CN106782689A - A kind of linear motor type CRDM control method - Google Patents

A kind of linear motor type CRDM control method Download PDF

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Publication number
CN106782689A
CN106782689A CN201611043343.1A CN201611043343A CN106782689A CN 106782689 A CN106782689 A CN 106782689A CN 201611043343 A CN201611043343 A CN 201611043343A CN 106782689 A CN106782689 A CN 106782689A
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China
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phase
linear motor
pwm control
motor type
type crdm
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CN201611043343.1A
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CN106782689B (en
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余海涛
蔡晨
王劲松
孙鸿成
梁云川
吕新知
彭仁勇
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Nuclear Power Institute of China
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Nuclear Power Institute of China
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    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C7/00—Control of nuclear reaction
    • G21C7/06—Control of nuclear reaction by application of neutron-absorbing material, i.e. material with absorption cross-section very much in excess of reflection cross-section
    • G21C7/08—Control of nuclear reaction by application of neutron-absorbing material, i.e. material with absorption cross-section very much in excess of reflection cross-section by displacement of solid control elements, e.g. control rods
    • G21C7/12—Means for moving control elements to desired position
    • G21C7/14—Mechanical drive arrangements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Abstract

The invention discloses a kind of linear motor type CRDM control method, methods described includes：Step 1：The drive mechanism speed of service and traffic direction instruction according to outside input, calculates when the phase angle of front driving mechanism；Step 2：According to the phase angle for calculating, three-phase PWM control parameter is calculated using SVPWM algorithms；Step 3：According to three-phase PWM control parameter generation correspondence pwm control signal；Step 4：Pwm control signal based on generation is controlled to linear motor type CRDM, realizes, stability contorting accurate to linear motor type CRDM.

Description

A kind of linear motor type CRDM control method
Technical field
The present invention relates to nuclear power CRDM research field, in particular it relates to a kind of linear motor type is controlled Rod drive mechanism control method.
Background technology
Linear motor type CRDM is a kind of new CRDM (CRDM), at present at home and abroad Precedent, its electromagnetic property is not applied to there is very big difference compared with other Type Control rod drive mechanisms in CRDM fields；The type The stator coil of mechanism is arranged in order vertically, mover is directly driven axially movable using electromagnet pull, due to linear electric motors The stable operation requirement of type CRDM, its stator coil driving current is 0.1Hz~0.5Hz three-phase sine-waves electricity Stream；Meanwhile, the type mechanism also requires start and stop accurately and reliably etc..
In sum, present inventor has found above-mentioned technology extremely during the present application technical scheme is realized There is following technical problem less：
There is the technical problem that cannot be control effectively to linear motor type CRDM in prior art.
The content of the invention
The invention provides a kind of linear motor type CRDM control method, solve prior art and there is nothing The technical problem that method control effectively to linear motor type CRDM, realizes accurate, stable, reliable to straight line The technique effect that motor-type CRDM is controlled.
In order to solve the above technical problems, this application provides a kind of linear motor type CRDM control method, Methods described includes：
Step 1：The drive mechanism speed of service and traffic direction instruction according to outside input, calculates and works as front driving mechanism Given phase angle；
Step 2：According to the given phase angle for calculating, look into phase angle and use SVPWM with the acquisition of PWM control parameters corresponding table The three-phase PWM control parameter that algorithm is calculated；
Step 3：According to three-phase PWM control parameter generation correspondence pwm control signal；
Step 4：Pwm control signal based on generation is controlled to linear motor type CRDM.
Wherein, SVPWM algorithms are a kind of classical three phase sine current modulating method, electricity high with voltage utilization ratio The characteristic that machine operates steadily.The corresponding three-phase PWM calculating parameter of each phase is precomputed using the algorithm in this programme, when During the steady change of phase angle, SVPWM algorithms can ensure the sinusoidal waveform that output current is stabilization, it is ensured that drive mechanism stabilization is transported OK.
Further, the step 1：The drive mechanism speed of service and traffic direction instruction according to outside input, calculates Go out when the phase angle of front driving mechanism, specifically include：The previous cycle, given phase angle was θ0, the speed of service and fortune of outside input Line direction is ω (for just, underthrust ω be negative to lifting ω), and periodic intervals are Δ t, then current period give phase angle for θ= θ0+ωΔt。
Further, the current waveform of the linear motor type CRDM for 0.1Hz~0.5Hz three-phase just String.It is 0.1Hz~0.5Hz that the linear motor type CRDM requirement speed of service is scaled after electric frequency, that is, weigh Parameter ω need to meet 0.1Hz≤| ω |≤0.5Hz during profit requires 2；Simultaneously according to the work of linear motor type CRDM Make characteristic, to ensure that it travels at the uniform speed, its current waveform is three phase sine, and generates require three by SVPWM control method Phase sinusoidal current.To sum up, the current waveform of the linear motor type CRDM for 0.1Hz~0.5Hz three-phase just String.
Further, the use SVPWM algorithms calculate three-phase PWM control parameter, specifically include：
According to given three-phase PWM control parameter table address bit length NAWith data bit length NDAnd modulation depth M, calculate The corresponding three-phase PWM control parameter T of each address iA(i)、TB(i)、TC(i)；Circular is：
1) the corresponding phase angles of address iData maximums
2) can be tried to achieve using standard SVPWM algorithms：
3) according to phase angle θiSize, A, B, C three-phase PWM control parameter are obtained by table 1 below；
Table 1
4) above step is repeatedIt is secondary, three-phase PWM control parameter table is stored data in, for linear electric motors control.
Further, according to the result of the test of linear motor type CRDM, precompute under each shelves rod speed SVPWM parameter lists；When three-phase PWM control parameter is generated, corresponding SVPWM parameter lists are automatically selected according to current rod speed, So that output current is worth to modulation.
Further, it is main control chip that the present invention uses FPGA (FPGA), in single chip integration Driven into control signal reception and treatment, SVPWM algorithms, IGBT control signals, give the functions such as the calculating of rod position, communication, improved The accuracy and stability of linear motor type drive mechanism operation.
The present invention enters row information exchange using redundancy CAN number bus, improves facility information degree, is capable of achieving control Rod status information is monitored on-line and fault self-diagnosis.
One or more technical schemes that the application is provided, at least have the following technical effect that or advantage：
It is to include as a result of the design of control method of linear motor type CRDM will be controlled：(1) it is based on The sine wave drive method of SVPWM methods；(2) according to the SVPWM parameters of drive mechanism rotating speed self adaptation；(3) use and be based on The digital processing means of FPGA, using the three-phase chop control based on SVPWM algorithms so that the current waveform of drive mechanism motor It is the three phase sine of 0.1Hz~0.5Hz, has been precomputed under each shelves rod speed according to the result of the test of CRDM SVPWM parameter lists；When three-phase PWM control parameter is generated, appropriate SVPWM parameter lists are automatically selected according to current rod speed, made Obtain output current and be worth to modulation, realize, stability contorting accurate to linear motor type CRDM, have been used for straight line The development test of motor-type CRDM, meets the control requirement of the type drive mechanism.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes of the application Point, do not constitute the restriction to the embodiment of the present invention；
Fig. 1 is the schematic flow sheet of the application cathetus motor-type CRDM control method；
Fig. 2 is current waveform schematic diagram in the application；
Fig. 3 is the digital control technology theory diagram based on FPGA in the application.
Specific embodiment
The invention provides a kind of linear motor type CRDM control method, solve prior art and there is nothing The technical problem that method control effectively to linear motor type CRDM, realizes accurate, stable, reliable to straight line The technique effect that motor-type CRDM is controlled.
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention Mode is applied to be further described in detail the present invention.It should be noted that in the case where not conflicting mutually, the application's Feature in embodiment and embodiment can be mutually combined.
Many details are elaborated in the following description in order to fully understand the present invention, but, the present invention may be used also Implemented with the other modes in the range of using other being different from being described herein, therefore, protection scope of the present invention do not receive down The limitation of specific embodiment disclosed in face.
Embodiment one：
In embodiment one, Fig. 1 is refer to, there is provided a kind of linear motor type CRDM control method, institute The method of stating includes：
Step 1：The drive mechanism speed of service and traffic direction instruction according to outside input, calculates and works as front driving mechanism Given phase angle；
Step 2：According to the given phase angle for calculating, three-phase PWM control parameter is calculated using SVPWM algorithms；
Step 3：According to three-phase PWM control parameter generation correspondence pwm control signal；
Step 4：Pwm control signal based on generation is controlled to linear motor type CRDM.
Wherein, according to the current speed of service of drive mechanism and traffic direction, calculate when the phase angle of front driving mechanism, tool Body includes：The previous cycle, given phase angle was θ0, the speed of service and traffic direction of outside input for ω (lifting ω for just, under It is negative to insert ω), periodic intervals are Δ t, then the given phase angle of current period is θ=θ0+ωΔt。
Wherein, the use SVPWM algorithms calculate three-phase PWM control parameter, specifically include：
According to given three-phase PWM control parameter table address bit length NAWith data bit length NDAnd modulation depth M, calculate The corresponding three-phase PWM control parameter T of each address iA(i)、TB(i)、TC(i)；Circular is：
First, the corresponding phase angles of address iData maximums
Then, can be tried to achieve using standard SVPWM algorithms：
Then, according to phase angle θiSize, A, B, C three-phase PWM control parameter are obtained by form；
Then, above step is repeatedIt is secondary, three-phase PWM control parameter table is stored data in, for linear electric motors control System.
Wherein, the current waveform of the linear motor type CRDM is the three phase sine of 0.1Hz~0.5Hz.
Wherein, according to the result of the test of linear motor type CRDM, precompute under each shelves rod speed SVPWM parameter lists；When three-phase PWM control parameter is generated, corresponding SVPWM parameter lists are automatically selected according to current rod speed, made Obtain output current and be worth to modulation.
The present invention proposes a kind of control method for controlling linear motor type CRDM.Carried in the present invention The control method for going out includes：(1) the sine wave drive method based on SVPWM methods；(2) according to drive mechanism rotating speed self adaptation SVPWM parameters；(3) using the digital processing technology based on FPGA.
The present invention is using the three-phase chop control based on SVPWM algorithms so that the current waveform of drive mechanism motor is The three phase sine of 0.1Hz~0.5Hz.The method of control signal generating unit point is as shown in Figure 1.Method mainly includes the following steps：
Go out the phase angle that be should be at when front driving mechanism according to the current speed of service and traffic direction cumulative calculation first.
Then, three-phase PWM control parameter can be calculated using SVPWM algorithms according to phase angle.
Finally, the pwm control signal of the corresponding bridge arm of three-phase six is generated according to three-phase PWM control parameter.
The control signal of generation drives the IGBT inverter circuits based on the bridge arm of three-phase six, and output current wave is as shown in Figure 2： Phase angle keeps constant before and after lifting operation, and three-phase PWM parameter does not change, and output current is direct current, and control rod keeps It is motionless；Phase angle steady change during lifting operation, three-phase PWM parameter changes therewith, and output current is low-frequency sinusoidal AC.
In this control method, the result of the test according to CRDM has been precomputed under each shelves rod speed SVPWM parameter lists.When three-phase PWM control parameter is generated, appropriate SVPWM parameter lists are automatically selected according to current rod speed, made Obtain output current and be worth to modulation.
It is main control chip that the present invention uses FPGA (FPGA), the integration control signal in single-chip The functions such as reception drives with treatment, SVPWM algorithms, IGBT control signals, the calculating of given rod position, communication, improve linear electric motors The accuracy and stability of type drive mechanism operation.
The present invention enters row information exchange using redundancy CAN number bus, improves facility information degree, is capable of achieving control Rod status information is monitored on-line and fault self-diagnosis.
Digital control technology theory diagram based on FPGA is as shown in Figure 3.
The present invention is directed to new linear motor type CRDM, has invented a kind of linear motor type control rod and has driven The control method of motivation structure, the method uses ac-dc-ac inverter principle, SVPWM (SVPWM) algorithm, is based on The totally digitilized technology of FPGA, the sine-wave current of output three-phase ultralow frequency (0.1Hz~0.5Hz) drives linear motor type control Rod drive mechanism, realizes, stability contorting accurate to linear motor type CRDM.
The present invention has been applied in the control of CENTER engineering scientific research linear motor type CRDMs, uses the party The three phase sine electric current of the 0.1Hz~0.5Hz of method generation can drive linear motor type CRDM stable operation, reach The control requirement of drive mechanism, will clearly be applied to CENTER engineering test reactor projects, and can be applied to rickle, dragon The projects such as prestige.
Technical scheme in above-mentioned the embodiment of the present application, at least has the following technical effect that or advantage：
It is to include as a result of the design of control method of linear motor type CRDM will be controlled：(1) it is based on The sine wave drive method of SVPWM methods；(2) according to the SVPWM parameters of drive mechanism rotating speed self adaptation；(3) use and be based on The digital processing means of FPGA, using the three-phase chop control based on SVPWM algorithms so that the current waveform of drive mechanism motor It is the three phase sine of 0.1Hz~0.5Hz, has been precomputed under each shelves rod speed according to the result of the test of CRDM SVPWM parameter lists；When three-phase PWM control parameter is generated, appropriate SVPWM parameter lists are automatically selected according to current rod speed, made Obtain output current and be worth to modulation, realize, stability contorting accurate to linear motor type CRDM, have been used for straight line The development test of motor-type CRDM, meets the control requirement of the type drive mechanism.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification without deviating from essence of the invention to the present invention God and scope.So, if these modifications of the invention and modification belong to the scope of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to comprising these changes and modification.

Claims (5)

1. a kind of linear motor type CRDM control method, it is characterised in that methods described includes：
Step 1：The drive mechanism speed of service according to outside input and traffic direction instruction, calculate when front driving mechanism to Phase bit angle；
Step 2：According to the given phase angle for calculating, three-phase PWM control parameter is calculated using SVPWM algorithms；
Step 3：According to three-phase PWM control parameter generation correspondence pwm control signal；
Step 4：Pwm control signal based on generation is controlled to linear motor type CRDM.
2. linear motor type CRDM control method according to claim 1, it is characterised in that the step 1：The drive mechanism speed of service and traffic direction instruction according to outside input, calculates when front driving mechanism is to phase bit Angle, specifically includes：
The previous cycle, given phase angle was θ0, the speed of service and traffic direction of outside input are ω, and periodic intervals are △ t, Then the given phase angle of current period is θ=θ0+ω△t。
3. linear motor type CRDM control method according to claim 2, it is characterised in that the parameter ω meets 0.1Hz≤| ω |≤0.5Hz；The current waveform of the linear motor type CRDM is 0.1Hz~0.5Hz Three phase sine.
4. linear motor type CRDM control method according to claim 1, it is characterised in that described to use SVPWM algorithms calculate three-phase PWM control parameter, specifically include：
According to given three-phase PWM control parameter table address bit length NAWith data bit length NDAnd modulation depth M, calculate each The corresponding three-phase PWM dutycycle T of individual address iA(i)/T0、TB(i)/T0、TC(i)/T0, wherein,Circular For：
1) the corresponding phase angles of address i
2) intermediate parameters T can be tried to achieve using standard SVPWM algorithms1(θi)、T2(θi)、T3(θi)
T 1 ( θ i ) = | 2 MT 0 sin ( θ i ) | T 2 ( θ i ) = | 2 MT 0 [ 3 2 cos ( θ i ) - 1 2 sin ( θ i ) ] | T 3 ( θ i ) = | 2 MT 0 [ - 3 2 cos ( θ i ) - 1 2 sin ( θ i ) ] |
3) according to phase angle θiSize, by phase angle and PWM control parameter corresponding tables, obtain PWM control parameters；
4) above step 1 is repeated)-step 3)It is secondary, three-phase PWM control parameter table is stored data in, for linear electric motors control System.
5. linear motor type CRDM control method according to claim 1, it is characterised in that according to straight line The result of the test of motor-type CRDM, precomputes the SVPWM parameter lists under each shelves rod speed；In generation three-phase During PWM control parameters, corresponding SVPWM parameter lists are automatically selected according to current rod speed so that output current is worth to modulation.
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CN111326266A (en) * 2020-03-02 2020-06-23 哈尔滨工业大学 Control rod driving mechanism based on square barrel type linear induction motor

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