Vibration isolation system
Apparatus and methods to reduce unwanted motion in a payload of a precision instrument are described. The payload may be supported by an intermediate mass. A feedback signal based upon sensed motion of the intermediate mass may be applied to an intermediate-mass actuator arranged to drive the intermediate mass. Additionally, a feedforward signal may be applied to a payload actuator arranged to drive the payload and used to suppress unwanted motion of the payload. The feedforward signal may be derived from a source within the apparatus or external to the apparatus that would otherwise cause unwanted motion of the payload.
1. A vibration isolation system for suppressing unwanted motion of a payload, the vibration isolation system comprising:
an intermediate mass;
a first intermediate-mass actuator coupled to the intermediate mass;
a first feedback circuit coupled to the first intermediate-mass actuator;
a first payload actuator arranged to couple to the payload or a payload support and provide negligible static support for the mass of the payload, wherein the first payload actuator is adapted to drive the payload or the payload support to reduce or cancel at least unwanted oscillating motion in response to a signal from a first feedforward circuit; and
the first feedforward circuit coupled to the first payload actuator.
2. The vibration isolation system of claim 1 , wherein the first feedback circuit is arranged to suppress unwanted motion of the intermediate mass and the first feedforward circuit is arranged to receive a signal originating from the payload.
3. The vibration isolation system of claim 1 , further comprising:
one or more first springs connected to the intermediate mass; and
one or more second springs having spring constants different from spring constants of the first springs and being connected to the intermediate mass.
4. The vibration isolation system of claim 3 , wherein the one or more first springs are configured to support approximately all the weight of the intermediate mass and the payload.
5. The vibration isolation system of claim 3 , wherein the first intermediate-mass actuator comprises a voice coil driver or electromagnetic driver.
6. The vibration isolation system of claim 3 , wherein a first spring constant for the one or more first springs is at least one order of magnitude greater than a second spring constant for the one or more second springs, and wherein the one or more second springs provide a soft mechanical coupling between the payload and the intermediate mass that decouples the first feedback circuit from the first feedforward circuit.
7. The vibration isolation system of claim 3 , arranged to support at least a portion of an optical stepper or lithography tool.
8. The vibration isolation system of claim 3 , arranged to support at least a portion of a microscope or precision medical instrument.
9. The vibration isolation system of claim 1 , wherein the intermediate mass, first intermediate-mass actuator, and first payload actuator are assembled within a housing.
10. The vibration isolation system of claim 9 , further comprising:
a support structure;
a base of the housing;
one or more first springs connected between the intermediate mass and the base; and
one or more second springs connected between the support structure and the intermediate mass, wherein the first intermediate-mass actuator and the first payload actuator connect to the base.
11. The vibration isolation system of claim 1 , wherein the intermediate mass weighs between 10 pounds and 500 pounds.
12. The vibration isolation system of claim 1 , further comprising:
a second intermediate-mass actuator coupled to the intermediate mass in a direction orthogonal to the first intermediate-mass actuator; and
a second feedback circuit coupled to the second intermediate-mass actuator.
13. The vibration isolation system of claim 1 , further comprising:
a second payload actuator arranged to couple to the payload in a direction orthogonal to the first payload actuator; and
a second feedforward circuit coupled to the second payload actuator.
14. The vibration isolation system of claim 1 , wherein the first feedback circuit has a first operating bandwidth in which a loop gain is greater than 1 and the first feedforward circuit has a second operating bandwidth for which unwanted motion of the payload is attenuated by the first feedforward circuit, and wherein the first operating bandwidth and second operating bandwidth overlap in frequency.
15. A method of suppressing unwanted motion of a payload, the method comprising:
operating a first feedback circuit to suppress unwanted motion in a first direction of an intermediate mass that is coupled to the payload, wherein the first feedback circuit drives an intermediate-mass actuator that acts upon the intermediate mass; and
operating a first feedforward circuit to suppress unwanted motion in the first direction of the payload, wherein the first feedforward circuit drives a payload actuator that acts upon the payload or a payload support to reduce or cancel at least unwanted oscillating motion of the payload or payload support, wherein the payload actuator provides negligible static support for the mass of the payload.
16. The method of claim 15 , wherein an input signal for the first feedforward circuit comprises a drive signal from a controller that controls an apparatus mounted on or within the payload.
17. The method of claim 15 , further comprising supporting approximately all the weight of the payload and intermediate mass with one or more first springs connected between the intermediate mass and a base.
18. The method of claim 17 , further comprising supporting the payload above the intermediate mass with one or more second springs connected between the payload and the intermediate mass, wherein a spring constant of the one or more second springs is at least an order of magnitude less than a spring constant of the one or more first springs.
19. The method of claim 15 , wherein operating the first feedback circuit comprises:
sensing motion of the intermediate mass; and
driving the intermediate-mass actuator that is coupled to the intermediate mass.
20. The method of claim 19 , wherein the intermediate-mass actuator comprises a voice coil driver or electromagnetic driver.
21. The method of claim 15 , wherein operating the first feedforward circuit comprises:
receiving a signal from a controller configured to control an apparatus mounted on or within the payload;
driving the payload actuator that is coupled to the payload.
22. The method of claim 15 , further comprising operating a second feedback circuit to suppress unwanted motion of the intermediate mass in a second direction that is orthogonal to the first direction.
23. The method of claim 15 , further comprising operating a second feedforward circuit to suppress unwanted motion of the payload in a second direction that is orthogonal to the first direction.