CN108733008A - A kind of used in nuclear power station refueling machine control system and control method - Google Patents
A kind of used in nuclear power station refueling machine control system and control method Download PDFInfo
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- CN108733008A CN108733008A CN201711272179.6A CN201711272179A CN108733008A CN 108733008 A CN108733008 A CN 108733008A CN 201711272179 A CN201711272179 A CN 201711272179A CN 108733008 A CN108733008 A CN 108733008A
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000004886 process control Methods 0.000 claims abstract description 46
- 238000004891 communication Methods 0.000 claims abstract description 36
- 239000000446 fuel Substances 0.000 claims description 23
- 238000004088 simulation Methods 0.000 claims description 15
- 230000002207 retinal effect Effects 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The invention belongs to refueling machine control technology fields, and in particular to a kind of used in nuclear power station refueling machine control system and control method.In the system of the present invention, No. two main frames, No.1 main frame are connect with communication network；No.1 main frame, communication network, process control unit, input-output unit are sequentially connected；Communication network is reserved communication interface, A control units, B control units with engineer station's computer and is connect.The method of the present invention includes step 1, operator selection initial position and target location, establishes process cycles；Step 2, the process cycles according to step 1 generate corresponding process cycles plan；Step 3, the process cycles plan generated according to step 2, generate macro operation project；Step 4, according to macro operation project, generate microoperation project；Step 5, refueling machine execute microoperation project.The present invention improves the working efficiency of refueling machine on the basis of ensureing nuclear safety, shortens the loading and unloading time.
Description
Technical field
The invention belongs to refueling machine control technology fields, and in particular to a kind of used in nuclear power station refueling machine control system and control
Method.
Background technology
By summarizing the experience of refueling machine operation, the technological process of loading and unloading can also be optimized further, such as be taken the photograph
As bar is by transporting the position of gallery, the transporting position of the fuel assembly gripping tool in the same area or fuel assembly, each mechanism
Mobile logical algorithm and control device arrangement are unreasonable etc., and reloading in combination with long period will be using the practical feelings of FA-2M components
Condition can improve under different fuel assembly surrounding enviroment and be arranged different handling speeds, when saving main line to reach
Between purpose.
On the basis of existing system, in order to realize the safety of the target for speed-raising of reloading, the process fuel assembly that ensures to reload,
It needs to optimize refueling machine control system progress upper computer software, the next logic and hardware device performance, while solving to change
The problem of material machine control system part spare parts purchasing difficulty and design Shortcomings.
Invention content
Present invention solves the technical problem that：For in the prior art, deficiency present in control system is ensureing nuclear safety
On the basis of, the working efficiency of refueling machine is improved, the loading and unloading time is shortened.
The technical solution adopted by the present invention：
A kind of used in nuclear power station refueling machine control system, including No.1 operator station computer man-machine interface equipment, No. two behaviour
Work person stands computer man-machine interface equipment, No. two operator station main frames, No.1 operator station main frame, excessively program-controlled
Unit annular communication network processed, analog machine annular communication network, that engineer station's computer reserves communication interface, A channel is excessively program-controlled
Unit processed, channel B process control unit, A channel input-output unit, channel B input-output unit, analog machine simulation process control
Unit processed, analog machine simulation input output unit, electrically driven cabinet；
No.1 operator station computer man-machine interface equipment is connect with No.1 operator station main frame；No. two operators
Computer man-machine interface equipment of standing is connect with No. two operator station main frames；No. two operator station main frames, No.1s
Operator station main frame is connect with process control unit annular communication network；No.1 operator station main frame, simulation
Machine annular communication network, analog machine simulation process control unit, analog machine simulation input output unit are sequentially connected；Process control
Unit annular communication network reserves communication interface, A channel process control unit, channel B process control with engineer station's computer
Unit connects；A channel process control unit is connect with A channel input-output unit；Channel B process control unit and channel B are defeated
Enter output unit connection；A channel input-output unit, channel B input-output unit are connect with electrically driven cabinet.
Including the two Redundant Control channels A and B, A channel include No. two operator station computer man-machine interface equipments, No. two
Operator station main frame, process control unit annular communication network, A channel process control unit, A channel input and output list
Member, channel B include No.1 operator station computer man-machine interface equipment, No.1 operator station main frame, process control list
First annular communication network, channel B process control unit, channel B input-output unit.
A kind of used in nuclear power station refueling machine control method, includes the following steps：
Step 1, operator select initial position and target location, establish process cycles；
Step 2, the process cycles according to step 1 generate corresponding process cycles plan；
Step 3, the process cycles plan generated according to step 2, generate macro operation project；
Step 4, according to macro operation project, generate microoperation project；
Step 5, refueling machine execute microoperation project.
In the step 2, process cycles plan includes moving horizontally and vertical shift.
It is described to move horizontally including bridge linear movement, trolley linear movement and the rotation of TV bar；It is originated according to refueling machine
Whether position and target location move horizontally in the same area and are divided into two kinds of situations, and one is movement between different zones
Mov_XY defines pressure point on the path across gallery, the correctness of TV bar position is checked, the other is the same area
Intermediate point is arranged on mobile route and completes rotation for interior mobile Mov_XY_Local, the permission situation rotated according to TV bar；
Vertical shift includes working beam lifting and the lifting of TV bar.
In the step 4, microoperation project includes that bridge is mobile, trolley is mobile, working beam lifting, the lifting of TV bar, fires
Expect TV bar rotation when mobile simultaneously assembly gripping apparatus switch, working beam rotation, the rotation of TV bar, bridge and trolley, bridge movement,
TV bar rotates when the rotation of TV bar, working beam lifting when the rotation of TV bar, bridge trolley are mobile simultaneously when trolley moves.
In the step 5, include the following steps：
Step 5.1 moves horizontally bridge, trolley to coordinates of targets, is rotated in the process along with TV bar；Step 5.2 is erected
Straight decentralization working beam, TV bar to fuel assembly crawl position；Step 5.3, fuel assembly gripping tool are closed；Step 5.4, vertical shifting
Dynamic working beam, TV bar to transporting position；Step 5.5 moves horizontally bridge, trolley to coordinates of targets, in the process along with electricity
Retinal rod rotates, specifically with step 5.1；Step 5.6 transfers working beam, TV bar to fuel assembly releasing position vertically, specific same
Step 5.4；Step 5.7, vertical shift working beam, TV bar to transporting position, specifically with step 5.4.
In the step 5.1, include the following steps：
Step 5.1.1, if you do not need to electric rotating retinal rod, then directly move bridge, trolley to purpose coordinate；
Step 5.1.2, if necessary to and allow electric rotating retinal rod, then when bridge, trolley are mobile simultaneously TV bar rotate to
Purpose coordinate；
Step 5.1.3, if necessary to but do not allow electric rotating retinal rod, then first move bridge, trolley to allowing to rotate recently
To the point (intermediate point) of required angle, then TV bar is rotated to purpose coordinate when the movement simultaneously of bridge, trolley.
In the step 5.4, need to carry out speed selection and position selection.
Beneficial effects of the present invention：
(1) a kind of used in nuclear power station refueling machine control system and control method provided by the invention, have adjusted New-type fuel group
The movement speed of part FA-2M vertical directions realizes the linkage of multimachine structure, eliminates and stop checkpoint, ensure that refueling machine moves
Continuity；
(2) a kind of used in nuclear power station refueling machine control system and control method provided by the invention, reduce fuel assembly
Transporting position shortens the stroke of refueling machine vertical direction；
(3) a kind of used in nuclear power station refueling machine control system and control method provided by the invention increase frictional force protection
Equipment improves the exceeded response speed of frictional force；
(4) a kind of used in nuclear power station refueling machine control system and control method provided by the invention, upgrading processing device module carry
The response processing speed of high control system；Promote the processing speed of communication data；Improve the communication speed of computer and control system
Degree；
(5) a kind of used in nuclear power station refueling machine control system and control method provided by the invention, by operator station node and
Module mounting unit, the operator station computer of analog machine move on to individual cabinet, improve the efficiency of equipment examination and maintenance；It will
Operator station computer hardware upgrades to the computer of higher performance, solves the problems, such as the long-term spare part of system.
Description of the drawings
Fig. 1 is a kind of used in nuclear power station refueling machine control system architecture schematic diagram provided by the invention；
Fig. 2 is the general management schematic diagrames of CAL；
Fig. 3 is to move horizontally management schematic diagram；
Fig. 4 is rotation management schematic diagram；
Fig. 5 is that speed limit selects logical schematic；
Fig. 6 is that transporting position selects logical schematic；
In figure：No. bis- 1- No.1s operator station computer man-machine interface equipment, 2- operator station computer man-machine interfaces are set
Standby, No. bis- operator station main frames of 3-, 4- No.1s operator station main frame, 5- process control unit annular communication networks
Network, 6- analog machine annulars communication network, 7- engineer station's computers reserve communication interface, the channels 8-A process control unit, 9-B
Channel process control unit, the channels 10-A input-output unit, the channels 11-B input-output unit, 12- analog machine simulation processes
Control unit, 13- analog machine simulation inputs output unit, the electrically driven cabinets of 14-.
Specific implementation mode
In the following with reference to the drawings and specific embodiments to a kind of used in nuclear power station refueling machine control system provided by the invention and control
Method processed is described in further detail.
As shown in Figure 1, a kind of used in nuclear power station refueling machine control system, including No.1 operator station computer man-machine interface are set
2, No. two operator station main frames 3 of standby 1, No. two operator station computer man-machine interface equipment, No.1 operator station calculate
The reserved communication of machine host 4, process control unit annular communication network 5, analog machine annular communication network 6, engineer station's computer
Interface 7, A channel process control unit 8, channel B process control unit 9, A channel input-output unit 10, channel B input and output
Unit 11, analog machine simulation process control unit 12, analog machine simulation input output unit 13, electrically driven cabinet 14；No.1
Operator station computer man-machine interface equipment 1 is connect with No.1 operator station main frame 4；No. two operator station compumans
Machine interface equipment 2 is connect with No. two operator station main frames 3；No. two operator station main frames 3, No.1 operator station
Main frame 4 is connect with process control unit annular communication network 5；No.1 operator station main frame 4, analog machine annular
Communication network 6, analog machine simulation process control unit 12, analog machine simulation input output unit 13 are sequentially connected；Process control
Unit annular communication network 5 and the reserved communication interface 7 of engineer station's computer, A channel process control unit 8, channel B are excessively program-controlled
Unit 9 processed connects；A channel process control unit 8 is connect with A channel input-output unit 10；Channel B process control unit 9 and B
Channel input-output unit 11 connects；A channel input-output unit 10, channel B input-output unit 11 and electrically driven cabinet
14 connections.
No.1 operator station computer man-machine interface equipment 1 and No. two operator station computer man-machine interface equipments 2 are distinguished
Including display and mouse-keyboard.
Used in nuclear power station refueling machine control system includes the two Redundant Control channels A and B, as shown in Figure 1, A channel includes two
Number 2, No. two operator station main frames 3 of operator station computer man-machine interface equipment, process control unit annular communication network
Network 5, A channel process control unit 8, A channel input-output unit 10, channel B include that No.1 operator station computer man-machine connects
Jaws equipment 1, No.1 operator station main frame 4, process control unit annular communication network 5, channel B process control unit 9,
Channel B input-output unit 11.
A kind of used in nuclear power station refueling machine control method, includes the following steps：
Step 1, as shown in Fig. 2, operator selects initial position and target location, establish process cycles；
Step 2, the process cycles according to step 1 generate corresponding process cycles plan；
Step 2.1, process cycles plan include moving horizontally and vertical shift；
Step 2.1.1, it moves horizontally including bridge linear movement, trolley linear movement and the rotation of TV bar；Such as Fig. 3 institutes
Show, according to refueling machine initial position and target location whether in the same area, moves horizontally and be divided into two kinds of situations, one is not
With interregional mobile Mov_XY, pressure point is defined on the path across gallery, checks the correctness of TV bar position, separately
One is the mobile Mov_XY_Local in the same area, during the permission situation rotated according to TV bar is arranged on mobile route
Between point complete rotation.
Step 2.1.2, vertical shift includes working beam lifting and the lifting of TV bar；
Step 3, according to process cycles plan, generate macro operation project；
Step 4, according to macro operation project, generate microoperation project, the i.e. executable elemental motion of refueling machine.Microoperation item
Mesh includes bridge movement, trolley is mobile, working beam lifting, the lifting of TV bar, fuel assembly gripping tool switchs, working beam rotates, electricity
The rotation of TV bar, bridge are small when the rotation of TV bar, trolley movement when the movement simultaneously of retinal rod rotation, bridge and trolley, bridge movement
TV bar rotates when the rotation of TV bar, working beam lifting when vehicle is mobile simultaneously.
Step 5, refueling machine execute microoperation project
Step 5.1 moves horizontally bridge, trolley to coordinates of targets, is rotated in the process along with TV bar, as shown in Figure 4；
Step 5.1.1, if you do not need to electric rotating retinal rod, then directly move bridge, trolley to purpose coordinate；
Step 5.1.2, if necessary to and allow electric rotating retinal rod, then when bridge, trolley are mobile simultaneously TV bar rotate to
Purpose coordinate；
Step 5.1.3, if necessary to but do not allow electric rotating retinal rod, then first move bridge, trolley to allowing to rotate recently
To the point (intermediate point) of required angle, then TV bar is rotated to purpose coordinate when the movement simultaneously of bridge, trolley；
Step 5.2 transfers working beam, TV bar to fuel assembly crawl position vertically
Step 5.3, fuel assembly gripping tool are closed
Step 5.4, vertical shift working beam, TV bar to transporting position
Step 5.4.1, speed selects：For different zones, different fuel component model, working beam movement speed selects such as
Shown in Fig. 5, the regions Z3 load and unload periphery without the fuel assembly of other components and coaming plate, speed 6m/min；Only for periphery
There is the fuel assembly of coaming plate to load and unload, speed 4m/min；There is the fuel assembly of other assemblies to load and unload on periphery, speed is
1.2m/min.The non-regions Z3 load and unload FA-2M type fuel assemblies, speed 4m/min；For non-FA-2M types fuel assembly
Handling, speed 2m/min.Specifically it see the table below：
Step 5.4.2, position selects：For different zones, operation object whether is carried, working beam and TV bar transport position
Selection is set as shown in fig. 6, specifically see the table below：
Step 5.5 moves horizontally bridge, trolley to coordinates of targets, is rotated in the process along with TV bar, specific same step
5.1；
Step 5.6 transfers working beam, TV bar to fuel assembly releasing position, specifically with step 5.4 vertically；
Step 5.7, vertical shift working beam, TV bar to transporting position, specifically with step 5.4.
Claims (9)
1. a kind of used in nuclear power station refueling machine control system, it is characterised in that：It is set including No.1 operator station computer man-machine interface
Standby (1), No. two operator station computer man-machine interface equipments (2), No. two operator station main frames (3), No.1 operators
Stand main frame (4), process control unit annular communication network (5), analog machine annular communication network (6), engineer station meter
Calculation machine reserves communication interface (7), A channel process control unit (8), channel B process control unit (9), A channel input and output list
First (10), channel B input-output unit (11), analog machine simulation process control unit (12), the output of analog machine simulation input are single
First (13), electrically driven cabinet (14)；
No.1 operator station computer man-machine interface equipment (1) is connect with No.1 operator station main frame (4)；No. two operations
Member's station computer man-machine interface equipment (2) is connect with No. two operator station main frames (3)；No. two operator stations calculate owner
Machine (3), No.1 operator station main frame (4) are connect with process control unit annular communication network (5)；No.1 operator station
Main frame (4), analog machine annular communication network (6), analog machine simulation process control unit (12), analog machine simulation input
Output unit (13) is sequentially connected；Process control unit annular communication network (5) reserves communication interface with engineer station's computer
(7), A channel process control unit (8), channel B process control unit (9) connection；A channel process control unit (8) and A channel
Input-output unit (10) connects；Channel B process control unit (9) is connect with channel B input-output unit (11)；A channel is defeated
Enter output unit (10), channel B input-output unit (11) is connect with electrically driven cabinet (14).
2. a kind of used in nuclear power station refueling machine control system according to claim 1, it is characterised in that：It is superfluous including A and B two
Remaining control channel, A channel include No. two operator station computer man-machine interface equipments (2), No. two operator station main frames
(3), process control unit annular communication network (5), A channel process control unit (8), A channel input-output unit (10), B
Channel includes No.1 operator station computer man-machine interface equipment (1), No.1 operator station main frame (4), process control
Unit annular communication network (5), channel B process control unit (9), channel B input-output unit (11).
3. a kind of used in nuclear power station refueling machine control method, it is characterised in that：Include the following steps：
Step (1), operator select initial position and target location, establish process cycles；
Step (2), according to the process cycles of step (1), generate corresponding process cycles plan；
Step (3), the process cycles plan generated according to step (2), generate macro operation project；
Step (4), the macro operation project generated according to step (3), generate microoperation project；
Step (5), refueling machine execute microoperation project.
4. a kind of used in nuclear power station refueling machine control method according to claim 3, it is characterised in that：In the step (2),
Process cycles plan includes moving horizontally and vertical shift.
5. a kind of used in nuclear power station refueling machine control method according to claim 4, it is characterised in that：It is described to move horizontally packet
Include bridge linear movement, trolley linear movement and the rotation of TV bar；According to refueling machine initial position with target location whether same
One region moves horizontally and is divided into two kinds of situations, and one is mobile Mov_XY between different zones, on the path across gallery
Pressure point is defined, checks the correctness of TV bar position, the other is the mobile Mov_XY_Local in the same area, according to
Intermediate point is arranged on mobile route and completes rotation for the permission situation of TV bar rotation；
Vertical shift includes working beam lifting and the lifting of TV bar.
6. a kind of used in nuclear power station refueling machine control method according to claim 5, it is characterised in that：In the step (4),
Microoperation project includes that bridge is mobile, trolley is mobile, working beam lifting, TV bar lifts, fuel assembly gripping tool switchs, working beam
Rotation, the rotation of TV bar, bridge and trolley be mobile simultaneously, bridge movement when TV bar rotation, trolley movement when TV bar rotation,
TV bar rotates when the rotation of TV bar, working beam lifting when bridge trolley is mobile simultaneously.
7. a kind of used in nuclear power station refueling machine control method according to claim 6, it is characterised in that：In the step (5),
Include the following steps：
Step (5.1) moves horizontally bridge, trolley to coordinates of targets, is rotated in the process along with TV bar；Step (5.2) is erected
Straight decentralization working beam, TV bar to fuel assembly crawl position；Step (5.3), fuel assembly gripping tool are closed；Step (5.4) is erected
Straight mobile working bar, TV bar to transporting position；Step (5.5) moves horizontally bridge, trolley to coordinates of targets, in the process companion
As TV bar rotates, specific same step (5.1)；Step (5.6) transfers working beam, TV bar to fuel assembly release vertically
Position, specific same step (5.4)；Step (5.7), vertical shift working beam, TV bar to transporting position, specific same step
(5.4)。
8. a kind of used in nuclear power station refueling machine control method according to claim 7, it is characterised in that：The step (5.1)
In, include the following steps：
Step (5.1.1), if you do not need to electric rotating retinal rod, then directly mobile bridge, trolley to purpose coordinate；
Step (5.1.2), if necessary to and allow electric rotating retinal rod, then TV bar is rotated to mesh when bridge, trolley are mobile simultaneously
Coordinate；
Step (5.1.3), if necessary to but do not allow electric rotating retinal rod, then first move bridge, trolley to allowing to rotate to recently
The point of required angle, then TV bar is rotated to purpose coordinate when the movement simultaneously of bridge, trolley.
9. a kind of used in nuclear power station refueling machine control method according to claim 8, it is characterised in that：The step (5.4)
In, it needs to carry out speed selection and position selection.
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| CN109920566A (en) * | 2019-03-29 | 2019-06-21 | 江苏核电有限公司 | A kind of fuel manipulator crane emergence measuring device |
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| Publication number | Publication date |
|---|---|
| CN108733008B (en) | 2024-02-13 |
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