High Performance Computing for Plasma Control

Transcription

1 High Performance Computing for Plasma Control L.Giannone, R.Fischer, J.C.Fuchs, K.Lackner, P.J.McCarthy, A.Scarabosio, W.Treutterer, T.Eich, A.Kallenbach, M.Maraschek, A.Mlynek, G.Neu, R.Preuss, M.Reich, J.Sachtleben, W.Schneider, K.H.Schuhbeck, U.Seidel, T.Zehetbauer and AUG Team R.Cole, M.Fitzek, K.Lueddecke (UCS) A.Barp, M.Cerna, M.Munroe, Q.Ruan, A.Vrancic, L.Wenzel (NI)

2 ASDEX Upgrade cross section Plasma current, position and shape control is carried out by VxWorks system based on a function parameterisation algorithm Control plasma position and shape with 11 currents on 1 ms time scale Control plasma current with OH transformer current on 10 ms time scale Helical magnetic field lines with plasma current and external coil currents => closed magnetic flux surfaces A Control and Simulation Module project based on a MIMO LQR controller and the GS solver is suggested as a possible future project

3 Magnetic probes and flux loops IEEE Control Systems Magazine, A.Beghi and A.Cenedese, p51, October 2005

4 AUG DAQ and Control The LabVIEW RT and Solaris plasma diagnostics communicate with the VxWorks control system using XML files in the non-real time phase and UDP or VMIC reflective memory in the real time phase Magnetic (FP+GS) TORBEAM VMIC VxWorks Control System UDP Send!(R,Z) [39x69] by reflective memory (VMIC PCIe 5565 PIORC : 170MB/s) < 1 ms latency for NTM control experiments Bolometer Manometer Halo Current Loop Voltage ICRH Bcoil current MSE DCN ECE

5 Poloidal flux definition Y.Ou et. al, Proceedings of the 17th World Congress The International Federation of Automatic Control

6 DAQ Hardware Dell Precision T quad core Intel Xeon X GHz processors 2 GB memory and LabVIEW RT 2009 PXI-PCIe 8362 MXIexpress bridge (copper) : 160MB/s per slot 2 PCIe x PCIe x16 (Gen2)+ PCI + PCI-X slots + GB Ethernet 2/4 x18 slot PXI 1045 chassis 24 PXI 6143 S Series cards - 16 bit ADC's 192/512 channels simultaneously sampled at 10 khz

7 RT Grad-Shafranov solver Solve GS equation for magnetic equilibrium of tokamak Data Acquisition Constrained by 40 probe measurements Actuators Control Magnetic Equilibrium and 18 Dpsi measurements =! 1 -! 2 Slow loop equilibrium calculation takes 0.63 ms for 33x65 grid using LabVIEW RT 2009 with 2xquad-core 3.46 GHz Intel Xeon and 0.65 ms with 3 pipelined contour integrals for q(rho)

8 RT GS algorithm g1 A x g1 F1! Weighted sum g solver " g4 A x g4 F4 Find set of coefficients for current profile giving best fit to probe measurements (rtefit) Response matrix LS Fit a[4] Real time equilibrium reconstruction for tokamak discharge control J.R.Ferron, M.L.Walker, L.L.Lao, H.E. St. John, D.A.Humphreys, J.A.Leuer Nuclear Fusion, 38, 1055, 1998 Measurements

9 RT GS algorithm EFIT/CLISTE fast solver uses cyclic reduction (K.Lackner) New algorithm for LabVIEW RT developed by NI Scientific Computing Group (Kyle Gupton) g(r,z) "1 idst " "2 Fast Solver BC=0 BC Fast Solver g(r,z)=0 A x vec

10 Q.Ruan, L.Wenzel RT GS first solver step g(r,z) DST Tridiagonal Solver idst edge! edge BC=0 BC Save some idst M.H.Hughes, Solution of Poisson's equation in cylindrical coordinates Computer Physics Communications, Volume 2, Issue 3, p

11 RT GS second solver step g(r,z) = 0 BC Special DST Tridiagonal Solver From first step + idst Save 50% of DST/iDST!

12 Results

13 Real-time tomography Iterative method to solve constrained least squares fit problem Cycle time of 0.2 ms for 81x81 grid Cycle time of 3.0 ms for 648x648 grid (4 threads)

14 Suggested directions... Real-time 256 channel soft X-ray tomography for spatial location of MHD modes input to GS Solver 2xPXIe 1075 chassis 16xPXIe channel 16 bit 2 MHz ( 10 GB data in 10 s ) => LabVIEW RT 64 bit would improve DAQ options Tokamak position and shape control using LabVIEW Control and Simulation Module Single board RIO for ELM suppression coil controller Wish list : Intel MIC/Sandy Bridge PXImc UDP jumbo packets LabVIEW RT 64 bit

15 Summary Using LabVIEW RT 2009 for real time plasma diagnostics : Real time monitor of magnetic probe and flux loop signal High bandwidth divertor tile currents for feedback control FPGA based real time bolometer and manometer signals ELM suppression coil currents ICRH operation monitor LabVIEW and Solaris real-time plasma diagnostics connected to VxWorks control system by UDP and reflective memory Real-time Grad-Shafranov solver with calculation time of 0.63 ms ( 0.65 ms with 3 pipelined contour integrals for q(rho) ) rtefit algorithm with 4 fit coefficients Cyclic reduction replaced by innovative DST/tridiagonal/iDST solver LabVIEW is a valuable tool for building multi-core multithreaded DAQ applications for real-time diagnostics and control on AUG

16 Halo current Real time limit of power load to divertor tiles needed AD215 isolating amplifier for PXI khz DAQ Cut out intermediate peaks from ELM's by median filter Send value to control system every millisecond Regulate current to tile by impurity gas puffing

17 FPGA for manometer A.Scarabosio, J.Sachtleben Remote DAQ with MXI-4 optical fibre 8AI (750kHz), 8AO, 16DIO PXI 7852R ( 4 manometers ) PID control of electron current Demodulation of electron and ion current ( khz ) RS232 control of power supply Look Up Table for real time neutral particle flux (I i,i e,t)

18 FPGA for bolometer 4x40DIO (PXI 7813R) Measurement and calibration mode AD7730 SPI interface for 128 channels Digital filtering for real time P(t)

19 Normalised Poloidal Flux The values of poloidal flux,!, are normalised to : 0 on the magnetic axis and 1 on the saddle point Contours of constant poloidal flux are the magnetic flux surfaces. Shown are the contours for! = 1, 2, 3, 4 for #20286 at t = 4.8 s in ASDEX Upgrade

20 Toroidal field compensation

21 Daily function test Currents in each poloidal field coil Measured response Calculated response (15 microsecond matrix operation)