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FTU Real Time Control Overview

FTU Real Time Control Overview. Magnetic Measurements probes ( 16 saddle + 16 pick-up coils) + DCN Interferometer. FTU. Electrical Power Supply ( feeding 4 sets of poloidal windings ) + Gas Injection System ( with 6 Piezoelectric valves ). The FTU Real Time Control.

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FTU Real Time Control Overview

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  1. FTU Real Time ControlOverview

  2. Magnetic Measurements probes ( 16 saddle + 16 pick-up coils) + DCN Interferometer FTU Electrical Power Supply (feeding 4 sets of poloidal windings) + Gas Injection System (with 6 Piezoelectric valves) The FTU Real Time Control Measurement Systems Preprogrammed References (from CODAS) Controller Feedback System Actuating Systems

  3. the 4 sets of windings

  4. Gas Injection System

  5. The FTU Real Time Control is dedicated to the control of the : • plasma current intensity • horizontal plasma position • vertical plasma position ( slight ) • gas density

  6. Real Time controlled variables • Ip plasma current intensity • rint , rext internal and external radius • zlow , zup upper and lower boundary • ne electron density gas

  7. Real Time actuating signals • IT T winding current (for Ip intensity control) • IF F winding current (for horiz. position plasma) • IH H winding current (for vert. position plasma) • Iv V winding current (to maintain the plasma in equilib. • 6 dig. signals fast valves ( for gas density ) )

  8. Feedback System

  9. Hardware Architecture VME BUS A D C #1 A D C #2 A D C #3 D A C T I M I N G RIO2 8062 (LynxOS) D A C IV, IF, IT, IH IpON (to the power supply system) D.I. FSC Signal Start-run Signal 6 on/off signals (for the 6 fast valves) CK=500 µs ne Saddle (16) Bpol (16) Ethernet

  10. FTU CODAS Interface Vax 4000 Storage System (over AFS) Compaq Alpha (prometeo) pid,ran, limiter position, other scalar values Messages/replies Feedback data Feedback Measurements references

  11. Feedback state diagram Storage request Idle Last shot data storage New Shot Abort Data from Codas Abort Prerun Off-line computation Start FSC Real-time control End-run

  12. Real-Time duty cycle from -2s to +3s On/off (to the 6 valves) FTU Magnetic Measurements VLoop, IMagn, IP, Hard X ne IP ON F, T, V and H references CK A D C s D A C s Input Control law Output

  13. Real-Time state evolution -1.5 -2.0 -1.4 -1.0 -0.001 +3.0 -0.01 A STATE B STATE C STATE D STATE E STAT. F STATE t (sec)

  14. I N I N ELAB. ELAB. O U T O U T Control Loop wait wait t (sec) ~30µs ~5µs ~30µs0µs

  15. Control Loop • From the A state to the E state (from -3.0 sec to -0.001 sec) • the elaboration is dedicated to calculate the • measurement offsets • toroidal magnetic component both to be removed during the F State • only the preprogrammed references are emitted

  16. Control Loop F State (from -0.001 to +3 sec) • Measurements readout • offsets and toroidal component removal • plasma position computation • protections check (plasma presence, no disruption and no run-away) • PID control application • protections check (max amplitude and max derivative) • references emission

  17. Example of plasma position control

  18. Example of gas density control

  19. Conclusions • the FTU feedback system is: • fast and reliable • functionally satisfying • not very cheap ( cost of the whole system ~45000 € )

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