CapSel

HELENA - 01

Solving Grad-Shafranov numerically

keppens@rijnh.nl nuclear fusion research: heat mixture of hydrogen isotopes to p conditions needed for fusion reactions, e.g. D -T fuse to He4 + neutron + excess energy fully ionized plasma practically inexhaustible energy source in practice: plasma must be conned contact with material walls instantaneously cools plasma magnetic connement in axisymmetric toroidal vessel: tokamak needed: ideal MHD static equilibrium Grad-Shafranov equation
-Instituut voor Plasmafysica Rijnhuizen

CapSel not sufcient to have equilibrium

HELENA - 02

need STABLE equilibrium conguration on long enough timescale small perturbation may propagate or damp out, but not grow for static equilibrium: current and pressure driven MHD instabilities can occur competition between stabilizing and destabilizing force elds puts extreme demands on accuracy needed in numerical representation of equilibrium e.g. stability against current driven internal kink mode growth rate from equilibrium quantities at O( 4) since < 1 need highly accurate GS solution!

-Instituut voor Plasmafysica Rijnhuizen

CapSel furthermore: MHD waves are sensitive to B conguration

HELENA - 03

slow, Alfven, fast magnetosonic waves have preferred polarization stability studies must exploit directions
and to B

need accurate variations of equilibrium quantities p, B (and their derivatives p, J) in those directions need high accuracy in and its derivatives (to second order) tokamak cross-sectional shape sets shape ux surfaces generally curved, would like to exploit coordinates tracing shapes

-Instituut voor Plasmafysica Rijnhuizen

CapSel

HELENA - 04

start from core form of GS equation 2 x 2 + 2 = A () + Bx(1 + )() x2 1 + x x y 2 boundary conditions = 1 on boundary = x = y = 0 at magnetic axis (, 0) write as = F ()

non-linear dependence in RHS

-Instituut voor Plasmafysica Rijnhuizen

CapSel use Picard iteration to converge on solution starting guess (0)(x, y) iterate: solve linearized problem (n+1) = F ( (n)) sequence (n) stop when e.g. max | (n+1) (n) | max-norm, running over all grid points
tol

HELENA - 05

-Instituut voor Plasmafysica Rijnhuizen

CapSel

HELENA - 06

Finite Element discretization

general idea: need to numerically represent function f (x, y) on [1, 1]2 prescribe functional variation of f (x, y) into xed elements hi(x, y) write f (x, y) = cihi(x, y) and determine coefcients ci elements hi(x, y) are nite vanish outside few grid cells hi(x, y) have prescribed polynomial (x, y) dependence localized interpolating polynomials order of polynomial sets accuracy of FEM representation for constant hi direct relation with nite differences

-Instituut voor Plasmafysica Rijnhuizen

CapSel ensuring continuous and

HELENA - 07

take bicubic (third order) Hermite elements on domain [1, 1]2 16 Hermite elements from 1 (x + x0)2(xx0 2)(y + y0)2(yy0 2) 16 1 H10(x, y) = x0(x + x0)2(xx0 1)(y + y0)2(yy0 2) 16 1 H01(x, y) = (x + x0)2(xx0 2)y0(y + y0)2(yy0 1) 16 1 H11(x, y) = x0(x + x0)2(xx0 1)y0(y + y0)2(yy0 1) 16 4 for each corner (x0, y0) = (1, 1) H00(x, y) =

-Instituut voor Plasmafysica Rijnhuizen

CapSel for corner (x0, y0) = (1, 1) functions are

HELENA - 08

H00 at corner is 1, zero in other corners all other elements vanish at that corner
-Instituut voor Plasmafysica Rijnhuizen

CapSel coefcient of H00 gives local function value similarly for rst and mixed derivatives such that f (x, y) =

HELENA - 09

H00(x, y)f (x0, y0) + H10(x, y) f (x0, y0) x f 2f +H01(x, y) y (x0, y0) + H11(x, y) yx (x0, y0)
x0 ,y0

coefcients are local (nodal) values of f and its derivatives 16 coefcients for f (x, y) with (x, y) [1, 1]2

-Instituut voor Plasmafysica Rijnhuizen

CapSel meets continuity requirement of solution + derivatives BUT does not align with curved ux surfaces

HELENA - 10

indeed, would exploit xed grid for cross-section like elements

nodes

discontinuous boundary shape: accuracy losses

-Instituut voor Plasmafysica Rijnhuizen

CapSel curved boundary treatment

HELENA - 11

given cross-sectional shape of boundary: aB () in polar angle with polar (r, ) coordinate center at (x, y) = (0, 0) approximate by Fourier series aB () =
m

ameim

global coordinates that follow boundary shape are x = v(r)aB () cos y = v(r)aB () sin arbitrary function v(r) ranging from 0 (center) to 1 (boundary)

-Instituut voor Plasmafysica Rijnhuizen

CapSel isoparametric mapping

HELENA - 12

represent solution and the coordinates x and y in same way exploit coordinate system (s, t) local to each element and write (x(s, t), y(s, t)) = x(s, t) = y(s, t) =
H00(s, t)(s0, t0) + H10(s, t) (s0, t0) s0 ,t0 s 2 +H01(s, t) t (s0, t0) + H11(s, t) st (s0, t0)

H00(s, t)x(s0, t0) + H10(s, t) x (s0, t0) s x 2x +H01(s, t) t (s0, t0) + H11(s, t) st (s0, t0)
s0 ,t0

H00(s, t)y(s0, t0) + H10(s, t) y (s0, t0) s y 2y +H01(s, t) t (s0, t0) + H11(s, t) st (s0, t0)
s0 ,t0

take v(r) s and t in above expressions can calculate x, x/s etc. at all (s0, t0)

-Instituut voor Plasmafysica Rijnhuizen

CapSel
isoparametric mapping (1,1)

HELENA - 13

isoparametric mapping: curved quadrilateral element maps on [1, 1] 2

x,y element

s,t element t (-1,-1) s

can even be used to adjust grid during iteration process simply need to take s coordinate as some function of all coordinate derivatives obtained from FEM representation of allows to (gradually or at end) switch to grid aligned with contours ux surface grid needed for eventual stability analysis!
-Instituut voor Plasmafysica Rijnhuizen

v(r)

CapSel within each Picard step need to solve (n+1) = F ( (n)) easy to show that R2 hence write

HELENA - 14

1 R2

1 1 2 = 2 F R R go to weak form: nd solution such that for all functions in space of test-functions we have:
V

1 2 dV = R

F 2 dV R

integral in 3D dV = Rd dR dZ over plasma (tokamak) volume

-Instituut voor Plasmafysica Rijnhuizen

CapSel use vector formula

HELENA - 15

A = (A) A to nd 1 F dV = 2 V V 2 dV R R2 R apply Gauss theorem to nd F 1 ndS V 2 dV = V 2 dV V R2 R R surface integral V R2 ndS yields no contribution at magnetic axis (where = 0) we have = 0 at outer boundary: essential Dirichlet BC |B = 1 imposed, hence the test-functions space contains only functions which vanish identically on boundary: |B = 0 problem simplies to 1 Vpol R where dVpol dR dZ dVpol = F dVpol Vpol R

-Instituut voor Plasmafysica Rijnhuizen

CapSel introduce Jacobian J

(x,y) (s,t)

HELENA - 16
and write

1 J ds dt = R insert nite element representation of problem reduces to linear system Kx = b

F J ds dt R

Galerkin method: take test functions = nite elements used

with vector x of coefcients in FEM representation K matrix-elements and b vector elements from 1 Hi(s, t) Hj (s, t) J ds dt Kij = R 1 Hi(s, t) F J ds dt bi = R double integrals evaluated by Gaussian quadrature formulae

-Instituut voor Plasmafysica Rijnhuizen

CapSel boundary conditions |B = 1 on boundary:

HELENA - 17

easily implemented by forcing corresponding x values to 1 essential boundary condition linear system use standard linear algebra libraries to solve linear system either use direct or iterative linear solver note size of linear system: 4 nr n coefcients in x

-Instituut voor Plasmafysica Rijnhuizen

CapSel

HELENA - 18

Results
excellent test on numerics: impose boundary and proles from analytic Soloviev solution recover Soloviev equilibrium: = 0.381966, = 0.981593, = 1

grid and solution from FINESSE code

CapSel agreement with analytic result: with nr = 33 = n

HELENA - 19

analytic solution and difference | exact |

-Instituut voor Plasmafysica Rijnhuizen

CapSel note up-down symmetry exploited in calculation possible to align grid with ux surfaces

HELENA - 20

useful for further MHD stability analysis

-Instituut voor Plasmafysica Rijnhuizen

CapSel HELENA - 21 quartic convergence: repeat with n = 5, 9, 17, 33, 65

extremely accurate equilibrium solver!!!

-Instituut voor Plasmafysica Rijnhuizen

CapSel

HELENA - 22

References
J.P. Goedbloed, Transactions of Fusion Technology 37, 2T, march 2000 A.J.C. Belien et al., J. Comp. Physics 182, 2002, 91 A.J.C. Belien, S. Poedts, J.P. Goedbloed, Comp. Physics Comm. 106, 1997, 21 J.P. Goedbloed & S. Poedts, Principles of Magnetohydrodynamics, Cambridge University Press, to appear 2003 G. Strang, G.J. Fix, An analysis of the Finite Element Method, 1973, Prentice Hall, Englewood Cliffs, NJ W.B. Bickford, A rst course in the Finite Element Method, 1994, Irwin, Burr Ridge Illinois G.T.A. Huysmans, J.P. Goedbloed, W. Kerner, Proc. CP90 Conf. on Comp. Phys. Proc., World Scientic Publ. Co. 1991, 371 G.T.A. Huysmans, PhD Thesis Free University Amsterdam, 1991
-Instituut voor Plasmafysica Rijnhuizen