Linear servomotor probe drive system with real-time self-adaptive position control for the Alcator C-Mod tokamak

A new servomotor drive system has been developed for the horizontal reciprocating probe on the Alcator C-Mod tokamak. Real-time measurements of plasma temperature and density-through use of a mirror Langmuir probe bias system-combined with a commercial linear servomotor and controller enable self-adaptive position control. Probe surface temperature and its rate of change are computed in real time and used to control probe insertion depth. It is found that a universal trigger threshold can be defined in terms of these two parameters; if the probe is triggered to retract when crossing the trigger threshold, it will reach the same ultimate surface temperature, independent of velocity, acceleration, or scrape-off layer heat flux scale length. In addition to controlling the probe motion, the controller is used to monitor and control all aspects of the integrated probe drive system.