Génération de trajectoires à la demande pour le contrôleur du Beam Wire-Scanner du CERN

CERN uses scanners in its particle accelerators to measure the position of particle beams. These scanners, called Beam Wire-Scanner, consist of a motor to which a very fine wire is attached. While moving rapidly through the beam, this wire interacts with it, producing secondary particles which are detected by a scintillator. The transverse size and the position of the beam are then determined. As the wire is fragile, movements must be gentle to avoid breaking it. Various beam interaction speeds and travel distances are used for the measurements. Different systems are also used, changing the parameters related to the required motor electrical current. The S-Curve trajectories followed by the motors are generated in advance in lookup tables which are then compiled with the project. This process requires a lot of programmable logic resources, limiting the number of trajectories and systems that can be controlled by a single binary. The project must also be compiled and deployed for each change in a trajectory. This project responds to this problem by proposing a solution to allow calculating trajectories directly on the motor controller. This solution offers the possibility of setting trajectories on the fly and without limitation with a single binary, thus simplifying the maintenance and use. To achieve this, the generation algorithm was optimized and implemented using the VHDL hardware description language. An automatic test bench was also developed to validate the description. Additional checks have been added when calculating trajectories to ensure that physical limits are not exceeded which could damage the system. The final result is functional and can be integrated into the overall project of these scanners.