垂直等离子体稳定的最优实时控制器
An optimal real-time controller for vertical plasma stabilization
摘要：
现代托卡马克已经从最初的轴对称圆形等离子体形状发展到细长的轴对称等离子体形状，这改善了能量约束时间和三重积，这是聚变反应堆性能所需条件的常用品质因数。然而，细长的等离子体截面引入了垂直不稳定性，这需要实时反馈控制回路来稳定等离子体垂直位置和速度。在托卡马克变组态装置（TCV）中，由快速开关电源驱动的容器内极向场线圈被用来稳定高度拉长的等离子体。TCV等离子体实验使用基于PID算法的控制器来校正等离子体垂直位置。在2013年底的实验中，测试了一种新的优化实时控制器，以提高等离子体的稳定性。这一贡献介绍了新的最优实时控制器的开发。选择的模型描述的等离子体响应的致动器进行了讨论。最初实施的高阶模型要求应用数学降阶和新的降阶模型的验证。利用低阶模型推导出时间最优控制律。提出了一种新的构造开关曲线的方法，该方法基于状态空间轨迹，优化系统的目标时间。开发了一个闭环控制器仿真工具来测试不同的可能算法，并将结果用于改进控制器参数。最后的控制算法及其实施的描述和初步的实验结果进行了讨论。
英文摘要：
Modern Tokamaks have evolved from the initial axisymmetric circular plasma shape to an elongated axisymmetric plasma shape that improves the energy confinement time and the triple product, which is a generally used figure of merit for the conditions needed for fusion reactor performance. However, the elongated plasma cross section introduces a vertical instability that demands a real-time feedback control loop to stabilize the plasma vertical position and velocity. At the Tokamak à Configuration Variable (TCV) in-vessel poloidal field coils driven by fast switching power supplies are used to stabilize highly elongated plasmas. TCV plasma experiments have used a PID algorithm based controller to correct the plasma vertical position. In late 2013 experiments a new optimal real-time controller was tested improving the stability of the plasma. This contribution describes the new optimal real-time controller developed. The choice of the model that describes the plasma response to the actuators is discussed. The high order model that is initially implemented demands the application of a mathematical order reduction and the validation of the new reduced model. The lower order model is used to derive the time optimal control law. A new method for the construction of the switching curves of a bang-bang controller is presented that is based on the state-space trajectories that optimize the time to target of the system. A closed loop controller simulation tool was developed to test different possible algorithms and the results were used to improve the controller parameters. The final control algorithm and its implementation are described and preliminary experimental results are discussed.
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