Feedforward temperature control for plasma processing apparatus
Methods and systems for controlling temperatures in plasma processing chamber with reduced controller response times and increased stability. Temperature control is based at least in part on a feedforward control signal derived from a plasma power input into the processing chamber. A feedforward control signal compensating disturbances in the temperature attributable to the plasma power may be combined with a feedback control signal counteracting error between a measured and desired temperature.
1. A method for controlling a process temperature during a plasma processing of a workpiece, comprising:
determining a plasma power input to a process chamber performing the plasma processing on the workpiece;
determining a feedback gain value and a feedforward gain value from a lookup table, wherein the lookup table includes a plurality of feedforward gain values and feedback gain values that are each associated with at least one of the plasma power input, a setpoint process temperature, a change in the plasma power input, or a change in the setpoint process temperature;
combining a feedback control signal with a feedforward control signal based on the plasma power to create a temperature control signal, wherein the feedback control signal is multiplied by the feedback gain value and the feedforward control signal is multiplied by the feedforward gain value; and
controlling a temperature in the process chamber with said temperature control signal.
2. The method of claim 1 , wherein the feedforward control signal is further based on a difference between the temperature of an external heat sink and a setpoint of the temperature being controlled, and wherein the temperature controlling further comprises compensating an error between the temperature, as measured, and the temperature setpoint.
3. The method of claim 1 , wherein the plasma power comprises a first bias power input to a chuck configured to support the workpiece and wherein the feedforward control signal comprises a transfer function between the bias power input and the chuck temperature.
4. The method of claim 3 , wherein the plasma power comprises a second bias power input to the chuck and wherein the feedforward control signal comprises a transfer function between a total of the first and second bias power and the chuck temperature.
5. The method of claim 1 , wherein controlling the temperature further comprises: controlling a coolant fluid flow between the process chamber and a heat sink external to the process chamber based at least in part on the feedforward control signal.
6. The method of claim 5 , wherein controlling the temperature further comprises: controlling the coolant flow and controlling a heat source coupled to the chuck based on a feedback control signal added to the feedforward control signal.
7. The method of claim 5 , wherein controlling the coolant fluid flow further comprises modulating a pulse width modulation duty cycle to fully open and fully close a valve through which the coolant fluid flows.
8. The method of claim 1 , wherein the plasma power heat load comprises a source power input to the process chamber and wherein the feedforward control signal comprises a transfer function between the source power input and a process chamber temperature.
9. A method for controlling a process temperature during a plasma processing of a workpiece, comprising:
determining a plasma power input to a process chamber performing the plasma processing on the workpiece;
combining a feedback control signal with a feedforward control signal based on the plasma power to create a temperature control signal; and
controlling a temperature in the process chamber with said temperature control signal, wherein controlling the temperature in the process chamber further comprises:
controlling a first coolant fluid flow between the process chamber and a heat sink external to the process chamber and a second coolant fluid flow between the process chamber and a heat exchanger external to the process chamber based at least in part on the feedforward control signal; and
modulating a pulse width modulation duty cycle to fully open and fully close a first valve through which the first coolant fluid flows and a second valve through which the second coolant fluid flows, and wherein one of the first and second valves is to be in a fully open position when the other of the first and second valves is to be in a fully closed position.
10. The method of claim 9 , wherein the feedforward control signal is further based on a difference between the temperature of an external heat sink and a setpoint of the temperature being controlled, and wherein the temperature controlling further comprises compensating an error between the temperature, as measured, and the temperature setpoint.
11. The method of claim 9 , wherein the plasma power comprises a first bias power input to a chuck configured to support the workpiece and wherein the feedforward control signal comprises a transfer function between the bias power input and the chuck temperature.
12. The method of claim 11 , wherein the plasma power comprises a second bias power input to the chuck and wherein the feedforward control signal comprises a transfer function between a total of the first and second bias power and the chuck temperature.
13. The method of claim 9 , wherein controlling the temperature further comprises: controlling the coolant flow and controlling a heat source coupled to the chuck based on a feedback control signal added to the feedforward control signal.
14. The method of claim 9 , wherein the plasma power heat load comprises a source power input to the process chamber and wherein the feedforward control signal comprises a transfer function between the source power input and a process chamber temperature.