Plasma vertical stabilization with actuation constraints in the DIII-D tokamak

  • Authors:

  • E. Schuster;M. L. Walker;D. A. Humphreys;M. Krstić

  • Affiliations:

  • Mechanical Engineering and Mechanics, Lehigh University, 19 Memorial Drive West, Bethlehem, PA 18015-3085, USA;General Atomics, P.O. Box 85608, San Diego, CA 92186-5608, USA;General Atomics, P.O. Box 85608, San Diego, CA 92186-5608, USA;Mechanical and Aerospace Engineering, University of California at San Diego, 9500 Gilman Dr., La Jolla, CA 92093-0411, USA

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2005

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Abstract

In the advanced tokamak (AT) operating mode of the DIII-D tokamak, an integrated multivariable controller takes into account highly coupled influences of plasma equilibrium shape, profile, and stability control. Time-scale separation in the system allows a multi-loop design: the inner loop closed by the nominal vertical controller designed to control a linear exponentially unstable plant and the outer loop closed by the nominal shape controller designed to control a linear stabilized plant. Due to actuator constraints, the nominal vertical controller fails to stabilize the vertical position of the plasma inside the tokamak when large or fast disturbances are present or when the references coming from the shape controller change suddenly. Anti-windup synthesis is proposed in this paper to find a nonlinear modification of the nominal vertical controller that prevents vertical instability and undesirable oscillations but leaves the inner loop unmodified when there is no input saturation.