Upload
national-instruments-italy
View
219
Download
0
Embed Size (px)
Citation preview
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
1/14
1
LHC Collimators Low LevelLHC Collimators Low Level
Control SystemControl System
Dr. A. MasiCERN, Switzerland
AB Dept, ATB group
aless andro .masi@ce rn.ch
Outline
The LHC collimation system
Control requirements
Control system layout
The RT platform used
Control system software architecture
The Motor Drive Control (MDC) The Position Readout and survey (PRS)
Conclusions
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
2/14
2
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control systemsoftware architecture
The MDC
The PRS
Conclusions
Circumference: 26.7km
Beam energy in collision: 7 TeVDipole field at 7 TeV: 8.33 T
Luminosi ty:1034 cm -2.s -1
Operating temperature: 1.9 K
A. Masi, R. Losito
LHC Collimators low level control system
One US aircraft carrier at11 knots
A mis-stereed beam can provoke:
1. Damage to the machine
The energy in the two LHC beams is sufficient to melt almost1 ton of copper
2. Quenches:
For example, local transient loss of 4 107 protons at 7 TeV
The LHC collimation system has to protect amachine of 2 billions $ and reduce noise to theLHC experiments absorbing particles out of the
nominal beam coreSee details at: http://lhc-collimation-project.web.cern.ch/lhc-collimation-project
The LHC nominal beam energy is equivalent to:
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control system
software architecture
The MDC
The PRS
Conclusions
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
3/14
3
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control systemsoftware architecture
The MDC
The PRS
Conclusions
A col l imator has two paral le l jaws
Each jaw is controllable in positionand angle
The jaws need to be posit ionedwith 10 um accuracy
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control system
software architecture
The MDC
The PRS
Conclusions
The collimation systemis based on different
collimators typesan d
up to 108 col l imatorsdistributed over 6
points in the machine
Jaw posit ions arecorrelated
primary secondarytert iary
Also duringmovements
they have to stay insync
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
4/14
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
5/14
5
A. Masi, R. Losito
LHC Collimators low level control system
Reliability: since coll imators protect the machine thefirst requirement of the control system is reliabil ity
Jaws positioning accuracy: fract ion (1/1 0 ) of the
beam size (20 0m !!).
Syncronization between the two m otors of the same
jaw: much less than 1 ms to reduce vibrations
Motion profi les:jaws in different coll imators need tobe locked for more than 20 minutes to movementfunctions sent by a central supervisory application.
The motion start is provided b y a Trigger sent viaoptical fiber
Response delay to a Digital trigger: < 1ms
Syncronization between al l the 5 55 col l imators motorsall along a motion profile: < 10 ms
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control systemsoftware architecture
The MDC
The PRS
Conclusions
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control system
software architecture
The MDC
The PRS
Conclusions
Survey frequency: posit ion sensors have to be readat least at 100 Hz to check in Real-Time that the
actual position lies within a given limit function
Synchroniz ation betw een survey process and profile
generation: lag time 200 us
Low level rack dimensions: maximum 40 0mm deep.Limited space in the rack (in one 400 mm deep rackwe need to instal l the controls for at least two
collimators)
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
6/14
6
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control systemsoftware architecture
The MDC
The PRS
Conclusions
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control system
software architecture
The MDC
The PRS
Conclusions
PXI systems by National Instruments havebeen used as RT platform because of:
their robustness and compactness
the new R T controllers based on Intel Dual Core
processors with solid state disk are powerful andreliable
the built -in 10 MHz signal architecture allows easydaisy chaining of a synchronization clockacrossmultiple chassis through BNC connectors on the
back of the chassis
3 M gate FPGA cards with analog I/ O are available
Awide variety of cards is available and providedwith LabView RT drivers. This allows saving
manpower on the drivers deveolpment
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
7/14
7
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control systemsoftware architecture
The MDC
The PRS
Conclusions
CMW Infrastructure
CORBA, RDA, JMS
Java Control
Programs
Middleware Client API
Device/Property Model Topic Model
RAD programs
(VB, Excel)C Programs
Clients
DIM (Distributed InformationManagementSystem) is a communication
system for distributed / mixedenvironments based on the
client/server paradigm
The DIM system is currently availablefor mixed platform environments
comprising the operating systems :VMS, several Unix flavors (Linux,
Solaris, HP-UX, Darwin, etc.) Windows
NT/2000/XP and the real time OSs:
OS9, LynxOs and VxWorks. It uses asnetwork support TCP/IP
(See details at http://dim.web.cern.ch/dim/ )
The DIM Server library was
successfully compiled forPharlap
The new Front-End SoftwareArchitecture (FESA) is acomprehensive framework
for designing, coding andmaintaining LynxOS/Linux
equipment-software thatprovides a stable functionalabstraction of accelerator
devicesSee details at:
http://project-fesa.web.cern.ch/project-fesa
A. Masi, R. Losito
LHC Collimators low level control system
T im ing Ca rd
6 6 5 3 w i t h 4 5
ppb c lockstabi l i ty
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control system
software architecture
The MDC
The PRS
Conclusions
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
8/14
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
9/14
9
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control systemsoftware architecture
The MDC
The PRS
ConclusionsAll the PXIs chassis are
syncronized with the 10 MHz
clock.
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control system
software architecture
The MDC
The PRS
Conclusions
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
10/14
10
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control systemsoftware architecture
The MDC
The PRS
Conclusions
The signal amplitude is estimated with a
sine-fit algorithm
The algorithm is optimized for RT
implementation
)()(
)()()(
21
21
xAxA
xAxAxr
+
=
( ) yDyDDDx 0T
0
1
0
T
00==
~
.
1)2sin()2cos(
1)2sin()2cos(
1)2sin()2cos(
,,
00
2020
1010
0
2
1
=
=
=
NN
s
c
Ntftf
tftf
tftf
O
A
A
y
y
y
MMMM00 Dxy
22
scAAA +=
LVDT working principle
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control system
software architecture
The MDC
The PRS
Conclusions
21 LVDTs are read in less than 1 ms with a
negligible jitter. The requir ement about 100
Hz reading frequency is easily satisfied
Multiple readingcharacterization: the
crosstalk has been rejected
carefully choosing the
excitations frequencies
Different SNR scenarioshave been simulated
adding noise on the LVDT
secondaries. The
accuracy will remain
below few um
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
11/14
11
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control systemsoftware architecture
The MDC
The PRS
Conclusions
Trigger delay: 100 usreading jitter: 100 us
Stop reading jitter: 200 usSurvey profile duration: ~20 minutes
Tr igger delay
S t a r t j i t t e r
Pro f i l e dura t ion
Stop j i t t e r
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control system
software architecture
The MDC
The PRS
Conclusions
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
12/14
12
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control systemsoftware architecture
The MDC
The PRS
Conclusions
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control system
software architecture
The MDC
The PRS
Conclusions
The LHC collimator low level system is reliable androbust: redundancy and fault tolerance have beenbuilt by separating the motor control and theposition survey on different units
PXI running LabView RT has been chosen as lowlevel RT platform
Delay between trigger and motor movements isbelow 100 us
Position sensors can be read a t frequencies close to1 KHz
120 chassis are synchron ized using a 10 M Hz clock
This configuration has been extensively tested inlaboratory and in the CERN SPS confirmingfulfillment of all the specs in a real (noisy)accelerator environment
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
13/14
13
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control systemsoftware architecture
The MDC
The PRS
Conclusions
We Thank R. W. Assmann, M. Jonker,M Sobczak and S. Redaelli for thelong discussions on the architectureof the collimation control system.
Our colleagues of the AB/ATB/LPEsection, in particular A. Brielmann, G.Conte, M. Donze, P. Gander, J.
Lendaro and M. Martino for thefruitful collaboration on theimplementation of the system.
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control system
software architecture
The MDC
The PRS
Conclusions
We are indebted to NI for theprecious support received. Inparticular the System EngineeringGroup (Doug, Brent and Christian)and all the R&D people that wereinvolved in this project as well as theEuropean team (Stefano, Joel,Christian).
Last but not least Chris and Giuseppe
8/14/2019 Il sistema di controllo Tempo Reale dei collimatori dell`LHC
14/14
14
A. Masi, R. Losito
LHC Collimators low level control system
The LHC collimation
system
Control
requirements
Control system
layout
The RT platform used
Control systemsoftware architecture
The MDC
The PRS
Conclusions
Thank you very muchfor your attention