ICALEPCS2023 - List of Authors (Furtado, J.P.S.)

Paper	Title	Page
MO2AO07	Dynamical Modelling Validation and Control Development for the New High-Dynamic Double-Crystal Monochromator (HD-DCM-Lite) for Sirius/LNLS	100
	T.R. Silva Soares, J.P.S. Furtado, R.R. Geraldes, M. Saveri Silva, G.S. de Albuquerque LNLS, Campinas, Brazil
	Two new High-Dynamic Double-Crystal Monochromators (HD-DCM-Lite) are under installation in Sirius/LNLS for the new beamlines QUATI (quick-EXAFS) and SAPUCAIA (SAXS), which requires high in-position stability (5 nrad RMS in terms of pitch) whereas QUATI’s DCM demands the ability to perform quick sinusoidal scans in frequencies, for example 15 Hz at 4 mrad peak-to-peak amplitude. Therefore, this equipment aims to figure as an unparalleled bridge between slow step-scan DCMs, and channel-cut quick-EXAFS monochromators. In the previous conference, the dynamical modelling of HD-DCM-Lite was presented, indicating the expected performance to achieve QUATI and SAPUCAIA requirements. In this work, we are going to present the offline validation of the dynamical modelling, comparing to the solutions achieved for the previous version of LNLS HD-DCMs. This work also presents the hardware-based control architecture development, discussing the loop shaping technique and upgrades in the system, such as the increase of the position resolution, synchronization of the rotary stages, and FPGA code optimization. Furthermore, we describe how the motion controller was developed, given the high-performance motion control, such as complex control algorithm in parallel with a minimal jitter and the expectations for the beamlines commissioning regarding detector and undulator synchronization.
	Slides MO2AO07 [2.432 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-MO2AO07
About •	Received ※ 06 October 2023 — Revised ※ 07 October 2023 — Accepted ※ 12 December 2023 — Issued ※ 19 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUMBCMO34	Motion Control Architecture and Kinematics for Multi-DoF Kirkpatrick-Baez Focusing Mirrors System at LNLS-Sirius	443
	J.P.S. Furtado, C.S.N.C. Bueno, J.V.E. Matoso, M.A. Montevechi Filho, G.B.Z.L. Moreno, T.R. Silva Soares LNLS, Campinas, Brazil
	Funding: Ministry of Science, Technology and Innovation (MCTI) In modern 4th generation synchrotron facilities, piezo actuators are widely applied due to their nanometric precision in linear motion and stability. This work shows the implementation of a switching control architecture and a tripod kinematics for a set of 4 piezo actuators, responsible by positioning the short-stroke: the vertical and horizontal focusing mirrors of the Kirkpatrick-Baez mirror system at MOGNO Beamline (X-Ray Microtomography). The switching control architecture was chosen to balance timing to move through the working range (changing the beam incidence on stripes of low/high energy), resolution and infrastructure costs. This paper also shows the implementation and results of the developed kinematics by layers that uncouples short-stroke from long-stroke to fix any parasitic displacements that occur on the granite bench levelers due to slippage during the movement and to match the required beam stability without losing alignment flexibility or adjustment repeatability. The architecture was built between a PIMikroMove set of driver-actuators and an Omron Delta Tau Power Brick controller due to its standardization across the control systems solutions at Sirius, ease of control software scalability and its capability to perform calculations and signal switching for control in C language, with real-time performance to make adjustments to the angles responsible by focusing the beam in a speed that matches the required position stability, guaranteeing the necessary resolution for the experiments.
	Slides TUMBCMO34 [1.753 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUMBCMO34
About •	Received ※ 06 October 2023 — Revised ※ 12 October 2023 — Accepted ※ 28 November 2023 — Issued ※ 08 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPDP004	System Identification via ARX Model and Control Design for a Granite Bench at Sirius/LNLS	479
	J.P.S. Furtado, I.E. Santos, T.R. Silva Soares LNLS, Campinas, Brazil
	Modern 4th generation synchrotron facilities demand mechanical systems and hardware capable of fine position control, improving the performance of experiments at the beamlines. In this context, granite benches are widely used to position systems such as optical elements and magnetos, due to its capacity of insulating interferences from the ground. This work aims to identify the transfer function that describes the motion of the granite bench at the EMA Beamline (Extreme conditions Methods of Analysis) and then design the control gains to reach an acceptable motion performance in the simulation environment before embedding the configuration into the real system, followed by the validation at the beamline. This improvement avoids undesired behaviour in the hardware or in the mechanism when designing the controller. The bench, weighting 1.2 tons, is responsible by carrying a coil, weighting 1.8 tons, which objective is to apply a 3 T magnetic field to the sample that receives the beam provided by the electrons accelerator. The system identification method applied in this paper is based on the auto-regressive model with exogenous inputs (ARX). The standard servo control loop of the Omron Delta Tau Power Brick controller and the identified plant were simulated in Simulink in order find the control parameters. This paper shows the results and comparison of the simulations and the final validation of the hardware performance over the real system.
	Poster TUPDP004 [0.720 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUPDP004
About •	Received ※ 06 October 2023 — Accepted ※ 28 November 2023 — Issued ※ 17 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPDP005	Improvements on Kinematics and Control of Granite Benches at LNLS-Sirius	485
	J.V.E. Matoso, J.P.S. Furtado, J.P.B. Ishida, T.R. Silva Soares LNLS, Campinas, Brazil
	At the Brazilian Synchrotron Light Laboratory, the radiation beam is conditioned by optical elements that must be positioned with high stability and precision. Many of the optical elements are positioned using granite benches that provide high coupling stiffness to the ground and position control in up to six degrees of freedom, using a set of stepper motors. The solution of the inverse kinematics was done numerically by the Newton Raphson method. By employing the property that these systems have small rotation angles, the Jacobian matrix used in this numerical method can be simplified to reduce computational execution time and allow high processing rates. This paper also shows the results of adding a notch filter to the position servo control loop of the granite benches to increase stability due to their mass-spring-damper characteristics. The kinematics and control of the granite benches are implemented in an Omron Power Brick LV controller, with the kinematics developed in MATLAB and the C-code generated by MATLAB C-Coder. Reducing the execution time of the kinematics improves the efficient use of the computational resources and allows the real-time clock rate to be increased.
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUPDP005
About •	Received ※ 05 October 2023 — Revised ※ 10 October 2023 — Accepted ※ 29 November 2023 — Issued ※ 04 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPDP006	System Identification Embedded in a Hardware-Based Control System with CompactRIO	489
	T.R. Silva Soares, J.L. Brito Neto, J.P.S. Furtado, R.R. Geraldes LNLS, Campinas, Brazil
	The development of innovative model-based design high bandwidth mechatronic systems with stringent performance specifications has become ubiquitous at LNLS-Sirius beamlines. To achieve such unprecedent specifications, closed loop control architecture must be implemented in a fast, flexible and reliable platform such as NI CompactRIO (cRIO) controller that combines FPGA and real-time capabilities. The design phase and life-cycle management of such mechatronics systems heavily depends on high quality experimental data either to enable rapid prototyping, or even to implement continuous improvement process during operation. This work aims to present and compare different techniques to stimulus signal generation approaching Schroeder phasing and Tukey windowing for better crest factor, signal-to-noise ratio, minimum mechatronic stress, and plant identification. Also show the LabVIEW implementation to enable embeddeding this framework that requires specific signal synchronization and processing on the main application containing a hardware-based control architecture, increasing system diagnostic and maintenance ability. Finally, experimental results from the High-Dynamic Double-Crystal Monochromator (HD-DCM-Lite) of QUATI (quick absorption spectroscopy) and SAPUCAIA (small-angle scattering) beamlines and from the High-Dynamic Cryogenic Sample Stage from SAPOTI (multi-analytical X-ray technique) of CARNAÚBA beamline are also presented in this paper.
	Poster TUPDP006 [0.766 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUPDP006
About •	Received ※ 06 October 2023 — Revised ※ 08 October 2023 — Accepted ※ 09 December 2023 — Issued ※ 13 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

Paper

Title

Page

Dynamical Modelling Validation and Control Development for the New High-Dynamic Double-Crystal Monochromator (HD-DCM-Lite) for Sirius/LNLS

100

T.R. Silva Soares, J.P.S. Furtado, R.R. Geraldes, M. Saveri Silva, G.S. de Albuquerque
LNLS, Campinas, Brazil

Two new High-Dynamic Double-Crystal Monochromators (HD-DCM-Lite) are under installation in Sirius/LNLS for the new beamlines QUATI (quick-EXAFS) and SAPUCAIA (SAXS), which requires high in-position stability (5 nrad RMS in terms of pitch) whereas QUATI’s DCM demands the ability to perform quick sinusoidal scans in frequencies, for example 15 Hz at 4 mrad peak-to-peak amplitude. Therefore, this equipment aims to figure as an unparalleled bridge between slow step-scan DCMs, and channel-cut quick-EXAFS monochromators. In the previous conference, the dynamical modelling of HD-DCM-Lite was presented, indicating the expected performance to achieve QUATI and SAPUCAIA requirements. In this work, we are going to present the offline validation of the dynamical modelling, comparing to the solutions achieved for the previous version of LNLS HD-DCMs. This work also presents the hardware-based control architecture development, discussing the loop shaping technique and upgrades in the system, such as the increase of the position resolution, synchronization of the rotary stages, and FPGA code optimization. Furthermore, we describe how the motion controller was developed, given the high-performance motion control, such as complex control algorithm in parallel with a minimal jitter and the expectations for the beamlines commissioning regarding detector and undulator synchronization.

Slides MO2AO07 [2.432 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-MO2AO07

About •

Received ※ 06 October 2023 — Revised ※ 07 October 2023 — Accepted ※ 12 December 2023 — Issued ※ 19 December 2023

Cite •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUMBCMO34

Motion Control Architecture and Kinematics for Multi-DoF Kirkpatrick-Baez Focusing Mirrors System at LNLS-Sirius

443

J.P.S. Furtado, C.S.N.C. Bueno, J.V.E. Matoso, M.A. Montevechi Filho, G.B.Z.L. Moreno, T.R. Silva Soares
LNLS, Campinas, Brazil

Funding: Ministry of Science, Technology and Innovation (MCTI)
In modern 4th generation synchrotron facilities, piezo actuators are widely applied due to their nanometric precision in linear motion and stability. This work shows the implementation of a switching control architecture and a tripod kinematics for a set of 4 piezo actuators, responsible by positioning the short-stroke: the vertical and horizontal focusing mirrors of the Kirkpatrick-Baez mirror system at MOGNO Beamline (X-Ray Microtomography). The switching control architecture was chosen to balance timing to move through the working range (changing the beam incidence on stripes of low/high energy), resolution and infrastructure costs. This paper also shows the implementation and results of the developed kinematics by layers that uncouples short-stroke from long-stroke to fix any parasitic displacements that occur on the granite bench levelers due to slippage during the movement and to match the required beam stability without losing alignment flexibility or adjustment repeatability. The architecture was built between a PIMikroMove set of driver-actuators and an Omron Delta Tau Power Brick controller due to its standardization across the control systems solutions at Sirius, ease of control software scalability and its capability to perform calculations and signal switching for control in C language, with real-time performance to make adjustments to the angles responsible by focusing the beam in a speed that matches the required position stability, guaranteeing the necessary resolution for the experiments.

Slides TUMBCMO34 [1.753 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUMBCMO34

About •

Received ※ 06 October 2023 — Revised ※ 12 October 2023 — Accepted ※ 28 November 2023 — Issued ※ 08 December 2023

Cite •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPDP004

System Identification via ARX Model and Control Design for a Granite Bench at Sirius/LNLS

479

J.P.S. Furtado, I.E. Santos, T.R. Silva Soares
LNLS, Campinas, Brazil

Modern 4th generation synchrotron facilities demand mechanical systems and hardware capable of fine position control, improving the performance of experiments at the beamlines. In this context, granite benches are widely used to position systems such as optical elements and magnetos, due to its capacity of insulating interferences from the ground. This work aims to identify the transfer function that describes the motion of the granite bench at the EMA Beamline (Extreme conditions Methods of Analysis) and then design the control gains to reach an acceptable motion performance in the simulation environment before embedding the configuration into the real system, followed by the validation at the beamline. This improvement avoids undesired behaviour in the hardware or in the mechanism when designing the controller. The bench, weighting 1.2 tons, is responsible by carrying a coil, weighting 1.8 tons, which objective is to apply a 3 T magnetic field to the sample that receives the beam provided by the electrons accelerator. The system identification method applied in this paper is based on the auto-regressive model with exogenous inputs (ARX). The standard servo control loop of the Omron Delta Tau Power Brick controller and the identified plant were simulated in Simulink in order find the control parameters. This paper shows the results and comparison of the simulations and the final validation of the hardware performance over the real system.

Poster TUPDP004 [0.720 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUPDP004

About •

Received ※ 06 October 2023 — Accepted ※ 28 November 2023 — Issued ※ 17 December 2023

Cite •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPDP005

Improvements on Kinematics and Control of Granite Benches at LNLS-Sirius

485

J.V.E. Matoso, J.P.S. Furtado, J.P.B. Ishida, T.R. Silva Soares
LNLS, Campinas, Brazil

At the Brazilian Synchrotron Light Laboratory, the radiation beam is conditioned by optical elements that must be positioned with high stability and precision. Many of the optical elements are positioned using granite benches that provide high coupling stiffness to the ground and position control in up to six degrees of freedom, using a set of stepper motors. The solution of the inverse kinematics was done numerically by the Newton Raphson method. By employing the property that these systems have small rotation angles, the Jacobian matrix used in this numerical method can be simplified to reduce computational execution time and allow high processing rates. This paper also shows the results of adding a notch filter to the position servo control loop of the granite benches to increase stability due to their mass-spring-damper characteristics. The kinematics and control of the granite benches are implemented in an Omron Power Brick LV controller, with the kinematics developed in MATLAB and the C-code generated by MATLAB C-Coder. Reducing the execution time of the kinematics improves the efficient use of the computational resources and allows the real-time clock rate to be increased.

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUPDP005

About •

Received ※ 05 October 2023 — Revised ※ 10 October 2023 — Accepted ※ 29 November 2023 — Issued ※ 04 December 2023

Cite •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPDP006

System Identification Embedded in a Hardware-Based Control System with CompactRIO

489

T.R. Silva Soares, J.L. Brito Neto, J.P.S. Furtado, R.R. Geraldes
LNLS, Campinas, Brazil

The development of innovative model-based design high bandwidth mechatronic systems with stringent performance specifications has become ubiquitous at LNLS-Sirius beamlines. To achieve such unprecedent specifications, closed loop control architecture must be implemented in a fast, flexible and reliable platform such as NI CompactRIO (cRIO) controller that combines FPGA and real-time capabilities. The design phase and life-cycle management of such mechatronics systems heavily depends on high quality experimental data either to enable rapid prototyping, or even to implement continuous improvement process during operation. This work aims to present and compare different techniques to stimulus signal generation approaching Schroeder phasing and Tukey windowing for better crest factor, signal-to-noise ratio, minimum mechatronic stress, and plant identification. Also show the LabVIEW implementation to enable embeddeding this framework that requires specific signal synchronization and processing on the main application containing a hardware-based control architecture, increasing system diagnostic and maintenance ability. Finally, experimental results from the High-Dynamic Double-Crystal Monochromator (HD-DCM-Lite) of QUATI (quick absorption spectroscopy) and SAPUCAIA (small-angle scattering) beamlines and from the High-Dynamic Cryogenic Sample Stage from SAPOTI (multi-analytical X-ray technique) of CARNAÚBA beamline are also presented in this paper.

Poster TUPDP006 [0.766 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUPDP006

About •

Received ※ 06 October 2023 — Revised ※ 08 October 2023 — Accepted ※ 09 December 2023 — Issued ※ 13 December 2023

Cite •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)