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A general infrastructure for tokamak controllers based on data-driven neural net models is presented. The paradigm allows for more flexible choices of both the underlying model and the desired controlled variables and targets. The system is implemented and tested on the DIII-D tokamak, enacting simultaneous pressure and temperature control via a finite-set model-predictive controller. Traditional control methods such as proportional–integral–derivative (PID) have proven effective for decoupled control tasks, but scale poorly when trying to achieve more complicated goals such as full state control. This is exactly where model-based controllers succeed. [ABSTRACT FROM AUTHOR]

A real-time model-based controller is developed for the tracking of the distributed safety-factor profile in a tokamak plasma. Using relevant physical models and simplifying assumptions, theoretical stability and robustness guarantees were obtained using a Lyapunov function. This approach considers the couplings between the poloidal flux diffusion equation, the time-varying temperature profiles and an independent total plasma current control. The actuator chosen for the safety-factor profile tracking is the lower hybrid current drive, although the results presented can be easily extended to any non-inductive current source. The performance and robustness of the proposed control law is evaluated with a physics-oriented simulation code on Tore Supra experimental test cases. [ABSTRACT FROM AUTHOR]

The systematic design of a robust adaptive control strategy for the sawtooth period using electron cyclotron current drive (ECCD) is presented. Recent developments in extremum seeking control (ESC) are employed to derive an optimized controller structure and offer practical tuning guidelines for its parameters. In this technique a cost function in terms of the desired sawtooth period is optimized online by changing the ECCD deposition location based on online estimations of the gradient of the cost function. The controller design does not require a detailed model of the sawtooth instability. Therefore, the proposed ESC is widely applicable to any sawtoothing plasma or plasma simulation and is inherently robust against uncertainties or plasma variations. Moreover, it can handle a broad class of disturbances. This is demonstrated by time-domain simulations, which show successful tracking of time-varying sawtooth period references throughout the whole operating space, even in the presence of variations in plasma parameters, disturbances and slow launcher mirror dynamics. Due to its simplicity and robustness the proposed ESC is a valuable sawtooth control candidate for any experimental tokamak plasma, and may even be applicable to other fusion-related control problems. [ABSTRACT FROM AUTHOR]

The sawtooth instability is associated with the triggering of neo-classical tearing modes, core fuelling, α-confinement and the exhaust of thermal helium. Sawtooth control is therefore important for optimal reactor performance in ELMy H-modes. Control schemes for the sawtooth period have been published in the literature, but the systematic design of high-performance controllers (yielding accurate and fast convergent responses) has not been addressed. In this work, three control strategies for high-performance sawtooth control are presented using electron cyclotron current drive (ECCD). Both degrees of freedom of the ECCD actuator will be explored and combined with advanced controller designs. First, the ECCD deposition location is used as a control variable, for which a gain-scheduled feedback controller and static feedforward control is derived. Second, the use of the driven current as a control variable is explored, and a simple controller is designed based on the identified dynamics. In the third approach both control variables are joined in an overall controller design, which enables the combination of high-performance control of the sawtooth period and control of the gyrotron power. Time-domain simulations with a combined Kadomtsev-Porcelli sawtooth model show that each strategy obtains a better closed-loop performance than standard linear feedback techniques on merely the deposition location. [ABSTRACT FROM AUTHOR]

Simultaneous real-time control of multiple MHD instabilities is experimentally demonstrated in the TCV tokamak. Multiple sources of ECheating and current drive, injected through real-time controlled launchers, are used to stabilize 3/2 and 2/1 neoclassical tearing modes (NTMs) rapidly after their appearance. Control of the sawtooth instability using a new sawtooth-pacing technique is demonstrated, providing precise control of the time of appearance of the sawtooth crash. Efficient NTM preemption can then be performed by applying pulsed power on the mode rational surface at the time of the seed-island generating sawtooth crash. These three elements are combined into one integrated control system which can simultaneously control the sawtooth period, preempt the formation of NTMs and suppress these if they appear. [ABSTRACT FROM AUTHOR]

Sawtooth control using electron cyclotron current drive (ECCD) has been demonstrated in ITER-like plasmas with a large fast ion fraction, wide q = 1 radius and long uncontrolled sawtooth period in DIII-D. The sawtooth period is minimized when the ECCD resonance is just inside the q = 1 surface. Sawtooth destabilization using driven current inside q = 1 avoids the triggering of performance-degrading neoclassical tearing modes (NTMs), even at much higher pressure than required in the ITER baseline scenario. Operation at βN = 3 without 3/2 or 2/1 NTMs has been achieved in ITER demonstration plasmas when sawtooth control is applied using only modest ECCD power. Numerical modelling qualitatively confirms that the achieved driven current changes the local magnetic shear sufficiently to compensate for the stabilizing influence of the energetic particles in the plasma core. [ABSTRACT FROM AUTHOR]

Corroborating evidence is presented that the sawtooth period can follow the modulation frequency of an externally applied high power electron cyclotron wave source. Precise, fast and robust open loop control of the sawtooth period with a continuously changing reference period has been achieved. This period locking is not associated with the crash, but with the phase evolution of the inter-crash dynamics. This opens new possibilities of open loop control for physics studies and maybe for reactor performance control. [ABSTRACT FROM AUTHOR]

A lumped parameter, state space model for a tokamak transformer including the slow flux penetration in the plasma (skin effect transformer model) is presented. The model does not require detailed or explicit information about plasma profiles or geometry. Instead, this information is lumped in system variables, parameters and inputs. The model has an exact mathematical structure built from energy and flux conservation theorems, predicting the evolution and non-linear interaction of plasma current and internal inductance as functions of the primary coil currents, plasma resistance, non-inductive current drive and the loop voltage at a specific location inside the plasma (equilibrium loop voltage). Loop voltage profile in the plasma is substituted by a three-point discretization, and ordinary differential equations are used to predict the equilibrium loop voltage as a function of the boundary and resistive loop voltages. This provides a model for equilibrium loop voltage evolution, which is reminiscent of the skin effect. The order and parameters of this differential equation are determined empirically using system identification techniques. Fast plasma current modulation experiments with random binary signals have been conducted in the TCV tokamak to generate the required data for the analysis. Plasma current was modulated under ohmic conditions between 200 and 300 kA with 30 ms rise time, several times faster than its time constant L/R ∼ 200 ms. A second-order linear differential equation for equilibrium loop voltage is sufficient to describe the plasma current and internal inductance modulation with 70% and 38% fit parameters, respectively. The model explains the most salient features of the plasma current transients, such as the inverse correlation between plasma current ramp rates and internal inductance changes, without requiring detailed or explicit information about resistivity profiles. This proves that a lumped parameter modelling approach can be used to predict the time evolution of bulk plasma properties such as plasma inductance or current with reasonable accuracy; at least under ohmic conditions without external heating and current drive sources. [ABSTRACT FROM AUTHOR]

The paper presents studies of the application of ion diagnostics and optical spectroscopy for on-line measurement of the amount and characteristics of co-deposits from the laser-ablated surface of the plasma-facing components (e.g. graphite tiles). For removal of the co-deposit layer a repetitive Nd:YAG laser was used. Determination of the characteristics of ions emitted from the laser-illuminated targets was performed using ion collectors (on the basis of a time-of-flight method) and an optical spectrometer. The main ion stream parameters and spectral lines of deuterium and carbon or tungsten ions were measured depending on laser pulse parameters. The research proved that optical spectroscopy could be a convenient method for on-line observation of the co-deposited layer removal by means of laser ablation. In combination with the investigation of collected co-deposit dust, the performed study made it possible to state that laser-induced breakdown spectroscopy can be useful as a diagnostic method for the ablative co-deposited layer removal and the wall conditioning. The properties of modified surfaces of samples and collected dust (evaporated co-deposit) were determined using different measuring methods. [ABSTRACT FROM AUTHOR]