Proposal of magnetic sensorless control experiment on ht 7
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ASIPP, March 22, 2004. Proposal of Magnetic Sensorless Control Experiment on HT-7. Kazuo Nakamura RIAM, Kyushu University, Japan March 16-26, 2004. Contents. Sensorless sensing Objectives Merit Magnetic sensorless sensing experiments Magnetic sensorless control experiments

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Proposal of magnetic sensorless control experiment on ht 7

ASIPP, March 22, 2004

Proposal ofMagnetic Sensorless Control Experiment on HT-7

Kazuo Nakamura

RIAM, Kyushu University, Japan

March 16-26, 2004


Contents
Contents

  • Sensorless sensing

  • Objectives

  • Merit

  • Magnetic sensorless sensing experiments

  • Magnetic sensorless control experiments

  • Calculation of plhs

  • Diagnostics

  • Anticipated problems

  • Pending problems


Sensorless sensing

Outside

time (ms)

Inside

Sensorless sensing



Objectives
Objectives

  • To confirm magnetic sensorless sensing of plasma position

  • To prove magnetic sensorless control of plasma position


Merit
Merit

  • No integrators  No drift problem  Applicable to long-time operation


Magnetic sensorless sensing experiments
Magnetic Sensorless Sensing Experiments

  • FB control at the inside position

  • FB control at the outside position

  • FB control from the outside to inside

  • FB control from the inside to outside

  • No FB control from the outside to inside

  • No FB control from the inside to outside


Fb control at the inside fb control at the outside

inside

plhc

outside

iv1

time

FB control at the insideFB control at the outside


Fb control from the outside to inside fb control from the inside to outside

inside

plhc

outside

iv1

time

FB control from the outside to inside FB control from the inside to outside


No fb control from the outside to inside no fb control from the inside to outside

inside

plhc

outside

No FB control

iv1

time

No FB control from the outside to inside No FB control from the inside to outside

Important to judge whether sensorless sensing is effective or not.


Magnetic sensorless control experiments
Magnetic Sensorless Control Experiments

  • Input of Iv and Vv to the control system

  • Calculation of plhs from Iv and Vv

  • Comparison of plhs with plhc

  • Changing from plhc to plhs


Input of iv and vv to the control system

Rogowski coil

V coil

plh ref

FB Controller

Power Supply

Flux loops

Y

Integrator

plhc Calculation

Integrator

ip2

Control system

Input of Iv and Vv to the control system


Input of iv and vv to the control system1

Shunt Divider

Rogowski coil

V coil

plh ref

FB Controller

Power Supply

Flux loops

Iv

plhs Calculation

Vv

Y

Integrator

plhc Calculation

Integrator

ip2

Control system

Input of Iv and Vv to the control system


Changing from plhc to plhs
Changing from plhc to plhs

Rogowski coil

V coil

plh ref

FB Controller

Power Supply

Flux loops

Iv

plhs Calculation

Vv

Y

Integrator

plhc Calculation

Integrator

ip2

Control system


Calculation of plhs
Calculation of plhs

  • Calculation of plhs in principle

  • Necessary signal processing

    • Elimination of low frequency component

    • Elimination of high frequency noise

  • Calculation of plhs in practice


Calculation of plhs in principle
Calculation of plhs in principle

  • 1st (not fast) Fourier component IV1 of IV

  • 1st (not fast) Fourier component VV1 of VV

  • Ratio of VV1/IV1

  • Lag element of 1st order



Necessary signal processing1

Ripple period

300 Hz

Necessary signal processing



Calculation of plhs in practice
Calculation of plhs in practice

  • Subtraction of average from IV

  • Multiplying of sin and cos by the IV

  • Summation (integral) of the product

  • Absolute value IV1 of the summation

  • VV1 similarly

  • Ratio of VV1/IV1

  • Lag element of 1st order


Calculation of plhs in practice1

Present time

Past time

Average

Summation

Calculation of plhs in practice



Diagnostics

IV  Shunt

Rogowski is not good, because integration is necessary. But it is good for testing.

DCCT is not good, because it cannot measure current ripple.

VV  Divider

IOH  Shunt

VOH  Divider

iv1  Rogowski

The iv1 is necessary for time coincidence.

ioh  Rogowski

ip2, vp, ne3

plhc, plva  flux loops

The plhc is necessary for comparison.

ece, ha, xuv

Diagnostics


Anticipated problems
Anticipated Problems

  • Data acquisition

  • Data processing

  • Copper shield


Data acquisition
Data acquisition

  • Rogowski coil

    • Low noise but necessary to integrate

  • Shunt

    • Large noise although not necessary to integrate

  • Shunt output

    • Used for control

    • Necessary to insulate


Data processing
Data processing

  • Large noise of high frequency

  • Small amplitude of ripple component

  • Large inclination of low frequency component

    • Subtraction of the average

  • Average over ripple period

    • From the past data

  • 1st Fourier component

    • From the past data


Copper shield
Copper shield

  • Current ripple can reflect plasma position?

  • Current ripple reflect only coil voltage?

    • If so, sensorless control will be impossible, since the control system is unstable for external disturbance.

    • IV1 up  VV1/IV1 down  plhs up VV down  VV1 up  VV1/IV1 up  stable control


Pending problems
Pending problems

  • Fourier Transform

    •  Neural Network

  • Lag element of 1st order

    • Integral  Neural Network


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