Actuator and diagnostic requirements of the ITER Plasma Control System

The ITER Plasma Control System (PCS) requires an extensive set of about 50 diagnostic systems to measure the plasma response and about 20 actuators to act on the plasma to carry out its control functions. The specifications and real limitations of the actuators and diagnostics are being assessed as part of the ongoing conceptual design of the PCS to understand the potential impact on plasma control. The actuators include magnetic coils (central solenoid (CS), poloidal field (PF), vertical stability (VS), edge localized mode (ELM), correction coils (CC)), heating and current drive (electron cyclotron (EC), ion cyclotron (IC), neutral beam injection (NBI), and possibly lower hybrid (LH)), glow discharge cleaning, fueling and impurity gas and pellet injection, vacuum pumping, and disruption mitigation systems. Diagnostic systems are prioritized according to their role in machine protection (MP), basic control (BC), advanced control (AC), and physics studies (PS). At the conceptual design phase, detailed control algorithms do not yet need to be specified, but conceptual solutions must be chosen that satisfy the PCS requirements for control within the real constraints of the diagnostics and actuators. The feasibility of the chosen solutions must be proven either through established control schemes on existing machines or through an R&D program to develop them before they will be required on ITER. The diagnostic and actuator requirements of the PCS will evolve from first plasma through the high performance DT phase. A comparison is made of the expected requirements to control vertical stability, sawteeth, neoclassical tearing modes (NTMs), edge localized modes (ELMs), error fields, resistive wall modes (RWMs), Alfvén eigenmodes, and disruptions with the ITER baseline actuator and diagnostic specifications.     

Towards the conceptual design of the ITER real-time plasma control system

ITER will be the world's largest magnetic confinement tokamak fusion device and is currently under construction in southern France. The ITER Plasma Control System (PCS) is a fundamental component of the ITER Control, Data Access and Communication system (CODAC). It will control the evolution of all plasma parameters that are necessary to operate ITER throughout all phases of the discharge. The design and implementation of the PCS poses a number of unique challenges. The timescales of phenomena to be controlled spans three orders of magnitude, ranging from a few milliseconds to seconds. Novel control schemes, which have not been implemented at present-day machines need to be developed, and control schemes that are only done as demonstration experiments today will have to become routine. In addition, advances in computing technology and available physics models make the implementation of real-time or faster-than-real-time predictive calculations to forecast and subsequently to avoid disruptions or undesired plasma regimes feasible. This requires the PCS design to be adaptable in real-time to the results of these forecasting algorithms. A further novel feature is a sophisticated event handling system, which provides a means to deal with plasma related events (such as MHD instabilities or L-H transitions) or component failure. Finally, the schedule for design and implementation poses another challenge. The beginning of ITER operation will be in late 2020, but the conceptual design activity of the PCS has already commenced as required by the on-going development of diagnostics and actuators in the domestic agencies and the need for integration and testing. This activity is presently underway as a collaboration of international experts and the results will be published as a subsequent publication. In this paper, an overview about the main areas of intervention of the plasma control system will be given as well as a summary of the interfaces and the integration into ITER CODAC (networks, other applications, etc.). The limited amount of commissioning time foreseen for plasma control will make extensive testing and validation necessary. This should be done in an environment that is as close to the PCS version running the machine as possible. Furthermore, the integration with an Integrated Modeling Framework will lead to a versatile tool that can also be employed for pulse validation, control system development and testing as well as the development and validation of physics models. An overview of the requirements and possible structure of such an environment will also be presented.     

A simulation environment for ITER PCS development

A simulation environment known as the Plasma Control System Simulation Platform (PCSSP), specifically designed to support development of the ITER Plasma Control System (PCS), is currently under construction by an international team encompassing a cross-section of expertise in simulation and exception handling for plasma control. The proposed design addresses the challenging requirements of supporting the PCS design. This paper provides an overview of the PCSSP project and a discussion of some of the major features of its design. Plasma control for the ITER tokamak will be significantly more challenging than for existing fusion devices. An order of magnitude greater performance (e.g. [1], [2]) is needed for some types of control, which together with limited actuator authority, implies that optimized individual controllers and nonlinear saturation logic are required. At the same time, consequences of control failure are significantly more severe, which implies a conflicting requirement for robust control. It also implies a requirement for comprehensive and robust exception handling. Coordinated control of multiple competing objectives with significant interactions, together with many shared uses of actuators to control multiple variables, implies that highly integrated control logic and shared actuator management will be required. It remains a challenge for the integrated technologies to simultaneously address these multiple and often competing requirements to be demonstrated on existing fusion devices and adapted for ITER in time to support its operational schedule. We describe ways in which the PCSSP will help address these challenges to support design of both the ITER PCS itself and the algorithms that will be implemented therein, and at the same time greatly reduce the cost of that development. We summarize the current status of the PCSSP design task, including system requirements and preliminary design documents already delivered as well as features of the ongoing detailed architectural design. The methods being incorporated in the detailed design are based on prior experience with control simulation environments in fusion and on standard practices prevalent in development of control-intensive industrial product designs.     

Event generation and simulation of exception handling with the ITER PCSSP

The plasma control system simulation platform (PCSSP) for ITER shall support the analysis and development of methods to be used by the ITER plasma control system (PCS) for handling exceptions to optimize pulses and assist in machine protection. PCSSP will permit to investigate physical and technical events, such as component failures, control degradation, operation domain excess, plasma state bifurcation or instabilities, and interlock activity. Serving that purpose, the plasma, actuator, diagnostics and PCS simulation modules in PCSSP will be enhanced to compute nominal and off-normal data. Configured by an event schedule, an event generator will orchestrate the activation and manipulate the characteristics of such off-normal computation. In the simulated PCS exceptions will be handled in a pulse supervision layer operating on top of the pulse continuous control (PCC) feedback loops. It will monitor events, decide on which exceptions to respond, and compute new control references to modify PCC behavior. We discuss basic concepts for the event generation in PCSSP, and a preliminary architecture for exception handling in PCS, and show how these will be configured with event and pulse schedules.     

A new approach to plasma profile control in ITER

Advanced tokamak operation in ITER, such as the steady-state and hybrid modes, requires an active real-time feedback control of plasma profiles to achieve the advanced regimes for sustained operation. In this work, we have explored a potentially robust control technique that simplifies the active real-time control of electron temperature and safety factor profiles in ITER. As a new and simple approach, static responses of the plasma profiles to power changes of auxiliary heating and current drive are modelled and updated in real-time, differing from the techniques which use a dynamic model deduced from identification experiments, or even a simplified explicit model. To allow real-time update of the plasma profile response model, the underlying physics is simplified with several assumptions. The electron temperature profile response is modelled by simplifying the electron heat transport equation. The safety factor profile response is modelled by directly relating it to the changes of source current density profiles. The required actuator power changes are calculated using the singular value decomposition technique, taking the saturation of the actuator powers into account. The potential of this control technique has been tested by applying it to simulations of the ITER hybrid mode operation using CRONOS. In these simulations, the electron temperature and safety factor profiles were well controlled either independently or simultaneously.     

ASDEX Upgrade Discharge Control System—A real-time plasma control framework

ASDEX Upgrade is a fusion experiment with a size and complexity to allow extrapolation of technical and physical conditions and requirements to devices like ITER and even beyond. In addressing advanced physics topics it makes extensive use of sophisticated real-time control methods. It comprises real-time diagnostic integration, dynamically adaptable multivariable feedback schemes, actuator management including load distribution schemes and a powerful monitoring and pulse supervision concept based on segment scheduling and exception handling. The Discharge Control System (DCS) supplies all this functionality on base of a modular software framework architecture designed for real-time operation. It provides system-wide services like workflow management, logging and archiving, self-monitoring and inter-process communication on Linux, VxWorks and Solaris operating systems. By default DCS supports distributed computing, and a communication layer allows multi-directional signal transfer and data-driven process synchronisation over shared memory as well as over a number of real-time networks. The entire system is built following the same common design concept combining a rich set of re-usable generic but highly customisable components with a configuration-driven component deployment method.We will give an overview on the architectural concepts as well as on the outstanding capabilities of DCS in the domains of inter-process communication, generic feedback control and pulse supervision. In each of these domains, DCS has contributed important ideas and methods to the on-going design of the ITER plasma control system. We will identify and describe these essential features and illustrate them with examples from ASDEX Upgrade operation.     

Overview of magnetic control in ITER

ITER is targeting Q = 10 with 500 MW of fusion power. To meet this target, the plasma needs to be controlled and shaped for a period of hundreds of seconds, avoiding contact with internal components, and acting against instabilities that could result in the loss of control of the plasma and in its disruptive termination.Axisymmetric magnetic control is a well-understood area being the basic control for any tokamak device. ITER adds more stringent constraints to the control primarily due to machine protection and engineering limits. The limits on the actuators by means of the maximum current and voltage at the coils and the few hundred ms time response of the vacuum vessel requires optimization of the control strategies and the validation of the capabilities of the machine in controlling the designed scenarios.Scenarios have been optimized with realistic control strategies able to guarantee robust control against plasma behavior and engineering limits due to recent changes in the ITER design. Technological issues such as performance changes associated with the optimization of the final design of the central solenoid, control of fast transitions like H to L mode to avoid plasma-wall contact, and optimization of the plasma ramp-down have been modeled to demonstrate the successful operability of ITER and compatibility with the latest refinements in the magnetic system design.Validation and optimization of the scenarios refining the operational space available for ITER and associated control strategies will be proposed. The present capabilities of magnetic control will be assessed and the remaining critical aspects that still need to be refined will be presented. The paper will also demonstrate the capabilities of the diagnostic system for magnetic control as a basic element for control. In fact, the noisy environment (affecting primarily vertical stability), the non-axisymmetric elements in the machine structure (affecting the accuracy of the identification of the plasma boundary), and the strong component of eddy current at the start-up (resulting in a poor S/N ratio for plasma reconstruction for I_p < 2 MA requiring a robust plasma control) make the ITER magnetic diagnostic system a demanding part of the magnetic control and investment protection systems. Finally the paper will illustrate the identified roles of magnetic control in the PCS (plasma control system) as formally defined in the recent first step of the design and development of the system.     

Progress and improvement of KSTAR plasma control using model-based control simulators

Superconducting tokamaks like KSTAR, EAST and ITER need elaborate magnetic controls mainly due to either the demanding experiment schedule or tighter hardware limitations caused by the superconducting coils. In order to reduce the operation runtime requirements, two types of plasma simulators for the KSTAR plasma control system (PCS) have been developed for improving axisymmetric magnetic controls. The first one is an open-loop type, which can reproduce the control done in an old shot by loading the corresponding diagnostics data and PCS setup. The other one, a closed-loop simulator based on a linear nonrigid plasma model, is designed to simulate dynamic responses of the plasma equilibrium and plasma current (I_p) due to changes of the axisymmetric poloidal field (PF) coil currents, poloidal beta, and internal inductance. The closed-loop simulator is the one that actually can test and enable alteration of the feedback control setup for the next shot. The simulators have been used routinely in 2012 plasma campaign, and the experimental performances of the axisymmetric shape control algorithm are enhanced. Quality of the real-time EFIT has been enhanced by utilizations of the open-loop type. Using the closed-loop type, the decoupling scheme of the plasma current control and axisymmetric shape controls are verified through both the simulations and experiments. By combining with the relay feedback tuning algorithm, the improved controls helped to maintain the shape suitable for longer H-mode (10–16 s) with the number of required commissioning shots largely reduced.     

Development of real-time plasma analysis and control algorithms for the TCV tokamak using Simulink

One of the key features of the new digital plasma control system installed on the TCV tokamak is the possibility to rapidly design, test and deploy real-time algorithms. With this flexibility the new control system has been used for a large number of new experiments which exploit TCV's powerful actuators consisting of 16 individually controllable poloidal field coils and 7 real-time steerable electron cyclotron (EC) launchers. The system has been used for various applications, ranging from event-based real-time MHD control to real-time current diffusion simulations. These advances have propelled real-time control to one of the cornerstones of the TCV experimental program. Use of the Simulink graphical programming language to directly program the control system has greatly facilitated algorithm development and allowed a multitude of different algorithms to be deployed in a short time. This paper will give an overview of the developed algorithms and their application in physics experiments.     

Distributed digital real-time control system for TCV tokamak

A new digital feedback control system (named the SCD “Système de Contrôle Distribué”) has been developed, integrated and used successfully to control TCV (Tokamak à Configuration Variable) plasmas. The system is designed to be modular, distributed, and scalable, accommodating hundreds of diagnostic inputs and actuator outputs. With many more inputs and outputs available than previously possible, it offers the possibility to design advanced control algorithms with better knowledge of the plasma state and to coherently control all TCV actuators, including poloidal field (PF) coils, gas valves, the gyrotron powers and launcher angles of the electron cyclotron heating and current drive system (ECRH/ECCD) together with diagnostic triggering signals. The system consists of multiple nodes; each is a customised Linux desktop or embedded PC which may have local ADC and DAC cards. Each node is also connected to a memory network (reflective memory) providing a reliable, deterministic method of sharing memory between all nodes. Control algorithms are programmed as block diagrams in Matlab-Simulink providing a powerful environment for modelling and control design. The C code is generated automatically from the Simulink block diagram and compiled, with the Simulink Embedded Coder (SEC, formerly Real-Time Workshop Embedded Coder), into a Linux shared library (“.so” file) and distributed to target nodes in the discharge preparation phase. During the TCV discharge, an application on each node is executed that dynamically loads the shared library at runtime. In order to obtain reliable and reproducible real time execution of the algorithm, all interrupts to the CPU on each node are suspended just before firing the shot and re-enabled afterwards. Since installation, the new digital control system has been used for a multitude of plasma control applications, ranging from basic experiments of coil current and density control to advanced experiments of MHD (magnetohydrodynamics) and plasma profile control, as well as real-time plasma transport simulations. Recently, a real-time version of a plasma equilibrium reconstruction code was developed and implemented, providing the future possibility to control the plasma shape and profiles directly during the discharge evolution. This paper presents the architecture of the new control system, its integration into the TCV plant and a sample of control applications used for TCV plasma discharges.     

JET and the Physics Basis of ITER

JET has made unique contributions to the physics basis of ITER by virtue of its ITER-like geometry,large plasma size and D-T capability.The paper discusses recent JET results and their implications for ITER in the areas of standard ELMy H-mode,D-T operation and advanced tokamak modes.In ELMy H-mode the separation of plasma energy into core and pedestal contributions shows that core confinement scales like gyroBohm transport.High triangularity has a beneficial effect on confinement and leads to an integrated plasma performance exceeding the ITER Q=10 reference case.A revised type I ELM scaling predicts acceptable ELM energy losses for ITER,while progress in physics understanding of NTMs shows how to control them in ITER.The D-T experiments of 1997 have validated ICRF scenarios for heating ITER/a reactor and identified ion minority schemes (e.g.(^3He)DT) with strong ion heating.They also show that the slowing down of alpha particles is classical so that the self-heating by fusion alphas should cause no unexpected problems.With the Pellet Enhanced Performance mode of 1988,JET has produced the first advanced tokamak mode,with peaked pressure profiles sustained by reversed magnetic shear and strongly reduced transport.More recently,LHCD has provided easy tuning of reversed shear and reliable access to ITBs.Improved physics understanding shows that rational q-surfaces play a key role in the formation and development of ITBs.The demonstration of real time feedback control of plasma current and pressure profiles opens the path towards fully controlled steady-state tokamak plasmas.     

Feasibility study of an actively cooled tungsten divertor in Tore Supra for ITER technology testing

In order to reduce the risks for ITER Plasma Facing Components (PFCs), it is proposed to equip Tore Supra with a full tungsten divertor, benefitting from the unique long pulse capabilities, the high installed RF power and the long experience with actively cooled high heat flux components of the Tore Supra platform. The transformation from the current circular limiter geometry to the required X-point configuration will be achieved by installing a set of copper poloidal coils inside the vacuum vessel. The new configuration will allow for H-mode access, providing relevant plasma conditions for PFC technology validation. Furthermore, attractive steady-state regimes are expected to be achievable. The lower divertor target design will be closely based on that currently envisaged for ITER (W monoblocks), while the upper divertor region will be used to qualify the main first wall heat sink technology adopted for the ITER blanket modules (CuCrZr copper/stainless steel) with a tungsten coating (in place of the Be tiles which ITER will use). Extended plasma exposure will provide access to ITER critical issues such as PFC lifetime (melting, cracking, etc.), tokamak operation on damaged metallic surfaces, real time heat flux control through PFC monitoring, fuel retention and dust production.     

Development of in situ cleaning techniques for diagnostic mirrors in ITER

Mirrors will be used in all optical and laser-based diagnostic systems of ITER. In the severe environment, the optical characteristics of mirrors will be degraded, hampering the entire performance of the respective diagnostics. A minute impurity deposition of 20 nm of carbon on the mirror is sufficient to decrease the mirror reflectivity by tens of percent outlining the necessity of the mirror cleaning in ITER. The results of R&D on plasma cleaning of molybdenum diagnostic mirrors are reported. The mirrors contaminated with amorphous carbon films in the laboratory conditions and in the tokamaks were cleaned in steady-state hydrogenic plasmas. The maximum cleaning efficiency of 4.2 nm/min was reached for the laboratory and soft tokamak hydrocarbon films, whereas for the hard tokamak films the carbidization of mirrors drastically decreased the cleaning efficiency down to 0.016 nm/min. This implies the necessity of sputtering cleaning of contaminated mirrors as the only reliable tool to remove the deposits by plasma cleaning. An overview of R&D program on mirror cleaning is provided along with plans for further studies and the recommendations for ITER mirror-based diagnostics.     

Recent and future upgrades to the DIII-D tokamak

Research on the DIII-D tokamak focuses on support for next-generation devices such as ITER by providing physics solutions to key issues and advancing the fundamental understanding of fusion plasmas. To support this goal, the DIII-D facility is planning a number of upgrades that will allow improved plasma heating, control, and diagnostic measurement capabilities. The neutral beam system has recently added an eighth ion source and one of the beamlines is currently being rebuilt to allow injection of 5 MW of off-axis power at an angle of up to 16.5° from the horizontal. The electron cyclotron heating (ECH) system is adding two additional gyrotrons and is using new launchers that can be aimed poloidally in real-time by an improved plasma control system. The fast wave heating system is being upgraded to allow two of the three launchers to inject up to 2 MW each in future experiments. Several diagnostics are being added or upgraded to more thoroughly study fluctuations, fast ions, heat flux to the walls, plasma flows, rotation, and details of the plasma density and temperature profiles.     

Integrated operation of diagnostic and control systems

In fusion research the ability to generate and sustain high performance fusion plasmas gains more and more importance. Optimal combinations of magnetic shape, temperature and density profiles as well as the confinement time are identified as advanced regimes. Safe operation in such regimes will be crucial for the success of ITER and later fusion reactors. The operational space, on the other hand, is characterized by nonlinear dependencies between plasma parameters. Various MHD limits must be avoided in order to minimize the risk of a disruption.Sophisticated feedback control schemes help to tackle this challenge. But these in turn require detailed information on plasma state in time to allow proper reaction. Control system and diagnostic systems therefore must establish a symbiotic relationship to carry out such schemes. Today, all major fusion devices implement such a concept.An implementation of such a concept with sustained integration is presented using the example of ASDEX Upgrade. It covers data communication via a real-time network, synchronization mechanisms for data-driven algorithm execution as well as operational aspects and exception handling for failure detection and recovery. A modular distributed software framework offers standardized user algorithm interfaces, automated workflow procedures and the application of various computer and network hardware components. Designed with a special focus on reliability, robustness and flexibility, it is a sound base for exploring ITER-relevant plasma regimes and control strategies.     

The Design of the Plasma Control System in KTX

KTX(Keda Torus for eXperiment)is a new reversed field pinch device.The KTX plasma control system(PCS)can provide real-time,stable,flexible plasma control which is designed by ASIPP(Institute of Plasma Physics,Chinese Academy of Sciences),based on the Linux cluster system and EPICS(Experimental Physics and Industrial Control System)framework,and developed from DIII-D(Doublet III-D)PCS.The control of the equilibrium field in KTX uses a PID(Proportional-Integral-Derivative)feedback controller.The control of the gas injection is an open loop control.The plasma control simulation system is one part of the plasma control system,which is used to test the plasma control algorithm if it is revised and updated.The KTX PCS has been successfully tested using HT-7(Hefei Torus 7)experiment data in simulation mode.In the next phase,an error field feedback control and KTX simulator will be added to the KTX PCS,and the KTX PCS will be applied in experiments in the future.     

Unified software development approach for the safety-critical ITER maintenance devices

The RH devices used for ITER divertor maintenance are movers or manipulators composed of electro-hydraulic and electrical actuators. Such devices are CMM, CTM and WHMAN to assist CMM and CTM. These devices execute complex and safety-critical operations while supporting ITER reactor elements weighting several tons. Despite the differences in the load capacity and functionality, the control system of these devices can be categorized as position servo control or force servo control. In this paper we propose the use of unified software development approach currently developed and demonstrated at the DTP2. This new approach takes into account the ITER RH requirements for all maintenance devices, not only the water-hydraulic maintenance devices. The need for extensive software verification and validation utilizing international standards for safety-critical systems is addressed. This applies both to control software architecture and user interface design. In principle, we propose that all ITER maintenance devices are developed and tested with the common software architecture and user interface. This makes it possible to reuse generic software modules that are well documented and tested, resulting decreased verification and validation period and development cost. Utilising this approach also improves reliability and safety of the maintenance operations.     

The renewed HT-7 plasma control system based on real-time Linux cluster

In order to improve the synchronization, flexibility and expansibility of the plasma control on HT-7, a new plasma control system (HT-7 PCS) was constructed. The HT-7 PCS was based on a real-time Linux cluster with a well-defined, robust and flexible software infrastructure which was adapted from DIII-D PCS. In this paper, the hardware structure and system customization details for HT-7 PCS are reported. The plasma position and current control, plasma density control and off-normal event detection, which were realized in separated systems originally, have been integrated and implemented in such HT-7 PCS. All these control algorithms have been successfully validated in the last several HT-7 experiment campaigns. Good control performance has been achieved and the experiment results are discussed in the paper.     

Study of electromagnetic noise influence on quench detection system under different discharge conditions for EAST

EAST is the first Tokamak device whose toroidal and poloidal magnet are superconducting. The enormous magnetic field energy stored in the magnet system will transfer into thermal energy and cause the damage of superconducting magnet, if a quench happened. Therefore, reliable quench detection is a key issue for steady-state operation. In addition to electromagnetic noise from poloidal magnet fields and plasma current which will experience fast current ramp rate, radio frequency noise from heating system also have some interference on quench detection system to a certain degree. The most difficult point for quench detection system is required to have more detail evaluation on electromagnetic noise interference.Recently experiments have been carried out successfully in EAST device. The steady-state operation with 1 MA of plasma current and more than 100-s plasma duration has been obtained. In the paper, the electromagnetic noise interference on quench detection system under different discharge conditions are analyzed and relative process methods are also introduced. The technological experience and experimental data are significant for the constructing ITER and similar superconducting device have been mentioned which will supply significant technological experience and experimental data for constructing ITER and similar superconducting device.     

Development of the simulation platform between EAST plasma control system and the tokamak simulation code based on Simulink

Plasma control system (PCS),mainly developed for real-time feedback control calculation,plays a significant part during normal discharges in a magnetic fusion device,while the tokamak simulation code (TSC) is a nonlinear numerical model that studies the time evolution of an axisymmetric magnetized tokamak plasma.The motivation to combine these two codes for an integrated simulation is specified by the facts that the control system module in TSC is relatively simple compared to PCS,and meanwhile,newly-implemented control algorithms in PCS,before applied to experimental validations,require numerical validations against a tokamak plasma simulator that TSC can act as.In this paper,details of establishment of the integrated simulation framework between the EAST PCS and TSC are generically presented,and the poloidal power supply model and data acquisition model that have been implemented in this framework are described as well.In addition,the correctness of data interactions among the EAST PCS,Simulink and TSC is clearly confirmed during an interface test,and in a simulation test,the RZIP control scheme in the EAST PCS is numerically validated using this simulation platform.