 4

Sensor

• Comparison with Guralp and Wilcoxon:

10-1

100

101

102

10-24

10-22

10-20

10-18

10-16

10-14

10-12

Frequency [Hz]

PS

D d

ispl

acem

ent

[m²/

Hz]

Comparison with different sensors

Wilcoxon

guralp6T

Corrected difference 6T

Lapp Miniaturized Sensor

Miniaturized sensor

Accele

romete

r

LAPP senso

r

Geophone 6

T

Geophone 3

ESP

Still efficient Control :

10-1

100

101

10210

-25

10-20

10-15

10-10

Guralp FB: 1 | Guralp FF: 0 | Will FB: 0 | Will FF: 0 | file: Control data.mat (08-août-2013 14:16:35)

Frequency [Hz]

PS

D [

m²/

Hz]

Displacement LAPIv2 on groundDisplacement LAPIv1 on foot

2 units have be machined

2014-06-13 MDI QD0 Stabilisation 5

Sensor

• Has to be optimized vs drift, repetitivity, tolerance/sensitivity and one spurious frequency.

Last version, more “industrial” (intermediary prototype vs performances)

Drift: thermal analysis and tests were performed. Problem identified. Study in progress.

Tolerances and tuning are improved → sensitivity x 1,5. The solution will be adapted for the next version.

Spurious frequency : in progress… Repetitivity: better

New version will be machined

• Low cost version Development of our own electronics and of our own sensitive part…

Valorisation - dissemination

2014-06-13 MDI QD0 Stabilisation 6

Structure

• Objectives:

Modal analysis of short QD0 in order to adapt the simulation of QD0 Design and simulation of a dummy QD0 to machine a new test bench Integration of the PZT actuators in the simulation to develop the control laws Control of this short QD0

2014-06-13 MDI QD0 Stabilisation 7

1st flexion mode vs x axe 2nd flexion mode vs x axe1st torsion mode 1st flexion mode vs y axe 2nd flexion mode vs y axe

Modes Pulse + Me’scope DSpace + Matlab Theoritical

1st x flexion 100 100 127

1st y flexion 200 200 189

1st torsion 370 350 315

2nd x flexion 680 640 714

2nd y flexion 780 820 858

Comparison experimental tests and theoretical results…

• Clamped magnet:

- Experimental analysis -

2014-06-13 MDI QD0 Stabilisation 8

Modes Pulse + Me’scope DSpace + Matlab Theoritical

1st x flexion 520 540 600

1st y flexion 600 580 963

1st torsion 660 640 457

2nd x flexion 760 740 1638

2nd y flexion 1250 - 1736

Comparison experimental tests and theoretical results…

• Free - free magnet:

• Why are there so many differences? Matter of the 2 blue U, new simulation will be done… Problem of boundary conditions

• In progress: Control of this short QD0 on our active foot.

New magnet clamping in progress

2014-06-13 MDI QD0 Stabilisation 9

Design of a dummy structure…

Has to be adapted after the short QD0 study will be corrected.

• Design and machining of a dummy structure:

Avalaibility to design a dummy structure even if the mode has to be corrected.

• Integration of the PZT actuators in the state space model for the control.

2014-06-13 MDI QD0 Stabilisation 10

Actuator

• Industrial solution : PZT actuator

Two challenging ways : internal development or industrial partnership…

Foreseen collaboration: SYMME, G2Elab, CEDRAT Technologies and LAPP ANR (French agency) submitted (for 2 years). Pre-proposal ok, final report mid-

July…

• No commercial solution for dynamics, resolution, load, stiffness…

The ANR decision is a strategic step for the future of the project…

Example of an large actuator

Small size PZT actuator

Specifications and tests vs ANR

Conceptual views of the future tests benches

2014-06-13 MDI QD0 Stabilisation 11

Conclusion vs QD0 stabilization

• Structure:

Analysis has to be corrected…

• Actuator:

Partnerships identified and the strategy chosen ANR decision in July

• Sensor:

A first innovative version has demonstrated the feasibility : performances are about the same as Guralp 6T.

2 miniaturized versions with our own electronics : still almost the same performance, but small adjustments have to be made (tuning, drift...)

Promising results in control A “more industrial” version allows to adjust some aspects A new version will be done. Advantages: adapted to control, cost, size Future: sensitivity to magnetic field and tests on an experimental site: first at CERN

(stabilization group), then ATF2, CLIC module or CLEX…