Optimised plasma stabilisation at TEXTOR with an advanced, real-time digital control scheme

The tokamak TEXTOR at the Research Centre in Jülich is in operation since more than 25 years. The various control systems at the start, in 1982, were based on analogue techniques, a standard at the time, and were later partly replaced by specially developed digital systems. These systems proved their robustness over the years. As a replacement for the old system, off-the-shelf products were used to ensure continuity, reliability and to reduce the development cost. To provide advanced control scenarios, the new system allows the implementation of more sophisticated algorithms for magnetic and kinetic control. The LabVIEW Real-Time (RT) modules and real-time hardware from National Instruments satisfy these requirements to a large extent. The new system has already been successfully commissioned at TEXTOR and is used to calculate in real-time the plasma density profile (10 ms), the Shafranov shift (10 ms), the plasma vertical and horizontal position (20 $\mu$s) and to control the plasma shape (1 ms). TEXTOR has circular plasmas and has an iron core. Its central part is operated in saturation. During the saturation phase, stray fields change the plasma shape from nearly circular to slightly triangular. By using a shape-control coil set, we can control and adjust the plasma form. The new real-time system is presented as well as the implemented control applications.