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.

Extremely Shaped Plasmas to Improve the Tokamak Concept

Francesco Piras

Energy is essential for human existence and our future depends on plentiful and accessible sources of energy. The world population is fast growing and the average energy used per capita increases. One of the greatest challenges for human beings is that of meeting the growing demand for energy in a responsible, equitable and sustainable way. The possibility to obtain energy by "fusing" light atoms addresses these needs. Nuclear fusion reactions are clean, safe and the amount of fuel present on Earth (hydrogen isotopes) is practically inexhaustible and well distributed. Nuclear fusion is a natural process that occurs in all active stars like our Sun. Since the first demonstration of a deuterium fusion reaction (Rutherford 1933), researchers worldwide have tried to replicate this process on Earth by building a thermonuclear fusion reactor. Nevertheless, the challenge posed by the construction of a nuclear fusion reactor is greater than the one presented earlier by the development of a fission reactor. During the IAEA Conference in Geneva in the early 1958, L.A.Artsimovich declared: "Plasma physics is very difficult. Worldwide collaboration is needed for progress" and E.Teller, at the same conference: "Fusion technology is very complex. It is almost impossible to build a fusion reactor in this century". They were right. The extremely high temperature and density necessary to fuse hydrogen isotopes makes it difficult indeed to create a successful fusion reactor. Even though the physics of the fusion reaction appears clear, we are still facing problems on the road towards bulding the "box" that can efficiently confine the hot gas in the state of plasma. The best results so far have been obtained confining a plasma with strong magnetic fields in a toroidal configuration ("tokamak"). The Centre de Recherches en Physique des Plasmas in Switzerland actively studies this promising configuration towards the development of a nuclear fusion reactor. The experimental activity of the Tokamak à Configuration Variable (TCV) mainly focuses on the research of optimized plasma shapes capable of improving the global performance and solve the technological challenges of a tokamak reactor. Several theoretical and experimental results show the importance of the plasma shape in tokamaks. The maximum value of β (an indicator of the confinement efficiency) is for example related to the ratio between the height and the width of the plasma. The plasma shape can also affect the power necessary to access improved confinement regimes, as well as the plasma stability. This thesis reports on a contribution towards the optimization of the tokamak plasma shape. In particular, it describes the theoretical and experimental studies carried out in the TCV tokamak on two innovative plasma shapes: the doublet shaped plasma and the snowflake divertor. Doublet shaped plasmas have been studied in the past by the General Atomics group. Since then, the development of new plasma diagnostics and the discovery of new confinement regimes have given new reasons for interest in this unusual configuration. TCV is the only tokamak worldwide theoretically able to establish and control this configuration. This thesis illustrates new motivations for creating doublet plasmas. The vertical stability of the configuration is studied using a rigid model and the results are compared with those obtained with the KINX MHD stability code. The best strategy for controlling a doublet on TCV is also investigated, and a possible setup of the TCV control system is suggested for the doublet configuration. Analyzing the possible scenarios for doublet creation, the most promising scenario consists of the creation of two independent plasmas, which are subsequently merged to establish a doublet. For this reason, particular attention needs to be devoted to the problem of the plasma start-up. In this thesis, a general analysis of the TCV ohmic and assisted with ECH plasma start-up is presented, and recent attempts to create a doublet plasma are reported. Since the magnetic field reconstruction at the breakdown time is important to better diagnose these plasmas, the entire magnetic system of TCV has been calibrated with an original technique, also described in the manuscript. The last part of this thesis is devoted to the snowflake divertor configuration. This innovative plasma shape has been proposed and theoretically studied by Dr. D.D.Ryutov from the Lawrence Livermore National Laboratory. In Ryutov's articles, this configuration was proposed to alleviate the problems of the plasma-wall interaction and possibly affect the plasma edge stability. The TCV tokamak was the first to report the creation and control of a snowflake configuration, and the candidate was the principal investigator of this work. These results are accordingly discussed in this thesis. Details are provided in particular on the strategy used to establish the configuration. An edge-localized mode (ELM) H-mode regime, supported by electron cyclotron heating, has been successfully established in a snowflake. This regime exhibits 2 to 3 times lower ELM frequency but only a 20%-30% increase in normalized ELM energy (ΔWELM/WP ) compared to an identically-shaped, conventional, single-null, diverted H-mode. Enhanced stability of mid- to high-toroidal-mode-number ideal modes is consistent with the different snowflake ELM phenomenology. Finally, the capability of the snowflake to redistribute the edge power on the additional strike points has been confirmed experimentally and is also reported in this thesis.

EPFL2011

Edge Localized Mode Control in TCV

Jonathan Rossel

The Tokamak concept, based on magnetic confinement of a hydrogen plasma, is one of today's most promising paths to energy production by nuclear fusion. The experimental scenarios leading to the largest fusion rate are based on a high confinement plasma regime, the H-mode, in which the energy and particle confinement are enhanced by a transport barrier located at the plasma edge and forming a pedestal in the plasma pressure profile. In standard axisymmetric magnetic configurations, stationary H-mode regimes suffer from instabilities of the plasma edge, the so-called edge localized modes (ELMs), leading to potentially damaging repetitive ejections of heat and particles toward the plasma facing components. In ITER, a Tokamak currently being built to demonstrate net power production from fusion, type I ELMs are expected to occur during high performance discharges. It is expected that the power flux released by these ELMs will cause an intolerable erosion and heat load on the plasma facing components. The control of ELMs, in terms of frequency and energy loss, is therefore of primary importance in the field of magnetic fusion and is subject to an intense research effort worldwide. This thesis, in line with this effort, focuses on two particular ELM control methods: local continuous or modulated heating of the plasma edge, and application of resonant magnetic perturbations (RMP). In this thesis, the effects of plasma edge heating on the ELM cycle have been investigated by applying electron cyclotron resonant heating (ECRH) to the edge of an H-mode plasma featuring type I ELMs in the Tokamak à Configuration Variable (TCV). As the power deposition location is shifted gradually toward the plasma pressure pedestal, an increase of the ELM frequency by a factor 2 and a decrease of the energy loss per ELM by the same factor are observed, even though the power absorption efficiency is reduced. This unexpected and, as yet, unexplained phenomenon, observed for the first time, runs contrary to the intrinsic type I ELM power dependence and provides a new approach for ELM mitigation. The effects of heating power modulation on the ELM cycle have also been experimentally investigated. It showed that power modulation synchronized in real-time with the ELM cycle is able to pace the ELMs with low deviation from a given frequency. Experimental results also clearly indicate that the ELM frequency purely remains a function of the heating power averaged over the ELM cycle, so that power modulation itself is not able to drive the ELM frequency and only has a stabilization effect. These results are in qualitative agreement with a simple 0D finite confinement time integrator model of the ELM cycle. RMP consists in applying a magnetic field perpendicular to the plasma magnetohydrodynamic equilibrium flux surfaces with a spatial variation tuned to align with the equilibrium magnetic field lines. If each coil of an RMP coil system (i.e. a set of toroidally and poloidally distributed coils) is powered with an independent power supply, the coil current distribution can be tuned to optimize the RMP space spectrum. In the course of this thesis, a multi-mode Lagrange method, with no assumption on the coil geometry or spatial distribution, has been developed to determine this optimum, in the limit of the vacuum magnetic field approximation. This method appears to be an efficient way to minimize the parasitic spatial modes of the magnetic perturbation, and the coil current requirements, while imposing the amplitude and phase of a set of target modes. A figure of merit measuring the quality of a perturbation spectrum with respect to RMP independently of the considered coil system or plasma equilibrium is also proposed. To facilitate the application of the Lagrange method, a spectral characterization of the coil system, based on a generalized discrete Fourier transform applied in current space, is performed to determine how spectral degeneracy and side-bands creation limit the number of simultaneously controllable target modes. Finally, this thesis sets the foundations of experimental research in the particular subject of RMP at CRPP by proposing a physics-based design for a multi-purpose saddle coil system (SCS) for TCV, a coil system located and powered such as to create a helical magnetic perturbation. Using independent power supplies, the toroidal periodicity of this perturbation is tunable, allowing simultaneously ELM control, error field correction and vertical control. Other experimental applications, like resistive wall mode and rotation control, are also in view. In this thesis, the adequacy of two SCS designs, an in-vessel one and an ex-vessel one, is assessed with respect to the desired experimental applications. The current requirements and the system performances are also characterized. The conducting vessel wall is accounted for in a model used to determine the coupled response functions of the SCS, the screening of the magnetic perturbation by the wall, the induced voltages and currents during a plasma disruption and the maximal magnetic forces exerted on the SCS. A scaling of the SCS parameters with the number of coil turns is presented and the issue of coil heating and cooling is discussed.

EPFL2012

Self-consistent interaction of fast particles and ICRF waves in 3D applications of fusion plasma devices

Jonathan Marc Philippe Faustin

Tokamaks and stellarators are the most promising reactor concepts using the magnetic confinement to contain the plasma fuel. Reactors capable of sustaining deuterium-tritium (D-T) fusion reactions requires the confinement of a very high temperature plasma (above 100 millions kelvin). In addition to external heating methods, the slowing down of alpha particles (helium-4 nuclei) born from D-T fusion reactions on the background plasma represents a significant source of plasma heating. The good confinement of fast particles is therefore one of the most important aspect of magnetic fusion devices. Furthermore, long plasma operation in future fusion reactors requires the control of inherent plasma instabilities. These instabilities are particularly dangerous in tokamaks because of the large plasma current necessary to establish the confining magnetic field. In this thesis we use the numerical code package SCENIC to study the application of Ion Cyclotron Range of Frequency (ICRF) waves to tokamak and stellarator devices. This numerical tool was built to self-consistently solve, in three dimensional configurations, the plasma magnetohydrodynamic (MHD) equilibrium, the ICRF wave propagation and the resonant ion distribution function. SCENIC is used to interpret how the sawtooth instability can be controlled in tokamaks by appropriate application of ICRF waves. This control method was successfully tested in the JET tokamak and it is foreseen to be applied in the future ITER tokamak. Such plasma degrading instabilities are not, however, expected in stellarators because they operate with no plasma current. The recently started stellarator Wendelstein 7-X (W7-X) must however prove experimentally that fast particles particles can be confined in an optimised quasi-isodynamic magnetic configuration. An efficient auxiliary source of fast ions is required in W7-X since it is not designed to procude alpha particles via D-T fusion reactions. In this thesis, we address the possibility of generating a significant fast ion population with ICRF waves in W7-X. SCENIC simulations are employed in order to identify relevant fast ion loss channels that may still exist in the W7-X quasi-omnigenous equilibrium. These simulations show that ICRF minority heating may not be suitable for producing fast ions in W7-X plasmas. It is found that a high energy tail is more likely to be developed if a three-ion species scheme is applied.

EPFL2017