WO2014010233A1 - 駆動システム及び駆動方法、並びに露光装置及び露光方法 - Google Patents
駆動システム及び駆動方法、並びに露光装置及び露光方法 Download PDFInfo
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- WO2014010233A1 WO2014010233A1 PCT/JP2013/004250 JP2013004250W WO2014010233A1 WO 2014010233 A1 WO2014010233 A1 WO 2014010233A1 JP 2013004250 W JP2013004250 W JP 2013004250W WO 2014010233 A1 WO2014010233 A1 WO 2014010233A1
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- control
- amount
- moving body
- driving
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F7/00—Photomechanical, e.g. photolithographic, production of textured or patterned surfaces, e.g. printing surfaces; Materials therefor, e.g. comprising photoresists; Apparatus specially adapted therefor
- G03F7/70—Microphotolithographic exposure; Apparatus therefor
- G03F7/70691—Handling of masks or workpieces
- G03F7/70775—Position control, e.g. interferometers or encoders for determining the stage position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F7/00—Photomechanical, e.g. photolithographic, production of textured or patterned surfaces, e.g. printing surfaces; Materials therefor, e.g. comprising photoresists; Apparatus specially adapted therefor
- G03F7/70—Microphotolithographic exposure; Apparatus therefor
- G03F7/70483—Information management; Active and passive control; Testing; Wafer monitoring, e.g. pattern monitoring
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F7/00—Photomechanical, e.g. photolithographic, production of textured or patterned surfaces, e.g. printing surfaces; Materials therefor, e.g. comprising photoresists; Apparatus specially adapted therefor
- G03F7/70—Microphotolithographic exposure; Apparatus therefor
- G03F7/70691—Handling of masks or workpieces
- G03F7/70716—Stages
- G03F7/70725—Stages control
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03F—PHOTOMECHANICAL PRODUCTION OF TEXTURED OR PATTERNED SURFACES, e.g. FOR PRINTING, FOR PROCESSING OF SEMICONDUCTOR DEVICES; MATERIALS THEREFOR; ORIGINALS THEREFOR; APPARATUS SPECIALLY ADAPTED THEREFOR
- G03F9/00—Registration or positioning of originals, masks, frames, photographic sheets or textured or patterned surfaces, e.g. automatically
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/02—Manufacture or treatment of semiconductor devices or of parts thereof
- H01L21/027—Making masks on semiconductor bodies for further photolithographic processing not provided for in group H01L21/18 or H01L21/34
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
Definitions
- the present invention relates to a drive system and a drive method, and an exposure apparatus and an exposure method, and in particular, a drive system and a drive method for driving an object to be controlled by giving an operation amount, and an exposure apparatus and the drive method including the drive system.
- the present invention relates to an exposure method to be used.
- a step-and-repeat type projection exposure apparatus (so-called stepper) and a step-and-scan type projection exposure apparatus (so-called so-called stepper) are mainly used.
- Scanning steppers also called scanners) are used.
- exposure apparatuses liquid crystal exposure apparatuses
- scanning projection exposure apparatuses such as scanners have become mainstream as substrates become larger.
- An electronic device is manufactured by forming a plurality of layers on a substrate (glass plate, wafer, etc.). For this reason, the exposure apparatus is required to accurately superimpose and transfer the mask pattern onto the pattern already formed in each shot area on the substrate, that is, high overlay accuracy is required.
- a substrate stage a gantry that includes a carriage that moves in the scanning direction of the substrate during scanning exposure, and a substrate table that is supported on the carriage and moves in the non-scanning direction while holding the substrate.
- the stage is mainly adopted.
- resonance occurs as an obstacle to precise and stable control of the substrate stage.
- the resonance frequency tends to be low as the substrate stage becomes larger.
- H ⁇ control theory As a theoretical framework for constructing a high-frequency control system including the resonance band of such a substrate stage and robust against fluctuations in the resonance frequency using a notch filter, H ⁇ control theory is representative.
- a stage control apparatus using advanced robust control theory is known (for example, see Patent Document 1).
- Advanced Robust Control Theory a sensor is added and the controlled object is a 1-input / multi-output system.
- the feedback controller is stable against the modeling error of the nominal model.
- the degree of freedom in design of the controller increases in accordance with the structure of the control target, the order of the weight function, and the like, so that the increase in bandwidth of the feedback controller and the robustness are in a trade-off relationship.
- a drive system for driving an object to be controlled by giving an operation amount, the first measuring instrument for measuring the first control amount related to the position of the first part of the object to be controlled;
- a second measuring instrument for measuring a second controlled variable related to the position of the second part to be controlled that exhibits a behavior including a resonance mode that is opposite in phase to the rigid body mode indicated by the first part;
- a first drive system comprising: a control unit that filters a measurement result of the two measuring devices to obtain a third control amount, and that gives the operation amount obtained using the third control amount to the control target; Provided.
- an exposure apparatus that exposes an object with an energy beam to form a pattern on the object, and a moving body that holds the object and moves on a predetermined surface is the control target.
- a first exposure apparatus comprising the first drive system of the present invention is provided.
- a control unit that obtains the operation amount obtained using the third control amount to the control target; Second drive system comprising is provided.
- a movable body that holds the object and moves on a predetermined plane is the control target.
- a second exposure apparatus comprising the second drive system of the present invention is provided.
- an exposure apparatus that exposes an object with an energy beam to form a pattern on the object, the first moving body holding and moving the object, and the first moving body A moving body having a second moving body that holds and moves on a predetermined surface, and first and second that respectively measure first and second control amounts related to the positions of the first and second moving bodies.
- the measurement results of the measuring instrument and the first and second measuring instruments are filtered to obtain a third control amount, and the movement amount obtained by using the third control amount is given to the moving body to thereby move the moving object.
- a third exposure apparatus including a controller for driving the body.
- a driving method for driving an object to be controlled by giving an operation amount wherein the first control amount related to the position of the first part of the object to be controlled and the rigid body mode indicated by the first part Measuring a second control amount related to the position of the second portion of the control target that exhibits a behavior including a resonance mode having a phase opposite to that of the control object, and filtering the measurement results of the first and second control amounts
- a first driving method including: processing to obtain a third control amount; and applying the operation amount obtained using the third control amount to the control target to drive the control target.
- an exposure method in which an object is exposed with an energy beam to form a pattern on the object, and the object is held on a predetermined surface by the first driving method of the present invention.
- a first exposure method including driving a moving body as a control target is provided.
- a driving method for driving an object to be controlled by providing an operation amount, the first control amount relating to the position of the first part of the object to be controlled, and the rigid body mode indicated by the first part.
- Obtaining the third control amount by filtering the plurality of combined amounts and one measurement result of the first and second control amounts, and obtaining the operation amount obtained using the third control amount.
- a second driving method is provided that includes providing the control target and driving the control target.
- a second exposure method including driving a moving body as a control target is provided.
- an exposure method for exposing an object with an energy beam to form a pattern on the object wherein the first control is related to the position of a first moving body that moves while holding the object. Measuring the amount and the second control amount related to the position of the second moving body that moves on the predetermined plane while holding the first moving body, and the measurement results of the first and second control amounts
- a third exposure method including: driving the moving body by obtaining the third control amount by filtering the control body, and applying the operation amount calculated using the third control amount to the moving body.
- a device comprising: forming a pattern on an object using the second or third exposure method of the present invention; and developing the object on which the pattern is formed A manufacturing method is provided.
- FIG. 1 shows schematically the structure of the exposure apparatus which concerns on 1st Embodiment. It is a perspective view which shows a plate stage. It is a block diagram which shows the structure relevant to the stage control of exposure apparatus. It is a Bode diagram which shows the frequency response characteristic of the transfer function (amplitude and phase) expressing the input / output response of the plate stage in the feedback control system of 1 input 1 output system. 5A and 5B are Bode diagrams showing the frequency response characteristics of the transfer function expressing the input / output response of the carriage and plate table of the plate stage in the feedback control system of 1-input 2-output system, respectively. It is. FIG.
- FIG. 2 is a block diagram showing a 1-input 2-output feedback control system (FS-SRC) according to the first embodiment. It is a figure which shows an example (translation 2 inertia system model) expressing the dynamic motion (translational motion) of a plate stage.
- FIG. 8A shows an example of a mechanical model (inverted pendulum type model) that expresses the mechanical motion (translational motion) of the plate stage, and FIG. 8B is included in the mechanical model of FIG. 8A. It is a table
- FIG. 10 is a block diagram showing a feedback control system (FS-SRC) of a 1-input 2-output system for the 2-resonance 2-inertia spring model of FIG. 9.
- PID conventional SISO feedback control system
- SRC conventional SIMO feedback control system
- FS-SRC SIMO feedback control system
- FIG. 4 is a Nyquist diagram for each of a conventional SISO feedback control system (PID), a conventional SIMO feedback control system (SRC), and a SIMO feedback control system (FS-SRC) of the present embodiment.
- FIG. 1 shows a schematic configuration of an exposure apparatus 110 used for manufacturing a flat panel display according to this embodiment, for example, a liquid crystal display device (liquid crystal panel).
- the exposure apparatus 110 moves a mask M on which a liquid crystal display element pattern is formed and a glass plate (hereinafter referred to as “plate”) P held by a plate stage PST to a projection optical system PL in a predetermined scanning direction (
- plate glass plate
- it is a scanning stepper (scanner) that performs relative scanning in the same direction at the same speed along the horizontal direction in FIG. 1 and transfers the pattern of the mask M onto the plate P. .
- the direction in which the mask M and the plate P are relatively scanned with respect to the projection optical system PL at the time of exposure is defined as the X-axis direction (X direction), and the direction orthogonal to this in the horizontal plane is defined as the Y-axis direction (Y Direction), the direction orthogonal to the X axis and Y axis is the Z axis direction (Z direction), and the rotation (tilt) directions around the X axis, Y axis, and Z axis are the ⁇ x, ⁇ y, and ⁇ z directions, respectively.
- the exposure apparatus 110 includes an illumination system IOP, a mask stage MST for holding a mask M, a projection optical system PL, a body (not shown) on which a mask stage MST and a projection optical system PL are mounted, a plate P via a plate holder PH.
- a holding plate stage PST, a control system thereof, and the like are provided.
- the control system is mainly configured by a main control device (not shown) that controls each component of the exposure apparatus 110 and a stage control device 50 (see FIG. 3 and the like) under its control.
- the illumination system IOP is configured similarly to the illumination system disclosed in, for example, US Pat. No. 5,729,331. That is, the illumination system IOP emits light emitted from a light source (not shown) (for example, a mercury lamp) through exposure mirrors (not shown), dichroic mirrors, shutters, wavelength selection filters, various lenses, and the like. Irradiation light) is applied to the mask M as IL.
- a light source for example, a mercury lamp
- dichroic mirrors for example, a mercury lamp
- shutters for example, a light source
- Irradiation light is applied to the mask M as IL.
- the illumination light IL for example, light such as i-line (wavelength 365 nm), g-line (wavelength 436 nm), h-line (wavelength 405 nm), or the combined light of the i-line, g-line, and h-line is used.
- the wavelength of the illumination light IL can be appropriately switched by a wavelength
- a mask M having a circuit pattern or the like formed on its pattern surface (the lower surface in FIG. 1) is fixed to the mask stage MST, for example, by vacuum suction (or electrostatic suction).
- the mask stage MST is mounted on a pair of mask stage guides (not shown) extending in the X-axis direction that is fixed to the upper surface of a lens barrel surface plate that is a part of a body (not shown), and a static gas bearing (not shown) (for example, It is supported in a non-contact state (floating support) via an air bearing.
- the mask stage MST is driven with a predetermined stroke in the scanning direction (X-axis direction) by a mask stage drive system MSD (not shown in FIG. 1, see FIG.
- Position information of the mask stage MST in the XY plane (including rotation information in the ⁇ z direction) is measured by the mask interferometer system 16.
- the mask interferometer system 16 irradiates the measuring mirror 15 (or the mirror-finished reflecting surface) 15 provided at the end of the mask stage MST, and receives the reflected light from the moving mirror 15, thereby receiving the reflected light from the moving mirror 15.
- the position of the mask stage MST is measured.
- the measurement result is supplied to the stage control device 50 (see FIG. 3), and the stage control device 50 drives the mask stage MST via the mask stage drive system MSD based on the measurement result of the mask interferometer system 16.
- the projection optical system PL is supported by a part of the body (lens barrel surface plate) (not shown) below the mask stage MST in FIG.
- the projection optical system PL is configured similarly to the projection optical system disclosed in, for example, US Pat. No. 5,729,331.
- the projection optical system PL includes a plurality of, for example, five projection optical systems (multi-lens projection optical systems) in which the projection areas of the pattern image of the mask M are arranged in a staggered manner, for example, and the Y-axis direction is the longitudinal direction. It functions in the same way as a projection optical system having a single rectangular image field.
- each of the plurality (five) of projection optical systems for example, an apparatus that forms an erect image with a double telecentric equal magnification system is used.
- a plurality of projection areas arranged in a staggered pattern in the projection optical system PL are collectively referred to as an exposure area.
- the circuit pattern of the mask M in the illumination area is projected via the projection optical system PL by the illumination light IL that has passed through the mask M.
- the pattern of the mask M is transferred onto the plate P. That is, in this embodiment, the pattern of the mask M is generated on the plate P by the illumination system IOP and the projection optical system PL, and the pattern is formed on the plate P by exposure of the sensitive layer (resist layer) on the plate P by the illumination light IL. Is formed.
- the plate stage PST is disposed below the projection optical system PL ( ⁇ Z side).
- the plate stage PST includes a carriage 30 that moves in the X-axis direction (scanning direction), and a plate table PTB that is supported on the carriage 30 and holds the plate P and moves in the non-scanning direction.
- the plate stage PST plate interferometer system 18 (18X, 18Y, 18X 1 , 18X 2, see FIG. 3) with, in a perspective view.
- the plate table PTB is formed of a rectangular plate-like member in plan view, and a plate holder PH for adsorbing and holding the plate P (not shown in FIG. 2, refer to FIG. 1) is fixed to the center of the upper surface thereof.
- the plate table PTB is supported on the Y slider 32Y via a plurality of, for example, three support mechanisms (not shown).
- Each support mechanism includes an actuator (for example, a voice coil motor) that supports the plate table PTB and drives the plate table PTB in the Z-axis direction at the support point.
- the plate table PTB is minutely driven by the three support mechanisms on the Y slider 32Y in directions of three degrees of freedom (directions of Z axis, ⁇ x direction, and ⁇ y).
- the Y slider 32Y has an inverted U-shaped XZ cross section, and is engaged from above with a Y beam (Y guide) 34Y extending in the Y-axis direction without contact via an air bearing (not shown) or the like. .
- a Y beam 34Y Inside the Y beam 34Y, for example, a plurality of coils are arranged at predetermined intervals in the Y-axis direction, and for example, a plurality of permanent magnets are arranged on the inner surface side of the Y slider 32Y.
- the Y beam 34Y and the Y slider 32Y constitute a moving magnet type Y linear motor 36Y that drives the Y slider 32Y as a mover in the Y-axis direction.
- the plate table PTB is driven in the Y-axis direction along the Y beam 34Y by the Y linear motor 36Y.
- the Y linear motor 36Y is not limited to a moving magnet type, and a moving coil type linear motor can also be used.
- X sliders 32X 1 and 32X 2 are fixed to the lower surface of one end and the other end of the Y beam 34Y in the longitudinal direction.
- Each of the X sliders 32X 1 and 32X 2 has a pair of X guides 34X 1 and 34X 2 each having an inverted U-shaped YZ section, spaced apart in the Y axis direction and extending in the X axis direction. Are engaged from above without contact through an air bearing (not shown) or the like.
- Each of the X guides 34X 1 and 34X 2 is installed on the floor surface F via a vibration isolation member (not shown).
- each of the X guides 34X 1 and 34X 2 for example, a plurality of coils are arranged at predetermined intervals in the X-axis direction, and a plurality of permanent magnets are arranged on the inner surfaces of the X sliders 32X 1 and 32X 2 , respectively.
- the X guide 34X 1 and the X slider 32X 1 constitute a moving magnet type X linear motor 36X 1 that drives the X slider 32X 1 as a mover in the X-axis direction.
- the X guide 34X 2 and the X slider 32X 2 constitute a moving magnet type X linear motor 36X 2 that drives the X slider 32X 2 as a mover in the X-axis direction.
- the carriage 30 (see FIG. 1) is configured to include the pair of X sliders 32X 1 and 32X 2 and the Y beam 34Y.
- the carriage 30 is driven by the pair of X linear motors 36X 1 and 36X 2 to generate X Driven in the axial direction.
- the pair of X linear motors 36X 1 and 36X 2 generate different thrusts (driving forces), so that the carriage 30 is driven in the ⁇ z direction by the pair of X linear motors 36X 1 and 36X 2 .
- the X linear motors 36X 1 and 36X 2 are not limited to the moving magnet type but may be a moving coil type linear motor.
- the above-described Y linear motor 36Y, a pair of X linear motors 36X 1 , 36X 2 , and three support mechanisms allow the plate table PTB to be moved in 6-degree-of-freedom directions (X axis, Y axis, Z axis).
- a plate stage drive system PSD (see FIG. 3) is configured to drive in the directions of the axes, ⁇ x, ⁇ y, and ⁇ z.
- the plate stage drive system PSD (components thereof) is controlled by the stage controller 50 (see FIG. 3).
- a plate holder PH for adsorbing and holding the plate P is fixed to the center of the upper surface of the plate table PTB. Further, on the upper surface of the plate table PTB, a movable mirror (planar mirror) 17X having a reflective surface orthogonal to the X axis at the ⁇ X end and + Y end, respectively, and a movable mirror having a reflective surface orthogonal to the Y axis ( A plane mirror) 17Y is fixed. Further, on the upper surface of the X slider 32X 1 is a corner cube 17X 1, X on the upper surface of the slider 32X 2 corner cubes (not shown) are fixed respectively.
- Plate interferometer system 18 includes four interferometers 18X shown in FIG. 2, 18Y, the 18X 1 and 18X 2.
- the interferometer 18X irradiates the movable mirror 17X provided on the plate table PTB with at least three length measuring beams parallel to the X axis, receives the respective reflected lights, and outputs the ⁇ z direction of the plate table PTB in the ⁇ z direction. The direction and the position in the ⁇ y direction are measured.
- the interferometer 18Y irradiates the movable mirror 17Y provided on the plate table PTB with at least two length measuring beams parallel to the Y axis, receives the respective reflected lights, and receives the reflected light in the Y axis direction and ⁇ x. Measure the position of the direction.
- Interferometer 18X 1 irradiates parallel measurement beam in the X-axis corner cube 17X 1 which is fixed on the X slider 32X 1, the X-axis direction position of the carriage 30 receives the reflected light (X position ).
- the interferometer 18X 2 irradiates a length measuring beam parallel to the X axis in the X slider 32X 2 fixed corner cube on (not shown), X-axis direction of the carriage 30 receives the reflected light The position (X position) is measured.
- the measurement result of each interferometer of the plate interferometer system 18 is supplied to the stage controller 50 (see FIG. 3).
- the stage control device 50 uses the speed of the plate stage PST, via a plate stage drive system PSD (more precisely, a pair of X linear motors 36X 1 , 36X 2 and a Y linear motor 36Y).
- PSD plate stage drive system
- the plate stage PST (plate table PTB) is driven in the XY plane.
- the stage control device 50 calculates the speed of the plate stage PST by passing the measurement result regarding the position from each interferometer of the plate interferometer system 18 through a differentiator. Further, when the X-axis direction of the drive of the plate stage PST (plate table PTB), as described later, the measurement result of the interferometer 18X, interferometers 18X 1 and 18X 2 in at least one of the measurement result and is used.
- the stage control device 50 uses a plate stage drive system PSD (more precisely, three support mechanisms (not shown)) based on the detection result of a focus detection system (not shown) during exposure or the like.
- PSD plate stage drive system
- the table PTB is finely driven in at least one direction of the Z axis, ⁇ y, and ⁇ z.
- FIG. 3 shows the configuration of a control system related to the stage control of the exposure apparatus 110.
- the control system shown in FIG. 3 is mainly configured by a stage control device 50 including a microcomputer.
- a plurality of shot areas of the plate P are exposed by the following procedure based on the result of plate alignment measurement (for example, EGA) performed in advance. That is, in response to an instruction from a main controller (not shown), the stage controller 50 monitors the measurement results of the mask interferometer system 16 and the plate interferometer system 18, and sets the mask stage MST and the plate stage PST, respectively. To the scan start position (acceleration start position). Then, the stages MST and PST are synchronously driven in the same direction along the X-axis direction. As a result, the pattern of the mask M is transferred to one shot area on the plate P as described above.
- EGA plate alignment measurement
- the stage controller 50 finely adjusts the synchronous drive (relative position and relative speed) of the mask stage MST and the plate stage PST, for example, according to the correction parameter. Thereby, the projection image of the pattern of the mask M is aligned so as to overlap the pattern formed in the previous process layer.
- the stage controller 50 moves (steps) the plate stage PST to the scanning start position (acceleration start position) for the next shot area. Then, scanning exposure is performed on the next shot area. In this manner, the pattern of the mask M is transferred to all the shot areas on the plate P by repeating the stepping between the shot areas of the plate P and the scanning exposure for the shot areas.
- a 1-input 1-output system (SISO system) feedback control system (closed loop control system) is constructed.
- this one-input one-output (SISO) feedback control system is applied to the exposure apparatus 110.
- the X position (control amount) of the plate stage PST (plate table PTB) to be controlled is measured by the interferometer 18X.
- the measurement result X is supplied to the stage control device 50.
- Stage controller 50 obtains the measurement result operation amount using the X U (driving force X linear motors 36X 1, 36X 2 emits F, or current amount I like to be supplied to the X linear motors 36X 1, 36X 2 coils)
- the obtained operation amount U is sent to the plate stage drive system PSD.
- the plate stage drive system PSD generates, for example, a drive force equal to the drive force F or a current equal to the current amount I through the coils of the X linear motors 36X 1 and 36X 2 according to the received operation amount U. Thereby, driving of the plate stage PST is controlled.
- FIG. 4 shows a transfer function P representing the input / output response (response of the control amount X to the operation amount U) of the plate stage PST (plate table PTB) in the feedback control system of the one-input one-output system (SISO system) described above.
- X / U Bode diagram (amplitude (gain)
- j ⁇ ( ⁇ 1)
- f is a frequency.
- the solid line indicates a theoretical result obtained based on, for example, a dynamic model described later, and the alternate long and short dash line indicates an experimental result (a result measured using an experimental machine).
- the transfer function P In the frequency response characteristics of the transfer function P, it can be confirmed that a resonance mode (resonance behavior) appears around 10 Hz.
- the transfer function P decreases its amplitude monotonously and keeps the phase constant as the frequency f increases. These represent a straight line with a downward slope and a straight line with no slope in the gain diagram and the phase diagram, respectively.
- the transfer function P rapidly increases and decreases in amplitude around 10 Hz, and rapidly decreases and increases in phase. These show a continuous peak and valley shape and valley shape in the gain diagram and the phase diagram, respectively.
- the transfer function P exhibits a resonance mode that is in reverse phase to the rigid body mode in the vicinity of several 10 Hz.
- the interferometer 18X 1 In order to cancel the above-described resonance mode (resonance behavior) and precisely and stably control the driving of the plate stage PST, in addition to the interferometer 18X (first measuring instrument) of the plate interferometer system 18, the interferometer 18X 1 ( By using the second measuring instrument, a feedback control system of a 1-input 2-output system (SIMO system) is constructed.
- the position of the carriage 30 can be measured by either of the interferometers 18X 1 and 18X 2 and can be obtained by averaging the measured values of both, but here, for convenience of explanation, the interferometer 18X 1 is used. Shall be used.
- the feedback control system of one-input two-output system (SIMO system), interferometers 18X, by 18X 1, respectively, the plate (first part of the control object) table PTB constituting the plate stage PST (controlled object) and the carriage 30 X positions (control amounts) X 2 and X 1 of (the second part to be controlled) are measured.
- These measurement results (X 2 , X 1 ) are supplied to the stage control device 50.
- the stage control device 50 obtains the operation amount U (driving force F) using the measurement results (X 2 , X 1 ) and transmits the obtained operation amount U to the plate stage drive system PSD.
- the plate stage drive system PSD (X linear motors 36X 1 , 36X 2 ) applies a drive force equal to the drive force F to the carriage 30 (second portion) according to the received operation amount U (drive force F). As a result, the plate stage PST is driven.
- a diagram that is, a gain diagram (upper diagram) and a phase diagram (lower diagram) are shown.
- a Bode diagram showing a gain diagram (upper diagram) and a phase diagram (lower diagram) are shown.
- Frequency response characteristic of the transfer function P 2 relative to the plate table PTB shows a similar behavior as the above-mentioned frequency response characteristic (see FIG. 4). However, the frequency range in which the resonance behavior (resonance mode) appears is somewhat shifted to the higher frequency side.
- the frequency response characteristic of the transfer function P 1 with respect to the carriage 30 exhibits a behavior (reverse phase resonance mode) that is opposite to the frequency response characteristic of the transfer function P 2 , that is, a resonance mode in phase with the rigid body mode.
- the transfer function P 1 rapidly decreases and increases its amplitude and rapidly increases and decreases its phase.
- an exposure apparatus using feedback control for a control object of a 1-input 2-output system is described in Japanese Patent Laid-Open No. 2006-203113.
- the configuration is such that one controller is designed for a control target of a one-input one-output system (SISO system) by combining two outputs into one output.
- SISO system one-input one-output system
- the interferometer 18X the reference position of the position measurement of the plate stage PST by 18X 1, that is, offset in the installation position of the moving mirror 17X and the corner cube 17X 1.
- the controller To remove this offset, by connecting a high pass filter to the controller, it is necessary to cut the controlled variable X 1 in the low frequency band.
- a unique behavior due to the high-pass filter appears in the frequency response characteristics, and the design disturbance suppression characteristics are not obtained.
- a second measuring instrument (interference) is provided on the second part (carriage 30 (X slider 32X 1 )) of the plate stage PST which exhibits a behavior including a resonance mode opposite to the rigid body mode indicated by the first part (plate table PTB).
- a total of 18X 1 (corner cube 17X 1 )) is installed. This makes it possible to construct a target feedback control system.
- FIG. 6 is a block diagram showing a closed loop control system (feedback control system) of a 1-input 2-output system (SIMO system) corresponding to the drive system for the plate stage PST according to the present embodiment.
- the drive system corresponding to this closed loop control system includes a position (first control amount X 2 ) and a second part (carriage) of the first part (plate table PTB) of the plate stage PST to be controlled (in the X-axis direction).
- interferometer second control amount X 1 (in the X-axis direction) position (interferometer second control amount X 1) a measuring each plate interferometer system 18 18X, and 18X 1, first and second control amount measurement results (X 2, and X 1) synthesis unit 52 for generating a synthesized and combined control amount (X mix), and the operating amount U on the basis of the result of generating the target value R and the combined control amount of the plate stage PST (X mix)
- a stage controller 50 that controls the drive of the plate stage PST by transmitting the result to the plate stage drive system PSD.
- the X positions X 2 and X 1 are measured by the interferometers 18X and 18X 1 , respectively, but are not shown in FIG. In the subsequent block diagrams of the closed loop control system, the measuring instrument is omitted in the same manner.
- the target value (target trajectory), the controlled variable, the manipulated variable, etc. are defined as a function of time.
- the Laplace according to the convention in the description of the control block diagram is used. The description will be made using conversion.
- an arithmetic expression U ( RX mix ) described later is also given a definition in the Laplace transform form. Further, hereinafter, unless otherwise specified, the description will be made using Laplace transform (Laplace transform type).
- Stage controller 50 includes a target generator 50 0 and the control unit 50 1 and the subtractor 50 2. Note that each of these units is actually realized by a microcomputer and software constituting the stage control device 50, but may be constituted by hardware.
- Target generator 50 the target value of the plate stages PST, where it generates R (target value of the constantly changing position) the target position is supplied to the subtractor 50 2.
- Subtractor 50 2 the difference between the combined control amount X mix from a target position R synthesis unit 52, i.e., calculates the deviation (R-X mix), and supplies to the controller 50 1 (transfer function C).
- C is a transfer function of the controller 50 1.
- the transfer function is a Laplace transform ratio R (s) / C (s) of the Laplace transform between the input signal r (t) and the output signal C (t), that is, a Laplace transform function of an impulse response function.
- U is obtained, and the manipulated variable U is given to the plate stage PST which is a control target.
- the plate stage PST is driven according to the operation amount U, and its position is controlled.
- the combining unit 52 includes proportional devices (proportional gains ⁇ , ⁇ ) 52 1 , 52 2 , an adder 52 3 , a high-pass filter 52 4 , a low-pass filter 52 5 , and an adder 52 m , and is a plate measured by the interferometer 18X.
- X position X 2 current position
- the X-position X 1 synthesized and synthesis control present position
- the interferometer 18X carriage 30 which is measured by 1 (transfer function P 1) of the table PTB (transfer function P 2)
- a quantity (X mix ) is generated and supplied to the target generator 50 0 (subtracter 50 2 ).
- the proportional device (proportional gain ⁇ , ⁇ ) 52 1, 52 2 respectively, interferometers 18X 1, the measurement results from 18X X 1, X 2 a proportional gain beta, and alpha times (.beta.X 1, .alpha.X 2), and sends to the adder 52 3.
- the adder 52 3 generates a sum of the outputs from the proportional unit 52 1, 52 2 ( ⁇ X 2 + ⁇ X 1), and supplies the high-pass filter 52 4.
- High pass filter 52 4 and the low-pass filter 52 5 have the same cut-off frequency fc, respectively, the adder 52 from 3 signal ( ⁇ X 2 + ⁇ X 1) cut-off frequency fc higher frequency components F 1 of the (.alpha.X 2 + ⁇ X 1 ) and the frequency component F 2 (X 2 ) lower than the cut-off frequency fc in the measurement result X 2 from the interferometer 18 X are passed through and supplied to the adder 52 m .
- the adder 52 m, the signal F 1 from the high-pass filter 52 4 and the low-pass filter 52 5 ( ⁇ X 2 + ⁇ X 1 ), F 2 (X 2) synthesized and the synthesized control amount X mix F 1 ( ⁇ X 2 + ⁇ X 1 ) + F 2 (X 2 ) is generated and supplied to the stage controller 50 (subtracter 50 2 ).
- X mix generated in the closed loop control system (feedback control system) having the above-described configuration is X 2 to be controlled in the low frequency band without resonance, and is unobservable for resonance in the middle / high frequency band where resonance exists.
- ⁇ X 2 + ⁇ X 1 the transfer characteristics of the plate stage PST and the combining unit 52 from the input of the manipulated variable U to the output of the combined amount X mix can be expressed using an ideal rigid model.
- the composite amount X mix is equal to X 2 in the low frequency band, the offset between the reference positions (positions where the movable mirror 17X and the corner cube 17X 1 are installed) of the position measurement of the interferometers 18X and 18X 1 is removed. There is no need to connect a high pass filter to the controller.
- the stage control unit 50 may be configured by using only the control unit 50 1 which is designed on the basis of the rigid body model.
- the closed loop control system (feedback control system) having the above-mentioned configuration is called a frequency separation SRC ⁇ (FS-SRC) type control system.
- FS-SRC frequency separation SRC ⁇
- FIG. 7 shows a first model representing a mechanical motion (translational motion) of the plate stage PST, a translational two-inertia system model.
- the plate stage PST is composed of two parts: a plate table PTB on which a first measuring instrument (interferometer 18X) is installed and a carriage 30 on which second measuring instruments (interferometers 18X 1 and 18X 2 ) are installed. To do.
- the movement of these portions in the X-axis direction is the movement of two rigid bodies connected by a spring and a damper, more specifically, the drive corresponding to the plate stage drive system PSD (X linear motors 36X 1 and 36X 2 ).
- a rigid body M1 (corresponding to the carriage 30) that receives a driving force F from the system and translates in the X-axis direction is connected to the rigid body M1 via a spring and a damper, and a rigid body M2 that translates on the rigid body M1 ( It is expressed as motion with plate table PTB).
- Two rigid bodies shall be connected with a spring and a damper, or two or more rigid bodies including two noted rigid bodies may be expressed as being connected with a spring (or a spring and a damper).
- the masses of the two rigid bodies (first and second rigid bodies) corresponding to the carriage 30 and the plate table PTB are respectively M 1 and M 2 , and the stiffness coefficient and the viscosity coefficient due to friction between the first and second rigid bodies are k 2 , respectively.
- c 2 the viscosity coefficient for the first rigid body is c 1
- the thrust acting on the second rigid body is F.
- the transfer functions P 1 and P 2 representing the input / output responses of the first and second rigid bodies (responses of the positions X 1 and X 2 to the driving force F) are expressed in the Laplace transform form as follows: Is given as follows.
- the proportional gains ⁇ and ⁇ depend only on the masses M 1 and M 2 , and do not depend on parameters such as the spring constant k 2 and the viscosity coefficients c 1 and c 2 that can change depending on the state of the plate stage PST. To do. This is because the closed-loop transfer function behaves as long as the resonance modes of P 1 and P 2 are canceled in the closed-loop transfer function and the masses M 1 and M 2 of the two rigid bodies (that is, the mass of the carriage 30 and the plate table PTB) do not change. Means invariant to any change in the state of the plate stage PST.
- FIG. 8A shows an inverted pendulum type model, a second model that expresses the mechanical motion (translational motion) of the plate stage PST.
- the plate stage PST is composed of two parts: a plate table PTB on which a first measuring instrument (interferometer 18X) is installed and a carriage 30 on which a second measuring instrument (interferometer 18X 1 ) is installed.
- the movement of these portions in the X-axis direction is caused by the movement of two rigid bodies connected by a spring, more specifically, from the drive system corresponding to the plate stage drive system PSD (X linear motors 36X 1 and 36X 2 ).
- the X positions of the rigid bodies Cr and Tb are respectively X 1 and X 2
- the masses are respectively M 1 and M 2
- the inertia moment (with respect to the rotation center O) of the rigid body Tb is J
- the viscosity proportional to the velocity of the rigid body Cr.
- Resistance C, damping coefficient between the rigid body Tb and the rigid body Cr
- ⁇ spring constant (torsional rigidity between the rigid body Tb and the rigid body Cr) k
- distance between the center of gravity of the rigid body Tb and the rotation center O Is the separation distance in the Z-axis direction between the respective reference positions when measuring the X positions (X 1 , X 2 ) of L and the rigid bodies Cr, Tb.
- the proportional gains ⁇ and ⁇ (and transfer function C) are determined.
- N P1 b 12 s 2 + b 11 s + b 10 (7a)
- N P2 b 22 s 2 + b 21 s + b 20
- D P s 2 + c / (M 1 + M 2 ) s (7c)
- D R a 4 s 2 + (a 3 ⁇ a 4 c / (M 1 + M 2 )) s + a 1 (M 1 + M 2 ) / c (7d)
- a CL D C D P D R + ⁇ N P1 + ⁇ N P2 (8)
- ⁇ and ⁇ are determined so as to satisfy the following expression (9) using an arbitrary analytic function ⁇ .
- ⁇ N P1 + ⁇ N P2 ⁇ D R (9)
- b 1 ⁇ 1 + ⁇ 2 + ⁇ 3 + ⁇ 4 ⁇ c / (M 1 + M 2 )
- b 2 ⁇ 1 ⁇ 2 + ⁇ 1 ⁇ 3 + ⁇ 1 ⁇ 4 + ⁇ 2 ⁇ 3 + ⁇ 2 ⁇ 4 + ⁇ 3 ⁇ 4 -B 1 c / (M 1 + M 2 )
- b 3 ⁇ 1 ⁇ 2 ⁇ 3 + ⁇ 1 ⁇ 2 ⁇ 4 + ⁇ 2 ⁇ 3 ⁇ 4 + ⁇ 1 ⁇ 3 ⁇ 4
- b 4 ⁇ 1 ⁇ 2 ⁇ 3 ⁇ 4 .
- the proportional gains ⁇ and ⁇ depend only on the masses M 1 and M 2 and the distances L and l, and do not depend on parameters that can change depending on the state of the plate stage PST, such as the spring constant k, the damping coefficient ⁇ , and the viscosity c. Note that. This is because the resonance modes of P 1 and P 2 are canceled in the closed loop transfer function, and the masses M 1 and M 2 of the rigid bodies Cr and Tb (that is, the masses of the carriage 30 and the plate table PTB) and the distances L and l do not change. This means that the behavior of the closed loop transfer function is invariant to any change in the state of the plate stage PST.
- FIG. 9 shows a third model expressing a mechanical motion (translational motion) of the plate stage PST and a two-resonance two-inertia spring type model.
- the two-resonance two-inertia spring model includes a plate stage PST, a plate table PTB on which a first measuring instrument (interferometer 18X) is installed, and two parts of a carriage 30 on which a second measuring instrument (interferometer 18X 1 ) is installed.
- Each translational motion of is expressed as a translational motion of two rigid bodies connected by a spring and a damper.
- Two rigid bodies may be connected only by a spring, or two or more rigid bodies including two noted rigid bodies may be expressed as being connected by a spring and a damper (or only a spring).
- the masses of the two rigid bodies (first and second rigid bodies) corresponding to the plate table PTB and the carriage 30 are M 2 and M 1
- the stiffness coefficient and the viscosity coefficient for the first rigid body are k 0 and c 0 , respectively, and the second rigid body.
- K 1 and c 1 , respectively, and k and c 2 , respectively, and F and the thrust acting on the first rigid body are k 2 and c 2 , respectively.
- transfer functions ⁇ and ⁇ are determined as follows.
- ⁇ and ⁇ np can be arbitrarily designed, and are an ideal secondary low-pass filter characteristic attenuation ratio (damping factor) and natural angular frequency from thrust F to X 3 , respectively.
- the transfer functions ⁇ and ⁇ do not depend on the viscosity coefficient c 2 due to the friction between the first and second rigid bodies, that is, according to the state between the plate stage PST corresponding to the first and second rigid bodies and the carriage 30. Note that it does not depend on parameters that can change. This means that the resonance modes of P 1 and P 2 are canceled in the closed loop transfer function, and the behavior of the closed loop transfer function is invariant to the change in state between the plate stage PST and the carriage 30.
- the inventors verified the performance of the feedback control system (FS-SRC) of the SIMO system designed above by simulation.
- a conventional 1-input 1-output (SISO) feedback control system (referred to as PID) (refer to, for example, Japanese Patent Application Laid-Open No. 2006-203113) and a combination of a PID controller and a notch filter.
- PID 1-input 1-output
- SRC SRC type feedback control system
- the mechanical motion (response characteristics) of the plate stage PST is reproduced using the above-described inverted pendulum type model.
- the values of the dynamic parameters summarized in the table of FIG. 8B are used.
- the PID type controller was adopted for the controller (C etc.) used in FS-SRC and SRC.
- the controller was designed with the same pole arrangement in all three feedback control systems.
- the SRC, interferometers 18X to remove the offset between the reference position of the position measurement of 18X 1 (installation position of the moving mirror 17X and the corner cube 17X 1), the control interferometer 18X 1 (controlled variable X 2)
- the FS-SRC filters 52 1 and 52 2 were secondary filters, and the cut-off frequency was 1 Hz.
- FIG. 11 shows a gain diagram showing the frequency response characteristic of the sensitivity function (closed loop transfer function) S of the SIMO FS-SRC of the present embodiment.
- a gain diagram showing frequency response characteristics of the sensitivity function S of the conventional SISO PID and the conventional SIMO SRC is also shown.
- the conventional SISO PID, the conventional SIMO SRC, and the SIMO FS-SRC of this embodiment a unique behavior appears due to the high-pass filter at 10 Hz.
- the degree is sufficiently small in the SIMO FS-SRC of the present embodiment compared to the conventional SISO PID and the conventional SIMO SRC.
- SRC has not achieved the same sensitivity performance as PID in the low frequency range even though the controller was designed with the same pole arrangement by adding a high-pass filter.
- FS-SRC has the same sensitivity characteristics as PID at low frequencies, and does not generate any unique behavior due to the resonance mode, and exhibits ideal sensitivity characteristics.
- FIG. 12 shows a Nyquist diagram. Both SRC and FS-SRC are not affected by resonance, and the stability margin is sufficiently large compared to PID.
- the interferometer 18X to measure the plate stage position of the PST (controlled object) (first control amount) X 2 (first measurement device) is installed
- the position (second control amount) of the plate stage PST is placed on the carriage 30 (second portion to be controlled) that exhibits a behavior including a resonance mode opposite to the rigid body mode indicated by the plate table PTB (first portion to be controlled).
- An interferometer 18X 1 (second measuring instrument) that measures X 1 is installed.
- the measurement result of the interferometer 18X (first measuring instrument) and the interferometer 18X 1 (second measuring instrument) is filtered to obtain the combined control amount X mix .
- a configuration is employed in which the manipulated variable U is obtained using the combined control variable X mix and the target value R, and the manipulated variable is given to the controlled object.
- the reference position of the X position measurement of the plate stage PST by the first and second measuring instruments (interferometers 18X, 18X 1 ), that is, the installation position of the movable mirror 17X and the corner cube 17X 1 is set. Since there is an offset, a control amount must be cut in a low frequency band by connecting a high-pass filter to remove this offset. However, if the control amount band resonance appears low overlap the frequency band to be cut, also the resonant mode for self-canceling until the signal (the resonant modes of the P 1 for canceling the resonance modes of the P 2) May be cut, which may cause a decrease in control accuracy.
- the combined control amount X mix is X 2 to be controlled in the low frequency band where there is no resonance, and the middle / high frequency band where resonance exists.
- ⁇ X 2 + ⁇ X 1 which is unobservable with respect to resonance, it is not necessary to connect a high-pass filter for removing the offset to the controller, and the stage controller 50 is a controller designed based on a rigid model. 50 1 can be used. This makes it possible to design a drive system that controls the drive of the plate stage PST that is robust in the high band regardless of the band in which resonance occurs.
- the gains (or transfer functions) ⁇ and ⁇ are resonance modes included in the transfer functions P 2 and P 1 representing the responses of the first and second portions (plate table PTB and carriage 30) of the plate stage PST. To cancel in the open loop transfer function ⁇ P 1 + ⁇ P 2 . Further, the specific shapes of the transfer functions P 2 and P 1 are given using a dynamic model (rigid body model) that expresses the motions of the first and second parts as the motions of two rigid bodies connected by a spring.
- the exposure apparatus 110 since the exposure apparatus 110 according to the present embodiment includes the drive system for the plate stage PST designed as described above, the plate stage PST can be driven accurately and stably, and exposure accuracy, that is, overlay is achieved. The accuracy can be improved.
- the transfer function ( ⁇ , ⁇ ) is the open-loop transfer function ⁇ P 1 where the pole corresponding to the resonance mode included in each of the transfer functions P 2 and P 1 corresponding to the first and second portions.
- the stability of the plate stage PST is improved by determining to cancel at + ⁇ P 2
- the present invention is not limited to this.
- the transfer functions ( ⁇ , ⁇ are set so as to stabilize the resonance mode by enhancing the damping effect of the plate stage without canceling out the poles corresponding to the resonance mode included in each of the transfer functions P 2 and P 1. ) May be requested.
- the size and direction of the circle representing the resonance mode can be freely set within the respective characteristic ranges of the transfer functions P 2 and P 1 .
- a standard for stabilization for example, a state in which the circle representing the resonance mode is located substantially on the first quadrant and the fourth quadrant (right half plane), in other words, the second quadrant and the third quadrant (left half plane).
- You may set a transfer function ((alpha), (beta)) so that it may be in the state hardly located on the top.
- a high-pass filter and the low-pass filter for example, a band-pass filter or a notch filter may be used for synthesis.
- the SIMO feedback control system may be configured using any filter.
- the synthesis unit 52 is designed by paying attention to one resonance mode, so that it is robust in a high band without observing the resonance mode.
- the plate stage PST can be driven and controlled.
- the synthesis unit 52 is designed separately for each frequency band in which each of a plurality of resonance modes exists.
- a feedback control system of this configuration in which the above-described feedback control system (FS-SRC) is extended to a plurality of resonance modes is called MultiFS-SRC.
- FIG. 13 is a block diagram showing a closed loop control system (feedback control system) of a 1-input 2-output system (SIMO system) corresponding to the drive system for the plate stage PST according to the present embodiment.
- SIMO feedback control system FS-SRC
- only the design of the synthesis unit 52 is different. Therefore, only the design of the synthesis unit 52 will be described. However, there are a plurality of resonance modes, and N ( ⁇ 2) resonance modes among them are considered.
- the proportional devices (proportional gains ⁇ n and ⁇ n ) 52 n1 and 52 n2 respectively multiply the measurement results X 1 and X 2 from the interferometers 18X 1 and 18X by the proportional gains ⁇ n and ⁇ n ( ⁇ n X 1 , ⁇ n X 2 ) and the adder 52 n3 .
- an appropriate model expressing the n-th resonance mode is adopted to determine the proportional gains ⁇ n and ⁇ n of the proportional devices 52 n1 and 52 n2 .
- the pass band of the filter 52 n4 includes the resonance frequency ⁇ n of the corresponding nth resonance mode and a frequency band in the vicinity thereof.
- the filter 52 04 the X-position X 2 of the plate table PTB to be measured (the transfer function P 2) supplied by the interferometer 18X.
- the filter 5204 performs the filtering process F 0 (X 2 ) on the input signal X 2 and supplies it to the adder 52 m .
- the function N n is a notch filter given by the following equation (18).
- the composite amount X mix generated in the feedback control system (MultiFS-SRC) having the above-described configuration is X 2 to be controlled in the low frequency band without resonance ( ⁇ ⁇ 0 ), and the frequency at which the nth resonance mode exists.
- X srcn is obtained
- X srcN is obtained.
- the inventors verified the performance of the feedback control system (MultiFS-SRC) designed above and the feedback control system (FS-SRC) in the first embodiment described above by simulation.
- a first resonance mode derived from the tilt of the plate table PTB with respect to the carriage 30 appears near 20 Hz
- a second resonance mode derived from the twist of the plate table PTB appears near 60 Hz. Yes.
- the control system (synthesizer 52) is designed in consideration of both of the two resonance modes.
- the inverted pendulum type model shown in FIG. 8 is applied to design the proportional devices 52 11 and 52 12 in the synthesis unit 52 (the proportional gains ⁇ 1 and ⁇ 1 are Were determined).
- a two-mass system model such as an inverted pendulum type model cannot be applied, and a complex continuum model is required. Therefore, the proportional devices 52 21 and 52 22 are designed by simulation ( Proportional gains ⁇ 2 and ⁇ 2 were determined).
- the control system (synthesizer 52) was designed in consideration of only the second resonance mode.
- Feedback control system (MultiFS-SRC) and was similarly designed proportional 52 1, 52 2 in the composite portion 52 by simulation (proportional gain beta was determined alpha).
- FIG. 15 shows a plant characteristic P 2 of the plate table PTB (Board diagram showing frequency response characteristics, that is, a gain diagram (upper diagram) when two feedback control systems (MultiFS-SRC and FS-SRC) are applied. ) And phase diagram (lower diagram)).
- the combining unit 52 is designed in consideration of the second resonance mode, the resonance mode cannot be observed in the vicinity of 60 Hz.
- the feedback control system MultiFS-SRC
- the synthesis unit 52 is designed in consideration of the first resonance mode, the resonance mode is not observable near 20 Hz.
- the first resonance mode is not taken into account, the resonance mode appears near 20 Hz.
- FIG. 16 shows a sensitivity function (closed loop transfer function) when two feedback control systems (MultiFS-SRC and FS-SRC) are applied.
- the resonance mode is unobservable near 60 Hz.
- the resonance mode is unobservable near 20 Hz
- the feedback control system FS-SRC
- the first resonance mode is set. A derived peak appears.
- FIG. 17 shows a Nyquist diagram when two feedback control systems (MultiFS-SRC and FS-SRC) are applied.
- the feedback control system FS-SRC
- the first resonance mode is also unobservable, the locus does not approach the point (-1, 0), and a stability margin is secured. .
- MultiFS-SRC feedback control system
- the measurement results (X 2 , X) of the interferometer 18X (first measurement device) and the interferometer 18X 1 (second measurement device) are used.
- the gains ⁇ n and ⁇ n are determined).
- the interferometer 18X (first measuring instrument) and the interferometer 18X 1 (second measuring instrument) of the plate interferometer system 18 are used, respectively. 1 part adopting a configuration for measuring the position of the (plate table PTB) (first control amount X 2) and a second portion position of the (carriage 30) (second control amount X 1).
- the first measuring instrument may adopt a configuration in which the position of the first portion (plate table PTB) is measured based on the position of the second portion (carriage 30).
- the second measuring instrument may employ a configuration that measures the position of the second portion (carriage 30) based on the position of the first portion (plate table PTB).
- one of the first and second measuring instruments may employ a configuration that measures the relative position between the first portion (plate table PTB) and the second portion (carriage 30) of the plate stage PST.
- the measurement device is not limited to the interferometer, but, for example, the head provided on one of the plate table PTB and the carriage 30 is used to irradiate the scale provided on the other and return the measurement light. It is also possible to use an encoder that receives light.
- the configuration of the plate interferometer system 18 is not limited to the above-described configuration, and a configuration in which an interferometer is further added can be employed as appropriate according to the purpose. Further, an encoder (or an encoder system composed of a plurality of encoders) may be used instead of or together with the plate interferometer system 18.
- Each of the above embodiments is particularly effective when a substrate having a size (long side or diameter) of 500 mm or more is an exposure target.
- the illumination light may be ultraviolet light such as ArF excimer laser light (wavelength 193 nm), KrF excimer laser light (wavelength 248 nm), or vacuum ultraviolet light such as F 2 laser light (wavelength 157 nm).
- a single wavelength laser beam oscillated from a DFB semiconductor laser or a fiber laser is amplified by a fiber amplifier doped with, for example, erbium (or both erbium and ytterbium).
- harmonics converted into ultraviolet light using a nonlinear optical crystal may be used.
- a solid laser (wavelength: 355 nm, 266 nm) or the like may be used.
- the projection optical system PL is a multi-lens projection optical system including a plurality of optical systems.
- the number of projection optical systems is not limited to this, and one or more projection optical systems are used. I just need it.
- the projection optical system is not limited to a multi-lens type projection optical system, and may be a projection optical system using an Offner type large mirror, for example.
- the projection optical system PL has the same magnification as the projection magnification has been described.
- the present invention is not limited to this, and the projection optical system may be either an enlargement system or a reduction system.
- each of the above-described embodiments can be applied to any one of a scanning exposure apparatus such as a batch exposure type or a scanning stepper and a stationary exposure apparatus such as a stepper.
- the above embodiments can also be applied to a step-and-stitch projection exposure apparatus that combines a shot area and a shot area.
- each of the above embodiments can be applied to a proximity type exposure apparatus that does not use a projection optical system, and is also applicable to an immersion type exposure apparatus that exposes a substrate via an optical system and a liquid. can do.
- an exposure apparatus that combines two patterns on a substrate via a projection optical system and performs double exposure of one shot area on the substrate almost simultaneously by one scan exposure.
- Patent No. 6,611,316 Patent No. 6,611,316
- the use of the exposure apparatus is not limited to a liquid crystal exposure apparatus that transfers a liquid crystal display element pattern onto a square glass plate.
- an exposure apparatus for semiconductor manufacturing, a thin film magnetic head, a micromachine, and a DNA chip The present invention can also be widely applied to an exposure apparatus for manufacturing the above.
- an exposure apparatus for manufacturing in order to manufacture not only microdevices such as semiconductor elements but also masks or reticles used in light exposure apparatuses, EUV exposure apparatuses, X-ray exposure apparatuses, electron beam exposure apparatuses, etc., glass substrates, silicon wafers, etc.
- the embodiments described above can also be applied to an exposure apparatus that transfers a circuit pattern.
- the object to be exposed is not limited to the glass plate, but may be another object such as a wafer, a ceramic substrate, or a mask blank.
- the step of designing the function and performance of the device the step of manufacturing a mask (or reticle) based on this design step, and the step of manufacturing a glass plate (or wafer)
- the developing step of developing the exposed glass plate, and the portion where the resist remains It is manufactured through an etching step for removing the exposed member of the portion by etching, a resist removing step for removing a resist that has become unnecessary after etching, a device assembly step, an inspection step, and the like.
- the exposure method described above is executed using the exposure apparatus of the above-described embodiment, and a device pattern is formed on the glass plate. Therefore, a highly integrated device can be manufactured with high productivity. .
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Abstract
Description
以下、本発明の第1の実施形態について、図1~図12を用いて説明する。
NP1=b12s2+b11s+b10 …(7a)
NP2=b22s2+b21s+b20 …(7b)
DP=s2+c/(M1+M2)s …(7c)
DR=a4s2+(a3-a4c/(M1+M2))s+a1(M1+M2)/c …(7d)
この場合、F1=1,F2=0としたときのフィードバック制御系(図6)に対する閉ループ伝達関数の特性方程式ACLは、1+CβP1+CαP2の分数式の分子部分により与えられる。すなわち、
ACL=DCDPDR+βNP1+αNP2 …(8)
特性方程式ACLにおいて、任意の解析関数γを用いて、次式(9)を満たすようにα,βを決定する。
βNP1+αNP2=γDR …(9)
ACL=(DCDP+γ)DR=(s+ω1)(s+ω2)…(s+ωn)DR …(10)
次に、本発明の第2の実施形態について、図13~図17を用いて説明する。ここで、前述した第1の実施形態と同一の構成部分には同一の符号を用いるとともに、詳細説明も省略する。
Claims (51)
- 操作量を与えて制御対象を駆動する駆動システムであって、
前記制御対象の第1部分の位置に関連する第1制御量を計測する第1計測器と、
前記第1部分が示す剛体モードに対して逆相の共振モードを含む振舞いを示す前記制御対象の第2部分の位置に関連する第2制御量を計測する第2計測器と、
前記第1及び第2計測器の計測結果をフィルタ処理して第3制御量を求め、該第3制御量を用いて求められる前記操作量を前記制御対象に与える制御部と、
を備える駆動システム。 - 前記制御部は、前記第1及び第2計測器による前記第1及び第2制御量(X2,X1)の計測結果と伝達関数(α,β)とを用いて合成量(Xc=αX2+βX1)を求め、該合成量と前記第1及び第2計測器の一方の計測結果とをフィルタ処理して前記第3制御量を求める、請求項1に記載の駆動システム。
- 前記伝達関数(α,β)は、前記第1及び第2部分に対応する伝達関数P2,P1のそれぞれに含まれる前記共振モードに対応する極が伝達関数αP2+βP1において相殺されるように決定されている、請求項2に記載の駆動システム。
- 前記伝達関数P2,P1の具体形は、前記第1及び第2部分の運動をばね又はばねとダンパにより連結された少なくとも2つ以上の剛体の運動として表現する力学模型を用いて与えられる、請求項3に記載の駆動システム。
- 前記制御部は、前記合成量(Xc)と前記一方の計測結果(X2,X1)とをフィルタ処理して、前記合成量(Xc)の前記共振モードが存在する周波数帯域と前記一方の計測結果(X2,X1)の前記共振モードが存在しない周波数帯域とを合成して、前記第3制御量を求める、請求項2~4のいずれか一項に記載の駆動システム。
- 前記制御部は、前記合成量(Xc)と前記一方の計測結果(X2,X1)とをそれぞれハイパスフィルタ(Fh)と該ハイパスフィルタと同じカットオフ周波数を有するローパスフィルタ(Fl)を介して合成して、前記第3制御量(X3=Fh(Xc)+Fl(X2,X1))を求める、請求項5に記載の駆動システム。
- 前記伝達関数(α,β)はゲインにより表される、請求項2~6のいずれか一項に記載の駆動システム。
- エネルギビームで物体を露光して前記物体上にパターンを形成する露光装置であって、
前記物体を保持して所定面上を移動する移動体を前記制御対象とする請求項1~7のいずれか一項に記載の駆動システムを備える露光装置。 - 前記移動体は、前記物体を保持して移動する第1移動体と、該第1移動体を保持して前記所定面上を移動する第2移動体とを有し、
前記制御対象の前記第1及び第2部分は、それぞれ、前記第1及び第2移動体に含まれる請求項8に記載の露光装置。 - 操作量を与えて制御対象を駆動する駆動システムであって、
前記制御対象の第1部分の位置に関連する第1制御量を計測する第1計測器と、
前記第1部分が示す剛体モードに対して逆相の共振モードを含む振舞いを示す前記制御対象の第2部分の位置に関連する第2制御量を計測する第2計測器と、
前記第1及び第2計測器による前記第1及び第2制御量(X2,X1)の計測結果と複数組(N(≧2)組)の伝達関数(αn,βn(n=1~N))とを用いて複数の合成量(Xcn=αnX2+βnX1(n=1~N))を求め、該複数の合成量と前記第1及び第2計測器の一方の計測結果とをフィルタ処理して前記第3制御量を求め、該第3制御量を用いて求められる前記操作量を前記制御対象に与える制御部と、
を備える駆動システム。 - 前記複数組の伝達関数のうちn組目の伝達関数(αn,βn)は、前記第1及び第2部分に対応する伝達関数P2,P1のそれぞれに含まれるn番目の共振モードに対応する極が伝達関数αnP2+βnP1において相殺されるように決定されている、請求項10に記載の駆動システム。
- 前記伝達関数P2,P1の具体形は、前記第1及び第2部分の運動をばね又はばねとダンパにより連結された少なくとも2つ以上の剛体の運動として表現する力学模型を用いて与えられる、請求項11に記載の駆動システム。
- 前記制御部は、前記複数の合成量(Xcn(n=1~N))と前記一方の計測結果(X2,X1)とをフィルタ処理して、前記複数の合成量(Xcn(n=1~N))のそれぞれの対応する共振モードが存在する周波数帯域と前記一方の計測結果(X2,X1)の前記周波数帯域以外の帯域とを合成して前記第3制御量を求める、請求項11又は12に記載の駆動システム。
- 前記伝達関数はゲインにより表される、請求項10~13のいずれか一項に記載の駆動システム。
- 前記第1及び第2計測器の一方は、前記第1及び第2計測器の他方の計測対象の位置を基準に制御量を計測する、請求項10~14のいずれか一項に記載の駆動システム。
- エネルギビームで物体を露光して前記物体上にパターンを形成する露光装置であって、
前記物体を保持して所定面上を移動する移動体を前記制御対象とする請求項10~15のいずれか一項に記載の駆動システムを備える露光装置。 - 前記移動体は、前記物体を保持して移動する第1移動体と、該第1移動体を保持して前記所定面上を移動する第2移動体とを有し、
前記制御対象の前記第1及び第2部分は、それぞれ、前記第1及び第2移動体に含まれる請求項16に記載の露光装置。 - エネルギビームで物体を露光して前記物体上にパターンを形成する露光装置であって、
前記物体を保持して移動する第1移動体と、該第1移動体を保持して所定面上を移動する第2移動体と、を有する移動体と、
前記第1及び第2移動体の位置に関連する第1及び第2制御量をそれぞれ計測する第1及び第2計測器と、
前記第1及び第2計測器の計測結果をフィルタ処理して第3制御量を求め、該第3制御量を用いて求められる前記操作量を前記移動体に与えることで該移動体を駆動する制御部と、
を備える露光装置。 - 前記第2計測器は、前記第1移動体が示す剛体モードに対して逆相の共振モードを含む振舞いを示す前記第2移動体の部分に配置される、請求項18に記載の露光装置。
- 前記制御部は、前記第1及び第2計測器による前記第1及び第2制御量(X2,X1)の計測結果と1組以上、N組(N≧1)の伝達関数(αn,βn(n=1~N))とを用いてNの合成量(Xcn=αnX2+βnX1(n=1~N))を求め、該合成量と前記第1及び第2計測器の一方の計測結果とをフィルタ処理して前記第3制御量を求める、請求項18又は19に記載の露光装置。
- 前記N組の伝達関数のうちn組目の伝達関数(αn,βn)は、前記第1及び第2移動体に対応する伝達関数P2,P1のそれぞれに含まれるn番目の共振モードに対応する極が伝達関数αnP2+βnP1において相殺されるように決定されている、請求項20に記載の露光装置。
- 前記伝達関数P2,P1の具体形は、前記第1及び第2移動体の運動をばね又はばねとダンパにより連結された少なくとも2つ以上の剛体の運動として表現する力学模型を用いて与えられる、請求項21に記載の露光装置。
- 前記制御部は、前記Nの合成量(Xcn(n=1~N))と前記一方の計測結果(X2,X1)とをフィルタ処理して、前記Nの合成量(Xcn(n=1~N))のそれぞれの対応する共振モードが存在する周波数帯域と前記一方の計測結果(X2,X1)の前記周波数帯域以外の帯域とを合成して前記第3制御量を求める、請求項20~22のいずれか一項に記載の露光装置。
- 前記伝達関数はゲインにより表される、請求項20~23のいずれか一項に記載の露光装置。
- 前記第1及び第2計測器の一方は、前記第1及び第2計測器の他方の計測対象の位置を基準に制御量を計測する、請求項18~24のいずれか一項に記載の露光装置。
- 操作量を与えて制御対象を駆動する駆動方法であって、
前記制御対象の第1部分の位置に関連する第1制御量と、前記第1部分が示す剛体モードに対して逆相の共振モードを含む振舞いを示す前記制御対象の第2部分の位置に関連する第2制御量と、を計測することと、
前記第1及び第2制御量の計測結果をフィルタ処理して第3制御量を求め、該第3制御量を用いて求められる前記操作量を前記制御対象に与えて該制御対象を駆動することと、を含む駆動方法。 - 前記駆動することでは、前記第1及び第2制御量(X2,X1)の計測結果と伝達関数(α,β)とを用いて合成量(Xc=αX2+βX1)を求め、該合成量と前記第1及び第2制御量の一方の計測結果とをフィルタ処理して前記第3制御量を求める、請求項26に記載の駆動方法。
- 前記伝達関数(α,β)は、前記第1及び第2部分に対応する伝達関数P2,P1のそれぞれに含まれる前記共振モードに対応する極が伝達関数αP2+βP1において相殺されるように決定されている、請求項27に記載の駆動方法。
- 前記伝達関数P2,P1の具体形は、前記第1及び第2部分の運動をばね又はばねとダンパにより連結された少なくとも2つ以上の剛体の運動として表現する力学模型を用いて与えられる、請求項28に記載の駆動方法。
- 前記駆動することでは、前記合成量(Xc)と前記一方の計測結果(X2,X1)とをフィルタ処理して、前記合成量(Xc)の前記共振モードが存在する周波数帯域と前記一方の計測結果(X2,X1)の前記共振モードが存在しない周波数帯域とを合成して、前記第3制御量を求める、請求項27~29のいずれか一項に記載の駆動方法。
- 前記駆動することでは、前記合成量(Xc)と前記一方の計測結果(X2,X1)とをそれぞれハイパスフィルタ(Fh)と該ハイパスフィルタと同じカットオフ周波数を有するローパスフィルタ(Fl)を介して合成して、前記第3制御量(X3=Fh(Xc)+Fl(X2,X1))を求める、請求項30に記載の駆動方法。
- 前記伝達関数(α,β)はゲインにより表される、請求項27~31のいずれか一項に記載の駆動方法。
- エネルギビームで物体を露光して前記物体上にパターンを形成する露光方法であって、
請求項26~32のいずれか一項に記載の駆動方法により、前記物体を保持して所定面上を移動する移動体を前記制御対象として駆動することを含む露光方法。 - 前記移動体は、前記物体を保持して移動する第1移動体と、該第1移動体を保持して前記所定面上を移動する第2移動体とを有し、
前記制御対象の前記第1及び第2部分は、それぞれ、前記第1及び第2移動体に含まれる請求項33に記載の露光方法。 - 操作量を与えて制御対象を駆動する駆動方法であって、
前記制御対象の第1部分の位置に関連する第1制御量と、前記第1部分が示す剛体モードに対して逆相の共振モードを含む振舞いを示す前記制御対象の第2部分の位置に関連する第2制御量と、を計測することと、
前記第1及び第2制御量(X2,X1)の計測結果と複数組(N(≧2)組)の伝達関数(αn,βn(n=1~N))とを用いて複数の合成量(Xcn=αnX2+βnX1(n=1~N))を求め、該複数の合成量と前記第1及び第2制御量の一方の計測結果とをフィルタ処理して前記第3制御量を求め、該第3制御量を用いて求められる前記操作量を前記制御対象に与えて該制御対象を駆動することと、
を含む駆動方法。 - 前記複数組の伝達関数のうちn組目の伝達関数(αn,βn)は、前記第1及び第2部分に対応する伝達関数P2,P1のそれぞれに含まれるn番目の共振モードに対応する極が伝達関数αnP2+βnP1において相殺されるように決定されている、請求項35に記載の駆動方法。
- 前記伝達関数P2,P1の具体形は、前記第1及び第2部分の運動をばね又はばねとダンパにより連結された少なくとも2つ以上の剛体の運動として表現する力学模型を用いて与えられる、請求項36に記載の駆動方法。
- 前記駆動することでは、前記複数の合成量(Xcn(n=1~N))と前記一方の計測結果(X2,X1)とをフィルタ処理して、前記複数の合成量(Xcn(n=1~N))のそれぞれの対応する共振モードが存在する周波数帯域と前記一方の計測結果(X2,X1)の前記周波数帯域以外の帯域とを合成して前記第3制御量を求める、請求項36又は37に記載の駆動方法。
- 前記伝達関数はゲインにより表される、請求項35~38のいずれか一項に記載の駆動方法。
- 前記計測することでは、前記第1及び第2制御量の一方を、前記第1及び第2制御量の他方を基準に計測する、請求項35~39のいずれか一項に記載の駆動方法。
- エネルギビームで物体を露光して前記物体上にパターンを形成する露光方法であって、
請求項35~40のいずれか一項に記載の駆動方法により、前記物体を保持して所定面上を移動する移動体を前記制御対象として駆動する露光方法。 - 前記移動体は、前記物体を保持して移動する第1移動体と、該第1移動体を保持して前記所定面上を移動する第2移動体とを有し、
前記制御対象の前記第1及び第2部分は、それぞれ、前記第1及び第2移動体に含まれる請求項41に記載の露光方法。 - エネルギビームで物体を露光して前記物体上にパターンを形成する露光方法であって、
前記物体を保持して移動する第1移動体の位置に関連する第1制御量と、前記第1移動体を保持して所定面上を移動する第2移動体の位置に関連する第2制御量と、を計測することと、
前記第1及び第2制御量の計測結果をフィルタ処理して第3制御量を求め、該第3制御量を用いて求められる前記操作量を前記移動体に与えることで該移動体を駆動することと、
を含む露光方法。 - 前記計測することでは、前記第1移動体が示す剛体モードに対して逆相の共振モードを含む振舞いを示す前記第2移動体の部分の位置に関連する第2制御量を計測する、請求項43に記載の露光方法。
- 前記駆動することでは、前記第1及び第2制御量(X2,X1)の計測結果と1組以上、N組(N≧1)の伝達関数(αn,βn(n=1~N))とを用いてNの合成量(Xcn=αnX2+βnX1(n=1~N))を求め、該合成量と前記第1及び第2制御量の一方の計測結果とをフィルタ処理して前記第3制御量を求める、請求項43又は44に記載の露光方法。
- 前記N組の伝達関数のうちn組目の伝達関数(αn,βn)は、前記第1及び第2移動体に対応する伝達関数P2,P1のそれぞれに含まれるn番目の共振モードに対応する極が伝達関数αnP2+βnP1において相殺されるように決定されている、請求項45に記載の露光方法。
- 前記伝達関数P2,P1の具体形は、前記第1及び第2移動体の運動をばね又はばねとダンパにより連結された少なくとも2つ以上の剛体の運動として表現する力学模型を用いて与えられる、請求項46に記載の露光方法。
- 前記駆動することでは、前記Nの合成量(Xcn(n=1~N))と前記一方の計測結果(X2,X1)とをフィルタ処理して、前記Nの合成量(Xcn(n=1~N))のそれぞれの対応する共振モードが存在する周波数帯域と前記一方の計測結果(X2,X1)の前記周波数帯域以外の帯域とを合成して前記第3制御量を求める、請求項45~47のいずれか一項に記載の露光方法。
- 前記伝達関数はゲインにより表される、請求項45~48のいずれか一項に記載の露光方法。
- 前記計測することでは、前記第1及び第2制御量の一方を、前記第1及び第2制御量の他方を基準に計測する、請求項43~49のいずれか一項に記載の露光方法。
- 請求項41~50のいずれか一項に記載の露光方法を用いて、物体上にパターンを形成することと、
前記パターンが形成された前記物体を現像することと、
を含むデバイス製造方法。
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US10948832B2 (en) | 2017-04-06 | 2021-03-16 | Asml Netherlands B.V. | Lithographic method and apparatus |
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JP6278676B2 (ja) * | 2013-11-29 | 2018-02-14 | キヤノン株式会社 | 振動低減装置、リソグラフィ装置、および物品の製造方法 |
US10281829B2 (en) * | 2014-12-22 | 2019-05-07 | The Regents Of The University Of Michigan | Vibration-assisted positioning stage |
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Also Published As
Publication number | Publication date |
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US10114296B2 (en) | 2018-10-30 |
JP6032503B2 (ja) | 2016-11-30 |
CN104541208A (zh) | 2015-04-22 |
US20150293463A1 (en) | 2015-10-15 |
CN104541208B (zh) | 2019-01-22 |
EP2871526B1 (en) | 2018-11-28 |
KR102197783B1 (ko) | 2021-01-04 |
KR20150032327A (ko) | 2015-03-25 |
EP2871526A4 (en) | 2017-02-22 |
EP2871526A1 (en) | 2015-05-13 |
CN110095945A (zh) | 2019-08-06 |
US9720335B2 (en) | 2017-08-01 |
HK1207428A1 (en) | 2016-01-29 |
JPWO2014010233A1 (ja) | 2016-06-20 |
US20170293234A1 (en) | 2017-10-12 |
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