Activities and Ambitions in Control for Nuclear Fusion

1. Activities and Ambitions in Control for Nuclear Fusion Cooperation FOM -TU/e –TNO M. de Baar for the teams

2. Bringing together relevant backgrounds • TU/e • Advanced control theory (system identification, hybrid systems) • Advanced system design (precision mechanics, high speed positioning, tactile systems) • TNO Control technology for various application fields: • Process industry • flow control, glass furnace process, production line control • Automotive • powertrain control, driver assistance systems, co-operative driving • Acoustics • active noise and vibration control • High Precision Instruments • space observation instruments, Adaptive optics, High-end lithography systems, Medical instruments,Printing equipment • FOM • Development of high-end plasma diagnostic and actuators • ECRH, Thomson Scattering, ECE-imaging, • Plasma modeling • Turbulence, Transport, MHD, ELMs, H-mode, space • Theoretical, experimental and operational MHD Status Report Feedback project December, 2008

3. People (not FTE) involved in control for fusion • FOM 8 • TU/e 11 • TNO 5 Status Report Feedback project December, 2008

4. Themes • MHD control in burning plasma • “Vision in the loop” applications • Machine safety / integrity • Plasma positioning • Control for Fusion in a wider perspective Status Report Feedback project December, 2008

5. Interest and ambitions • Dedicated sensing + actuation • Dedicated modelling and analysis for control • Dedicated hardware and instrumentation for control • For control of plasma parameters AND control for heating systems, diagnostics and RH Status Report Feedback project December, 2008

6. Examples • Mechanical launcher control • Sensing In-line ECE for waveguides and QA (Hans Oosterbeek, Waldo Bongers) • Tearing mode control on textor (Bart Hennen) • Cavity Control for mm wave diplexer (Niek Doelman) • Vision in control loop (Gillis Hommen) Status Report Feedback project December, 2008

7. Example 1: Mechanical Launcher control • TEXTOR Launcher properties • AC permanent magnet synchronous motor with servo amplifier • Actuation in 2 rotational degrees of freedom range: -30° to 30° poloidal / -45° to 45° toroidal • Fast and Accurate steering of ECRH launcher • 10° in 100 ms, with a position accuracy of 1° • Detailed knowledge of Launcher mechanics required Status Report Feedback project December, 2008

8. Mock-up for mechanical control of launcher • Mechanical properties from mock-up • Frequency response and resonances • Friction (Stick-and-Slip) • Derive optimized controller for speed and accuracy • Model launcher and controller • Assess stability and effectiveness of controllers numerically and experimentally Status Report Feedback project December, 2008

9. Optimized control performance for robust, stable controller PID with Lead/Lag parameters derived Simulink and Mock-up controller response • Speed of response: ~ 56° rotation sweep in 100 [ms]  • Max. pos. error during acc.: 6° , but….. • Steady-state error: 0.6° in 200 [ms] after start of sweep  Mechanical Launcher Control for ASDEX just started Status Report Feedback project December, 2008

10. Example 2: In-Line ECE for MHD control with ECRH / ECCD • Measure ECE spectrum in the transmission path of ECRH beam: - Frequency selective decoupling - Power separation • Advantages: - Actuator & sensor operate in same metric frame (refractive properties identical) - No need for plasma eq. reconstruction / absolute coordinate mapping Status Report Feedback project December, 2008

11. TEXTOR Implementation: Quasi Optical Transmission line Status Report Feedback project December, 2008

12. In-Line ECE in wave-guide environment using diplexer Mock-up constructed and tested in close collaboration with IPF Stuttgart (W. Kasparek) Tender for system on AUG just closed System ready early November Status Report Feedback project December, 2008

13. Example 3: Tearing Mode Control in TEXTOR Radial Launcher control in plasma with DED induced tearing mode Status Report Feedback project December, 2008

14. Radial and gyrotron control in plasma with ‘natural’ free spinning tearing mode Status Report Feedback project December, 2008

15. Example 4: Design movable mirror system Resonant Diplexer cavity control “FADIS” • FADIS designed by Walter Kasparek (Stuttgart) For: • switching mm-waves between two outputs for synchronous stabilization of NTM’s. • separation of driving and sensed signals in in-line ECE set-up; high SNR required. Status Report Feedback project December, 2008

16. 1 5 6 3 2 2 4 Overview of Cavity Control Mechanism • 1. Mirror/Grating • 2. Assembly Frame • 3. Flexure block • 4. Actuator • 5. Actuator support bridge • 6. Adapter plate • System assembled: July 2009 • Laboratory performance tests: August 2009 • Integration with diplexer: Q4 2009 • Stroke: -/+ 1mm, accuracy: 0.1 mm Status Report Feedback project December, 2008

17. Example 5: Vision in the control loop for control and safety Ambitions • Real-time monitoring of wall heat load • Real-time gap and strike point monitoring for safety control • High precision remote handling by overlay of VR and visual sensor data Recent results • next slide Status Report Feedback project December, 2008

18. Vision in the plasma positioning control loop? Status Report Feedback project December, 2008

19. Conclusions • Collaboration on Control for Fusion kicked-off in the Netherlands. Partners FOM, TNO and TU/e bring specific and relevant competencies together. • Ambitions in control for fusion in a wide sense: MHD control in plasmas in burning plasmas, machine protection, Control of actuators and diagnostics, control for RH • Results on sensing, actuation, MHD control, RT data interpretation, …. Status Report Feedback project December, 2008