WO2022070310A1 - 基板処理装置、温度制御プログラム、半導体装置の製造方法及び温度制御方法 - Google Patents
基板処理装置、温度制御プログラム、半導体装置の製造方法及び温度制御方法 Download PDFInfo
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- WO2022070310A1 WO2022070310A1 PCT/JP2020/037162 JP2020037162W WO2022070310A1 WO 2022070310 A1 WO2022070310 A1 WO 2022070310A1 JP 2020037162 W JP2020037162 W JP 2020037162W WO 2022070310 A1 WO2022070310 A1 WO 2022070310A1
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Classifications
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C16/00—Chemical coating by decomposition of gaseous compounds, without leaving reaction products of surface material in the coating, i.e. chemical vapour deposition [CVD] processes
- C23C16/44—Chemical coating by decomposition of gaseous compounds, without leaving reaction products of surface material in the coating, i.e. chemical vapour deposition [CVD] processes characterised by the method of coating
- C23C16/46—Chemical coating by decomposition of gaseous compounds, without leaving reaction products of surface material in the coating, i.e. chemical vapour deposition [CVD] processes characterised by the method of coating characterised by the method used for heating the substrate
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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
- H01L21/67—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
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67248—Temperature monitoring
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
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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
- H01L21/04—Manufacture or treatment of semiconductor devices or of parts thereof the devices having potential barriers, e.g. a PN junction, depletion layer or carrier concentration layer
- H01L21/18—Manufacture or treatment of semiconductor devices or of parts thereof the devices having potential barriers, e.g. a PN junction, depletion layer or carrier concentration layer the devices having semiconductor bodies comprising elements of Group IV of the Periodic Table or AIIIBV compounds with or without impurities, e.g. doping materials
- H01L21/30—Treatment of semiconductor bodies using processes or apparatus not provided for in groups H01L21/20 - H01L21/26
- H01L21/31—Treatment of semiconductor bodies using processes or apparatus not provided for in groups H01L21/20 - H01L21/26 to form insulating layers thereon, e.g. for masking or by using photolithographic techniques; After treatment of these layers; Selection of materials for these layers
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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
- H01L21/04—Manufacture or treatment of semiconductor devices or of parts thereof the devices having potential barriers, e.g. a PN junction, depletion layer or carrier concentration layer
- H01L21/34—Manufacture or treatment of semiconductor devices or of parts thereof the devices having potential barriers, e.g. a PN junction, depletion layer or carrier concentration layer the devices having semiconductor bodies not provided for in groups H01L21/0405, H01L21/0445, H01L21/06, H01L21/16 and H01L21/18 with or without impurities, e.g. doping materials
- H01L21/46—Treatment of semiconductor bodies using processes or apparatus not provided for in groups H01L21/428
- H01L21/477—Thermal treatment for modifying the properties of semiconductor bodies, e.g. annealing, sintering
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
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- 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
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67011—Apparatus for manufacture or treatment
- H01L21/67017—Apparatus for fluid treatment
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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
- H01L21/67—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
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67011—Apparatus for manufacture or treatment
- H01L21/67098—Apparatus for thermal treatment
- H01L21/67109—Apparatus for thermal treatment mainly by convection
Definitions
- the present disclosure relates to a substrate processing device, a temperature control program, a method for manufacturing a semiconductor device, and a temperature control method.
- a semiconductor manufacturing device as an example of a substrate processing device
- a vertical device as an example of a semiconductor manufacturing device.
- a boat as a substrate holding unit that holds a plurality of substrates (hereinafter, also referred to as wafers) in multiple stages is carried into a processing chamber in a reaction tube while holding the substrates, and the temperature is controlled in a plurality of zones.
- the substrate is processed at a predetermined temperature.
- the temperature control of the heater the heater was turned off when the temperature was lowered, but in recent years, the temperature lowering characteristic after the substrate treatment has been positively improved.
- Patent Document 1 discloses a semiconductor manufacturing apparatus in which heating by a heater unit and cooling by a cooling unit are performed in parallel to follow a predetermined temperature rise rate and a predetermined temperature decrease rate.
- Patent Document 2 discloses a semiconductor manufacturing apparatus that prevents variations in control performance by a coordinator by automatically acquiring temperature characteristics in advance and then controlling the temperature by utilizing the characteristics.
- the change in the temperature lowering rate for each zone differs during rapid cooling, and the temperature history between the zones may differ.
- the optimization of this PID parameter has no choice but to take the procedure of searching for the optimum value through trial and error, and the result. Relies heavily on the coordinator's intuition and experience.
- the purpose of the present disclosure is to provide a technique capable of improving the temperature deviation between zones by the optimum parameters.
- the reaction tube that constitutes the inside of the processing chamber that processes the substrate, A heater unit provided on the outside of the reaction tube and having a heating unit for heating the substrate, and a heater unit.
- a cooling unit having a cooling valve that supplies a cooling medium to the space between the heater unit and the reaction tube.
- An exhaust fan that supplies the cooling medium to the cooling unit, Predicted temperature that predicts the temperature of at least one of the temperature of the heating unit and the temperature of the processing chamber, including the information of the exhaust fan, the final target temperature to be a future target, and the opening degree of the cooling valve.
- the prediction model is acquired, and the temperature of the heating unit, the temperature of at least one of the processing chambers, the opening degree of the cooling valve, and the information of the exhaust fan are acquired to obtain the prediction.
- the opening degree of the cooling valve is adjusted so that the error between the predicted temperature column calculated according to the model and the target temperature column calculated by the rate of change when changing from the current target temperature to the final target temperature is minimized. Cooling control unit to adjust and Technology is provided.
- the temperature deviation between zones can be improved by the optimum parameters.
- FIG. 14A is a diagram showing the temperature inside the furnace in each zone and the temperature deviation between zones when the temperature is controlled by using the cooling control unit according to the comparative example.
- FIG. 14B is a diagram showing the temperature inside the furnace in each zone and the temperature deviation between zones when the temperature is controlled by using the cooling control unit according to the present embodiment.
- FIG. 15A is a diagram showing actual measured values of the furnace temperature, predicted temperatures, and their errors when the temperature is controlled without using the information of the exhaust fan in the cooling control unit according to the present embodiment. ..
- FIG. 15B is a diagram showing actual measured values and predicted temperatures of the temperature inside the furnace and their errors when the temperature is controlled by using the cooling control unit according to the present embodiment.
- the substrate processing apparatus 10 is configured as a processing apparatus 10 for carrying out a processing step in a method for manufacturing a semiconductor device.
- the substrate processing apparatus 10 shown in FIG. 1 includes a process tube 11 as a supported vertical reaction tube, and the process tube 11 is composed of an outer tube 12 and an inner tube 13 arranged concentrically with each other. ing. Quartz (SiO 2 ) is used for the outer tube 12, and the outer tube 12 is integrally molded into a cylindrical shape in which the upper end is closed and the lower end is open.
- the inner tube 13 is formed in a cylindrical shape with both upper and lower ends open.
- the inside of the hollow portion of the inner tube 13 forms a processing chamber 14 into which the boat, which will be described later, is carried in, and the lower end opening of the inner tube 13 constitutes a furnace port 15 for taking in and out the boat.
- the boat 31 is configured to hold a plurality of wafers as substrates in a long aligned state. Therefore, the inner diameter of the inner tube 13 is set to be larger than the maximum outer diameter of the wafer 1 to be handled (for example, a diameter of 300 mm).
- the lower end between the outer tube 12 and the inner tube 13 is hermetically sealed by a manifold 16 constructed in a substantially cylindrical shape.
- the manifold 16 is detachably attached to the outer tube 12 and the inner tube 13 for replacement of the outer tube 12 and the inner tube 13, respectively.
- the process tube 11 is in a vertically installed state.
- the outer tube 12 may be shown as the process tube 11.
- the exhaust passage 17 is formed in a circular ring shape having a constant cross-sectional shape due to the gap between the outer tube 12 and the inner tube 13. As shown in FIG. 1, one end of the exhaust pipe 18 is connected to the upper part of the side wall of the manifold 16, and the exhaust pipe 18 is in a state of being connected to the lowermost end portion of the exhaust passage 17.
- An exhaust device 19 controlled by a pressure control unit 21 is connected to the other end of the exhaust pipe 18, and a pressure sensor 20 is connected in the middle of the exhaust pipe 18.
- the pressure control unit 21 is configured to feedback control the exhaust device 19 based on the measurement result from the pressure sensor 20.
- a gas introduction pipe 22 is arranged below the manifold 16 so as to communicate with the furnace port 15 of the inner tube 13, and the gas introduction pipe 22 has a raw material gas supply device and an inert gas supply device (hereinafter, gas supply device). 23 is connected.
- the gas supply device 23 is configured to be controlled by the gas flow rate control unit 24.
- the gas introduced from the gas introduction pipe 22 to the furnace port 15 flows through the processing chamber 14 of the inner tube 13 and is exhausted by the exhaust pipe 18 through the exhaust passage 17.
- a seal cap 25 that closes the lower end opening is in contact with the manifold 16 from the lower side in the vertical direction.
- the seal cap 25 is constructed in a disk shape substantially equal to the outer diameter of the manifold 16, and is configured to be vertically moved up and down by a boat elevator 26 installed in the waiting chamber 3 of the housing 2.
- the boat elevator 26 is configured by a motor-driven feed screw shaft device, bellows, and the like, and the motor 27 of the boat elevator 26 is configured to be controlled by a drive control unit 28.
- a rotary shaft 30 is arranged on the center line of the seal cap 25 and is rotatably supported, and the rotary shaft 30 is configured to be rotationally driven by a rotary mechanism 29 as a motor controlled by a drive control unit 28. ing.
- a boat 31 is vertically supported at the upper end of the rotating shaft 30.
- the boat 31 includes a pair of upper and lower end plates 32 and 33, and three holding members 34 vertically erected between them, and the three holding members 34 have a large number of holding grooves 35 longitudinally. Engraved at equal intervals in the direction. In the three holding members 34, the holding grooves 35 carved in the same step are opened so as to face each other. By inserting the wafer 1 between the holding grooves 35 of the same stage of the three holding members 34, the boat 31 holds the plurality of wafers 1 horizontally and aligned with each other. It has become.
- a heat insulating cap portion 36 is arranged between the boat 31 and the rotating shaft 30.
- the rotary shaft 30 is configured to support the boat 31 in a state of being lifted from the upper surface of the seal cap 25 so that the lower end of the boat 31 is separated from the position of the furnace opening 15 by an appropriate distance.
- the heat insulating cap portion 36 is designed to insulate the vicinity of the furnace opening 15.
- the heater unit 40 As a vertically installed heating device is arranged concentrically and is installed in a state of being supported by the housing 2.
- the heater unit 40 includes a case 41.
- the case 41 is made of stainless steel (SUS) and is formed in a cylindrical shape, preferably a cylindrical shape, in which the upper end is closed and the lower end is opened.
- the inner diameter and the total length of the case 41 are set to be larger than the outer diameter and the total length of the outer tube 12.
- the plurality of control zones are divided into seven control zones U1, U2, CU, C, CL, L1 and L2 from the upper end side to the lower end side of the heater unit 40.
- a heat insulating structure 42 is installed in the case 41.
- the heat insulating structure 42 according to the present embodiment is formed in a cylindrical shape, preferably in a cylindrical shape, and the side wall portion 43 of the cylindrical body is formed in a multi-layer structure. Further, it includes a partition portion 105 that isolates the side wall portion 43 into a plurality of zones (regions) in the vertical direction, and a heating element 56 that is provided inside the side wall portion 43 and serves as a heating unit for heating the wafer 1 of the processing chamber 14. ..
- the heater unit 40 is configured to be controlled by the temperature control unit 64. Further, the heater unit 40 is provided with a thermocouple 65 and a thermocouple 66 in each control zone corresponding to the control zones U1, U2, CU, C, CL, L1 and L2.
- the thermocouple 65 is a heater thermocouple and detects the temperature between the outer tube 12 and the heater unit 40 in each control zone.
- the thermocouple 65 is configured to measure the ambient temperature in the vicinity of the heating element 56 in each control zone.
- the temperature detected by the thermocouple 65 will be referred to as the heater temperature. Further, the temperature of the heating element 56 may be used as the heater temperature.
- the thermocouple 66 is a cascade thermocouple and detects the temperature between the outer tube 12 and the inner tube 13 in each control zone.
- the thermocouple 66 is configured to measure the temperature inside the furnace, which is the temperature of the processing chamber 14 in each control zone. In the following, the temperature detected by the thermocouple 66 will be referred to as the temperature inside the furnace.
- the temperature control unit 64 adjusts the energization condition to the heating element 56 in each control zone based on the temperature information detected by the thermocouple 65 and the thermocouple 66 in each control zone, and the temperature of the processing chamber 14 is controlled by the control unit 200. It is configured to control at a desired timing so as to reach the processing temperature set by.
- a check damper 104 as a back diffusion prevention unit is provided in each zone.
- the cooling gas 90 as a cooling medium is supplied to the internal space 75 via the gas flow path 107.
- the check damper 104 is closed so that the atmosphere of the internal space 75 does not flow back.
- the opening pressure of the check damper 104 may be changed according to the zone.
- a heat insulating cloth as a blanket is provided between the outer peripheral surface of the side wall portion 43 and the inner peripheral surface of the case 41 so as to absorb the thermal expansion of the metal.
- a ceiling wall portion 80 as a ceiling portion is covered on the upper end side of the side wall portion 43 of the heat insulating structure 42 so as to close the internal space 75.
- the ceiling wall 80 is formed in an annular shape with an exhaust hole 81 as a part of an exhaust path for exhausting the atmosphere of the internal space 75, and the lower end of the upstream end of the exhaust hole 81 leads to the inner space 75. ..
- the downstream end of the exhaust hole 81 is connected to the exhaust duct 82.
- the exhaust duct 82 is connected to the exhaust fan 84.
- the exhaust fan 84 is configured to supply a cooling gas 90 as a cooling medium to a cooling unit as a cooling device, which will be described later, and discharge the cooling gas 90 through the exhaust duct 82.
- the pressure control unit 21, the gas flow rate control unit 24, the drive control unit 28, the temperature control unit 64, and the cooling control unit 300 are configured to be electrically connected to and communicate with the control unit 200, respectively.
- the pressure control unit 21, the gas flow rate control unit 24, the drive control unit 28, the temperature control unit 64, and the cooling control unit 300, which will be described later, are configured to be controlled according to the instructions of the control unit 200, respectively.
- the cleaning unit 301 in the present embodiment is divided into a plurality of cooling zones (U1, U2, CU, C, CL, L1, L2) corresponding to the plurality of control zones, and the cooling gas 90 is supplied to each cooling zone.
- the cooling valve 102 supplies the cooling gas 90 as a cooling medium to the internal space 75 between the heater unit 40 and the process tube 11.
- the flow rate of the cooling gas 90 introduced into the intake pipe 101 is set according to the ratio of the zone length of each cooling zone, and the gas ejected from the opening hole 110 toward the process tube 11 is set. It is configured to adjust the flow rate and flow velocity of. That is, the cooling valve 102 changes the flow rate and the flow velocity of the cooling gas 90 introduced into each cooling zone by adjusting the opening degree of the valve by the cooling control unit 300 according to the structure in the intake pipe 101. be able to. That is, the cooling valve 102 has a configuration that can be controlled to a different opening degree in each cooling zone. The cooling valve 102 is configured so that it can be controlled by the cooling control unit 300.
- a check damper 104 is provided on the downstream side of the cooling valve 102 of the intake pipe 101 to prevent back diffusion of the atmosphere from the processing chamber 14.
- the cooling gas 90 is exhausted from the exhaust port 81 provided on the upper side of the internal space 75. Therefore, the check damper 104 is provided in each zone so as to efficiently store the cooling gas 90, and prevents convection between the intake pipe 101 and the heat insulating structure 42 when the quenching is not used.
- each cooling zone from substantially the same height as the uppermost stage of the region where the wafer 1 mounted on the boat 31 is held to the lowest stage of the region where the wafer 1 is held (for example, U2 and CU in FIG. 2). , C, CL, L1), an opening hole 110 is provided so that the flow rate and the flow velocity of the cooling gas 90 blown out are uniform.
- the opening holes 110 are provided in the cooling zone at the same intervals in the circumferential direction and the vertical direction, and are configured to blow out into the internal space 75 through the gas flow path 107.
- the heat insulating structure 42 used for the heater unit 40 described above is also used as the cooling unit 301.
- the heat insulating structure 42 has a side wall portion 43 formed in a cylindrical shape, and the side wall portion 43 is formed in a multi-layer structure.
- the side wall portion 43 is configured to be divided into a plurality of cooling zones (U1, U2, CU, C, CL, L1, L2) in the vertical direction.
- the partition portion may be configured to isolate the side wall portion 43 in the vertical direction into a plurality of cooling zones (U1, U2, CU, C, CL, L1, L2), and may be configured between the partition portion 105 and the side wall portion 43. It may be configured to provide a space.
- the gas flow path 107 is configured to communicate the intake pipe 101 and the internal space 75, and to blow out the cooling gas 90 to the internal space 75 through the opening hole 110 for each cooling zone.
- the opening hole 110 is arranged so that the cooling gas 90 blown out avoids the heating element 56.
- the partition portion 105 is configured so that the number of control zones and the number of cooling zones match.
- the number of control zones and the number of cooling zones are arbitrarily set without being limited to this form.
- the exhaust duct 82 is connected to the exhaust fan 84, and is configured to discharge the cooling gas 90 by the exhaust function of the exhaust fan 84.
- the cooling control unit 300 is electrically connected to the cooling valve 102 and is configured to indicate the opening degree of the cooling valve 102. .. Further, the cooling control unit 300 is electrically connected to the exhaust fan 84 and is configured to instruct the operation of the exhaust fan 84 to be turned on or off.
- the cooling unit 301 in the present embodiment is supplied with cooling by adjusting the opening degree of the cooling valve 102 for each cooling zone via the cooling control unit 300 and at the same time turning on the activation of the exhaust fan 84.
- the flow rate of the gas can be adjusted for each cooling zone, and as a result, the cooling capacity can be adjusted for each cooling zone.
- the control unit 200 includes a computer main body 203 including a CPU (Central Precessing Unit) 201 and a memory 202, a communication IF (Interface) 204 as a communication unit, and a storage device 205 as a storage unit. It also has a display / input device 206 as an operation unit. That is, the control unit 200 includes a component as a general computer.
- the CPU 201 constitutes the center of the operation unit, executes a control program stored in the storage device 205, and records a process recipe (for example, a process recipe) recorded in the storage device 205 according to an instruction from the display / input device 206. ) Is executed.
- a process recipe for example, a process recipe
- the recording medium 207 for storing the operation program of the CPU 201 and the like a ROM (Read Only Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), a flash memory, a hard disk, and the like are used.
- the RAM Random Access Memory functions as a work area of the CPU or the like.
- the communication unit 204 is electrically connected to the pressure control unit 21, the gas flow rate control unit 24, the drive control unit 28, the temperature control unit 64, and the cooling control unit 300 (these may be collectively referred to as a sub controller), and each of them is electrically connected. It is possible to exchange data related to the operation of parts.
- the storage unit 205 has a program storage area for storing files such as the above-mentioned process recipe, and in this program storage area, a predicted temperature sequence calculated according to a predetermined furnace temperature prediction model held in advance is stored in the future.
- a program that causes the substrate processing device to execute a procedure for controlling the heater supply power so as to approach the target temperature sequence, information on the exhaust fan 84 described later in this embodiment, a future target final target temperature, and opening of the cooling valve 102.
- the temperature changes from the predicted temperature sequence and the current target temperature to the final target temperature according to the quenching prediction model that estimates the predicted temperature that predicts the temperature of at least one of the heater temperature and the temperature inside the furnace, including each degree.
- a program for causing the substrate processing apparatus to execute a procedure for adjusting the opening degree of the cooling valve 102 is stored so that the error from the target temperature sequence calculated by the rate of change of the temperature is minimized. Further, in the parameter storage area (not shown), at least each of the above-mentioned prediction models and various parameters for realizing each of the above-mentioned prediction models are stored. Also, at least each prediction model in a predetermined temperature zone is stored.
- control unit 200 has been described as an example, but the present invention is not limited to this, and can be realized by using a normal computer system.
- the above-mentioned processing can be executed by installing the program from a recording medium 207 such as a CDROM or USB in which the program for executing the above-mentioned processing is stored in a general-purpose computer.
- the communication unit 204 of a communication line, a communication network, a communication system, or the like may be used.
- the program may be posted on a bulletin board of a communication network, and the program may be superimposed on a carrier wave and provided via the network. Then, by starting the program provided in this way and executing it in the same manner as other application programs under the control of the OS (Operating System), the above-mentioned processing can be executed.
- OS Operating System
- the cooling control unit 300 includes a furnace temperature acquisition unit 351, a temperature history storage unit 353, an exhaust history storage unit 355, a valve opening history storage unit 357, an individual characteristic creation unit 359, a target temperature sequence creation unit 361, and an integrated characteristic creation unit. It is composed of 363, a constrained optimization calculation unit 365, and an opening signal supply unit 367.
- the target temperature from the control unit 200 is input to the input terminal S.
- the temperature inside the furnace from the thermocouple 66 is input to the input end F.
- Information on the on / off signal of the exhaust fan 84 from the control unit 200 is input to the input terminal L.
- the target temperature, the input end S, and the input end F exist for the number of thermocouples 66, but only one is shown in FIG. 4 because they have the same configuration.
- the intake pipe 101 and the cooling valve 102 are provided for each cooling zone as described above, but only one is shown in FIG. 5 for the sake of explanation. That is, the cooling valve 102 can have a different opening degree in each zone, and the cooling gas is supplied to the intake pipe 101 for each zone.
- thermocouple 66 is arranged in the same number as each zone at a position corresponding to the cooling zone in the internal space of the inner tube 13, and converts the temperature in the vicinity of the wafer 1 into a minute voltage and outputs the thermocouple 66.
- the cooling control unit 300 is configured to acquire an input signal from the input end S, the input end F, and the input end L every minute time according to a preset control cycle, and update and output the output signal every minute time. ing.
- the furnace temperature acquisition unit 351 acquires a minute electric power of the thermocouple 66, smoothes it for noise removal, and converts it into a detected temperature according to its physical characteristics. That is, the furnace temperature acquisition unit 351 acquires the furnace temperature detected from the thermocouple 66. There are as many furnace temperature acquisition units 351 as there are thermocouples 66.
- the temperature history storage unit 353 inputs the furnace temperature or the heater temperature of all zones from the furnace temperature acquisition unit 351 and stores those data in the temperature history storage area for a certain period of time.
- the temperature history storage unit 353 writes in the temperature history storage area in order from the first acquired temperature at predetermined intervals. After the temperature history storage area is filled with data, the oldest data is discarded and new data is written to that location. In this way, the temperature history storage unit 353 is configured to be able to store the past temperature for a certain period from the present.
- the temperature written in the process at a specific time t is treated as the temperature one time before (for example, displayed as y (t-1) shown in Equation 1).
- the input temperature is a temperature calculated from the average electromotive force of the thermocouple 66 up to the writing time.
- the exhaust history storage unit 355 inputs an on / off signal of the exhaust fan 84 from the control unit 200, and stores the input data regarding the on / off signal of the exhaust fan 84 in the exhaust history storage area for a certain period of time.
- the valve opening history storage unit 357 inputs opening information to be output to the cooling valves 102 in all zones, and stores the data in the valve opening history storage area for a certain period of time.
- the valve opening degree history storage unit 357 writes in the valve opening degree history storage area in order from the first acquired opening degree at predetermined intervals. After the valve opening history storage area is filled with data, the oldest data is discarded and new data is written at that position. In this way, the valve opening history storage unit 357 is configured to be able to store the past opening for a certain period from the present.
- the opening written in the process of a specific time t is treated as the temperature one time before (for example, displayed as Va (t-1) shown in Equation 1). ..
- the input opening degree is an opening degree calculated in the previous process and continuously output until the current time.
- the individual characteristic creation unit 359 acquires a quenching prediction model as a prediction model of a specific cooling zone, which will be described in detail later, from the storage unit 205, and stores predetermined past temperature data of the furnace temperature or the heater temperature in the temperature history storage unit. Acquired from 353, the data regarding the predetermined past on / off of the exhaust fan 84 is acquired from the exhaust history storage unit 355, and the predetermined past opening data of the cooling valve 102 is acquired from the valve opening history storage unit 357. , The individual input response characteristic matrix S sr and the individual zero response characteristic vector S zr described in Equations 2 and 3 are calculated.
- the quenching prediction model is described as being acquired from the control unit 200, but for example, a quenching prediction model storage unit may be provided in the cooling control unit 300. The above is just an example.
- the quenching prediction model is a formula for calculating the predicted temperature for predicting at least one of the heater temperature and the furnace temperature, and the following formula 1 is used.
- y0 is a reference temperature, and is assumed to be near room temperature, for example.
- the reference temperature y0 is a temperature within the range of 20 ° C. or higher and 30 ° C. or lower.
- a 1 , ..., an, b 1 , ..., b n , c 1 , ..., c n , d are predetermined coefficients, respectively .
- the n and m values are preset values and indicate the required number of past data.
- Predictive models are stored for each cooling zone and can be used for control operations. That is, the quench prediction model corresponds to each temperature zone.
- Equation 1 when the temperature one time before is the reference temperature y0, "y (t-1) -y0" becomes zero, and as a result,
- the adjacent zone is set in advance in consideration of the cooling characteristics. For example, two adjacent zones may be required depending on the degree of mutual interference. Further, due to the characteristics of the cooling unit, the cooling gas flows upward in the internal space 75, so for example, only two adjacent zones on the vertically lower side may be set.
- Equation 1 is represented by a state-space model as shown in the following equation 2.
- vectors x (t), u (t), and the output y (t) are as follows.
- Equation 2 if u (t) is input at time t and then u (t) is continuously input, the predicted temperature after t + 1 becomes as shown in Equation 3 below.
- the number of each line is calculated as many as allowed depending on the control cycle and the arithmetic processing performance of the CPU used by the controller.
- the individual zero response characteristic vector S zr indicates the amount of change in the predicted temperature vector that is affected by the past temperature and the opening degree of the past cooling valve 102. Further, the individual input response characteristic matrix S sr shows the amount of change in the predicted temperature vector that is affected by the opening degree of the cooling valve 102 calculated this time.
- the individual input response characteristic matrix S sr is S sr-a , zone b.
- the individual zero response characteristic vector corresponding to is expressed as S zr-b or the like.
- the target temperature sequence calculation unit 361 inputs the target temperature, the current target temperature, and the ramp plate from the control unit 200 at the timing when the set temperature is updated, and calculates the individual target temperature sequence vector Stg .
- the ramp plate indicates the rate of change when changing from the current target temperature to the final target temperature that is the future target. For example, if the setting is 1 ° C / min, 1 ° C per minute is specified. Indicates an instruction that changes at the rate of.
- the ramp rate is 10 ° C./min.
- the target temperature sequence creation unit 361 switches between the case where the ramp plate is zero and the case where the individual target temperature sequence vector Stg is created when the ramp plate is non-zero.
- Lamping temperature deviation Target temperature-Current target temperature
- Lamping time Absolute value (Ramping temperature deviation) ⁇ Reference ramp plate
- Reference set value Current target temperature + Lamping temperature deviation x (1-) exp (elapsed time ⁇ (lamping time ⁇ time constant))
- the individual target temperature column vector Stg is calculated according to the reference setting value of. For example, 1.0 is set as the time constant.
- Lamping temperature deviation Target temperature-Current target temperature
- Lamping time Absolute value (Ramping temperature deviation) ⁇
- Reference setting value Current target temperature + Lamping temperature deviation x (Elapsed time ⁇ ) Lamping time)
- the individual target temperature column vector Stg is calculated according to the reference setting value of.
- the individual target temperature column vector Stg is expressed as in Equation 4 for the following explanation.
- the time and number of lines in Equation 4 correspond to those in Equation 3 and so on.
- the target temperature sequence creating unit 361 exists in the same number as the temperature to be controlled, that is, in the same number as the thermocouple 66.
- Stg-a when it corresponds to the zone a
- Stg-e when it corresponds to the zone e, and the like.
- the integrated characteristic creation unit 363 inputs the individual input response characteristic matrix S sr and the individual zero response characteristic vector S zr from the plurality of individual characteristic creation units 359, and the individual target temperature column vector from the plurality of target temperature sequence creation units 361. Enter St g to create an integrated characteristic equation.
- the individual input response characteristic matrix S sr is transformed.
- the individual input response characteristic matrix S sr shows the amount of change in the predicted temperature when u (t) is input at time t and then u (t) is continuously input as it is.
- u (t) is not retained and different values u (t) to u (t + Np-1) are input at all control timings
- the second term on the right-hand side of Equation 3 becomes as follows. The number of lines in Equation 3 was set to Np.
- Equation 5 S dsr is used as an individual input response characteristic matrix again.
- the individual input response matrix corresponding to the zone a is expressed as S dsr-a or the like.
- the integrated characteristic creation unit 363 calculates and outputs the integrated input response characteristic matrix U dsr , the integrated zero response characteristic vector U zr , and the integrated target temperature vector U tg represented by the equations 6 and 7.
- the constrained optimization calculation unit 365 inputs the integrated input response characteristic matrix U dsr , the integrated zero response characteristic vector U zr , and the integrated target temperature vector U tg from the integrated characteristic creation unit 363, and uses a method called the active constraint method described later. Calculate the optimum opening this time.
- the opening signal supply unit 367 exists in the same number as the number of divisions of the cooling zone, that is, the connected cooling valves 102, and acquires the corresponding opening degree from the constrained optimization calculation unit 365 in a predetermined control cycle. , Update the opening instruction to the cooling valve 102.
- Equations 8 and 9 c, Q, b, and A are given constant matrices or vectors. Further, the symbol T represents transposition. At this time, in the active constraint method, the solution vector x can be obtained by implementing the flow shown in FIG.
- S205 it is determined whether or not all the elements of ⁇ are 0 or more. If it is 0 or more, the process proceeds to S213. If all the elements of ⁇ are not 0 or more, the process proceeds to S211.
- ⁇ is obtained according to the following equation 10.
- the active-set method shown in FIG. 6 is a solution that satisfies Equation 9 and maximizes Equation 8 by searching for a combination of rows for which the equal sign is valid among the rows of Equation 9 using the incidental multiplier ⁇ . Can be asked.
- the constrained optimization calculation unit 365 adopts the square of the error between the target temperature column and the predicted temperature column as the evaluation function.
- the evaluation function V (u (t)) is as shown in the following equation 11.
- equation 9 relating to the constraint, if only the equation relating to the opening degree of the zone a to the zone c is illustrated for the sake of simplicity, as shown in the following equation 12, the power supply values of each zone k a , k.
- the upper and lower limit limits on the left side of the arrow are given to b and k c , respectively, it can be applied to equation 9 by formulating an inequality sign as shown on the right side of the arrow.
- the second active constraint method that can be used in the present disclosure will be described.
- the active constraint method shown in FIG. 6 described above when the arithmetic processing capacity of the CPU is not sufficient, the calculation may not be completed in the predetermined control cycle. Therefore, instead of the flow of FIG. 6, the solution vector x can be obtained by the flow of FIG. 7.
- the difference from the first active constraint method in FIG. 6 is that S215 is added immediately after the start, S201 is changed to S217, S209 and S211 are added to S219, and the judgment in S219 is to S203 or S213. I tried to move forward. In the following, only the difference from the first active constraint method will be described.
- the solution x k in the range in which the equal sign of Equation 9 is not valid is selected.
- the selected solution is set to the upper limit of the range in which the equal sign of Equation 9 is not valid, in preparation for the case where the optimization calculation is terminated halfway in S219 described later.
- the opening degree of the zone a is 0 ⁇ V a (t) ⁇ 100
- the upper limit constraint is prioritized as the constraint added in S209, so that a safe calculation result can be obtained even if the optimization calculation is terminated halfway.
- the calculation of the optimum solution can be completed with the minimum necessary processing, so that the calculation can be completed within the predetermined control cycle.
- the temperature detected by the thermocouple 65 is input to the furnace temperature acquisition unit 351 instead of the thermocouple 66. That is, the furnace temperature acquisition unit 351 acquires the heater temperature detected by the thermocouple 65 and controls it according to the target temperature. Thereby, even if the configuration does not include the thermocouple 66, the same effect as that of the above-described embodiment can be obtained by using the temperature detected by the thermocouple 65.
- FIG. 8 is a control block diagram inside the cooling control unit 300 according to the third embodiment of the present disclosure.
- the integrated characteristic creation unit 369 is used instead of the integrated characteristic creation unit 363 in the control block diagram shown in FIG. 5, and the optimization calculation unit 371 is used instead of the constrained optimization calculation unit 365.
- the optimization calculation unit 371 is used instead of the constrained optimization calculation unit 365.
- the integrated characteristic creation unit 369 inputs the individual input response characteristic matrix S sr and the individual zero response characteristic vector S zr from the individual characteristic creation unit 359 having the number of zone divisions, and the target temperature column creation unit 361 having the number of zone divisions. Input the temperature column vector Stg and create an integrated characteristic equation.
- the integrated characteristic equation is created by the method shown in the following equations 13 and 14 instead of the equations 6 and 7.
- the difference from the zone a is arranged in the second and subsequent stages, respectively.
- zone a as a reference for differences can be set in advance using parameters or the like.
- the zone a is used as the reference for the difference, but it may be a zone other than the zone a.
- the times and the number of lines in the formulas 13 and 14 correspond to the formulas 6 and 7.
- the integrated characteristic creation unit 369 calculates and outputs the integrated input response characteristic matrix U dsr , the integrated zero response characteristic vector U zr , and the integrated target temperature vector U tg represented by the equations 13 and 14.
- the constrained optimization calculation unit 371 inputs the integrated input response characteristic matrix U dsr , the integrated zero response characteristic vector U zr , and the integrated target temperature vector U tg from the integrated characteristic creation unit 369, and is optimized by the above-mentioned active constraint method. Calculate the opening this time.
- the optimization calculation unit 371 as an evaluation function, the square of the error between the target temperature column and the predicted temperature column for the reference zone, and the difference between the predicted temperature column for the zone and the predicted temperature column for the reference zone 2 for the other zones. The one with the power added is adopted. However, the weight matrix Z is considered for the sum of the squares of the difference between the predicted temperature column of the zone and the predicted temperature column of the reference zone.
- the evaluation function V (u (t)) is then given by Equation 15.
- the weight matrix Z is a diagonal matrix in which 1 is assigned to the evaluation of the deviation of the reference zone, and Z is assigned to the evaluation of the difference from the reference zone of the other zones.
- Z takes a value of, for example, 1 to 10.
- the control method of the cooling control unit 300 shown in FIG. 8 when controlling the temperature, it is possible to control the temperature in consideration of the inter-zone temperature deviation of the temperature arranged in each zone, and the temperature is arranged in each zone. It is possible to control the temperature drop at almost the same time with the same temperature history.
- Equation 1 The procedure for automatically acquiring the quenching prediction model illustrated in Equation 1 will be described.
- the coefficients of the quenching prediction model (a 1 , ..., an, b 1 , ..., b n , c 1 , ..., c n , d in Equation 1 ) are determined.
- FIG. 9 illustrates a processing block diagram performed by the cooling control unit 300 when the quenching prediction model is generated.
- the random opening signal supply unit 373 instructs the corresponding cooling valve 102 of the opening degree (hereinafter, random opening degree) randomly selected from the three-value discrete values by the command from the control unit 200.
- the random opening signal supply units 373 There are as many random opening signal supply units 373 as there are cooling zones, that is, the same number as the cooling valves 102.
- the possible value of the random opening degree and the duration until the change can be input from the control unit 200 or can be set in advance by a parameter or the like.
- the quenching prediction model update unit 375 acquires the quenching prediction model from the storage unit 205 and the necessary past temperature data from the temperature history storage unit 353 by the command from the control unit 200, and the necessary past exhaust fan 84. Information on on / off of is acquired from the exhaust history storage unit 355, information on the required past opening is acquired from the valve opening history storage unit 357, and the latest quenching prediction model obtained at that time is calculated and updated. Record again. After the start, the update of the quenching prediction model is repeatedly performed at a predetermined cycle, and the operation is repeated for a predetermined time to end.
- the quenching prediction model update unit 375 exists in the same number as the number of cooling zones, that is, the cooling valve 102.
- the number of terms (n, m values in Equation 1), the degree of mutual interference (Equation 1), etc. of the quenching prediction model can be input from the control unit 200 or can be set in advance by parameters or the like.
- Y y (t-1) ⁇ y0.
- the time t represents the current processing
- the latest data among the elements of x (t) is Va (t-1), as described above, the opening obtained by the current processing. This is because the time such as degree is set to t-1.
- ⁇ is a parameter called the forgetting coefficient, which is set in advance as a parameter.
- P (t) is a coefficient error correlation matrix and is recorded together with the quenching prediction model at each update. For example, a unit matrix having 100 to 1000 as an element is set as the initial value.
- the coefficient ⁇ (t) of the quenching prediction model is recorded in a predetermined storage area in the cooling control unit 300 after the lapse of a preset time.
- the temperature inside the furnace is controlled to the target temperature T1 according to the instruction of the control unit 200. At this time, it is controlled by the feedback loop of the heater unit 40, the temperature control unit 64, and the thermocouple 66.
- the drive of the exhaust fan 84 is started (on) by the instruction from the control unit 200, and at the same time, the cooling control unit 300 updates the quenching prediction model by the instruction from the control unit 200 with the configuration shown in FIG. It will be started.
- the cooling control unit 300 independently instructs the cooling valve 102 of each cooling zone of the random opening degree on the one hand, and updates the quenching prediction model on the other hand (Equation 18).
- the instruction of the random opening degree is stopped, the quenching prediction model is determined, and the data is recorded in a predetermined storage area in the cooling control unit 300.
- the control unit 200 stops (turns off) the drive of the exhaust fan 84.
- S306 it is determined whether or not the quenching prediction model confirmed in S304 is appropriate.
- the condition for determination is the number of times S304 is executed, the convergence status of the prediction model during S304 execution, or a combination thereof.
- the determined and valid quenching prediction model is read out and used by the individual characteristic creation unit 359 when the temperature control of the present disclosure is performed in the temperature lowering step S5 described later.
- y (tk) is the deviation of the temperature k times before from the reference temperature, V a (tk), V a (t-2k), ..., V a (t-nk) opened the cooling zone k times before, 2k times before, ..., nk times before. Every time, V b (tk), V b (t-2k), ..., V b (t-nk) is placed in one of the zones k times before, 2k times before, ..., nk times before.
- V c (t-k), V c (t-2k), ..., V c (t-nk) are on the other side of the zone k times before, 2k times before, ..., nk times before.
- the predicted temperature can be obtained accurately and the control calculation amount can be reduced even when the frequency component included in the characteristics is relatively small. Can be done.
- Reference numerals S1 to S6 shown in FIG. 12 indicate that each step S1 to S6 in FIG. 11 is performed.
- step S1 the temperature inside the furnace is maintained at the target temperature T0, which is lower than the processing temperature T1.
- the control unit 200 inputs the target temperature to the temperature control unit 64.
- the temperature control unit 64 feeds back the temperature detected by the thermocouple 66 or the thermocouple 65, and controls the power supply value to the power supply circuit 63 based on the target temperature input from the control unit 200 to control the furnace.
- the internal temperature is controlled to maintain the target temperature T0.
- the wafer 1 has not been carried into the processing chamber 14.
- the control unit 200 turns off the drive of the exhaust fan 84 and notifies the exhaust history storage unit 355 of the cooling control unit 300 of information regarding the off signal of the exhaust fan 84. Further, from step S1 to step S4 described later, the temperature is not controlled by the cooling control unit 300, and the cooling valve 102 is in a closed state.
- step S2 when a predetermined number of wafers 1 are loaded into the boat 31, the boat 31 holding the wafer group 1 has a seal cap 25 raised by the boat elevator 26, so that the processing chamber of the inner tube 13 is used. It is carried in (boat loading) to 14. The seal cap 25 that has reached the upper limit is pressed against the manifold 16 to seal the inside of the process tube 11. The boat 31 is left in the processing chamber 14 while being supported by the seal cap 25. At this time, the temperatures of the boat 31 and the wafer 1 are lower than the temperature inside the furnace T0, and as a result of inserting the wafer 1 held in the boat 31 into the furnace, the atmosphere outside the furnace (room temperature) is introduced into the furnace. Therefore, the temperature inside the furnace is temporarily lower than T0, but the temperature inside the furnace stabilizes at T0 again after a certain period of time under the control of the temperature control unit 64.
- step S3 the inside of the process tube 11 is exhausted by the exhaust pipe 18. Further, the temperature control unit 64 controls the sequence to gradually raise the temperature inside the furnace from the temperature T0 to the target temperature T1 for performing a predetermined process on the wafer 1. The error between the actual temperature rise inside the process tube 11 and the target temperature of the sequence control of the temperature control unit 64 is corrected by the feedback control based on the measurement results of the thermocouples 65 and 66. Further, the boat 31 is rotated by the motor 29.
- step S4 when the internal pressure and temperature of the process tube 11 and the rotation of the boat 31 become stable as a whole, the raw material gas is supplied from the gas introduction pipe 22 into the processing chamber 14 of the process tube 11 by the gas supply device 23. be introduced. That is, the temperature control unit 64 acquires the heater temperature or the temperature inside the furnace and the power supply value in a predetermined control cycle, and controls to adjust the power supply value output to the heating element 56 to adjust the temperature inside the furnace. Is maintained and stabilized at the target temperature T1.
- the raw material gas introduced by the gas introduction pipe 22 flows through the processing chamber 14 of the inner tube 13 and is exhausted by the exhaust pipe 18 through the exhaust passage 17.
- a predetermined film is formed on the wafer 1 by a thermal CVD reaction caused by contact of the raw material gas with the wafer 1 heated to a predetermined processing temperature.
- step S5 After the predetermined processing time has elapsed, in step S5, after the introduction of the processing gas is stopped, a purge gas such as nitrogen gas is introduced into the process tube 11 from the gas introduction pipe 22. At the same time, the cooling gas 90 is supplied from the intake pipe 101 to the gas flow path 107 via the check damper 104. Then, the gas is blown into the internal space 75 from the opening holes 110 as the plurality of cooling gas supply ports. Then, the cooling gas 90 blown out from the opening hole 110 into the internal space 75 is exhausted through the exhaust hole 81, the exhaust duct 82, and the exhaust fan 84.
- a purge gas such as nitrogen gas is introduced into the process tube 11 from the gas introduction pipe 22.
- the cooling gas 90 is supplied from the intake pipe 101 to the gas flow path 107 via the check damper 104. Then, the gas is blown into the internal space 75 from the opening holes 110 as the plurality of cooling gas supply ports. Then, the cooling gas 90 blown out from the opening hole 110 into the internal space
- step S5 after the processing on the substrate is completed, the temperature inside the furnace is rapidly lowered (decreased) from the temperature T1 to the relatively low temperature T0 again.
- the control unit 200 starts (on) driving the exhaust fan 84, and notifies the exhaust history storage unit 355 of the cooling control unit 300 of information regarding the ON signal of the exhaust fan 84.
- the opening degree of the cooling valve 102 is adjusted by the control by the cooling control unit 300 to control so as to obtain a desired temperature locus.
- the temperature is not controlled by the temperature control unit 64, and the supply power output to the heater unit 40 is set to zero. That is, the temperature control unit 64 is configured to make the power supply value output to the heating element 56 in each control zone zero.
- the cooling gas 90 can be used.
- an inert gas such as nitrogen gas may be used as the cooling gas in order to further enhance the cooling effect and prevent the heating element 56 from being corroded at a high temperature by impurities in the gas.
- step S6 When the temperature of the processing chamber 14 drops to the target temperature T0, in step S6, the boat 31 supported by the seal cap 25 is lowered by the boat elevator 26 and is carried out (boat unloading) from the processing chamber 14.
- the control unit 200 turns off the drive of the exhaust fan 84, and notifies the exhaust history storage unit 355 of the cooling control unit 300 of information regarding the off signal of the exhaust fan 84. Further, at this time, the temperature is not controlled by the cooling control unit 300, and the cooling valve 102 is closed.
- steps S1 to S6 after obtaining a stable state in which the temperature inside the furnace is in a predetermined minute temperature range with respect to the target temperature and the state continues for a predetermined time or longer, the process is performed. You are ready to move on to the next step. Therefore, for example, it is an important control performance index to quickly converge the furnace temperature to the target temperature T1 in the temperature raising step of step S3.
- inter-zone temperature deviation the value obtained by subtracting the minimum value from the maximum value (hereinafter referred to as inter-zone temperature deviation) among the furnace temperatures of a plurality of control zones.
- the deviation between zones can be reduced.
- the thermal characteristics can be automatically acquired, and the parameters can be adjusted easily or without parameter adjustment.
- the optimum control method can be obtained. Therefore, the expected performance of the device can be easily obtained.
- the temperature error between the zones at the start of quenching is improved by considering the influence of the exhaust of the atmosphere in the furnace due to the operation of the exhaust fan 84 in the minute time at the start of quenching. And the temperature controllability is improved.
- Example 1 when the cooling control unit 300 of the present disclosure is applied to the above-mentioned temperature lowering step (step S5) will be described with reference to FIGS. 14 (A) and 14 (B).
- FIG. 14A is a diagram showing the temperature locus in the furnace of each zone when the cooling control unit 300 according to the comparative example is applied to step S5 in FIG. 11 described above.
- FIG. 14B is a diagram showing the temperature locus in the furnace of each zone when the cooling control unit 300 according to this embodiment is applied to step S5 in FIG. 11 described above.
- the cooling control unit according to the comparative example controls the opening degree of the cooling valve 102 so that the deviation between the temperature detected by the thermocouple other than the reference zone and the temperature detected by the thermocouple in the reference zone becomes zero. Is.
- Example 2 when the cooling control unit 300 of the present disclosure is applied to the temperature lowering step of step S5 in FIG. 11 described above will be described with reference to FIGS. 15 (A) and 15 (B).
- FIG. 15A shows the measured values and predicted temperatures of the furnace temperature when the cooling control unit 300 according to the present embodiment controls the temperature using the quenching prediction model without using the information of the exhaust fan 84, and those thereof. It is a figure which showed the prediction model error which is the error of.
- FIG. 15B is a diagram showing the measured value and the predicted temperature of the furnace temperature when the temperature is controlled by using the cooling control unit according to the present embodiment, and the predicted model error which is an error between them.
- the quenching prediction model can be obtained without using the information of the exhaust fan 84. It was confirmed that the error between the measured quenching value and the predicted temperature became smaller and the prediction model error became smaller than when the temperature control used was performed. In particular, it was confirmed that the prediction model error at the start of quenching can be reduced and the temperature controllability is improved.
- step S5 the temperature control using the quenching prediction model is performed in step S5
- the temperature control using the prediction model may be performed in the other steps as well.
- the temperature control unit 64 acquires the heater temperature or the furnace temperature and the power supply value in a predetermined control cycle, and uses the prediction model stored in the storage unit 205 to set the final target temperature. By controlling the power supply value output to the heating element 56 so as to minimize the deviation from the predicted temperature, the temperature inside the furnace may be maintained and stabilized at the target temperature T1.
- the temperature control unit 64 and the cooling control unit 300 are separately provided has been described, but the present disclosure is not limited to this, and the temperature control unit 64 and the cooling control unit 300 are 1 It may be one control unit.
- a predetermined film is formed on the wafer 200
- the present disclosure is not particularly limited to the film type.
- various film types such as a nitride film (SiN film) and a metal oxide film are formed on the wafer 200.
- the present invention can be applied not only to a semiconductor manufacturing apparatus for processing a semiconductor wafer such as the substrate processing apparatus according to the above-described embodiment, but also to an LCD (Liquid Crystal Display) manufacturing apparatus for processing a glass substrate.
- a semiconductor manufacturing apparatus for processing a semiconductor wafer such as the substrate processing apparatus according to the above-described embodiment
- LCD Liquid Crystal Display
- Cooling unit 301 Cooling unit
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Abstract
Description
基板を処理する処理室を内部に構成する反応管と、
前記反応管の外側に設けられ、前記基板を加熱する加熱部を有するヒータユニットと、
前記ヒータユニットと前記反応管との間の空間に冷却媒体を供給する冷却バルブを有するクーリングユニットと、
前記クーリングユニットに前記冷却媒体を供給する排気ファンと、
前記排気ファンの情報、将来の目標となる最終目標温度、前記冷却バルブの開度をそれぞれ含み、前記加熱部の温度、及び前記処理室の温度のうち少なくともいずれか一つの温度を予測する予測温度を推測する予測モデルを取得し、前記加熱部の温度、及び、前記処理室の温度のうち少なくともいずれか一つの温度、前記冷却バルブの開度、前記排気ファンの情報をそれぞれ取得して前記予測モデルに従って算出される予測温度列と現在の目標温度から前記最終目標温度まで変化するときの変化の割合により算出される目標温度列との誤差が最小となるように、前記冷却バルブの開度を調整する冷却制御部と、
を有する技術が提供される。
以下、本開示の一実施の形態を図面に即して説明する。なお、以下の説明において用いられる図面は、いずれも模式的なものであり、図面に示される、各要素の寸法の関係、各要素の比率等は、現実のものとは必ずしも一致していない。また、複数の図面の相互間においても、各要素の寸法の関係、各要素の比率等は必ずしも一致していない。
次に、本実施形態におけるクーリングユニット301について図2を用いて詳述する。
次に、制御部200の構成について例示する。
次に、冷却制御部300の制御構成について図5を用いて説明する。
(1)ランピング温度偏差=目標温度-現在の目標温度
(2)ランピング時間=絶対値(ランピング温度偏差)÷基準ランプレート
(3)基準設定値=現在の目標温度+ランピング温度偏差×(1-exp(経過時間÷(ランピング時間÷時定数))
の基準設定値に従って個別目標温度列ベクトルStgを算出する。時定数には例えば1.0を設定する。
(1)ランピング温度偏差=目標温度-現在の目標温度
(2)ランピング時間=絶対値(ランピング温度偏差)÷ランプレート
(3)基準設定値=現在の目標温度+ランピング温度偏差×(経過時間÷ランピング時間)
の基準設定値に従って個別目標温度列ベクトルStgを算出する。
次に、本開示での有効制約法の適用方法について説明する。
次に、本開示の第2の実施形態について説明する。本開示の第2の実施形態における冷却制御部300では、熱電対66の代わりに熱電対65が検出する温度を炉内温度取得部351に入力する。すなわち、炉内温度取得部351は、熱電対65が検出するヒータ温度を取得して目標温度に従って制御する。これにより、熱電対66を備えない構成であっても、熱電対65が検出する温度を用いることにより上述した実施形態によるものと同様の効果を得ることができる。
次に、本開示の第3の実施形態について説明する。
ここで、重み行列Zは、基準ゾーンの偏差にかかる評価への重みについては1を、その他のゾーンの基準ゾーンからの差にかかる評価への重みについてはZを配した対角行列である。Zは、例えば1~10の値を採る。
次に急冷予測モデル更新部375で行われる急冷予測モデルの更新方法について説明する。本開示における更新方法は、逐次最小2乗法と呼ばれる方法を使用する。次の式17は、式1を行列・ベクトルを使用して表記したものである。
ここで、時刻tは、今回の処理を表し、x(t)の要素のうち最新データがVa(t-1)となっているのは、前述のように、今回の処理で得られる開度等の時刻をt-1としたからである。
次に、図10を用いて冷却制御部300で行われる急冷予測モデルの自動取得手順について説明する。
次に、本開示の第2の急冷予測モデルについて説明する。
上述した式1の急冷予測モデルにおいて、予測温度の精度を十分にするために、式1の予め設定しておくn値を、十分大きい値に設定することが必要な場合がある。しかし、冷却制御部300のCPUの演算処理性能が十分ではないため、n値を大きくすると所定の制御周期で制御演算を終えることができない場合があった。そこで、本開示者らは、上述した式1の急冷予測モデルに代えて、次の式19の急冷予測モデルを使うことができることを見出した。
y(t-k)は、k回前の温度の基準温度からのずれ、
Va(t-k),Va(t-2k),・・・,Va(t-nk)は、k回前、2k回前、・・・、nk回前の当該冷却ゾーンの開度、
Vb(t-k),Vb(t-2k),・・・,Vb(t-nk)は、k回前、2k回前、・・・、nk回前の当該ゾーンの一方に隣接するゾーンの開度、
Vc(t-k),Vc(t-2k),・・・,Vc(t-nk)は、k回前、2k回前、・・・、nk回前の当該ゾーンの他方に隣接するゾーンの開度、
f(t-k),f(t-2k),・・・,f(t-mk)は、k回前、2k回前、・・・、mk回前の排気ファン84のオン(=1)オフ(=0)に関する情報であり、他の要素は、上述した式1と同様である。
次に、本開示の冷却制御部300を上述の降温ステップ(ステップS5)に適用した場合の実施例1について図14(A)及び図14(B)を用いて説明する。
次に、本開示の冷却制御部300を、上述した図11におけるステップS5の降温ステップに適用した場合の実施例2について図15(A)及び図15(B)を用いて説明する。
40 ヒータユニット
84 排気ファン
300 冷却制御部
301 クーリングユニット
Claims (19)
- 基板を処理する処理室を内部に構成する反応管と、
前記反応管の外側に設けられ、前記基板を加熱する加熱部を有するヒータユニットと、
前記ヒータユニットと前記反応管との間の空間に冷却媒体を供給する冷却バルブを有するクーリングユニットと、
前記クーリングユニットに前記冷却媒体を供給する排気ファンと、
前記排気ファンの情報、将来の目標となる最終目標温度、前記冷却バルブの開度をそれぞれ含み、前記加熱部の温度、及び前記処理室の温度のうち少なくともいずれか一つの温度を予測する予測温度を推測する予測モデルを取得し、前記加熱部の温度、及び、前記処理室の温度のうち少なくともいずれか一つの温度、前記冷却バルブの開度、前記排気ファンの情報をそれぞれ取得して前記予測モデルに従って算出される予測温度列と現在の目標温度から前記最終目標温度まで変化するときの変化の割合により算出される目標温度列との誤差が最小となるように、前記冷却バルブの開度を調整する冷却制御部と、
を有するよう構成されている基板処理装置。 - 前記冷却制御部は、前記加熱部の温度、及び、前記処理室の温度のうち少なくともいずれか一つの温度を記憶する温度履歴記憶部と、前記排気ファンのオンオフ信号を記憶する排気履歴記憶部と、前記冷却バルブへ出力する開度情報を記憶するバルブ開度履歴記憶部と、を有し、前記温度履歴記憶部、前記排気履歴記憶部及び前記バルブ開度履歴記憶部は、一定期間、各データを記憶するよう構成されている請求項1記載の基板処理装置。
- 前記冷却制御部は、前記予測モデルを取得すると共に、前記加熱部の温度、及び、前記処理室の温度のうち少なくともいずれか一つの温度の過去の温度データ、前記排気ファンの過去のオンオフのデータ、前記冷却バルブの過去の開度データを取得し、個別入力応答特性行列と個別ゼロ応答特性ベクトルを算出する作成部を更に有する請求項1記載の基板処理装置。
- 前記基準温度y0は、室温付近の20℃以上30℃以下の範囲内の温度であり、
前記n、m値は、必要な過去データ数である請求項4記載の基板処理装置。 - 前記個別ゼロ応答特性ベクトルSzrは、前記予測温度ベクトルのうち過去の温度と過去の開度に影響されて変化する量を示し、前記個別入力応答特性行列Ssrは、前記予測温度ベクトルのうち今回算出した開度に影響されて変化する量を示す請求項6記載の基板処理装置。
- 前記目標温度列作成部は、前記目標温度と前記現在の目標温度のランピング温度偏差を算出し、前記ランピング温度偏差の絶対値を前記変化の割合で除算し、
前記変化の割合が零の場合、次の式で基準設定値を算出し、
基準設定値=現在の目標温度+ランピング温度偏差×(1-exp(経過時間÷(ランピング時間÷時定数))
前記変化の割合が零以外の場合、次の式で基準設定値を算出し、
基準設定値=現在の目標温度+ランピング温度偏差×(1-exp(経過時間÷(ランピング時間))
前記基準設定値に従い前記個別目標温度列ベクトルStgを算出する
請求項8記載の基板処理装置。 - 前記統合特性作成部は、前記個別ゼロ応答特性ベクトルSzrと前記個別入力応答特性行列Sdsrと前記個別目標温度列ベクトルStgをそれぞれ前記制御対象となる全冷却ゾーンに並べて、統合入力応答特性行列Udsr、統合ゼロ応答特性ベクトルUzrを含む予測温度列と、統合目標温度ベクトルUtgを含む目標温度列をそれぞれ作成するように構成されている請求項10記載の基板処理装置。
- 前記冷却制御部は、前記目標温度列と前記予測温度列の誤差の2乗を示す評価関数を作成し、前記評価関数が最小となるように所定の連立方程式を計算する計算部を更に有し、
前記計算部は、前記所定の連立方程式を解くことにより、前記予測温度列の解に含まれる前記冷却バルブの開度を取得するように構成されている請求項11に記載の基板処理装置。 - 前記冷却制御部は、所定の制御周期で、前記計算部から取得した前記冷却バルブへの開度に更新する開度信号供給部を有するように構成されている請求項12記載の基板処理装置。
- 前記ヒータユニットは、複数の制御ゾーンに分割され、各制御ゾーンの温度を検出する温度センサが設けられ、
前記クーリングユニットは、複数の冷却ゾーンに分割され、各冷却ゾーンに前記冷却バルブがそれぞれ設けられる請求項1記載の基板処理装置。 - 各冷却ゾーンの加熱部の温度、および、処理室の温度のうち少なくともいずれか一つの温度の予測温度を予測する予測モデルは、各々の温度帯に対応している請求項14記載の基板処理装置。
- 基板を処理する処理室を内部に構成する反応管と、
前記反応管の外側に設けられ、前記基板を加熱する加熱部を有するヒータユニットと、
前記ヒータユニットと前記反応管との空間に冷却媒体を供給する冷却バルブを有するクーリングユニットと、
前記クーリングユニットに前記冷却媒体を供給する排気ファンと、
を備えた基板処理装置において実行される温度制御プログラムであって、
前記排気ファンの情報、将来の目標となる最終目標温度、前記冷却バルブの開度をそれぞれ含み、前記加熱部の温度、及び、前記処理室の温度のうち少なくともいずれか一つの温度を予測する予測温度を推測する予測モデルを取得する手順と、
前記加熱部の温度、および、前記処理室の温度のうち少なくともいずれか一つの温度、前記温度比率、前記冷却バルブの開度、前記排気ファンの情報をそれぞれ取得する手順と、
前記予測モデルに従って算出される予測温度列と現在の目標温度から前記最終目標温度まで変化するときの変化の割合より算出される目標温度列との誤差が最小となるように前記冷却バルブの開度を調整する手順と、
を前記基板処理装置に実行させる温度制御プログラム。 - 基板を処理する処理室の温度を所定の温度から処理温度に昇温させる工程と、前記処理温度に維持し前記基板を処理する処理工程と、前記処理工程後、前記処理室の温度を前記処理温度から降温させる工程と、を有する半導体装置の製造方法であって、
前記処理室の温度を降温させる工程では、
加熱部の温度、および、前記処理室の温度のうち少なくともいずれか一つの温度、冷却バルブの開度、排気ファンの情報をそれぞれ取得する工程と、
前記排気ファンの情報、将来の目標となる最終目標温度、前記冷却バルブの開度をそれぞれ含み、前記加熱部の温度、及び、前記処理室の温度のうち少なくともいずれか一つの温度を予測する予測温度を推測する予測モデルに従って算出される予測温度列と現在の目標温度から前記最終目標温度まで変化するときの変化の割合より算出される目標温度列との誤差が最小となるように前記冷却バルブの開度を調整する工程と、
を有する半導体装置の製造方法。 - 前記処理室の温度を降下させる工程では、前記加熱部から出力される電力供給値を零にするように構成される請求項17記載の半導体装置の製造方法。
- 加熱部の温度、および、処理室の温度のうち少なくともいずれか一つの温度、冷却バルブの開度、排気ファンの情報をそれぞれ取得する工程と、
前記排気ファンの情報、将来の目標となる最終目標温度、前記冷却バルブの開度をそれぞれ含み、前記加熱部の温度、及び、前記処理室の温度のうち少なくともいずれか一つの温度を予測する予測温度を推測する予測モデルに従って算出される予測温度列と現在の目標温度から前記最終目標温度まで変化するときの変化の割合より算出される目標温度列との誤差が最小となるように前記冷却バルブの開度を調整する工程と、
を有する温度制御方法。
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JP2019048322A (ja) * | 2017-09-11 | 2019-03-28 | 新日鐵住金株式会社 | 連続鋳造機の2次冷却制御装置、連続鋳造機の2次冷却制御方法、およびプログラム |
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KR20230053689A (ko) | 2023-04-21 |
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