CN-121721966-B - Real-time control method and system for electron cyclotron resonance heating power

CN121721966BCN 121721966 BCN121721966 BCN 121721966BCN-121721966-B

Abstract

The invention discloses a real-time control method of electron cyclotron resonance heating power based on model predictive control, and relates to the technical field of electron cyclotron resonance heating control. The method comprises a step of sectioning modeling, wherein the working range of the electron cyclotron resonance heating system is divided into a plurality of power intervals according to output power, a linear system dynamic model describing the dynamic characteristics of the system in each interval is built, a step of real-time control circulation, a step of obtaining real-time output power and a state estimation value in each control period, determining a currently used target model according to the real-time output power and combining with a hysteresis loop switching strategy, constructing a quadratic programming problem comprising a target function and constraint conditions for minimizing a power tracking error based on the target model and a preset power reference track, and solving to obtain optimal control input and acting on the system. The invention aims to solve the problem that the existing control method is difficult to consider the adjustment speed and the multivariable constraint, realize the rapid and accurate control of the electron cyclotron resonance heating power and improve the safety and the stability of the system operation.

Inventors

XU CHANDONG
HUANG LONG
XU WEIYE
ZHANG TAO
WANG JIAN
He Wusong
HOU YONGZHONG

Assignees

中国科学院合肥物质科学研究院

Dates

Publication Date: 20260505
Application Date: 20260213

Claims (11)

1. The real-time control method of the electron cyclotron resonance heating power is characterized by comprising the following steps of: dividing the working range of the electron cyclotron resonance heating system into a plurality of power intervals according to output power, and respectively establishing a linear system dynamic model for describing the dynamic characteristics of the system in each power interval; A real-time control loop step of executing the following operations in each control period: acquiring real-time output power and a state estimation value of an electron cyclotron resonance heating system; determining a target model used in the current control period according to the real-time output power, wherein the target model is selected from a plurality of linear system dynamic models established in the step of piecewise modeling; Constructing a quadratic programming problem of model predictive control based on the target model and a preset power reference track, wherein the quadratic programming problem comprises an objective function for minimizing a power tracking error and constraint conditions on a control input and a system state, and the constraint conditions at least comprise amplitude constraint and change rate constraint on the control input; And solving the quadratic programming problem to obtain optimal control input and acting on the electron cyclotron resonance heating system.
2. The method according to claim 1, wherein in the step of segment modeling, the division of the plurality of power intervals is determined based on nonlinear turning characteristics of the electron cyclotron resonance heating system, the plurality of power intervals at least comprise a low power interval, a medium power interval and a high power interval, adjacent power intervals are divided by a preset power threshold, and the linear system dynamic model is established by performing a system excitation experiment at a geometric center point of each power interval and collecting input and output data.
3. The method of claim 1, wherein the linear system dynamic model is a discrete time state space model in the form of: Wherein, the As a state vector of the state vector, In order to input the vector(s), Is output as the state vector Comprises cathode temperature, magnet power supply current and electron beam current of a gyrotron, wherein the input vector Comprises filament power, anode voltage and cathode voltage, and the output Output power for the gyrotron; 、、、 the system matrix, the input matrix, the output matrix and the feedforward matrix corresponding to the power interval are respectively adopted.
4. The method of claim 1, wherein said determining a target model for use in a current control period from said real-time output power comprises: At the switching boundary of the adjacent power interval, determining the target model by adopting a hysteresis switching strategy; the hysteresis switching strategy comprises the specific processes of setting a switching threshold and a preset hysteresis bandwidth, updating the target model when the real-time output power of the electron cyclotron resonance heating system crosses the switching threshold and exceeds the hysteresis bandwidth, and otherwise, keeping the currently used target model.
5. The method of claim 1, wherein the mathematical expression of the objective function is: Wherein, the In order to predict the time domain of the signal, In order to control the time domain of the signal, In order to predict the output power of the device, For the reference power trace to be a reference power trace, In order to control the rate of change of the input, For the soft constraint relaxation variable, And As a matrix of weights, the weight matrix, Is a penalty coefficient.
6. The method of claim 1, wherein the constraint comprises: Limiting filament power, anode voltage and cathode voltage within respective preset allowable ranges; limiting the filament power change rate, the anode voltage change rate and the cathode voltage change rate to be within respective preset allowable maximum values; And (3) state constraint, namely limiting the cathode temperature to be less than or equal to a preset highest temperature, limiting the magnet power supply current to be less than or equal to a preset maximum current, and limiting the gyrotron electron beam current to be less than or equal to a preset maximum electron beam current.
7. The method of claim 6, wherein the constraints further include an output power constraint that introduces a relaxation variable to achieve a soft constraint, the specific form of which includes an upper constraint and a lower bound constraint: the upper limit constraint is: the lower bound constraint is: Wherein, the In order to predict the basis of the output power, To provide a factor of the influence of the input rate of change on the output power, As a function of the said relaxation variables, And Respectively a preset maximum value and a preset minimum value of the output power; represent the first The control input rate of change of time of day.
8. The method of claim 1, wherein the step of obtaining the state estimation value in the real-time control loop is performed by a Kalman filtering algorithm, and wherein the Kalman filtering algorithm includes a predicting step of predicting a state at a next time by using the target model, and an updating step of correcting the predicted result in combination with an actual measured value.
9. The method of claim 1, further comprising an online adaptive update step: Recording input and output data of the electron cyclotron resonance heating system to an annular buffer area in real time; When a preset updating triggering condition is met, updating parameters of the dynamic model of the linear system by using a recursive least square method by utilizing data in the annular buffer area; The update trigger condition includes a timing trigger, a performance degradation trigger, or an operation mode change trigger.
10. The method of claim 1, further comprising the step of safely backoff: after solving the quadratic programming problem, judging whether the solving is successful; If solving fails or overtime, or detecting a system triggering interlocking signal, executing a rollback control strategy; the back-off control strategy includes maintaining the last active control amount, reducing the output power by the maximum allowed slope, or switching to a backup control law.
11. A real-time control system for electron cyclotron resonance heating power, comprising: The subsection modeling module is used for dividing the working range of the electron cyclotron resonance heating system into a plurality of power intervals according to output power, and respectively establishing a linear system dynamic model for describing the dynamic characteristics of the system in each power interval; the state estimation module is used for acquiring real-time output power and state estimation values of the electron cyclotron resonance heating system; The model selection module is used for determining a target model used in the current control period according to the real-time output power, wherein the target model is selected from a plurality of linear system dynamic models established by the piecewise modeling module; The optimization solving module is used for constructing a quadratic programming problem of model predictive control based on the target model and a preset power reference track and solving the quadratic programming problem to obtain optimal control input, wherein the quadratic programming problem comprises an objective function for minimizing a power tracking error and constraint conditions on the control input and a system state, and the constraint conditions at least comprise amplitude constraint and change rate constraint on the control input; And the execution interface module is used for applying the optimal control input to the electron cyclotron resonance heating system.

Description

Real-time control method and system for electron cyclotron resonance heating power Technical Field The invention relates to the technical field of electron cyclotron resonance heating control, in particular to a real-time control method and a real-time control system for electron cyclotron resonance heating power. Background Electron cyclotron resonance heating is an important auxiliary heating mode in nuclear fusion devices, and the principle is to increase the temperature and density of plasma by emitting microwave energy into the plasma. The power control of the electron cyclotron resonance heating system has the characteristics of strong nonlinearity, multivariable coupling and rapid dynamic change, and the control requirements of high precision and rapid response are difficult to meet by the traditional proportional-integral-derivative control strategy. During the actual operation of an electron cyclotron resonance heating system, there are a number of physical constraints, such as the anode voltage, cathode voltage, filament power and magnet current of the gyrotron that must be maintained within safe operating ranges, while the cathode temperature is also subject to stringent safety constraints. The existing proportional integral differential control method is difficult to simultaneously and effectively solve the problem of multivariable coupling and strict physical constraint, and in practical application, the defects of low adjustment speed, large overshoot and poor constraint processing capability often exist, so that overvoltage and overcurrent of equipment or frequent triggering of shutdown protection caused by touching a safety boundary are easily caused. Therefore, how to realize the rapid and accurate control of the electron cyclotron resonance heating power, and effectively process multiple variables and complex physical constraints on the premise of ensuring the safety of the system, becomes a technical problem to be solved urgently. Disclosure of Invention The invention mainly aims to provide a real-time control method and a real-time control system for electron cyclotron resonance heating power, which aim to realize rapid and accurate control of the electron cyclotron resonance heating power and effectively process multiple variables and complex physical constraints on the premise of ensuring the safety of a system. In order to achieve the above object, the present invention provides a method for controlling the heating power of electron cyclotron resonance in real time, comprising the following steps: dividing the working range of the electron cyclotron resonance heating system into a plurality of power intervals according to output power, and respectively establishing a linear system dynamic model for describing the dynamic characteristics of the system in each power interval; A real-time control loop step of executing the following operations in each control period: acquiring real-time output power and a state estimation value of an electron cyclotron resonance heating system; determining a target model used in the current control period according to the real-time output power, wherein the target model is selected from a plurality of linear system dynamic models established in the step of piecewise modeling; Constructing a quadratic programming problem of model predictive control based on the target model and a preset power reference track, wherein the quadratic programming problem comprises an objective function for minimizing a power tracking error and constraint conditions on a control input and a system state, and the constraint conditions at least comprise amplitude constraint and change rate constraint on the control input; And solving the quadratic programming problem to obtain optimal control input and acting on the electron cyclotron resonance heating system. Preferably, in the step of segment modeling, the division of the multiple power intervals is determined based on nonlinear turning characteristics of the electron cyclotron resonance heating system, the multiple power intervals at least comprise a low power area, a medium power area and a high power area, adjacent power intervals are divided by a preset power threshold, and the dynamic model of the linear system is established by performing a system excitation experiment at a geometric center point of each power interval and collecting input and output data. Preferably, the linear system dynamic model is a discrete time state space model, and the form is as follows: Wherein, the As a state vector of the state vector,In order to input the vector(s),Is output as the state vectorComprises cathode temperature, magnet power supply current and electron beam current of a gyrotron, wherein the input vectorComprises filament power, anode voltage and cathode voltage, and the outputOutput power for the gyrotron;、、、 the system matrix, the input matrix, the output matrix and the feedforward matrix corresponding to the power interval a