Development of undulator motion control system with redundant protections

Abstract

The undulator is a key luminous component of the Shanghai high repetition rate x-ray free electron laser and extreme light facility, and the motion control system is an important part of the undulator. The main task of the motion control system is to complete the high precision adjustment of the gap and taper between the upper magnetic pole girder and lower magnetic pole girder, so as to adjust the wavelength of the radiation light. According to the development requirements of the motion control system for the U26 undulator, which is a conventional permanent magnet, this paper proposes a new motion control system with double position feedback closed-loop control, including programmable logic controller (PLC) closed-loop control based on position feedback by a linear absolute encoder (LAE) and driver closed-loop control based on position feedback by a rotary absolute encoder (RAE) of a servo motor. Multiple motion tests of the U26 undulator have shown that the repeatability accuracy of the gap is ±50 nm and the gap drive can reach 0.1 µm step size, the error of which is about ±20 nm according to the feedback of the LAE. The conclusion can be drawn that the motion step size and repeatability accuracy of the motion control system for the U26 undulator are improved by one order of magnitude on the basis of meeting all technical requirements. At the same time, motor torque protection, motor temperature protection, and redundant position protection with RAE can further improve the reliability and safety of the motion control system for the U26 undulator.