1. XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 LLRF-ATCA LOW LEVEL APPLICATIONS Tomasz Czarski, Maciej Linczuk Institute of Electronic Systems, WUT, Warsaw

2. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 2 AGENDA 1. ATCA architecture for low level applications requirements, architecture, communication, scalability 2. ATCA motherboard for low level applications architecture, resources, communication 3. Multiprocessor computation and distribution of algorithms 4. Review of current algorithms 5. Future algorithm development 6. Experimental results

3. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 3 ATCA architecture for low level applications Requirements for LLRF System: ● Total length of the facility: 3.4 km, Accelerator tunnel: 2.1km, Depth underground: 6 - 38 meters ● Wavelength of X-ray radiation: 6 to 0.085 nm ● ~1000 s.c. cavities (1.3 GHz), 30 RF station 30MV/m(10 MW klystron) ● Required field stability : 10-5 in amplitude, 0.01° in phase ● Continuous operation is required: only one maintenance day per month Advantages: Scalable / Flexible (modularity - partially upgradeable, add new, not know during design, functionality) ● Reliable / Redundant (VM, timing, power, etc...) ● Fast and high resolution inputs, > 100 inp. a. ch. / RF St. ● Low latency (fast communication links) ● Support modern control algorithms ● Reliability, operability and maintainability

4. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 4 VME SIMCON-DSP Limits of current architecture: ● Communications:  ● One FPGA chip for cavity contorller and system communications ● Slow VME bus communication ● Limits for number of I/O signals ● No dual CPU VME boards for support

5. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 5 ATCA architecture for low level applications ● Architecture ● Communication ● Scalability

6. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 6 LLRF-ATCA STANDARD ATCA and AMC Boards: ● AMC module 8xADC + FPGA (100MHz) ● AMC Vector Modulator + 2xDAC (800MHz) + memory + FPGA ● AMC Vector Modulator + 1xDAC (1600MHz) + memory ● AMC module Timming receiver (Trigger) + clock synthezer ● AMC Piezo Sensors ● AMC Transient Detections ● AMC module 64 ch. digital IO ● AMC for signal processing (FPGA, DSP) ● AMC module 32 ch. slow analog I/O (1MHz) ● AMC stepper motor controller ● RF Reference receiver and distribution Easy system upgrade -> new AMC boards -> new functionality Communication to AMC boards

7. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 7 LLRF-ATCA Board

8. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 8 LLRF-ATCA Board Communications: GigaBit Ethernet PCI-E DLinks DSP-DSP bus User-Defined Protocols FPGA-FPGA, FPGA-AMC Resources: FPGA 3 x DSP TS201 Easy upgrade via specialized AMC cards !!!

9. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 9 Multiprocessor Computation Multiprocessor computation and distribution of algorithms Cluster of Dual CPU Intel Processors Unit (ADLINK CPU-6890 board) Fast GigaBit Ethernet on backplane Up to 8 Boards

10. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 10 Low Level Applications Procedures and supplementary data processing necessary to execute control algorithms 1.Communication 2.System Identification 3.Control Algorithms 4.Beam Monitoring 5.Tuner Control 6.Exception Detection and Handling

11. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 11 Functional block diagram of LLRF control structure ~1.3 GHz W a v e g u i d e MULTI-CAVITY MODULE Vector Modulator CONTROL & IDENTIFICATION SYSTEM C O N T R O L L E R Multi-channel I/Q Detector Amplifier DAQ memory M u l t i – c h a n n e l Down-Converter ~250 KHz C O N T R O L T A B L E S Vector Sum Couplers Calibration M u l t i – c h a n n e l ADC Field sensors Klystron DAC Master Oscillator and Timing Circulator F P G A SYSTEM RF SYSTEM

12. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 12 Low Level Applications functional arrangement OUTPUT CONTROL ALGORITHMS INPUT Multi Channel ADC F C O N T R O L L E R DAC Control Data MULTI-CAVITY SYSTEM ADC SYSTEM IDENTIFICATION TUNER Control BEAM Monitoring G M E M O R Y Input Data DOOCS M O D E L Output Data P Exception Detection and Handling A C O M M U N I C A T I O N

13. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 13 Functional block diagram of Multi-Cavity Control System ADC CALIBRATOR DAC Error CORRECTOR Feedback Accelerator Cavities System – + + N-channels Vector Sum Control ∑ Feed-Forward Set-Point Control & Identification System FPGA SYSTEM I/Q DETECTOR Gain Coefficients

14. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 14 Algebraic model of multi-cavity control system Calibrator EiEi Internal CAVITY model u k = D k ·x k SP k { v i k+1 = A i k ·v i k + B i ·u k } { A i k = (1-Tω i 1/2 ) + T∆ω i k ·i } – + N - channels FF k Corrector error phasor feedback phasor + Klystron Output {vik}{vik} Controller phasor vkvk ukuk xkxk ∑ {vik}{vik} B = ∑ i (B i )A k ·v k = ∑ i (A i k ·v i k )v k = ∑ i (v i k ) Multi-Cavity model klystron phasor Cavity phasor Multi-Cavity phasor B = B·e iφ F k = B·D k ∆ω k = Σα j ·w j (k)A k = (1-Tω 1/2 ) + T∆ω k ·i ∑ Calibration: E i · C i = 1 v k+1 = A k ·v k + B·u k (= F k ·x k ) GkGk CiCi

15. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 15 Cavity control system Functional block diagram of MATLAB implementation D A T A M A T R I X DOOCS Cavity gradient [ 1:8 ] Calibration factors CTRL [I Q] Estimation KLY [I Q] Detection Estimation ukuk vkvk xkxk CAV [1:8] [I Q] D etection Calibration Estimation Vector Sum Base functions Matrix W input factor F k = B · D k coupling factor B = B · e iφ dynamic factor A k = (1-Tω 1/2 )+T∆ω k · i P A R A M E T E R SE S T I M A T I O N Klystron u k = D k · x k Controller x k+1 = FF k + G k · (SP k – v k ) Cavity v k+1 = A k · v k + F k · x k MODEL Gain: G k Setting-Point: SP k Feed-forward: FF k CONTROL TABLES

16. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 16 The functional block diagram of the FPGA controller structure with channel numbers of data flow [5:6] SEL 2 [1:42] [1:32] SELECTOR 1-10 SIMULATOR [9:10] Error CORRECTOR Feedback + FEED- FORWARD SET-POINT I/Q DETECTOR GAIN [7:8] COEFFICIENTS MUX 8 channels Vector Sum DAQ (11:20) [3:4] Σ [33:42] ADC DAQ (01:10) [11:12] – + I – [13:20] CALIBRATOR Q – [21:28] Controller out I Q M e m o r y DAC 10 channels ~250 KHz [1:2] [33:40]

17. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 17 Adaptive Control Algorithm based on System Identification CAVITY SYSTEM CONTROLLER CONTROL DATA determination PARAMETERS identification MATLAB SYSTEM CONTROL TABLES FPGA SYSTEM DAQ MEMORY DATA MATRIX IDENTIFICATION CAVITY SYSTEM CONTROL v k+1 = A k ·v k + F k ·x k CONTROLLER model Controller phasor Cavity phasor x k+1 = FF k + G k ·(SP k – v k ) MULTI - CAVITY model v k+1 = A k ·v k - F k ·G k-1 ·v k-1 + F k ·(FF k-1 + G k-1 ·SP k-1 )

18. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 18 Single cavity control (ACC1 – cavity 4) Adaptive Feed Forward (gain = 0)

19. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 19 Single cavity control (ACC1) Adaptive Feed Forward (gain = 0)

20. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 20 Vector sum control of 8 cavities – ACC1 Adaptive Feed Forward (gain=0)

21. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 21 Vector sum control of MTS module Adaptive Feed Forward (gain=0)

22. Tomasz Czarski, Maciej Linczuk, Institute of Electronic Systems, WUT, Warsaw LLRF ATCA Meeting, 4-5.12.2007 XFEL The European X-Ray Laser Project X-Ray Free-Electron Laser 22 Thank you for your attention