Stabilization update G Balik 1 J Allibe 1

Stabilization update G. Balik 1 , J. Allibe 1, L. Brunetti 1, G. Deleglise 1, A. Jeremie 1, S. Vilalte 1 B. Caron 2, A. Badel 2, R. Le Breton 2, (LAVi. Sta Team) 1: LAPP-IN 2 P 3 -CNRS, Université de Savoie, Annecy, France & 2: SYMME-POLYTECH Annecy-Chambéry, Université de Savoie, Annecy, France The 16 th March 2012 IN 2 P 3 Les deux infinis

Stabilization update OUTLINE 1. INTRODUCTION - Ground motion - Active foot - Sensors & noise - Control scheme 2. EXPERIMENTAL RESULTS - Experimental setup - Attenuation curve - PSD / RMS results 3. CONCLUSION AND FURTHER IMPROVEMENT Gaël Balik - LAPP CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 2

Stabilization update OUTLINE 1. INTRODUCTION - Ground motion - Active foot - Sensors & noise - Control scheme 2. EXPERIMENTAL RESULTS - Experimental setup - Attenuation curve - PSD / RMS results 3. CONCLUSION AND FURTHER IMPROVEMENT Gaël Balik - LAPP CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 3

Stabilization update -Ground motion Measured with Geophones CMG - 6 T Vibration due to human activities in the lab: machine shop, workshop, drill, etc … Gaël Balik - LAPP CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 4

Stabilization update -Active foot: Piezoelectric actuator Lower electrode of the capacitive sensor Elastomeric strips for guidance Fine adjustments for capacitive sensor (tilt and distance) Gaël Balik - LAPP Mechatronics 2010 - Yokohama - 2010 -11 -23 CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 5

Stabilization update -Sensors & noise Sensor type Operating range of Geophones CMG - 6 T: [1. 5 90] Hz Model Company Output signal Sensitivity Bandwidth [Hz] Electromagnetic Geophone GURALP CMG-6 T Geosig Velocity (X, Y, Z) 2398 V/m/s [0. 033 -100] Piezoelectric Accelerometer Wilcoxon 731 A MEGGITT Z Acceleration 10 V/g [0. 05 -500] Operating range of Wilcoxon 731 A CMG - 6 T: [8 130] Hz Gaël Balik - LAPP CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 6

Stabilization update -Control scheme Ground motion Geophone CMG-6 T Feed Forward Controller + + Gaël Balik - LAPP Feed-back Controller 1 Measured Feed-back Controller 2 Measured acceleration (Az) Velocities (Vx, Vy Vz) + Active foot + Wilcoxon 731 A Geophone CMG-6 T CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 7

Stabilization update -Control scheme Feed-Forward Geophone (FFG) Ground motion Geophone CMG-6 T Feed Forward Controller + + + Active foot + Feed-Back Wilcoxon (FBW) Feed-back Controller 1 Measured acceleration (Az) Wilcoxon 731 A Feed-Back Geophone (FBG) Feed-back Controller 2 Gaël Balik - LAPP Measured Velocities (Vx, Vy Vz) Geophone CMG-6 T CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 8

Stabilization update OUTLINE 1. INTRODUCTION - Ground motion - Active foot - Sensors & noise - Control scheme 2. EXPERIMENTAL RESULTS - Experimental setup - Attenuation curve - PSD / RMS results 3. CONCLUSION AND FURTHER IMPROVEMENT Gaël Balik - LAPP CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 9

Stabilization update -Experimental setup Active foot with sensors Matlab and d. SPACE Control. Desk For monitoring and analysis d. SPACE Real time hardware for Rapid Control Prototyping Amplifiers, filters input/output board for signal conditioning Gaël Balik - LAPP CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 10

Stabilization update -Attenuation curve Feed-Back Geophone (FBG) Geophone sensor’s noise Gaël Balik - LAPP CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 11

Stabilization update -Attenuation curve Feed-Back Wilcoxon (FBW) Wilcoxon sensor’s noise Gaël Balik - LAPP CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 12

Stabilization update -Attenuation curve Feed-Back Geophone + Feed-Forward Geophone (FBG + FFG) 10 FBG and FFG experimental attenuation FBG and FFG theoretical attenuation 0 -10 Gaind [d. B] -20 -30 -40 -50 -60 -70 -1 10 0 1 10 10 2 10 Frequency [Hz] Limited by the Geophone’s noise Gaël Balik - LAPP Misalignment of the sensors (Has been removed) CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 13

Stabilization update -Attenuation curve Feed-Back Geophone + Feed-Forward Geophone + Feed-Back Wilcoxon (FBG + FBW + FFG) Limited by the Geophone’s noise Gaël Balik - LAPP Misalignment of the sensors (Has been removed) CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 14

Stabilization update -PSD / RMS results 50 Hz and harmonics (degrade considerably the integrated RMS) Many other peaks contribute to increase the integrated RMS (machinery, numerical problems, harmonics) More than a factor 2 can be gained by optimizing the Geophone Feed-Forward Spec: 0. 15 nm @ 1 Hz Gaël Balik - LAPP CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 15

Stabilization update CONCLUSION • Promising results • Really good correlation between theory and experiment • Good performances (at least -20 d. B from 5 Hz to 30 Hz) FURTHER IMPROVEMENT • Improve FB and FF controllers when working together / Optimize their performances • FFG limited by the current maximal length of piezoelectric actuator • Improve experimental setup (gains, amplifiers, filters, cables) • Better DAC converter resolution (decrease high frequency noise) Gaël Balik - LAPP CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 16

Stabilization update Thank you for your attention! Gaël Balik - LAPP CERN CLIC MDI (CLIC Machine Detector Interface) - 2012 -03 -16 17