1. Hard or Soft ? C. Collette, K. Artoos, S. Janssens, P. Fernandez-Carmona, A. Kuzmin, M. Guinchard, A. Slaathaug, C. Hauviller The research leading to these results has received funding from the European Commission under the FP7 Research Infrastructures project EuCARD IWLC2010 International Workshop on Linear Colliders 2010

2. Hard or Soft …active isolators to stabilize the main beam quadrupoles of the CLIC ? C. Collette, K. Artoos, S. Janssens, P. Fernandez-Carmona, A. Kuzmin, M. Guinchard, A. Slaathaug, C. Hauviller The research leading to these results has received funding from the European Commission under the FP7 Research Infrastructures project EuCARD IWLC2010 International Workshop on Linear Colliders 2010

3. Ground motion in the LHC tunnel  Isolators need to reduce the transmission of the ground vibrations by roughly a factor 5 between 1Hz and 20 Hz 3 C. Collette, IWLC10, Geneva, 21 October 2010

4. Outline C. Collette, IWLC10, Geneva, 21 October 2010 4  Passive vibration isolation  Active vibration isolation  Soft active support vs stiff active support  CLIC quadrupole stabilization

5. Passive isolation Trade off between magnification at resonance and isolation Isolation C. Collette, IWLC10, Geneva, 21 October 2010 5

6. 6 Relaxation isolator Optimal parameters Relaxation

7. Soft support : (i) Improves the isolation (ii) Make the payload more sensitive to external forces Fa Effect of the support stiffness 7 C. Collette, IWLC10, Geneva, 21 October 2010

8. Dynamic vibration absorber C. Collette, IWLC10, Geneva, 21 October 2010 8 Spurious peaks Difficult to make an efficient compact design  Either damping, or isolation for narrow band excitation 1909: US 970,368

9. Anti-resonant isolators C. Collette, IWLC10, Geneva, 21 October 2010 9 Isolation from narrow band excitation, e.g. rotor 1934: US 1,973,510

10. Feedback control principle Add virtual mass (e.g. space applications)

11. Feedback control principle Sky-hook damper (D.C. Karnopp, 1969)

12. Feedback control principle Position feedback would be great !  How to measure it ?

13. C. Collette, IWLC10, Geneva, 21 October 2010 13 Inertial reference on payload 2009: Lithography WO 084,966 A1 1957: Seismometer US 2,776,560

14. C. Collette, IWLC10, Geneva, 21 October 2010 14 Inertial reference on ground 2007: US 2007/003,5074 A1

15. C. Collette, IWLC10, Geneva, 21 October 2010 15 Two stages 1994: Proc. SPIE vol. 2264

16. Passive vs Active vibration isolation Only active isolation can provide both: - Isolation in a broad frequency range between 1Hz and 20 Hz - Dynamic stiffness for robustness to disturbances and compatibility with alignment Conditions: - Measure the vibrations - Process the signal in real time - Apply small dynamic forces 16 C. Collette, IWLC10, Geneva, 21 October 2010

17. Comparison Very Soft (1 Hz) Stiff (200 Hz) Pneumatic actuator Hydraulic actuator + Broadband isolation - Stiffness too low - Noisy Electromagnetic in parallel with a spring Piezo actuator in series with soft element (rubber) COMPARISON + Passive isolation at high freq. + Stable - Low dynamic stiffness - Low compatibility with alignment and AE Soft (20 Hz) Piezoelectric actuator in series with stiff element (flexible joint) + Extremely robust to forces + Fully compatible with AE + Comply with requirements - Noise transmission - Strong coupling 17 C. Collette, IWLC10, Geneva, 21 October 2010

18. Error budgeting No significant difference in the noise transmission 18 C. Collette, IWLC10, Geneva, 21 October 2010 Noise reduction

19. Strong coupling 19 C. Collette, IWLC10, Geneva, 21 October 2010 StabilityPerformances Objective

20. Stability of slender quadrupoles Frobenius norm: Vertical transmissibilities C. Collette et al, Nucl. Instr. meth. in phys. Res. A, vol.621 (1-3) pp.71-78 (2010). 20 C. Collette, IWLC10, Geneva, 21 October 2010

21. Conclusions and future work C. Collette, IWLC10, Geneva, 21 October 2010 21  Active control can improve the isolation at low frequency without enhanced sensitivity to disturbances.  Main concepts presented on one d.o.f. systems.  Stiff and soft active supports provide similar stabilization at low frequency.  Stiff active supports successfully applied for the stabilization CLIC quadrupoles.  Performances will be improved with a more adapted sensor (under development).