status report of type-a sas - 東京大学 · 2016-08-25 · status report of type-a sas! koki...
TRANSCRIPT
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Status Report of Type-A SAS!
Koki OKUTOMI Sokendai D2, NAOJ
KAGRA VIS Subgroup
KAGRA F2F Meeting @ University of Toyama
Aug. 25, 2016 1"
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Type-A Team!
Members: • TAKAHASHI, Ryutaro (Leader) • ISHIZAKI, Hideharu • SATO, Naohisa • OKUTOMI, Koki
Team Meeting: 13:00- on every Tuesday
2"
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Contents!
• About Type-A SAS
• Mode analysis and control strategy
• Installation"
3"
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Type-A SAS!
• Largest SAS for test masses • Cryopayload at the bottom • Suspended from 2nd floor "
4"
Cryogenic
ETMY"
ITMY"
ETMX"ITMX"
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Requirements for Type-A!Value Unit Required from
PSD"Longitudinal" 1 x 10-19" m/Hz1/2 @ 10 Hz" Sensitivity
Vertical" 1 x 10-17" m/Hz1/2 @ 10 Hz" Sensitivity
RMS"
Pitch, Yaw" 0.01" urad"
Velocity" 0.1" um/sec" Lock acquisition
Angular velocity" 0.01" rad/sec" Alignment (w/ WFS)"
Long term drift"
Longitudinal" ???" m/hour" Actuator range"
Pitch, Yaw" 0.4" urad/hour"
Damping time (for all modes)" 60" sec Set typically?"5"
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Performance in Design !
T. Sekiguchi Ph.D. Thesis, p.72: JGW-P1504155-v15"
6"
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Components of Type-A!
• Top stage (F0) • Magnetic damper (MD) • Standard filter (SF) x3
• Bottom filter (BF)
• Platform (PF) • Marionette (Mar)
• Intermediate mass (IM) • Test mass (TM)
7"
Cryogenic
SF1
SF2
SF3
BF
F0
MD
Pre- isolator"
PF Mar
IM TM Ø CRY subgroup’s talk (Aug. 26)"
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Sensors, Actuators and Motors!• Top stage (F0)
‒ LVDT (L, T, Y) ‒ Accelerometer (L, T, Y)
‒ Stepper motor (L, T, Y) ‒ Picomotor (Y) ‒ Fishing rod (V)
• GAS filter (F0, SF1-3, BF) ‒ LVDT (V) ‒ Fishing rod (V)
8"
Cryogenic
SF1
SF2
SF3
BF
F0
MD
Pre- isolator"
PF Mar
IM TM
Vertical"
Transverse"Longitudinal"Roll"
Pitch"
Yaw"
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Earthquake Stop ‒ Security Frame!
9"
SF1
SF2
SF3
BF
F0
MD
• Structure for safety
• Fixed to the wall of vacuum chambers
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Mode Analysis & Control Strategy!
10"
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Mode Analysis!
• To make damping control strategy of the modes in room temperature parts of Type-A
• Calculation based on ‒ SUMCON ‒ MATLAB"
11"
• Cylinder • SUS: 7.8 g/cm3
Φ = 500 mm
h = 130 mm
Dummy Mass
Room Tem
perature
200 kg
SF1
SF2
SF3
BF
F0 MD
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What Is Concerned?!
SAT team in Adv. Virgo suggested that...
• Lowest-frequency modes come from whole chain of the suspension is difficult to be damped with top-stage controls in Virgo Superattenuator
• Same problem could rise in KAGRA, especially Type-A which has as long suspended chain as the Superattenuator
• If so, we should implement another controllers at some lower stages
• We need to make a damping strategy"12"
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Lowest Eigenmodes in Type-A!#1: 0.02 Hz Yaw whole chain 0th #2: 0.054 Hz Yaw whole chain 1st #3: 0.067 Hz
IP horizontal #4: 0.067 Hz
IP horizontal #5: 0.082 Hz Yaw whole chain 2nd #6: 0.101 Hz Yaw whole chain 3rd
13"
#1 #2 #3 #4 #5 #6
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Open-loop Transfer Function (LF0)!
14"
MATLAB
IP horizontal 0.067 Hz"
1st pendulum 0.454 Hz"
0th pendulum 0.207 Hz"
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Open-loop Transfer Function (YF0)!
15"
MATLAB
F0-MD 0.150 Hz"
Yaw whole chain modes cannot be seen at the top stage"
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Damping Strategy!
Translational modes • It seems that the lower frequency modes could be damped only
with F0 control
Yaw modes • The lowest resonance in yaw (whole chain 0th) is difficult to be
damped with F0 control
Ø Add controls on the Bottom Filter (BF) and check possibility to damp the lowest modes"
16"
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17"
200 kg
SF1
SF2
SF3
BF
F0
DM
F0 LVDT
MD
F0 LVDT
GAS
Servo"
GAS
Sensor Actuator
Servo
BF LVDT BF LVDT
Simulink
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Open-loop Transfer Function (YBF)!
18"
MATLAB
Whole chain 0th 0.018 Hz"
Whole chain 2nd 0.088 Hz"
Whole chain 3nd 0.120 Hz"
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Damping Time (F0 + BF Control)!
19"
MATLAB
Requirement"
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Section Summary: Mode Analysis !Translational modes • F0 control is capable enough to damp the translational modes
Yaw modes • The lowest whole-chain mode can be damped with BF control
F0 + BF control • Every modes can be quickly damped with this control
Next step • Estimation of required sensor/actuator’s performance • Analysis of the suspension model including CRYp
20"
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BF LVDT!
• Under design work, based on Adv. Virgo F7 LVDT
• Tested with our driver circuit
21"
Fig. by S. Sakon"
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Configuration of BF LVDT!
22"Vertical x3" Horizontal x3"
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Installation!
23"
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Installation Schedule!
After installations of Type-A room-temperature parts, Cryopayloads are integrated "
24"
2016" 2017"
4" 5" 6" 7" 8" 9" 10" 11" 12" 1" 2" 3" 4" 5" 6" 7" 8" 9"
Test & Design-fix"
Procurement"Preparation"
ETMY Installation"
ETMX Installation"
Margin"
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Dummy Payload!
25"
• Alternative load, instead of the CRYp
• Used during the installation work
"
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Installation Plan!
26"
"
Frame lock"
EQ-stop"
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Installation Plan!
27"
"
Frame lock"
EQ-stop"
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Installation Plan!
28"
"
Frame lock"
Max: 2.4 m
"
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Installation Plan!
29"
"
Frame lock"
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Installation Plan!
30"
"
Frame lock"
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Installation Plan!
31"
"
Frame lock"
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Problems in Installation!
• We have to install stages one by one
• Optimal load adjustment required in each stage Ø All masses below the stage
have to be released • Parts in the vertical corrugated
tube are not accessible Ø We have to know the stages
sitting?/freely-suspended?"
32"
Not accessible"
Cross-tube flange"
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Release Sensor!
• To confirm the stages are released from EQ-stops and freely-suspended
• 3 units / stage • LED indications during
the installation work • Filters sit on these sensors
when we lower by one stage
* Filters not locked either horizontal nor vertical direction"
33"
Touch sensor (ON/OFF)"
JGW-D1605452"
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Points to Be Considered!
• Footholds • Perpendicularity of EQ-stop rods • Required accuracy of assembling
• Position adjustment of magnetic damper • Uninstallation procedure for emergency • Longest maraging wire keeping
• Vacuum leakage test
34"
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Summary !
35"
About Type-A SAS • In bKAGRA operation by the end of 2018, 2 Type-A SAS will be
installed
Mode analysis and control strategy • We need BF controls to damp lowest yaw modes • BF LVDT design and test is ongoing • Next step => Analysis of suspension models including CRYp
Installation • Installation procedure is under updating
• Unaccessibility of the vertical corrugated tube makes the installation work more challenging
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Backup Slides!
36"
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Closed-loop Gain (LF0 act.)!
37"
MATLAB
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Closed-loop Gain (YF0 act.)!
38"
MATLAB
Whole chain 1st 0.054 Hz"
BF LVDT is blind to this mode!!"
Node"
"
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Closed-loop Gain (YBF act.)!
39"
MATLAB