B.G. Penaflor

Development of ITER-relevant plasma control solutions at DIII-D

The requirements of the DIII-D physics program have led to the development of many operational control results with direct relevance to ITER. These include new algorithms for robust and sustained stabilization of neoclassical tearing modes with electron cyclotron current drive, model-based controllers for stabilization of the resistive wall mode in the presence of ELMs, coupled linear–nonlinear algorithms to provide good dynamic axisymmetric control while avoiding coil current limits, and adaptation of the DIII-D plasma control system (PCS) to operate next-generation superconducting tokamaks. Development of integrated plasma control (IPC), a systematic approach to modelbased design and controller verification, has enabled successful experimental application of high reliability control algorithms requiring a minimum of machine operations time for testing and tuning. The DIII-D PCS hardware and software and its versions adapted for other devices can be connected to IPC simulations to confirm control function prior to experimental use. This capability has been important in control system implementation for tokamaks under construction and is expected to be critical for ITER.

Plasma shape control on the National Spherical Torus Experiment (NSTX) using real-time equilibrium reconstruction

Plasma shape control using real-time equilibrium reconstruction has been implemented on the National Spherical Torus Experiment (NSTX). The rtEFIT code originally developed for use on DIII-D was adapted for use on NSTX. The real-time equilibria provide calculations of the flux at points on the plasma boundary, which are used as input to a shape control algorithm known as isoflux control. The flux at the desired boundary location is compared with a reference flux value, and this flux error is used as the basic feedback quantity for the poloidal field coils on NSTX. The hardware that comprises the control system is described, as well as the software infrastructure. Examples of precise boundary control are also presented.

A flexible software architecture for tokamak discharge control systems

The software structure of the plasma control system in use on the DIII-D tokamak experiment is described. This system implements control functions through software executing in real time on one or more digital computers. The software is organized into a hierarchy that allows new control functions needed to support the DIII-D experimental program to be added easily without affecting previously implemented functions. This also allows the software to be portable in order to create control systems for other applications. The tokamak operator uses an X-windows based interface to specify the time evolution of a tokamak discharge. The interface provides a high level view for the operator that reduces the need for detailed knowledge of the control system operation. There is provision for an asynchronous change to an alternate discharge time evolution in response to an event that is detected in real time. Quality control is enhanced through off-line testing that can make use of software-based tokamak simulators.

Integrated magnetic and kinetic control of advanced tokamak plasmas on DIII-D based on data-driven models

The first real-time profile control experiments integrating magnetic and kinetic variables were performed on DIII-D in view of regulating and extrapolating advanced tokamak scenarios to steady-state devices and burning plasma experiments. Device-specific, control-oriented models were obtained from experimental data using a generic two-time-scale method that was validated on JET, JT-60U and DIII-D under the framework of the International Tokamak Physics Activity for Integrated Operation Scenarios (Moreau et al 2011 Nucl. Fusion 51 063009). On DIII-D, these data-driven models were used to synthesize integrated magnetic and kinetic profile controllers. The neutral beam injection (NBI), electron cyclotron current drive (ECCD) systems and ohmic coil provided the heating and current drive (H&CD) sources. The first control actuator was the plasma surface loop voltage (i.e. the ohmic coil), and the available beamlines and gyrotrons were grouped to form five additional H&CD actuators: co-current on-axis NBI, co-current off-axis NBI, counter-current NBI, balanced NBI and total ECCD power from all gyrotrons (with off-axis current deposition). Successful closed-loop experiments showing the control of (a) the poloidal flux profile, Ψ(x), (b) the poloidal flux profile together with the normalized pressure parameter, βN, and (c) the inverse of the safety factor profile, , are described.

Next-generation plasma control in the DIII-D tokamak

OAK A271 NEXT-GENERATION PLASMA CONTROL IN THE DIII-D TOKAMAK. The advanced tokamak (AT) operating mode which is the principal focus of the DIII-D tokamak requires highly integrated and complex plasma control. Simultaneous high performance regulation of the plasma boundary and internal profiles requires multivariable control techniques to account for the highly coupled influences of equilibrium shape, profile, and stability control. This paper describes progress towards the DIII-D At mission goal through both significantly improved real-time computational hardware and control algorithm capability.

State-of-the-art neoclassical tearing mode control in DIII-D using real-time steerable electron cyclotron current drive launchers

Real-time steerable electron cyclotron current drive (ECCD) has been demonstrated to reduce the power requirements and time needed to remove 3/2 and 2/1 neoclassical tearing modes (NTMs) in the DIII-D tokamak. In a world first demonstration of the techniques required in ITER, the island formation onset is detected automatically, gyrotrons are turned on and the real-time steerable ECCD launcher mirrors are moved promptly to drive current at the location of the islands. This shrinks and suppresses the modes well before saturation using real-time motional Stark effect constrained equilibria reconstruction with advanced feedback and search algorithms to target the deposition. In ITER, this method will reduce the ECCD energy requirement and so raise Q by keeping the EC system off when the NTM is not present. Further, in the experiments with accurate tracking of pre-emptive ECCD to resonant surfaces, both 3/2 and 2/1 modes are prevented from appearing with much lower ECCD peak power than required for removal of a saturated mode.

IMPLEMENTATION OF MODEL-BASED MULTIVARIABLE CONTROL ON DIII-D

Abstract A model-based multivariable controller for plasma shape control has been successfully tested on the DIII–D tokamak. Good steady-state control of plasma boundary shape and X-point position was demonstrated in lower single-null ohmic plasmas. Quality of control for rapid plasma shape variation was mixed, but was robustly stable for all degrees of freedom explored. The control design was based on a linear plasma response model derived from fundamental physics assumptions, which was extensively validated against DIII–D experimental data. A linear controller produced with robust control design methods was tested and improved using results of closed loop simulations prior to experimental tests. A modification of the linear controller which addressed one of several practical DIII–D nonlinear constraints was tested during the experimental discharges.

Real-time control of DIII–D plasma discharges using a Linux alpha computing cluster

Abstract This paper describes an upgrade for the real-time computing system responsible for monitoring and controlling plasma, discharges in the DIII–D tokamak (J.L. Luxon, L.G. Davis, Fusion Technol. 8 (1985) 441) at General Atomics (GA). The current system employs six CSPI i860 VME format processors working in parallel to acquire data in real-time and perform feed back control of plasma shape and position parameters. Work has commenced on integration of a new computing system based on commonly available PCI bus based processors that communicate over the 2 Gbit/s Myrinet (Myricom, Inc., CA, USA) network. The new system will greatly improve the processing power available to the algorithms required for computing plasma equilibrium reconstructions in real-time. A factor of 20 anticipated performance increase will allow for improved accuracy and frequency response for plasma shape estimation and control. The migration from VME to PCI Myrinet computer clustering will improve the data acquisition capabilities by opening up access to additional DIII–D temperature and density diagnostics. The upgrade will increase the inter-processor communication speed and provide the flexibility to integrate additional processors to match the cost and computing needs of the tokamak research program.

Development of a closed loop simulator for poloidal field control in DIII-D

The design of a model-based simulator of the DIII-D poloidal field system is presented. The simulator is automatically configured to match a particular DIII-D discharge circuit. The simulator can be run in a data input mode, in which prior acquired DIII-D shot data is input to the simulator, or in a stand-alone predictive mode, in which the model operates in closed loop with the plasma control system. The simulator is used to design and validate a multi-input-multi-output controller which has been implemented on DIII-D to control plasma shape. Preliminary experimental controller results are presented.

Plasma Startup Design of Fully Superconducting Tokamaks EAST and KSTAR With Implications for ITER

Recent commissioning of two major fully superconducting (SC)-shaped tokamaks, Experimental Advanced Superconducting Tokamak (EAST) and Korean Superconducting Tokamak Advanced Research (KSTAR), represents a significant advance in magnetic fusion research. The key to commissioning success in these complex and unique tokamaks was as follows: 1) use of a robust, flexible plasma control system (PCS) based on the validated DIII-D design; 2) use of the TokSys design and modeling environment, which is tightly coupled with the DIII-D PCS architecture for first-plasma scenario development and plasma diagnosis; and 3) collaborations with experienced internationally recognized teams of tokamak operations and control experts. We provide an overview of the generic modeling environment and plasma control tools developed and validated within the DIII-D experimental program and applied through an international collaborative program to successfully address the unique constraints associated with the startup of these next-generation tokamaks. The unique characteristics of each tokamak and the machine constraints that must be included in device modeling and simulation, such as SC coil current slew rate limits and the presence of nonlinear magnetic materials, are discussed, along with commissioning and initial operational results. Lessons learned from the startup experience in these devices are summarized, with special emphasis on ramifications for International Thermonuclear Experimental Reactor (ITER).