d. moreau3rd itpa meeting on steady state operation and energetic particles, st petersburg (russia)...
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D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
ALGORITHMS FOR REAL-TIME PROFILE CONTROL AND
STEADY STATE ADVANCED TOKAMAK OPERATION
D. Moreau1, 2, F. Crisanti3, L. Laborde2, X. Litaudon2, D. Mazon2,
P. De Vries4, R. Felton5, E. Joffrin2, M. Lennholm2, A. Murari6,
V. Pericoli-Ridolfini3, M. Riva3, T. Tala7, L. Zabeo2, K.D. Zastrow5
and contributors to the EFDA-JET workprogramme.
1EFDA-JET Close Support Unit, Culham Science Centre, Abingdon, OX14 3DB, U. K.2Euratom-CEA Association, CEA-Cadarache, 13108, St Paul lez Durance, France
3Euratom-ENEA Association, C.R. Frascati, 00044 Frascati, Italy4Euratom-FOM Association, TEC Cluster, 3430 BE Nieuwegein, The Netherlands
5Euratom-UKAEA Association, Culham Science Centre, Abingdon, U. K.6Euratom-ENEA Association, Consorzio RFX, 4-35127 Padova, Italy
7Euratom-Tekes Association, VTT Processes, FIN-02044 VTT, Finland
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
OUTLINE
1. Quick summary of early experiments on real-time control of the ITB temperature gradient
2. Technique for controlling the current and pressure profiles in high performance tokamak plasmas with ITB's : a technique which offers the potentiality of retaining the distributed character of the plasma parameter profiles.
3. First experiments using the simplest, lumped-parameter, version of this technique for the current profile :
3.1. Control of the q-profile with one actuator : LHCD
3.2. Control of the q-profile with three actuators : LHCD, NBI, ICRH
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
D. Mazon et al, PPCF 44 (2002) 1087
53570 BT=2.6T Ip=2.2MA
Hold T* = 0.025
(above threshold)
0.025
The normalised Te gradientat the ITB location
is controlled during 3.4sby the ICRH power
in a regime with Ti =Te
Saturation of ICRH at 6.5sloss of control
Single-loop ITB control with ICRH
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
T* = 0.025
1.1 x 1016 n/s Disruption avoidance
ITB controlled for > 7s
ITB starts with qmin=3 at 4.5s
LH is lost at 6.5 s (radiation problem)
The q profile evolves
At 8s qmin=2 NBI and ICRH
decreases due to the control and disruption is avoided
Double-loop ITB control with ICRH+NBI (1)
D. Mazon et al, PPCF 44 (2002) 1087
53690 BT=3.4T Ip=2MA
ICRH T*
NBI neutron rate
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
(T*)réf=0.025
(Rnt)réf=0.9
Control
ITB controlled during 7.5s
Vloop ≈ 0
Better stability with control at slightly lower performance
#53521 reaches beta limit (collapses)
Double-loop ITB control with ICRH+NBI (2)
D. Mazon et al, PPCF 44 (2002) 1087
53697 / 53521 BT=3.4T Ip=1.8MA
ICRH T*
NBI neutron rate
LH holds the q-profile frozen
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
q-profile relaxation with/without LHCD
Inner ITB linked with negative shear region
53570 BT=2.6T Ip=2.2MA
LHCD off
MHD activity at 47.4 s
53697 BT=3.4T Ip=1.8MA
LHCD on
D. Mazon et al, PPCF 44 (2002) 1087
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Challenges of advanced profile control
Previous experiments were based on scalar measurements
characterising the profiles (T*max) and/or other global parameters (li)
2. Multiple time-scale system + loop interaction
Energy confinement time Resistive time
Nonlinear interaction between p(r) and j(r)
HOWEVER
1. ITB = pressure and current (+ rotation ...) profiles
Multiple-input multiple-output distributed parameter system (MIMO + DPS)
Need more information on the space-time structure of the system
Identify a high-order operator model around the target steady state
and try model-based DPS control using SVD techniques
D. Moreau et al., EFDA-JET preprint PR(03) 23, to be published in Nucl. Fus.
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Approximate Model andSingular Value Decomposition
t 1
0 0(x, t) dt' dx' (x,x', t t') (x', t') Y K P
K = Linear response function (Y = [current, pressure] ; P = heating/CD power)
Laplace transform :
1
0( , ) ' ( , ', ) ( ', )x s dx x x s x sY K P
Kernel singular value expansion in terms of orthonormal right and left singular functions + System reduction through Truncated SVD (best least square approximation) :
1
( , ', ) ( , ) ( ) ( ', )i i ii
x x s x s s x s
K W V
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Set of input trial function basis
( , ) ( ) ( )1
Mx s x s residuali ii
PP CInput power deposition profiles :
With 3 power actuators :
( ) 0 0
( ) 0 ( ) 0
0 0 ( )
u xix v xi i
w xi
C
where ui(x), vi(x) and wi(x) correspond to LHCD, NBI and ICRH. The space spanned by these basis functions should more or less contain the accessible power deposition profiles.
If only the powers of the heating systems are actuated (e.g. no LH phasing)
then M =1 :
( , ) ( ) ( )x s x s residualk k
V C VInput singular vectors :
( , ) ( ) ( )x s x s residual PP CInput power deposition profiles :
and C(x) can be integrated into the operator K
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Set of output trial function basis
( , ) ( ) ( )1
Nx s x s residualj jj
QY DOutput profiles :
and
Output singular functions : ( , ) ( ) ( )1
Nx s x s residualjk kjj
W D
With 2 profiles (current, pressure) :
( ) 0( )
0 ( )
a xjxj b xj
D
Identification of the operator KGalerkin’s method : residuals spatially orthogonal to each basis function
Q(s) = KGalerkin(s) . P(s)
1
0( , ) ' ( , ', ) ( ', )x s dx x x s x sY K P
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Real time reconstruction of the safety factor profile (1)
The q-profile reconstruction uses the real-time data from the magnetic measurements and from the interfero-polarimetry, and a parameterization of the magnetic flux surface geometry
q(x)ddc
0c
1xc
2x2c
3x3c
4x4
a1xa
2x2a
3x3
D. Mazon et al, PPCF 45 (2003) L47L. Zabeo et al, PPCF 44 (2002) 2483
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Trial function basis for q(x) or (x)=1/q(x)
If the real-time equilibrium reconstruction uses a particular set of trial functions, then one should take the same set for the controller design.
Otherwise, the family of basis functions must be chosen as to reproduce as closely as possible the family of profiles assumed in the "measurements".
EXAMPLE (with the parameterization used in JET and c0 ≈ 0) :
q(x)dd1c
1'xc
2' x2c
3' x3
a0' a
1'xa
2' x2 6-parameter family
1. A set of N = 6 basis functions bi(x) can be obtained through differentiation of the rational fraction with respect to the coefficients
2. Alternatively, one can choose N ≤ 6 cubic splines for bi(x)
q(x)or (x) Qi1
N .bi(x)with :approximated by
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Choice of the trial function basis for q(x)
L. Laborde et al.
Galerkin residuals : qexp-qbasis
3 splines
4 splines
5 splines
6 splines
Differentiation of 6 rational fractions
q ref
q exp
q basis
qref : #58474 at t=51.8 s
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Choice of the trial function basis for q(x)
3 splines 4 splines 5 splines 6 splines 6 differentiations
L. Laborde et al.
Galerkin residual mean squares : 1
0
2basisexp dx ] q-[q
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
What does the controller minimize ?
( , ) ( ) ( )1
Nx s x s residualj jj
QY DOutput profiles :
Setpoint profiles : ( ) ( )int , int1
Nx x residualjsetpo j setpoj
QY D
GOAL = minimize [Y(s=0) – Ysetpoint] . [Y(s=0) – Ysetpoint]
Define scalar product to minimize a least square quadratic form :
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Identification of the first singular valuesand singular functions of K for the TSVD
EXPERIMENTAL
Q(s) = KGalerkin(s) . P(s)
ˆ K (s)KGalerkin
(s) (s)V(s)(s)(s) WK ˆˆ
W(s). ˆ W (s)
B = + . (Cholesky decomposition)
The best approximation for k, Wk and Vk in the Galerkin sense in the chosen trial function basis bi(x) is then obtained by performing the SVD of a matrix related by KGalerkin through :
ˆ K (s)
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Pseudo-modal control scheme
SVD provides decoupled open loop relation betweenmodal inputs (s) =V+P and modal outputs (s) = W+BQ
Truncated diagonal system (≈ 2 or 3 modes) : (s) = (s) . (s)
STEADY STATE DECOUPLINGUse steady state SVD (s=0) to design a Proportional-Integral controller
(s) = G(s).(s) = gc [1+1/(i.s)] . -1. (s)
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Proposed proportional-integral controller :
P(s) = gc [1+1/(i.s)] . [V0 0-1 W0
+ B] . Q = Gc . Q
• Closed loop transfer function ensures steady state convergence to the least square integral difference with no offset, i. e.
P(s=0) = Poptimal
• Choose gc and i to ensure closed-loop stability [i.e. Im (poles sk) < 0]
Closed-loop transfer function (PI control)
To minimize the difference between the steady state profiles and the reference ones in the least square sense :
Min (Q Qref ) (Q Qref)
Q = KGalerkin . P Solution : Poptimal = [V0 0-1 W0
+ B] . Qref
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Initial experiments with the lumped-parameter version of the algorithm with 1 actuator
q-profile control with LHCD power
The accessible targets are restricted to a one-parameter family of profiles
With 5 q-setpoints : no problem if the q-profile tends to "rotate" when varying the power.
With only the internal inductance some features of the q-profile shape could be missed (e.g. reverse or weak shear in the plasma core).
Applying an SVD technique with 5 q-setpoints may not allow to reach any one of the setpoints exactly, but could minimize the error on the profile shape.
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Lumped-parameter version of the algorithm with 1 actuator
q-profile control with LHCD powerat 5 radii
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
5-point q-profile control with LHCD power steady state
D. Mazon et al, PPCF 45 (2003) L47
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Initial experiments with the lumped-parameter version of the algorithm with 3 actuatorsSVD for 5-point q-profile control
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Initial experiments with the lumped-parameter version of the algorithm with 3 actuators
2-mode TSVD for 5-point q-profile control
KT = 1W1.V1+ + 2W2.V2
+
D. Moreau et al., EFDA-JET preprint PR(03) 23 F. Crisanti et al, EPS Conf. (2003)
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Initial experiments with the lumped-parameter version of the algorithm with 3 actuators
2-mode TSVD for 5-point q-profile control
D. Moreau et al., EFDA-JET preprint PR(03) 23 F. Crisanti et al, EPS Conf. (2003)
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Conclusions and perspectives (1)
A fairly successful control of the safety factor profile was obtained with the lumped-parameter version of TSVD algorithm.
This provides an interesting starting basis for a future experimental programme at JET, aiming at the sustainement and control of ITB's (q(r) + T* criterion) in fully non-inductive plasmas and with a large fraction of bootstrap current.
The potential extrapolability of the technique to strongly coupled distributed-parameter systems with a larger number of controlled parameters (density, pressure, current profiles ...) and actuators (with more flexibility in the deposition profiles), is an attractive feature.
D. Moreau 3rd ITPA Meeting on Steady State Operation and Energetic Particles, St Petersburg (Russia) July 2003
Conclusions and perspectives (2)
If the nonlinearities of the system or the difference between various time scales were to be too important, the TSVD technique can be extended to model-predictive control, at the cost of a larger computational power, and by performing the identification of the full frequency dependence of the linearized response of the system to modulations of the input parameters, rather than simply of its steady state response.
It provides an interesting tool for an integrated plasma control in view of steady state advanced tokamak operation, including the control of the plasma shape and current, as in conventional tokamak operation, but also of the primary flux and of the safety factor, temperature and density profiles (and fusion power in a burning plasma), etc...