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Free boundary equilibrium feedback control simulations under Kepler /ITM

Free boundary equilibrium feedback control simulations under Kepler /ITM Short report on the control aspects of WP10-ITM Task # IMP12-ACT2-T1 S. Brémond 1 , O. Barana 1 , C. Boulbe 2 , S. Mannori 3 , P. Moreau 1 , N. Ravenel 1 , J. Signoret 1

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Free boundary equilibrium feedback control simulations under Kepler /ITM

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  1. Free boundary equilibrium feedback control simulations under Kepler/ITM Short report on the control aspects of WP10-ITM Task # IMP12-ACT2-T1 S. Brémond1, O. Barana1, C. Boulbe2, S. Mannori3, P. Moreau1, N. Ravenel1, J. Signoret1 1 CEA, Institut de Recherchessur la Fusion par confinement Magnétique 2 University of Nice, Laboratoire Jean-Alexandre Dieudonné 3 INRIA Rocquencourt

  2. Overview • AIM : Perform a test case of a control loop workflow under Kepler/ITM including • A controller designed with the aid of a control toolbox (e.g. Scicos) • A physics code developed under ITM (e.g. the free boundary equilibrium code CEDRES++) • TEST CASE : ITER plasma shape control (almost circular plasma to begin with to avoid vertical instability specific issues) dVPoloidal Field Coils Dgapref Multivariable controller MHD equilibrium evolution dgap e + - Test case reference MHD equilibrium (flux contour plot from CEDRES++) ITER limiter plasma

  3. Outline • Feedback control design • Control oriented (linear) plasma shape response model identification using the CEDRES++ free boundary equilibrium code • Multivariable PID controller tuning under SCICOS • Qualification under Kepler/ITM of the control loop workflow • Preparation of the Kepler workflow • Integration of the controller developed under Scicos (using the Scicos C code generator with new specific developments to produce a Kepler actor) • Integration of the CEDRES++ actor • Kepler/ITM Workflow development issues, present status and future plans

  4. FBC design: shape response model identification with CEDRES++ LINEAR PLASMA RESPONSE MODEL IDENTIFICATION WITH CEDRES++ : series of equilibrium computation with poloidal field coils input currents slightly varied from reference values 0.2 0.1 Gap - Gap Ref (m) 0 -0.1 including the effect of the plasma displacement -0.2 0.3 -0.3 -0.2 -0.1 0 0.1 0.2 PF2 - PF2 Ref (MA) Circuits equations : 2 R diagonal matrix of resistances 1 Flux - Flux Ref (m) 0 -1 0.3 Examples of CEDRES++ results -2 -0.3 -0.2 -0.1 0 0.1 0.2 PF2 - PF2 Ref (MA)

  5. 0.00 Gaps #1-2 -0.10 -0.20 0.05 Gaps #3-4 0.00 -0.05 0.05 0.00 Gaps #5-6 -0.05 -0.10 0.00 -0.10 Gaps #7-8 -0.20 0.0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 Time (s) FBC design: controller tuning under SCICOS Multivariable PID TUNING UNDER SCICOS SOFTWARE CONTROLLER TOKAMAK MODEL Closed loop response to steps on gap references

  6. Kepler/ITM: preparation of the workflow TOKAMAK MODEL CONTROLLER

  7. Kepler/ITM: integration of the controller developed under SCICOS • Using the Scicos C code generator with new specific developments to produce a Kepler actor (see N. Ravenel talk) TOKAMAK MODEL CONTROLLER

  8. Kepler/ITM: integration of the CEDRES++ actor D M U X CPOPF system #0 CPO PF system #0 Multivariable PID Controller (Actor generated via Scicos-ITM and FC2K) Linearized model of CEDRES++ (dynamical part) Composite Actor IPF0 Dgapref e + IPF dVPF dIPF + M U X + CPO PF system #1 - CEDRES ++ (static) Actor Gap computation Actor dgap CPO equilibrium #1 CPO iron model #0, CPO equilibrium#0 OR CPO magdiag#0

  9. Kepler/ITM workflow development issues, present status • Main difficulties met during the Kepler/ITM workflow development • FC2K for C++ codes (versioning 4.4b, 4.4c ..., single slice tag selection, actor with the same CPO as input and output - with different occurences – still to be checked, etc.) • Bugs in CPO content and UAL collector actor (we thought the CEDRES++ actor didn’t work – output CPO seemed to be empty – but afterwards we found that the bug was within the CPO content actor ...) • Problem in the definition of DEMUX actor output Kepler variable type : seems to be frozen to general, type conflict presently resolved using a patch (use of a Kepler expression actor to change type to double !) • Sharing of new actors is not that easy

  10. Future plans • To be done • 1. Make the test case workflow fully ITM data structure consistent (remove remaining Kepler variables, except within controller, test time evolution on final workflow, use ualcollector to save data, etc.) • Hope fully for the ITM general meeting mid September • Upgrade the test case workflow to a fully consistent plasma shape control loop using a dynamic version of the CEDRES++ code • Hopefully for the end 2010 • Coupling with a transport code (p and ff’ function evolving in time) • Year 2011

  11. time-loop Kepler workflow

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