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Improving tokamak vertical position control in the presence of power supply voltage saturation

机译：在电源电压饱和的情况下改善托卡马克垂直位置控制

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The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the so-called instability of the current vertical position. Linearized models all share the feature of a single unstable eigenmode, attributable to this vertical instability of the plasma equilibrium movement, and a large number of stable or marginally stable eigenmodes, attributable to zero or positive resistance in all other model circuit equations. Due to the size and therefore cost of the ITER tokamak, there will naturally be smaller margins in the poloidal field coil power supplies, implying that the feedback control will experience actuator saturation during large transients due to a variety of plasma disturbances. Current saturation is relatively benign, due to the integrating nature of the tokamak, resulting in a reasonable time horizon for strategically handling the approach to saturation which leads to the loss of one degree of freedom in the feedback control for each saturated coil. On the other hand, voltage saturation is produced. by the feedback controller itself, with no intrinsic delay. This paper presents a feedback controller design approach which explicitly takes saturation of the power supply voltage into account when producing the power supply demand signals. We consider the vertically stabilizing part of the ITER controller (fast controller) with one power supply and therefore a single saturated input. We. consider an existing ITER controller and enlarge its region of attraction to the full null controllable region by adding a continuous nonlinearity into the control. In a system with a single unstable eigenmode and a single stable eigenmode we have already provided a proof of the asymptotical stability of the closed loop system, and we have examined the performance of this new continuous nonlinear controller. We have subsequently extended this analysis to a system with a single eigenmode and multiple stable eigenmodes. The method requires state feedback control, and therefore a reconstruction of the states is indispensable. We discuss the feasibility of extracting these states from the available diagnostic information as well as other implementation details. As a complement to our ITER simulations we confirm the enlargement of the region of attraction by the new controller by a JET simulation.
机译：所谓的当前垂直位置的不稳定性使细长横截面托卡马克等离子体的电流，位置和形状的控制变得复杂。线性化模型均具有单个不稳定本征模式的特征，这归因于等离子体平衡运动的这种垂直不稳定性，而还有大量稳定或略微稳定的本征模式，这归因于所有其他模型电路方程中的零或正电阻。由于ITER托卡马克的尺寸和成本，自然而然，在极向场线圈电源中会出现较小的裕度，这意味着由于各种等离子体干扰，在大瞬态期间，反馈控制将经历执行器饱和。由于托卡马克的积分性质，电流饱和度相对较好，导致了合理的时间范围以策略性地处理饱和方法，从而导致每个饱和线圈的反馈控制失去一个自由度。另一方面，产生电压饱和。由反馈控制器本身完成，没有固有延迟。本文提出了一种反馈控制器设计方法，该方法在生成电源需求信号时会明确考虑电源电压的饱和度。我们认为ITER控制器（快速控制器）的垂直稳定部分只有一个电源，因此只有一个饱和输入。我们。考虑现有的ITER控制器，并通过向控制中添加连续非线性来将其吸引区域扩大到整个零可控区域。在具有单个不稳定本征模式和单个稳定本征模式的系统中，我们已经提供了闭环系统的渐近稳定性的证明，并且我们已经研究了这种新型连续非线性控制器的性能。随后，我们将此分析扩展到具有单个特征模式和多个稳定特征模式的系统。该方法需要状态反馈控制，因此状态的重建是必不可少的。我们讨论了从可用的诊断信息以及其他实现细节中提取这些状态的可行性。作为对ITER仿真的补充，我们通过JET仿真确认了新控制器对吸引区域的扩大。

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