The superconducting linear accelerator is a highly flexiable facility for modern scientific discoveries, necessitating weekly reconfiguration and tuning. Accordingly, minimizing setup time proves essential in affording users with ample experimental time. We propose a trend-based soft actor-critic(TBSAC) beam control method with strong robustness, allowing the agents to be trained in a simulated environment and applied to the real accelerator directly with zero-shot. To validate the effectiveness of our method, two different typical beam control tasks were performed on China Accelerator Facility for Superheavy Elements (CAFe II) and a light particle injector(LPI) respectively. The orbit correction tasks were performed in three cryomodules in CAFe II seperately, the time required for tuning has been reduced to one-tenth of that needed by human experts, and the RMS values of the corrected orbit were all less than 1mm. The other transmission efficiency optimization task was conducted in the LPI, our agent successfully optimized the transmission efficiency of radio-frequency quadrupole(RFQ) to over $85\%$ within 2 minutes. The outcomes of these two experiments offer substantiation that our proposed TBSAC approach can efficiently and effectively accomplish beam commissioning tasks while upholding the same standard as skilled human experts. As such, our method exhibits potential for future applications in other accelerator commissioning fields.

翻译：超导直线加速器是现代科学发现中高度灵活的设施，需要每周进行重新配置和调谐。因此，缩短设置时间对于为用户提供充足的实验时间至关重要。我们提出了一种基于趋势的软演员-评论家（TBSAC）波束控制方法，具有强鲁棒性，允许在模拟环境中训练智能体，并直接以零样本方式应用于真实加速器。为了验证我们方法的有效性，在超重元素中国加速器设施（CAFe II）和轻粒子注入器（LPI）上分别执行了两种不同的典型波束控制任务。在CAFe II的三个低温模块中分别进行了轨道校正任务，调谐所需时间减少至人类专家的十分之一，且校正轨道的均方根（RMS）值均小于1毫米。另一项传输效率优化任务在LPI中进行，我们的智能体成功在2分钟内将射频四极场（RFQ）的传输效率优化至85%以上。这两项实验的结果证明，我们提出的TBSAC方法能够高效、有效地完成波束调试任务，同时保持与熟练人类专家相同的标准。因此，我们的方法在未来其他加速器调试领域具有潜在应用前景。