Physics-model-based Optimization and Feedback Control of the Current Profile Dynamics in Fusion Tokamak Reactors

As the demand for energy continues to increase, the need to develop alternative energy sources to complement (and one day replace) conventional fossil fuels is becoming increasingly important. One such energy source is nuclear fusion, which has the potential to provide a clean source of energy and possesses an abundant fuel supply. However, due to the technological difficulty in creating the conditions necessary for controlled fusion to occur, nuclear fusion is not yet commercially viable. The tokamak is a device that utilizes magnetic fields to confine the reactants, which are in the plasma state, and it is one of the most promising devices capable of achieving controlled fusion. The ITER tokamak project is the next phase of tokamak development and will be the first tokamak reactor to explore the burning plasma (one with a significant amount of fusion reactions) operating regime.In order for ITER to meet its demanding goals, extensive research has been conducted to develop advanced tokamak operating scenarios characterized by a high fusion gain, good plasma confinement, magnetohydrodynamic stability, and a significant fraction of noninductively driven plasma current to maximize the plasma performance and potentially enable steady-state operation. As the dynamics of the tokamak plasma magnetic and kinetic states are highly coupled, distributed, nonlinear systems that exhibit many instabilities, it is extremely difficult to robustly achieve advanced operating scenarios. Therefore, active control of the plasma dynamics has significant potential to improve the ability to access advanced operating regimes. One of the key plasma properties investigated in the development of advanced scenarios is the plasma current profile because of its intimate relationship to plasma energy/particle transport and to plasma stability limits that are approached by increasing the plasma pressure. The plasma density and temperature profiles are also important parameters due to their close relationship to the amount of generated fusion power, to the total plasma stored energy, and to the amount of noninductive current drive. In tokamaks, the current and electron temperature profiles are coupled through resistive diffusion, noninductive current drive, and plasma energy/particle transport. As a result, integrated algorithms for current profile and electron temperature profile control will be necessary to maintain plasma stability, optimize plasma performance, and respond to changing power demand in ITER, and eventually a commercial, power producing tokamak reactor.In this work, model-based feedforward and feedback algorithms are developed to control the plasma current profile and thermal state dynamics with the goal of improving the ability to achieve robust tokamak operation. A first-principles-driven (FPD), physics-based approach is employed to develop models of the plasma response to the available actuators, which provides the freedom to handle the trade-off between the physics accuracy and the tractability for control design of the models. A numerical optimization algorithm to synthesize feedforward trajectories for the tokamak actuators that steer the plasma through the tokamak operating space to achieve a predefined target scenario (characterized by a desired current profile and total stored energy), subject to the plasma dynamics (described by the developed physics-based model), actuator constraints, and plasma state constraints, is developed. Additionally, robust feedback control algorithms for current profile, combined current profile + total stored energy, and simultaneous current profile + electron temperature profile control are synthesized for various tokamaks by embedding a FPD model into the control design process.Examples of the performance of the controllers in simulations (DIII-D, ITER, and TCV tokamaks) and DIII-D experiments are presented to illustrate the potential and versatility of the employed control methodology. The DIII-D experimental tests demonstrate the potential physics-model-based profile control has to provide a systematic approach for the development and robust sustainment of advanced scenarios. The ITER simulations demonstrate the ability to drive the current profile to a stationary target while simultaneously modulating the amount of fusion power that is generated. Finally, the TCV simulations demonstrate the ability to drive the current and electron temperature profiles to a self consistent target, as well as to maintain the current profile in a stationary condition while simultaneously modulating the electron temperature profile between equilibrium points

Optimisation of out-vessel magnetic diagnostics for plasma boundary reconstruction in tokamaks

To improve the low frequency spectrum of magnetic field measurements of future tokamak reactors such as ITER, several steady state magnetic sensor technologies have been considered. For all the studied technologies it is always advantageous to place the sensors outside the vacuum vessel and as far away from the reactor core to minimize radiation damage and temperature effects, but not so far as to compromise the accuracy of the equilibrium reconstruction. We have studied to what extent increasing the distance between out-vessel sensors and plasma can be compensated for sensor accuracy and/or density before the limit imposed by the degeneracy of the problem is reached. The study is particularized for the Swiss TCV tokamak, due to the quality of its magnetic data and its ability to operate with a wide range of plasma shapes and divertor configurations. We have scanned the plasma boundary reconstruction error as function of out-vessel sensor density, accuracy and distance to the plasma. The study is performed for both the transient and steady state phases of the tokamak discharge. We find that, in general, there is a broad region in the parameter space where sensor accuracy, density and proximity to the plasma can be traded for one another to obtain a desired level of accuracy in the reconstructed boundary, up to some limit. Extrapolation of the results to a tokamak reactor suggests that a hybrid configuration with sensors inside and outside the vacuum vessel could be used to obtain a good boundary reconstruction during both the transient and the flat-top of the discharges, if out-vessel magnetic sensors of sufficient density and accuracy can be placed sufficiently far outside the vessel to minimize radiation damage.Comment: 36 pages, 17 figures, Accepted for publication in Nuclear Fusio

Rapid optimization of stationary tokamak plasmas in RAPTOR: demonstration for the ITER hybrid scenario with neural network surrogate transport model QLKNN

This work presents a fast and robust method for optimizing the stationary radial distribution of temperature, density and parallel current density in a tokamak plasma and its application to first-principle-based modeling of the ITER hybrid scenario. A new solver is implemented in the RAPTOR transport code, enabling direct evaluation of the stationary solution to which the radial plasma profiles evolve. Coupled to a neural network emulation of the quasi-linear gyrokinetic QuaLiKiz transport model (QLKNN-hyper-10D), a first-principle-based estimate of the stationary state of the core plasma can be found at unprecedented computational speed (typically a few seconds on standard hardware). The stationary state solver is then embedded in a numerical optimization scheme, allowing the optimization of tokamak plasma scenarios in only a few minutes. The proposed method is applied to investigate the performance of ITER hybrid scenarios at different values of total plasma current, plasma density and pedestal height and for different power contributions in a heating mix consisting of electron cyclotron and neutral beam heating. Optimizing the radial distribution of electron cyclotron current drive (ECCD) deposition, the q profile is tailored to maximize the fusion gain Q, by maximizing the energy confinement predicted through the first-principles-based transport model, while satisfying q &gt; 1, avoiding sawtooth oscillations. It is found that optimal use of ECCD in ITER hybrid scenarios is to deposit power as close to the core as possible, while maintaining sufficient off-axis current drive to keep q above 1. Upper limits for the fusion gain Q are shown to be constrained either by minimum power requirements for the separatrix power flow to maintain H-mode or by minimum current drive requirements for q profile tailoring. Finally, it is shown that the ITER hybrid scenario operating window is significantly extended by an upgrade of the electron cyclotron power to 40 MW.</p

Design of Linear Plasma Position Controllers with Intelligent Feedback Systems for Aditya Tokamak

In order to increase the performance of Aditya tokamak, it is necessary to determine the feedback coil current for positioning the plasma within the magnetic chamber. In this paper, transfer functions are obtained for the plasma position prediction system. Four different feedback controllers are developed to improve the performance of the prediction system. From the analysis, Neural Network controller does not have overshoot while the PID controller has lesser settling time than the other two controllers.

Physics research on the TCV tokamak facility: from conventional to alternative scenarios and beyond

The research program of the TCV tokamak ranges from conventional to advanced-tokamak scenarios and alternative divertor configurations, to exploratory plasmas driven by theoretical insight, exploiting the device’s unique shaping capabilities. Disruption avoidance by real-time locked mode prevention or unlocking with electron-cyclotron resonance heating (ECRH) was thoroughly documented, using magnetic and radiation triggers. Runaway generation with high-Z noble-gas injection and runaway dissipation by subsequent Ne or Ar injection were studied for model validation. The new 1 MW neutral beam injector has expanded the parameter range, now encompassing ELMy H-modes in an ITER-like shape and nearly noninductive H-mode discharges sustained by electron cyclotron and neutral beam current drive. In the H-mode, the pedestal pressure increases modestly with nitrogen seeding while fueling moves the density pedestal outwards, but the plasma stored energy is largely uncorrelated to either seeding or fueling. High fueling at high triangularity is key to accessing the attractive small edge-localized mode (type-II) regime. Turbulence is reduced in the core at negative triangularity, consistent with increased confinement and in accord with global gyrokinetic simulations. The geodesic acoustic mode, possibly coupled with avalanche events, has Nucl. Fusion 59 (2019) 112023 S. Coda et al 4 been linked with particle flow to the wall in diverted plasmas. Detachment, scrape-off layer transport, and turbulence were studied in L- and H-modes in both standard and alternative configurations (snowflake, super-X, and beyond). The detachment process is caused by power ‘starvation’ reducing the ionization source, with volume recombination playing only a minor role. Partial detachment in the H-mode is obtained with impurity seeding and has shown little dependence on flux expansion in standard single-null geometry. In the attached L-mode phase, increasing the outer connection length reduces the in–out heat-flow asymmetry. A doublet plasma, featuring an internal X-point, was achieved successfully, and a transport barrier was observed in the mantle just outside the internal separatrix. In the near future variable configuration baffles and possibly divertor pumping will be introduced to investigate the effect of divertor closure on exhaust and performance, and 3.5 MW ECRH and 1 MW neutral beam injection heating will be added.EURATOM 63305

Real-Time Control of Tokamak Plasmas: from Control of Physics to Physics-Based Control

Stable, high-performance operation of a tokamak requires several plasma control problems to be handled simultaneously. Moreover, the complex physics which governs the tokamak plasma evolution must be studied and understood to make correct choices in controller design. In this thesis, the two subjects have been merged, using control solutions as experimental tool for physics studies, and using physics knowledge for developing new advanced control solutions. The TCV tokamak at CRPP-EPFL is ideally placed to explore issues at the interface between plasma physics and plasma control, by combining a state-of-the-art digital real-time control system with a flexible and powerful set of actuators, in particular the electron cyclotron heating and current drive system (ECRH/ECCD). This unique experimental platform has been used to develop and test new control strategies for three important and reactor-relevant tokamak plasma physics instabilities, including the sawtooth, the edge localized mode (ELM) and the neoclassical tearing mode (NTM). These control strategies offer new possibilities for fusion plasma control and at the same time facilitate studies of the physics of the instabilities with greater precision and detail in a controlled environment. The period of the sawtooth crash, a periodic MHD instability in the core of a tokamak plasma, can be varied by localized deposition of ECRH/ECCD near the q = 1 surface, where q is the safety factor. Exploiting this known physical phenomenon, a sawtooth pacing controller was developed which is able to precisely control the time of appearance of the next sawtooth crash. It was also shown that each individual sawtooth period can be controlled in real-time. A similar scheme is applied to H-mode plasmas with type-I ELMs, where it is shown that pacing regularizes the ELM period. The regular, reproducible and therefore predictable sawtooth crashes obtained by the sawtooth pacing controller have been used to study the relationship between sawteeth and NTMs. It is known that post-crash MHD activity can provide the "seed" island for an NTM, which then grows under its neoclassical bootstrap drive. Experiments are shown which demonstrate that the seeding of 3/2 NTMs by long sawtooth crashes can be avoided by preemptive, crash-synchronized EC power injection pulses at the q = 3/2 rational surface location. NTM stabilization experiments in which the ECRH deposition location is moved in real-time with steerable mirrors have shown effective stabilization of both 3/2 and 2/1 NTMs, and have precisely localized the deposition location that is most effective. Studies of current-profile driven destabilization of tearing modes in TCV plasmas with significant amounts of ECCD show a great sensitivity to details of the current profile, but failed to identify a stationary region in the parameter space in which NTMs are always destabilized. This suggests that transient effects intrinsically play a role. Next to instability control, the simultaneous control of magnetic and kinetic plasma profiles is another key requirement for advanced tokamak operation. While control of kinetic plasma profiles around an operating point can be handled using standard linear control techniques, the strongly nonlinear physics of the coupled profiles complicates the problem significantly. Even more, since internal magnetic quantities are difficult to measure with sufficient spatial and temporal resolution —even after years of diagnostic development— routine control of tokamak plasma profiles remains a daunting and extremely challenging task. In this thesis, a model-based approach is used in which physics understanding of plasma current and energy transport is embedded in the control solution. To this aim, a new lightweight transport code has been derived focusing on simplicity and speed of simulation, which is compatible with the demands for real-time control. This code has been named RAPTOR (RApid Plasma Transport simulatOR). In a first-of-its-kind application, the partial differential equation for current diffusion is solved in real-time during a plasma shot in the TCV control system using RAPTOR. This concept is known in control terms as a state observer, and it is applied experimentally to the tokamak current density profile problem for the first time. The real-time simulation gives a physics-model-based estimate of key plasma quantities, to be controlled or monitored in real-time by different control systems. Any available diagnostics can be naturally included into the real-time simulation providing additional constraints and removing measurement uncertainties. The real-time simulation approach holds the advantage that knowledge of the plasma profiles is no longer restricted to those points in space and time where they are measured by a diagnostic, but that an estimate for any quantity can be computed at any time. This includes estimates of otherwise unmeasurable quantities such as the loop voltage profile or the bootstrap current distribution. In a first closed-loop experiment, an estimate of the internal inductance resulting from the real-time simulation is feedback controlled, independently from the plasma central temperature, by an appropriate mix of co- and counter- ECCD. As a tokamak plasma evolves from one state to another during plasma ramp-up or ramp-down, the profile trajectories must stay within a prescribed operational envelope delimited by physics instabilities and engineering constraints. Determining the appropriate actuator command sequence to navigate this operational space has traditionally been a trial-and-error procedure based on experience of tokamak physics operators. A computational technique is developed based on the RAPTOR code which can calculate these trajectories based on the profile transport physics model, by solving an open-loop optimal control problem. The solution of this problem is greatly aided by the fact that the code returns the plasma state trajectory sensitivities to input trajectory parameters, a functionality which is unique to RAPTOR. This information can also be used to construct linearized models around the optimal trajectory, and to determine the active constraint, which can be used for time-varying closed-loop controller design. This physics-model-based approach has shown excellent results and holds great potential for application in other tokamaks worldwide as well as in future devices

An improved understanding of the roles of atomic processes and power balance in divertor target ion current loss during detachment

The process of divertor detachment, whereby heat and particle fluxes to divertor surfaces are strongly diminished, is required to reduce heat loading and erosion in a magnetic fusion reactor to acceptable levels. In this paper the physics leading to the decrease of the total divertor ion current (It), or ‘roll-over’, is experimentally explored on the TCV tokamak through characterization of the location, magnitude and role of the various divertor ion sinks and sources including a complete analysis of particle and power balance. These first measurements of the profiles of divertor ionisation and hydrogenic radiation along the divertor leg are enabled through novel spectroscopic techniques. Over a range in TCV plasma conditions (plasma current and electron density, with/without impurity-seeding) the It roll-over is ascribed to a drop in the divertor ion source; recombination remains small or negligible farther into the detachment process. The ion source reduction is driven by both a reduction in the power available for ionization, Precl, and concurrent increase in the energy required per ionisation, Eion: This effect of power available on the ionization source is often described as ‘power starvation’ (or ‘power limitation’). The detachment threshold is found experimentally (in agreement with analytic model predictions) to be ~ Precl/ItEion~ 2, corresponding to a target electron temperature, Tt~ Eion/γ where γ is the sheath transmission coefficient. The target pressure reduction, required to reduce the target ion current, is driven both by volumetric momentum loss as well as upstream pressure loss. The measured evolution through detachment of the divertor profile of various ion sources/sinks as well as power losses are quantitatively reproduced through full 2D SOLPS modelling through the detachment process as the upstream density is varied

Plasma shape stabilization of current rise MHD instabilities in TCV

The well-known and potentially disruptive plasma 'current rise' instabilities are studied as a function of the plasma shape in the Tokamak a a Configuration Variable (TCV). Disruptions typically occur in quasi-circular plasmas at q(a) - 3 in both non-sawtoothing and sawtoothing discharges with peaked current profiles. The perturbations in the plasma parameters before disruption are characterized, and the main unstable modes identified as coupled m/n = 2/1 and 3/2 rotating tearing modes. In the early phase, coupling between 3/1 and 2/1 modes is found to play a major role in determining whether or not the disruption will occur. Plasma cross section shaping is observed to reduce or to completely stabilize the disruptive mode and is regularly used in TCV operation as a tool for safe initial current ramp-up. Plasma elongation, positive and negative triangularity prevent the growth of a large 2/1 mode at q(a) - 3, thus reducing or even suppressing the disruptions. We also attempt an interpretation of the experimental results. Calculations of the tearing-mode stability parameter triangle' using the experimental plasma equilibria suggest the dominant role of toroidal mode coupling in the destabilization of the m/n = 2/1 mode in quasi-circular TCV plasmas. The effect of shaping on the reconstructed current profile and tearing stability is then considered. The analysis shows a destabilising trend with elongation and triangularity in contrast with the experiment. Other stabilizing mechanisms are discussed and shown to potentially contribute to the safe crossing of q(a) = 3 in shaped plasmas

Full tokamak discharge simulation and kinetic plasma profile control for ITER

Understanding non-linearly coupled physics between plasma transport and free-boundary equilibrium evolution is essential to operating future tokamak devices, such as ITER and DEMO, in the advanced tokamak operation regimes. To study the non-linearly coupled physics, we need a simulation tool which can self-consistently calculate all the main plasma physics, taking the operational constraints into account. As the main part of this thesis work, we have developed a full tokamak discharge simulator by combining a non-linear free-boundary plasma equilibrium evolution code, DINA-CH, and an advanced transport modelling code, CRONOS. This tokamak discharge simulator has been used to study the feasibility of ITER operation scenarios and several specific issues related to ITER operation. In parallel, DINA-CH has been used to study free-boundary physics questions, such as the magnetic triggering of edge localized modes (ELMs) and plasma dynamic response to disturbances. One of the very challenging tasks in ITER, the active control of kinetic plasma profiles, has also been studied. In the part devoted to free-boundary tokamak discharge simulations, we have studied dynamic responses of the free-boundary plasma equilibrium to either external voltage perturbations or internal plasma disturbances using DINA-CH. Firstly, the opposite plasma behaviour observed in the magnetic triggering of ELMs between TCV and ASDEX Upgrade has been investigated. Both plasmas experience similar local flux surface expansions near the upper G-coil set and passive stabilization loop (PSL) when the ELMs are triggered, due to the presence of the PSLs located inside the vacuum vessel of ASDEX Upgrade. Secondly, plasma dynamic responses to strong disturbances anticipated in ITER are examined to study the capability of the feedback control system in rejecting the disturbances. Specified uncontrolled ELMs were controllable with the feedback control systems. However, the specifications for fast H-L mode transitions were not fully achievable due to a vertical displacement event (VDE) caused by a strong inward plasma movement. In the part dedicated to full tokamak discharge simulations, firstly, we have introduced the combined DINA-CH/CRONOS tokamak discharge simulator. DINA-CH self-consistently calculates the non-linear evolution of the free-boundary plasma equilibrium with the plasma current diffusion, in response to both controlled poloidal field (PF) coil currents and inductively driven currents in the surrounding conducting system. CRONOS provides the evolution of the plasma profiles by self-consistently solving heat and particle transport with source profiles. Secondly, we have successfully simulated ITER operation scenario 2 as a demonstration of the capabilities of the combined simulator, as well as being a design study in itself. The fusion power ratio to the total auxiliary power Q was about 10 with the application of 53MW of auxiliary heating and current drive (H&CD) power. We have investigated several specific issues related to the tokamak operation, such as the vertical instability, PF coil current limits and poloidal flux consumption during the current ramp-up. Lower hybrid (LH) applied from the initial phase of the plasma current ramp-up increased the safety margins in operating the superconducting PF coils both by reducing resistive ohmic flux consumption and by providing non-inductively driven plasma current. Lastly, we have studied ITER hybrid mode operation, focusing on the operational capability of obtaining a stationary at safety factor (q/) profile at the start of at-top (SOF) phase and sustaining it as long as possible by combining various non-inductively driven current sources. Application of a near on-axis electron cyclotron current drive (ECCD) appears to be effective compared to the far off-axis lower hybrid current drive (LHCD), at least on short time scales. In the active plasma profile control part, we have developed a robust control technique that simplifies the active real-time control of several kinetic plasma profiles in ITER. The response of the plasma profiles to power changes of auxiliary H&CD systems is modelled. To allow real-time update of the plasma profile response model, the related physics are simplified with several assumptions. The electron temperature profile response is modelled by simplifying the electron heat transport equation. The q 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 (SVD) technique, taking the saturation of the actuator powers into account. The potential of this control technique has been shown by applying it to simulations of the ITER hybrid mode operation