NLPV, Gallipoli, Italy June 15, 2008 Stochastic theory of nonlinear auto-oscillator: Spin-torque nano-oscillator Vasil Tiberkevich Department of Physics, Oakland University, Rochester, MI, USA In collaboration with: • Andrei Slavin (Oakland University, Rochester, MI, USA) • Joo-Von Kim (Universite Paris-Sud, Orsay , France) Outline • Introduction • Linear and nonlinear auto-oscillators • Spin-torque oscillator (STO) • Stochastic model of a nonlinear auto-oscillator • Generation linewidth of a nonlinear auto-oscillator • Theoretical results • Comparison with experiment (STO) • Summary Outline • Introduction • Linear and nonlinear auto-oscillators • Spin-torque oscillator (STO) • Stochastic model of a nonlinear auto-oscillator • Generation linewidth of a nonlinear auto-oscillator • Theoretical results • Comparison with experiment (STO) • Summary Models of (weakly perturbed) auto-oscillators Auto-oscillator – autonomous dynamical system with stable limit cycle Models of (weakly perturbed) auto-oscillators Auto-oscillator – autonomous dynamical system with stable limit cycle • Phase model Unperturbed system: dx F(x ) dt x X 0 (0t 0 ) X 0 ( 2 ) X 0 ( ) Models of (weakly perturbed) auto-oscillators Auto-oscillator – autonomous dynamical system with stable limit cycle • Phase model Unperturbed system: dx F(x ) dt x X 0 (0t 0 ) X 0 ( 2 ) X 0 ( ) Perturbed system: dx F( x ) f ( t , x ) dt x X0 ( (t )) y(t ) Models of (weakly perturbed) auto-oscillators Auto-oscillator – autonomous dynamical system with stable limit cycle • Phase model Unperturbed system: dx F(x ) dt x X 0 (0t 0 ) X 0 ( 2 ) X 0 ( ) Perturbed system: dx F( x ) f ( t , x ) dt x X0 ( (t )) y(t ) d 0 f (t , ) dt Models of (weakly perturbed) auto-oscillators Auto-oscillator – autonomous dynamical system with stable limit cycle • Phase model d 0 f (t , ) dt Models of (weakly perturbed) auto-oscillators Auto-oscillator – autonomous dynamical system with stable limit cycle • Phase model d 0 f (t , ) dt • Weakly nonlinear model y 1.0 I I th 0.5 0.5 0.5 0.5 0.5 I I th y 1.0 x 1.0 0.5 0.5 0.5 x Models of (weakly perturbed) auto-oscillators Auto-oscillator – autonomous dynamical system with stable limit cycle • Phase model d 0 f (t , ) dt • Weakly nonlinear model y 1.0 I I th 0.5 0.5 I I th y 1.0 0.5 0.5 x 0.5 1.0 0.5 0.5 x 0.5 Complex amplitude: c x i y dc i (0 N | c |2 )c [ ( I I th ) | c |2 ]c f (t , c) dt Models of (weakly perturbed) auto-oscillators Auto-oscillator – autonomous dynamical system with stable limit cycle • Phase model d 0 f (t , ) dt • Weakly nonlinear model dc i (0 N | c |2 )c [ ( I I th ) | c |2 ]c f (t , c) dt Linear and nonlinear auto-oscillators Auto-oscillator – autonomous dynamical system with stable limit cycle • Phase model d 0 f (t , ) dt • Weakly nonlinear model dc i (0 N | c |2 )c [ ( I I th ) | c |2 ]c f (t , c) dt Linear and nonlinear auto-oscillators Auto-oscillator – autonomous dynamical system with stable limit cycle • Phase model d 0 f (t , ) dt • Weakly nonlinear model dc i (0 N | c |2 )c [ ( I I th ) | c |2 ]c f (t , c) dt Nonlinear auto-oscillator: frequency depends on the amplitude Linear and nonlinear auto-oscillators Auto-oscillator – autonomous dynamical system with stable limit cycle • Phase model d 0 f (t , ) dt • Weakly nonlinear model dc i (0 N | c |2 )c [ ( I I th ) | c |2 ]c f (t , c) dt All conventional auto-oscillators are linear. | N | Outline • Introduction • Linear and nonlinear auto-oscillators • Spin-torque oscillator (STO) • Stochastic model of a nonlinear auto-oscillator • Generation linewidth of a nonlinear auto-oscillator • Theoretical results • Comparison with experiment (STO) • Summary Spin-torque oscillator Electric current I Magnetic metal Ferromagnetic metal – strong self-interaction – strong nonlinearity Electric current – compensation of dissipation – auto-oscillatory dynamics Spin-torque oscillator Electric current I p Spin-transfer torque: M(t) I dM M M p TS M0 dt S g B 1 2 e M0 V J. Slonczewski, J. Magn. Magn. Mat. 159, L1 (1996) L. Berger, Phys. Rev. B. 54, 9353 (1996) Equation for magnetization Landau-Lifshits-Gilbert-Slonczewski equation: dM [Heff M ] TG TS dt M Equation for magnetization Landau-Lifshits-Gilbert-Slonczewski equation: dM [Heff M ] TG TS dt M precession [Heff M] – conservative torque (precession) Equation for magnetization Landau-Lifshits-Gilbert-Slonczewski equation: dM [Heff M ] TG TS dt damping M precession [Heff M] – conservative torque (precession) TG G M0 [M [M Heff ]] – dissipative torque (positive damping) Equation for magnetization Landau-Lifshits-Gilbert-Slonczewski equation: dM [Heff M ] TG TS dt damping M precession [Heff M] – conservative torque (precession) TG TS G M0 I M0 [M [M Heff ]] – dissipative torque (positive damping) [M [M p]] – spin-transfer torque (negative damping) spin torque Equation for magnetization Landau-Lifshits-Gilbert-Slonczewski equation: dM [Heff M ] TG TS dt damping M precession When negative current-induced damping compensates natural magnetic damping, self-sustained precession of magnetization starts. spin torque Microwave power Experimental studies of spin-torque oscillators S.I. Kiselev et al., Nature 425, 380 (2003) Experimental studies of spin-torque oscillators M.R. Pufall et al., Appl. Phys. Lett. 86, 082506 (2005) Specific features of spin-torque oscillators S.I. Kiselev et al., Nature 425, 380 (2003) M.R. Pufall et al., Appl. Phys. Lett. 86, 082506 (2005) Specific features of spin-torque oscillators • Strong influence of thermal noise (spin-torque NANO-oscillator) S.I. Kiselev et al., Nature 425, 380 (2003) M.R. Pufall et al., Appl. Phys. Lett. 86, 082506 (2005) Specific features of spin-torque oscillators • Strong influence of thermal noise (spin-torque NANO-oscillator) S.I. Kiselev et al., Nature 425, 380 (2003) • Strong frequency nonlinearity M.R. Pufall et al., Appl. Phys. Lett. 86, 082506 (2005) Outline • Introduction • Linear and nonlinear auto-oscillators • Spin-torque oscillator (STO) • Stochastic model of a nonlinear auto-oscillator • Generation linewidth of a nonlinear auto-oscillator • Theoretical results • Comparison with experiment (STO) • Summary Nonlinear oscillator model dc i ( p )c ( pp))c ( pp))c 0 dt p | c | – oscillation power 2 damping arg( c) – oscillation phase M precession spin torque Nonlinear oscillator model precession dc i ( p )c ( pp))c ( pp))c 0 dt p | c | – oscillation power 2 damping arg( c) – oscillation phase M precession spin torque Nonlinear oscillator model precession positive damping dc i ( p )c ( pp))c ( pp))c 0 dt p | c | – oscillation power 2 damping arg( c) – oscillation phase M precession spin torque Nonlinear oscillator model precession positive damping negative damping dc i ( p )c ( pp))c ( pp))c 0 dt p | c | – oscillation power 2 damping arg( c) – oscillation phase M precession spin torque How to find parameters of the model? dc i ( p )c ( pp))c ( pp))c 0 dt How to find parameters of the model? dc i ( p )c ( pp))c ( pp))c 0 dt • Start from the Landau-Lifshits-Gilbert-Slonczewski equation • Rewrite it in canonical coordinates • Perform weakly-nonlinear expansion • Diagonalize linear part of the Hamiltonian • Perform renormalization of non-resonant three-wave processes • Take into account only resonant four-wave processes • Average dissipative terms over “fast” conservative motion • and obtain analytical results for ( p) ( p) ( p) Deterministic theory dc i ( p )c ( p )c ( p )c 0 dt 2 p | c | – oscillation power Stationary solution: c( t ) p0 exp( igt i0 ) Stationary power is determined from the condition of vanishing total damping: ( p0 ) ( p0 ) Stationary frequency is determined by the oscillation power: g ( p0 ) Deterministic theory: Spin-torque oscillator Stationary power is determined from the condition of vanishing total damping: ( p0 ) ( p0 ) 1 p0 Q I I th – supercriticality parameter I th 0 – threshold current Stationary frequency is determined by the oscillation power: g ( p0 ) 1 g 0 Np0 0 N Q 0 – FMR frequency N – nonlinear frequency shift Generated frequency Frequency as function of applied field Frequency as function of magnetization angle 35 Generation frequency g /2 (GHz) Generation frequency g /2 (GHz) 35 30 25 20 15 10 5 H0 = 8 kOe 30 25 H0 = 5 kOe 20 15 10 5 0 0 0 2 4 6 8 Bias magnetic field H0 (kOe) Experiment: W.H. Rippard et al., Phys. Rev. Lett. 92, 027201 (2004) 10 0 30 60 Magnetization angle 0 (deg) Experiment: W.H. Rippard et al., Phys. Rev. B 70, 100406 (2004) 90 Stochastic nonlinear oscillator model Stochastic Langevin equation: dc i ( p )c ( p )c ( p )c Dn f n (t ) dt Random thermal noise: f n (t ) f n (t ) 2 (t t ) kBT Dn ( p ) ( p ) ( p ) ( p ) l( p) 2 | c | – thermal equilibrium power of oscillations: 0 p 0 l – scale factor that relates energy and power: E ( p ) l ( p )dp Fokker-Planck equation for a nonlinear oscillator Probability distribution function (PDF) P(t, p, ) describes probability that oscillator has the power p = |c|2 and the phase = arg(c) at the moment of time t. dP P P Dn ( p) 2 P 2 p ( p) ( p)P ( p) 2 pDn ( p) dt p p p 2 p 2 Deterministic terms describe noise-free dynamics of the oscillator Stochastic terms describe thermal diffusion in the phase space kBT Dn ( p ) ( p ) ( p ) ( p ) l( p) Stationary PDF Stationary probability distribution function P0: • does not depend on the time t (by definition); • does not depend on the phase (by phase-invariance of FP equation). Ordinary differential equation for P0(p): d 2 p ( p) ( p)P0 d 2 pDn ( p) dP0 dp dp dp Stationary PDF for an arbitrary auto-oscillator: l p ( p) dp P0 ( p ) Z 0 exp ( p)1 ( p) k BT 0 Constant Z0 is determined by the normalization condition P ( p)dp 1 0 0 Analytical results for STO “Material functions” for the case of STO: ( p) G (1 Qp ) ( p) I (1 p) I I th I G Analytical expression for the stationary PDF: Q exp ( Q )(1 Qp ) Q 2 P0 ( p ) (1 Qp ) E ( Q ) Q 2 Analytical expression for the mean oscillation power Q exp ( Q ) Q 2 1 p 1 2 Q E ( Q ) Q Q Here (1 Q) Q 2 E ( x ) e xt t dt 1 – exponential integral function Oscillator power p (a.u.) Power in the near-threshold region 3 2 1 0 4 5 6 7 8 9 Bias current I (mA) Experiment: Q. Mistral et al., Appl. Phys. Lett. 88, 192507 (2006). Theory: V. Tiberkevich et al., Appl. Phys. Lett. 91, 192506 (2007). Outline • Introduction • Linear and nonlinear auto-oscillators • Spin-torque oscillator (STO) • Stochastic model of a nonlinear auto-oscillator • Generation linewidth of a nonlinear auto-oscillator • Theoretical results • Comparison with experiment (STO) • Summary Linewidth of a conventional oscillator Classical result (see, e.g., A. Blaquiere, Nonlinear System Analysis (Acad. Press, N.Y., 1966)): Full linewidth of an electrical oscillator C k BT R002 2 U 02 +R0 e(t) L –Rs ~ Linewidth of a conventional oscillator Classical result (see, e.g., A. Blaquiere, Nonlinear System Analysis (Acad. Press, N.Y., 1966)): Full linewidth of an electrical oscillator C k BT R002 2 U 02 +R0 L –Rs Physical interpretation of the classical result k BT 2 0 E0 0 1 LC Frequency 0 R0 2L Equilibrium half-linewidth e(t) E0 ~ 1 CU 02 2 Oscillation energy Linewidth of a laser Quantum limit for the linewidth of a single-mode laser (Schawlow-Townes limit) [A.L. Schawlow and C.H. Townes, Phys. Rev. 112, 1940 (1958)] 0 02 2 2 Pout Linewidth of a laser Quantum limit for the linewidth of a single-mode laser (Schawlow-Townes limit) [A.L. Schawlow and C.H. Townes, Phys. Rev. 112, 1940 (1958)] 0 02 2 2 Pout Physical interpretation of the classical result k BT 2 0 E0 k BT 0 2 Effective thermal energy E0 Pout 0 Oscillation energy Linewidth of a spin-torque oscillator Experiment by W.H. Rippard et al., Theoretical result [J.-V. Kim, PRB 73, 174412 (2006)]: DARPA Review (2004). f=35.89 GHz f = 13.5 MHz 1/2 Amplitude (nV/Hz ) 0.3 Q(V)=2650 Q(W)=4235 0.2 0.1 0.0 35.850 35.875 35.900 Frequency (GHz) 35.925 2 G 0 k BT H M 0Veff p0 Linewidth of a spin-torque oscillator Experiment by W.H. Rippard et al., Theoretical result [J.-V. Kim, PRB 73, 174412 (2006)]: DARPA Review (2004). f=35.89 GHz f = 13.5 MHz 1/2 Amplitude (nV/Hz ) 0.3 Q(V)=2650 Q(W)=4235 0 k BT H M 0Veff p0 Physical interpretation: 0.2 k BT 2 0 E0 0.1 0.0 35.850 2 G 35.875 35.900 Frequency (GHz) 35.925 Linewidth of a spin-torque oscillator Experiment by W.H. Rippard et al., Theoretical result [J.-V. Kim, PRB 73, 174412 (2006)]: DARPA Review (2004). f=35.89 GHz f = 13.5 MHz 1/2 Amplitude (nV/Hz ) 0.3 2 G Q(V)=2650 Q(W)=4235 Physical interpretation: 0.2 k BT 2 0 E0 0.1 0.0 35.850 0 k BT H M 0Veff p0 35.875 35.900 35.925 Frequency (GHz) 2f exp 2 2 13.5 MHz 2f theor 2 2 0.35 MHz Linewidth of a spin-torque oscillator Experiment by W.H. Rippard et al., Theoretical result [J.-V. Kim, PRB 73, 174412 (2006)]: DARPA Review (2004). f=35.89 GHz f = 13.5 MHz 1/2 Amplitude (nV/Hz ) 0.3 2 G Q(V)=2650 Q(W)=4235 Physical interpretation: 0.2 k BT 2 0 E0 0.1 0.0 35.850 0 k BT H M 0Veff p0 35.875 35.900 35.925 Frequency (GHz) 2f exp 2 2 13.5 MHz 2f theor 2 2 0.35 MHz This theory does assumes that the frequency is constant ( p) 0 const How to calculate linewidth? Power spectrum S() is the Fourier transform of the autocorrelation function K(): S () K ( )ei d K ( ) c(t )c (t ) two-time function Autocorrelation function K() can not be found from the stationary PDF. Ways to proceed: • Solve non-stationary Fokker-Planck equation [J.-V. Kim et al., Phys. Rev. Lett. 100, 167201 (2008)]; • Analyze stochastic Langevin equation. dc i ( p )c ( p )c ( p )c Dn f n (t ) dt Power and phase fluctuations Two-dimensional plot of stationary PDF Im( c) Power fluctuations are weak p p0 p | c | k BT 1 E ( p0 ) Oscillations – phase-modulated process: arg( c) c( t ) Re(c ) p(t )ei ( t ) p0 ei ( t ) Autocorrelation function: K ( ) p0 exp i ( ) i (0) Linewidth of any oscillator is determined by the phase fluctuations Linearized power-phase equations dc Stochastic Langevin equation: i ( p )c ( p )c ( p )c Dn f n (t ) dt Linearized power-phase equations dc Stochastic Langevin equation: i ( p )c ( p )c ( p )c Dn f n (t ) dt Power-phase ansatz: c( t ) p0 p(t ) ei ( t ) | p | p0 Linearized power-phase equations dc Stochastic Langevin equation: i ( p )c ( p )c ( p )c Dn f n (t ) dt Power-phase ansatz: c( t ) p0 p(t ) ei ( t ) Stochastic power-phase equations: dp 2eff p 2 Dn p0 Re f n (t )e i dt d Dn ( p0 ) Im f n (t )e i N p dt p0 Effective damping: eff G G p0 | p | p0 Linear system of equations. Can be solved in general case. G d ( p) dp Nonlinear frequency shift coefficient: N d( p) dp Nonlinear frequency shift creates additional source of the phase noise Power fluctuations Correlation function for power fluctuations: p(t )p(t ) p eff 2 0 kBT 2 eff | | e E ( p0 ) Power fluctuations Correlation function for power fluctuations: p(t )p(t ) p eff 2 0 Power fluctuations are small kBT 2 eff | | e E ( p0 ) Power fluctuations Correlation function for power fluctuations: p(t )p(t ) p eff 2 0 kBBT 2 effeff |||| e E ( p00) Power fluctuations are small Non-zero correlation time of power fluctuations Additional noise source –N p for the phase fluctuations is Gaussian, but not “white” Phase fluctuations Averaged value of the phase difference: (t ) (t ) ( p0 ) Phase fluctuations Averaged value of the phase difference: (t ) (t ) ( p0 ) Determines mean oscillation frequency Phase fluctuations Averaged value of the phase difference: (t ) (t ) ( p0 ) Determines mean oscillation frequency Variance of the phase difference: 2 eff | | k T 1 e 2 2 B ( ) | | | | E ( p0 ) 2eff Np0 N – dimensionless nonlinear frequency shift eff G G Phase fluctuations Averaged value of the phase difference: (t ) (t ) ( p0 ) Determines mean oscillation frequency Variance of the phase difference: 2 eff | | k T 1 e 2 2 B ( ) | | | | E ( p0 ) 2eff Determines oscillation linewidth Np0 N – dimensionless nonlinear frequency shift eff G G Auto-correlation function: 1 K ( ) p0e i ( p0 ) exp 2 ( ) 2 Low-temperature asymptote 2 ( ) k BT (1 2 ) | | E ( p0 ) “Random walk” of the phase Low-temperature asymptote 2 ( ) k BT (1 2 ) | | E ( p0 ) “Random walk” of the phase Lorentzian lineshape with the full linewidth k BT 2 (1 ) (1 2 ) 2lin E ( p0 ) 2 Frequency nonlinearity broadens linewidth by the factor N 1 1 G G 2 2 Low-temperature asymptote 2 ( ) k BT (1 2 ) | | E ( p0 ) “Random walk” of the phase Lorentzian lineshape with the full linewidth k BT 2 (1 ) (1 2 ) 2lin E ( p0 ) 2 Frequency nonlinearity broadens linewidth by the factor N 1 1 G G 2 2 eff Region of validity kBT E ( p0 ) ~ 300 K 2 1 High-temperature asymptote k BT 2 eff 2 E ( p0 ) “Inhomogeneous broadening” of the frequencies 2 ( ) High-temperature asymptote k BT 2 eff 2 E ( p0 ) “Inhomogeneous broadening” of the frequencies 2 ( ) Gaussian lineshape with the full linewidth 2 2 | | eff kBT E ( p0 ) Different dependence of the linewidth on the temperature: 2 ~ T High-temperature asymptote k BT 2 eff 2 E ( p0 ) “Inhomogeneous broadening” of the frequencies 2 ( ) Gaussian lineshape with the full linewidth 2 2 | | eff kBT E ( p0 ) Different dependence of the linewidth on the temperature: 2 ~ T E ( p0 ) Region of validity kBT eff 2 ~ 300 K Outline • Introduction • Linear and nonlinear auto-oscillators • Spin-torque oscillator (STO) • Stochastic model of a nonlinear auto-oscillator • Generation linewidth of a nonlinear auto-oscillator • Theoretical results • Comparison with experiment (STO) • Summary Temperature dependence of STO linewidth Experiment: J. Sankey et al., Phys. Rev. B 72, 224427 (2005) 700 700 device #1 second harmonic 600 500 high-temperature asymptote 400 Linewidth (MHz) Linewidth (MHz) 500 300 200 100 0 50 100 Temperature (K) 150 high-temperature asymptote 400 low-temperature asymptote 300 200 100 low-temperature asymptote 0 device #2 first harmonic 600 0 200 0 50 100 150 200 250 300 Temperature (K) Low-temperature asymptote gives correct order-of-magnitude estimation of the linewidth. Angular dependence of the linewidth 2 kBT N kBT 2 2 (1 ) 1 E ( p0 ) G G E ( p0 ) Isotropic film, out-of-plane magnetization 40 20 0 -20 0 30 60 90 Out-of-plane magnetization angle 0 (deg) Nonlinear frequency shift N/2 (GHz) Nonlinear frequency shift N/2 (GHz) Nonlinear frequency shift coefficient N strongly depends on the orientation of the bias magnetic field Anisotropic film, in-plane magnetization 0 -2 -4 -6 -8 -10 0 30 60 90 In-plane magnetization angle 0 (deg) Angular dependence of the linewidth 2 kBT N kBT 2 2 (1 ) 1 E ( p0 ) G G E ( p0 ) Isotropic film, out-of-plane magnetization 40 20 0 -20 0 30 60 90 Out-of-plane magnetization angle 0 (deg) Nonlinear frequency shift N/2 (GHz) Nonlinear frequency shift N/2 (GHz) Nonlinear frequency shift coefficient N strongly depends on the orientation of the bias magnetic field Anisotropic film, in-plane magnetization 0 -2 -4 -6 -8 -10 0 30 60 90 In-plane magnetization angle 0 (deg) Angular dependence of the linewidth Generation linewidth (MHz) Out-of-plane magnetization 250 (|N| > 0) 200 150 Experiment 100 10 x (|N| = 0) 50 0 45 50 55 60 65 70 75 80 85 90 Out-of-plane magnetization angle 0 (deg) Experiment: W.H. Rippard et al., Phys. Rev. B 74, 224409 (2006) Theory: J.-V. Kim, V. Tiberkevich and A. Slavin, Phys. Rev. Lett. 100, 017207 (2008) Angular dependence of the linewidth 2 kBT N kBT 2 2 (1 ) 1 E ( p0 ) G G E ( p0 ) Isotropic film, out-of-plane magnetization 40 20 0 -20 0 30 60 90 Out-of-plane magnetization angle 0 (deg) Nonlinear frequency shift N/2 (GHz) Nonlinear frequency shift N/2 (GHz) Nonlinear frequency shift coefficient N strongly depends on the orientation of the bias magnetic field Anisotropic film, in-plane magnetization 0 -2 -4 -6 -8 -10 0 30 60 90 In-plane magnetization angle 0 (deg) Angular dependence of the linewidth In-plane magnetization 4000 2500 2000 3000 Linewidth (MHz) Linewidth (MHz) |N| > 0 2000 |N| = 0 (x 10) 1000 0 |N| > 0 1500 1000 |N| = 0 (x 10) 500 0 0 30 60 90 Field angle (deg) 120 0 30 60 Field angle (deg) Experiment: K. V. Thadani et al., arXiv: 0803.2871 (2008) 90 Outline • Introduction • Linear and nonlinear auto-oscillators • Spin-torque oscillator (STO) • Stochastic model of a nonlinear auto-oscillator • Generation linewidth of a nonlinear auto-oscillator • Theoretical results • Comparison with experiment (STO) • Summary Summary • “Nonlinear” auto-oscillators (oscillators with power-dependent frequency) are simple dynamical systems that can be described by universal model, but which have not been studied previously • There are a number of qualitative differences in the dynamics of “linear” and “nonlinear” oscillators: • Different temperature regimes of generation linewidth (low- and high-temperature asymptotes) • Different mechanism of phase-locking of “nonlinear” oscillators [A. Slavin and V. Tiberkevich, Phys. Rev. B 72, 092407 (2005); ibid., 74, 104401 (2006)] • Possibility of chaotic regime of mutual phase-locking [preliminary results] • Spin-torque oscillator (STO) is the first experimental realization of a “nonlinear” oscillator. Analytical nonlinear oscillator model correctly describes both deterministic and stochastic properties of STOs.