CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Jürgen Pfingstner 21 th of October.

Slides:



Advertisements
Similar presentations
IIT NFMCC Meeting ‘06 Recent Optimization Studies of Adiabatic Buncher and Phase Rotator A.Poklonskiy (SPbSU, MSU), D.Neuffer (FNAL) C.Johnstone (FNAL),
Advertisements

Measurements of adiabatic dual rf capture in the SIS 18 O. Chorniy.
CHAPTER 3 CHAPTER 3 R ECURSIVE E STIMATION FOR L INEAR M ODELS Organization of chapter in ISSO –Linear models Relationship between least-squares and mean-square.
Hybrid Simulation with On-line Updating of Numerical Model based on Measured Experimental Behavior M.J. Hashemi, Armin Masroor, and Gilberto Mosqueda University.
Lecture 11: Recursive Parameter Estimation
1/44 1. ZAHRA NAGHSH JULY 2009 BEAM-FORMING 2/44 2.
280 SYSTEM IDENTIFICATION The System Identification Problem is to estimate a model of a system based on input-output data. Basic Configuration continuous.
Transport formalism Taylor map: Third order Linear matrix elementsSecond order matrix elements Truncated maps Violation of the symplectic condition !
ATF2 FB/FF layout Javier Resta Lopez (JAI, Oxford University) for the FONT project group FONT meeting January 11, 2007.
Introduction to the orbit correction of electron storage rings. Theory, Practice and Reality Hiroshi Nishimura Advanced Light Source Lawrence Berkeley.
Goals of Adaptive Signal Processing Design algorithms that learn from training data Algorithms must have good properties: attain good solutions, simple.
Luminosity Stability and Stabilisation Hardware D. Schulte for the CLIC team Special thanks to J. Pfingstner and J. Snuverink 1CLIC-ACE, February 2nd,
B. Caron, G. Balik, L. Brunetti LAViSta Team LAPP-IN2P3-CNRS, Université de Savoie, Annecy, France & SYMME-POLYTECH Annecy-Chambéry, Université de Savoie,
Adaptive Signal Processing Class Project Adaptive Interacting Multiple Model Technique for Tracking Maneuvering Targets Viji Paul, Sahay Shishir Brijendra,
Principles of the Global Positioning System Lecture 13 Prof. Thomas Herring Room A;
CLIC programme at FACET Update on CERN-BBA A. Latina, J. Pfingstner, G. De Michele, D. Schulte (CERN) E. Adli (Univ. of Oslo), J. Resta Lopez (IFIC) In.
Tests of Dispersion-Free Steering at FACET (CERN-BBA) A. Latina, J. Pfingstner, D. Schulte (CERN) E. Adli (Univ. of Oslo/SLAC) In collaboration with: F.J.
CERN, BE-ABP (Accelerators and Beam Physics group) J. Pfingstner Beam jitter studies at ATF and ATF2 Jürgen Pfingstner Hector Garcia Morales 25 th of January.
ATF2 Javier Resta Lopez (JAI, Oxford University) for the FONT project group 5th ATF2 project meeting, KEK December 19-21, 2007.
Book Adaptive control -astrom and witten mark
Trajectory Correction and Tuning James Jones Anthony Scarfe.
Verification of Beam-Based Alignment Algorithms at FACET A. Latina, J. Pfingstner, D. Schulte (CERN) E. Adli (Univ. of Oslo) With the collaboration of:
Drive Beam Linac Stability Issues Avni AKSOY Ankara University.
CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Orbit feedback design for the CLIC ML and BDS Orbit feedback design for the CLIC ML.
Matching recipe and tracking for the final focus T. Asaka †, J. Resta López ‡ and F. Zimmermann † CERN, Geneve / SPring-8, Japan ‡ CERN, Geneve / University.
6. betatron coupling sources: skew quadrupoles, solenoid fields concerns: reduction in dynamic (& effective physical) aperture; increase of intrinsic &
DTL: Basic Considerations M. Comunian & F. Grespan Thanks to J. Stovall, for the help!
Progress in identification of damping: Energy-based method with incomplete and noisy data Marco Prandina University of Liverpool.
CERN, BE-ABP-CC3 Jürgen Pfingstner Verification of the Design of the Beam-based Controller Jürgen Pfingstner 2. June 2009.
CERN, BE-ABP (Accelerators and Beam Physics group) J. Pfingstner Beam jitter studies at ATF and ATF2 Jürgen Pfingstner, Hector Garcia Morales 15 th of.
Undulator parameters choice/wish based on a simplified XFEL cost model Jürgen Pfingstner 29 st of July 2015.
Efficient computation of Robust Low-Rank Matrix Approximations in the Presence of Missing Data using the L 1 Norm Anders Eriksson and Anton van den Hengel.
EMMA Horizontal and Vertical Corrector Study David Kelliher ASTEC/CCLRC/RAL 14th April, 2007.
Status of Reference Network Simulations John Dale TILC09 20 April 2009.
CARE / ELAN / EUROTeV Feedback Loop on a large scale quadrupole prototype Laurent Brunetti* Jacques Lottin**
J. Pfingstner, LCWS13 Jitter and ground motion studies November 13, 2013 Beam jitter at ATF2: A. Source localisation and B. Ground motion correlation Jürgen.
ILC Main Linac Alignment Simulations John Dale 2009 Linear Collider Workshop of the Americas.
B. Caron, G. Balik, L. Brunetti LAViSta Team LAPP-IN2P3-CNRS, Université de Savoie, Annecy, France & SYMME-POLYTECH Annecy-Chambéry, Université de Savoie,
Adaptive Control Loops for Advanced LIGO
1 EMMA Tracking Studies Shinji Machida ASTeC/CCLRC/RAL 4 January, ffag/machida_ ppt & pdf.
Beam Dynamics WG K. Kubo, N. Solyak, D. Schulte. Presentations –N. Solyak Coupler kick simulations update –N. Solyak CLIC BPM –A. Latina: Update on the.
Beam-Based Alignment Tests at FACET and at Fermi A. Latina (CERN), E. Adli (Oslo), D. Pellegrini (CERN), J. Pfingstner (CERN), D. Schulte (CERN) LCWS2014.
E211 - Experimental verification of the effectiveness of linear collider system identification and beam-based alignment algorithms A. Latina (CERN), E.
CY3A2 System identification Input signals Signals need to be realisable, and excite the typical modes of the system. Ideally the signal should be persistent.
J. Pfingstner Imperfections tolerances for on-line DFS Improved imperfection tolerances for an on-line dispersion free steering algorithm Jürgen Pfingstner.
Emittance Tuning Simulations in the ILC Damping Rings James Jones ASTeC, Daresbury Laboratory.
By Verena Kain CERN BE-OP. In the next three lectures we will have a look at the different components of a synchrotron. Today: Controlling particle trajectories.
… Work in progress at CTF3 … Davide Gamba 01 July 2013 Study and Implementation of L INEAR F EEDBACK T OOLS for machine study and operation.
Electron beams in order to sense nm-size mechanical vibrations? CERN: Marek Gasior: BBQ electronics (Andrea Boccardi: VME electronics) Juergen Pfingstner:
State-Space Recursive Least Squares with Adaptive Memory College of Electrical & Mechanical Engineering National University of Sciences & Technology (NUST)
Pushing the space charge limit in the CERN LHC injectors H. Bartosik for the CERN space charge team with contributions from S. Gilardoni, A. Huschauer,
CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Status of the Beam-Based Feedback for the CLIC main linac Jürgen Pfingstner 14 th.
J. Snuverink and J. Pfingstner LinSim LinSim Linear Accelerator Simulation Framework with PLACET an GUINEA-PIG Jochem Snuverink Jürgen Pfingstner 16 th.
Progress in CLIC DFS studies Juergen Pfingstner University of Oslo CLIC Workshop January.
ILC Main Linac Beam Dynamics Review K. Kubo.
Studies of emittance preservation methods and the status of their experimental validation Erik Adli 1, W. Farabolini 2, Reidar Lillestol 1, Jürgen Pfingstner.
Effects of Accelerating Cavities on On-Line Dispersion Free Steering in the Main Linac of CLIC Effects of Accelerating Cavities on On-Line Dispersion Free.
FACET Tests Update A. Latina, J. Pfingstner, D. Schulte,
Beam jitter experiment of exchanging power supplies
Orbit Response Matrix Analysis
Vertical emittance measurement and modeling Correction methods
For Discussion Possible Beam Dynamics Issues in ILC downstream of Damping Ring LCWS2015 K. Kubo.
Wake field limitations in a low gradient main linac of CLIC
Ben Cerio Office of Science, SULI Program 2006
New algorithms for tuning the CLIC beam delivery system
LOCATION AND IDENTIFICATION OF DAMPING PARAMETERS
لجنة الهندسة الكهربائية
ILC Main Linac Alignment Simulations
Towards a ground motion orbit feed-forward at ATF2
Principles of the Global Positioning System Lecture 13
Presentation transcript:

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Jürgen Pfingstner 21 th of October 2010

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Content 1.Introduction 2.System Identification 3.Controller design 4.Simulation results for the allover algorithm 5.Summery and further work

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC 1. Introduction

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC The problem of ground motion Main source of emitt. growth and beam offset is ground motion Mechanism: Ground motion misaligns magnets Therefore beam is kicked from its ideal orbit => emitt. increase. Ground motion PSD (taken from [1]) Two tasks 1.) Beam steering 2.) Beam quality preservation 0.1 nm

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Countermeasures against ground motion

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Performance degradation of the BB-FB due to acceleration gradient variations

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Adaptive feedback strategy 2.) Controller Uses the estimated system model, to optimally mitigate ground motion effects Good feedback needs very good system knowledge Accelerator behavior can change strongly during operation, due to the large phase advance => Adaptive controller (see [2]) 1.) System Identification Establishes and updates on- line a model of the accelerator behavior

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC 2. System Identification

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC What is system identification ? Real-world system R(t) Estimation algorithm y(t)u(t)... Input data … Output data … real-world system (e.g. accelerator) … estimated system Goal: Fit the model system in some sense to the real system, using u(t) and y(t) Ingredients Model assumption Estimation algorithm System excitation Excitation

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC RLS algorithm and derivative [2] can e.g. be formalized as Off-line solution to this Least Square problem by pseudo inverse (Gauss):... Estimated parameter … Input data … Output data LS calculation can be modified for recursive calculation (RLS): is a forgetting factor for time varying systems Derivatives (easier to calculate) - Projection algorithm (PA) - Stochastic approximation (SA) - Least Mean Square (LMS)

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Problems with the basic approach Problem 2: Learning speed To fully identify the R, all columns have to be excited => 1005 linear independent inputs => one full cycle: 0.02s x 1005 = 20.1s For identification some drifts have to be used => time constants in the order of some minutes. Problem 1: Excitation Particles with different energies move differently If beam is excited, these different movements lead to filamentation in the phase space (Landau Damping) This increases the emittance => Excitation cannot be arbitrary

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Interleaved orbit bumps: Just parts of R can be identified Rest has to be interpolated - Algorithm to calculate phase advance from BPM data (see [3]) - Amplitude model (see [4]) Excitation Strategy: Necessary excitation can not be arbitrary, due to emittance increase Strategy: beam is just excited over short distance and caught again. Orbit Bump with min. 3 kickers is necessary System identification principle

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Allover identification algorithm … Input values … BPM measur. … RLS results … local phase … global phase … estim. R

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC … real param. … initially measured param. … estim. Param. Results: Error in the response matrices due to an RF step change … error

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC 3. Feedback design

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Design principles used 1.Decoupling of the inputs and outputs [5] 2.Spatial filtering to reduce the influence of noise 3.Frequency filtering is based on ATL motion assumption. This will be improved in future designs [6]

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Weighted SVD controller

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Reason for the choice of matrix F

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Results: Ground motion mitigation of the control algorithm (sim. in Placet [7])

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Control algorithm with imperfect system knowledge

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC 4. Simulation results for the allover algorithm

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Identification results

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Emittance growth with accelerator change

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Further work Optimization of the control algorithm Robustness analysis of the adaptive controller Experimental verification of the system identification System identification for the BDS !? Summary Adaptive feedback strategy chosen to mitigate ground motion effects Algorithm consists out of a system identification unit and an control algorithm The complete system works and the results are very appealing.

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Further information and references [1]C. Collette, K. Artoos, M. Guinchard and C. Hauviller, Seismic response of linear accelerators, Physical reviews special topics - accelerators and beams. [2]K. J. Åström and B. Wittenmark. Adaptive Control. Dover Publications, Inc., ISBN: [3]J. Pfingstner, et al, An interleaved, model-supported system identification scheme for the particle accelerator CLIC, Proceedings of the CDC10, [4]J. Pfingstner, et al, Amplitude model for beam oscillations in the main linac of CLIC, CERN CLIC-Note, to be published [5] S. Skogestad and I. Postlethwaite, Multivariable Feedback Control: Analysis and Design, Wiley-Interscience, 2005, ISBN: [6] H. Kwakernaak and Raphael Sivan, Linear Optimal Control Systems, Wiley-Interscience, 1972, ISBN: [7]D. Schulte et al, The Tracking code PLACET.

CERN, BE-ABP (Accelerators and Beam Physics group) Jürgen Pfingstner Adaptive control scheme for the main linac of CLIC Thank you for your attention!