CN111489838A - Control rod driving mechanism power supply based on P L C + FPGA/DSP + IGBT control framework - Google Patents

Abstract

The invention relates to the field of pressurized water reactor nuclear power stations, in particular to design research on Control Rod Drive Mechanism (CRDM) power supply control equipment of a pressurized water reactor nuclear power station, aims to effectively overcome the defects and shortcomings of the traditional control rod drive mechanism power supply control equipment and improve the operability, usability and maintainability of the equipment by applying a control rod drive mechanism power supply control mode based on a P L C + FPGA/DSP + IGBT control framework to the control rod power supply control equipment, and comprises an inter-equipment communication unit, an intra-equipment communication unit, a control and drive unit and a drive mechanism power supply unit, wherein the inter-equipment communication unit is a P L C communication network among the control rod drive mechanism power supply control equipment, the intra-equipment communication unit is a bus network among P L C and FPGA/IGBT control modules in a single equipment, and the control and drive unit controls the IGBT through a drive circuit for the FPGA/IGBT control modules.

Description

Control rod driving mechanism power supply based on P L C + FPGA/DSP + IGBT control framework

Technical Field

The invention relates to the field of pressurized water reactor nuclear power stations, in particular to a control rod driving mechanism power supply based on a P L C + FPGA/DSP + IGBT control framework.

Background

The control rod driving mechanism power supply control equipment (rod control power cabinet for short) used in the nuclear power station has the main function of providing time sequence current for each coil of the control rod driving mechanism according to a specific time sequence according to a control command sent by the rod control logic control equipment, so that the action of a control rod is realized through the action of a drive mechanism claw.

Safe and stable operation of the crdm requires that the power control device provide a control current that is continuous, stable and adjustable within a certain threshold, with the rising and falling edge times of the current waveform being within the time range required for proper operation of the drive mechanism. Therefore, when a control rod drive mechanism power supply control mode is designed, the quality of power supply power of equipment during working of the control rod drive mechanism power supply control mode is fully considered, and the current waveform output to the drive mechanism is in quick response at the stages of large current, small current and zero current change; stabilizing the current stability and the anti-interference capability of the current output stage; while the current waveform provided to the control rod drive mechanism should be well adjustable and monitorable.

The power supply control equipment of the driving mechanism in the Qin mountain second-stage extension project and 60-thousand kilowatt pressurized water reactor nuclear power station of the Hainan Changjiang nuclear power station in China adopts silicon controlled rectifier as a power regulation module, and an analog circuit is applied to generate a 'fixed value' signal and a 'compensation' signal for comparison so as to keep the stability of the control signal and obtain a current waveform meeting the requirement of stable operation of the driving mechanism. Because the adopted power regulating module is silicon controlled rectifier, the working frequency of the main circuit is lower and can not be regulated, the output current waveform ripple is larger, and the requirement of the output current precision is not easy to meet; a related phase-shifting trigger control signal generating circuit has to be designed, and the circuit has a large volume, so that the volume of the whole power cabinet is large; the regulating circuit and the fault detection circuit are designed as analog circuits, and have the problems of inconvenient operation, complex structure, weak fault detection capability and the like. The power control equipment for the control rod driving mechanism of the nuclear power station, which is designed on the basis of the invention, effectively reduces the volume. The digital circuit design effectively improves the detection capability of the fault detection circuit, simplifies the circuit structure, realizes function modularization and enhances the operability and maintainability of equipment.

In published paper digitalization of a P L C-based rod control position system of the first-stage rod in the Qinshan mountain (article number: 0258-.

The power supply control device of the control rod driving mechanism in the second-stage nuclear power station of Ling and Australia in China, which is a million kilowatt pressurized water reactor nuclear power station, is provided by AREVA company of foreign suppliers. The main control circuit of the control rod driving mechanism control device adopts a high-power transistor IGBT as a main power control device. However, as only the power control case for lifting the coil in the designed power control equipment power supply case is provided with a plurality of fixed adjustable current values, the power supply cases for keeping the coil and transferring the coil are not provided with adjustable currents. When a Control Rod Drive Mechanism (CRDM) runs for a long time and the electrical parameters of the coil are greatly changed, an operator cannot perform on-site on-line adjustment on control rod drive mechanism power control equipment on site and can only perform partial plug-in replacement on a control rod drive mechanism control device with non-adjustable current output. This will have a large impact on the economics of the power station in view of the price and the time delay before and after replacement of the power control plug-in the control rod drive mechanism power control apparatus.

In a million kilowatt nuclear power station built or established in China, the power supply control equipment of the control rod driving mechanism is mostly provided by RRCN company of foreign suppliers. The device mainly adopts FPGA to control the controlled silicon. Because the adopted power regulating module is silicon controlled rectifier, the working frequency of the main circuit is lower and can not be regulated, the output current waveform ripple is larger, and the requirement of the output current precision is not easy to meet; because a processor network architecture is not formed, the FPGAs of each control module are independent of each other, when parameter adjustment is performed, the corresponding control module can only be connected with an upper computer at the corresponding cabinet position through a dedicated switching device, an operator is required to operate at the corresponding equipment, and operability and usability are not high.

In summary, the rod position control system equipment used in the current nuclear power station mainly has the following problems: the power supply control waveform is not good enough, the adjustable allowance of the current waveform is not large, the current precision is easily influenced, a power supply fault easily causes rod dropping, the function of key components of system equipment is not detected after failure, the rod position measurement is easily interfered, the precision is not high, and the heat productivity of the equipment is large, so that the service life of the equipment is greatly shortened. When the driving mechanism and the rod position detector have performance degradation after long-term operation, the defects and the problems are more prominent, and the safe and economic operation of a power plant is not facilitated.

Disclosure of Invention

The invention aims to apply a control rod drive mechanism power control mode based on a P L C + FPGA/DSP + IGBT control framework to a control rod power control device, effectively overcomes the defects and shortcomings of the traditional control rod drive mechanism power control device, and improves the operability, usability and maintainability of the device.

The technical scheme of the invention is as follows:

a control rod driving mechanism power supply based on a P L C + FPGA/DSP + IGBT control framework comprises an inter-equipment communication unit, an intra-equipment communication unit, a control and driving unit and a driving mechanism power supply unit;

wherein the inter-equipment communication unit is a P L C communication network among control rod drive mechanism power control equipment;

the communication unit in the equipment is a bus network between the P L C and each FPGA/IGBT control module in single equipment;

the control and drive unit is an FPGA/IGBT control module and controls an IGBT through a drive circuit;

and the power supply unit of the driving mechanism rectifies an input power supply through an IGBT (insulated gate bipolar transistor) to obtain a current value meeting the operation requirement of the driving mechanism.

And the P L C receives lifting and inserting commands sent by the rod control system logic control equipment in the nuclear power station and sends instructions of large current, small current and zero current to the control unit.

After receiving the large, small and zero current commands, the constant value module in the control unit sends the reference constant value signal to the FPGA/DSP control module in the control unit for adjustment processing.

The control unit also receives an induction voltage signal used for adjusting and controlling on the driving mechanism coil; the induced voltage signal is obtained through the Hall sensor 1, and PID adjustment is carried out on the signal and a reference fixed value in an adjusting module of the FPGA/DSP control module.

And the control unit sends a pulse width modulation control signal with a certain duty ratio to the driving unit in real time according to the PID regulation condition.

The driving unit converts the pulse width modulation control signal into a driving signal through the IGBT driver, and controls the IGBT to work, so that the output current is adjusted.

The fault detection unit receives another path of induced voltage signals used for current fault detection on a coil of the driving mechanism, the induced voltage signals for current fault detection are obtained through the Hall sensor 2, meanwhile, the command signals of fixed size, fixed size and fixed zero sent by the P L C are used as time domain reference for dynamically judging the waveform of the coil current, and the induced voltage signals and the reference signals are judged in real time in a dynamic threshold judgment module of the FPGA/DSP control module;

the fault detection unit receives a constant value command signal, encodes three state signals of constant large, constant small and constant zero, and when other codes (such as signal false triggering, signal path abnormal interruption, P L C fault or power loss and the like) except the three codes occur, the encoded fault judgment module triggers an alarm;

the fault detection unit also monitors the state of the FPGA/DSP control module in real time, monitors other fault set points in the equipment in real time, and triggers an alarm when a fault occurs.

The FPGA/DSP control module in each control unit is networked in a bus mode, and forms a control network with an upper computer and P L C in the equipment;

the relevant variables in each FPGA/DSP control module can be monitored and displayed in real time through a control network;

the key internal parameters in each FPGA/DSP control module can be adjusted online in real time through a control network;

each FPGA/DSP control module can be downloaded with an off-line program through a control network;

the key parameters in the whole network can be uploaded to the P L C through the control network, and the P L C carries out unified control processing.

The invention has the beneficial effects that:

the invention provides a control rod driving mechanism power supply control mode based on a P L C + FPGA/DSP + IGBT control framework, wherein the equipment designed based on the control mode adopts P L C to realize current time sequence control, and performs information interaction with an upper computer and an FPGA/DSP control module, the information of each key detection point in the equipment is mastered in real time, and an operator can conveniently check information and position faults, the pulse width modulation type closed loop feedback current regulation control mode of the FPGA/DSP + IGBT is designed, so that the accurate control of the waveform of output current is effectively realized, the output current is regulated in real time, and the current fault is detected in real time, the availability and the reliability of the equipment are improved, the defects and the defects existing in the traditional control rod driving mechanism power supply control equipment are effectively solved through the FPGA/DSP modular design of a control circuit and a fault detection circuit, the field operation of the operator is more convenient, the control rod driving mechanism power supply control equipment can be applied to various power supply control equipment through adaptive modification, the practicability is improved, and the technical characteristics effectively solve the defects and the defects existing in the traditional control rod driving mechanism power supply control equipment, the availability, the maintainability and the operability of.

Drawings

FIG. 1 is a schematic diagram of a control rod driving mechanism power supply control mode based on a P L C + FPGA/DSP + IGBT control framework

Detailed Description

The invention is further described below with reference to examples:

a control rod driving mechanism power supply based on a P L C + FPGA/DSP + IGBT control framework comprises an inter-equipment communication unit, an intra-equipment communication unit, a control and driving unit and a driving mechanism power supply unit;

wherein the inter-equipment communication unit is a P L C communication network among control rod drive mechanism power control equipment;

the communication unit in the equipment is a bus network between the P L C and each FPGA/IGBT control module in single equipment;

the control and drive unit is an FPGA/IGBT control module and controls an IGBT through a drive circuit;

and the power supply unit of the driving mechanism rectifies an input power supply through an IGBT (insulated gate bipolar transistor) to obtain a current value meeting the operation requirement of the driving mechanism.

And the P L C receives lifting and inserting commands sent by the rod control system logic control equipment in the nuclear power station and sends instructions of large current, small current and zero current to the control unit.

After receiving the large, small and zero current commands, the constant value module in the control unit sends the reference constant value signal to the FPGA/DSP control module in the control unit for adjustment processing.

The control unit also receives an induced voltage signal used for adjusting and controlling on the driving mechanism coil, the induced voltage signal is obtained through the Hall sensor 1, and PID adjustment is carried out on the signal and a reference fixed value in an adjusting module of the FPGA/DSP control module.

And the control unit sends a pulse width modulation control signal with a certain duty ratio to the driving unit in real time according to the PID regulation condition.

The driving unit converts the pulse width modulation control signal into a driving signal through the IGBT driver, and controls the IGBT to work, so that the output current is adjusted.

The fault detection unit receives another path of induced voltage signals used for current fault detection on the coil of the driving mechanism, the induced voltage signals for current fault detection are obtained through the Hall sensor 2, meanwhile, the command signals of fixed size, fixed size and fixed zero sent by the P L C are used as time domain reference for dynamically judging the waveform of the coil current, and the induced voltage signals and the reference signals are judged in real time in a dynamic threshold judgment module of the FPGA/DSP control module;

the fault detection unit receives a constant value command signal, encodes three state signals of constant large, constant small and constant zero, and when other codes (such as signal false triggering, signal path abnormal interruption, P L C fault or power loss and the like) except the three codes occur, the encoded fault judgment module triggers an alarm;

the fault detection unit also monitors the state of the FPGA/DSP control module in real time, monitors other fault set points in the equipment in real time, and triggers an alarm when a fault occurs.

The FPGA/DSP control module in each control unit is networked in a bus mode, and forms a control network with an upper computer and P L C in the equipment;

the relevant variables in each FPGA/DSP control module can be monitored and displayed in real time through a control network;

the key internal parameters in each FPGA/DSP control module can be adjusted online in real time through a control network;

each FPGA/DSP control module can be downloaded with an off-line program through a control network;

the key parameters in the whole network can be uploaded to the P L C through the control network, and the P L C carries out unified control processing.

Examples

The invention provides a control rod driving mechanism power supply control mode based on a P L C + FPGA/DSP + IGBT control framework, which is applied to practical equipment, so that a single piece of equipment comprises four sets of independent control and driving modules to realize the independent control of four control rod driving mechanisms, and the control rod driving mechanism power supply control equipment system is divided according to functions, and comprises an inter-equipment communication unit (a P L C communication network between control rod driving mechanism power supply control equipment), an intra-equipment communication unit (a bus network between P L C and each FPGA/IGBT control module in the single piece of equipment), a control and driving unit (the FPGA/IGBT control module controls the IGBT through a driving circuit), a driving mechanism power supply unit (an input power supply is rectified through the IGBT to obtain a current value meeting the operation requirement of the driving mechanism), and a schematic diagram of the system framework is shown in figure 1 in the attached drawing.

The main control functions of the control rod driving mechanism power supply control mode based on the P L C + FPGA/DSP + IGBT control framework are as follows:

the P L C receives lifting and inserting commands sent by the rod control system logic control equipment in the nuclear power station, and sends instructions of large current, small current and zero current to the control unit;

after receiving the large, small and zero current commands, a constant value module in the control unit sends a reference constant value signal to an FPGA/DSP control module in the control unit for adjustment processing;

the control unit also receives an induced voltage signal used for adjusting and controlling on the coil of the driving mechanism, the induced voltage signal is obtained through the Hall sensor 1, and the signal and a reference fixed value are subjected to PID adjustment in an adjusting module of the FPGA/DSP control module;

the control unit sends a pulse width modulation control signal with a certain duty ratio to the driving unit in real time according to the PID regulation condition;

the driving unit converts the pulse width modulation control signal into a driving signal through the IGBT driver, and controls the IGBT to work, so that the output current is adjusted.

The main fault detection function of the control rod driving mechanism power supply control mode based on the P L C + FPGA/DSP + IGBT control framework is as follows:

the fault detection unit receives another path of induced voltage signals used for current fault detection on a coil of the driving mechanism, the induced voltage signals for current fault detection are obtained through the Hall sensor 2, meanwhile, the command signals of fixed size, fixed size and fixed zero sent by the P L C are used as time domain reference for dynamically judging the waveform of the coil current, and the induced voltage signals and the reference signals are judged in real time in a dynamic threshold judgment module of the FPGA/DSP control module;

the fault detection unit receives a constant value command signal, encodes three state signals of constant large, constant small and constant zero, and when other codes (such as signal false triggering, signal path abnormal interruption, P L C fault or power loss and the like) except the three codes occur, the encoded fault judgment module triggers an alarm;

the fault detection unit also monitors the state of the FPGA/DSP control module in real time, monitors other fault set points in the equipment in real time, and triggers an alarm when a fault occurs.

The main networking functions of the control rod driving mechanism power control mode based on the P L C + FPGA/DSP + IGBT control framework are as follows:

the FPGA/DSP control module in each control unit is networked in a bus mode, and forms a control network with an upper computer and P L C in the equipment;

the relevant variables in each FPGA/DSP control module can be monitored and displayed in real time through a control network;

the key internal parameters in each FPGA/DSP control module can be adjusted online in real time through a control network;

each FPGA/DSP control module can be downloaded with an off-line program through a control network;

the key parameters in the whole network can be uploaded to the P L C through the control network, and the P L C carries out unified control processing.

The P L C + FPGA/DSP + IGBT control framework is used for controlling the control rod driving mechanism power supply control, and the FPGA/DSP control platform mainly realizes the functions of communication, PID calculation, fault synthesis, time sequence control, A/D conversion control, pulse control, data storage control and the like.

The FPGA has the characteristics of strong time sequence function, no instruction period and high response speed, and can complete the functions of time sequence control, A/D conversion control, pulse control, data storage control and the like;

the characteristics of DSP data signal processing and strong control algorithm are applied to complete PID calculation, communication processing and partial fault comprehensive functions.

The invention provides a control rod driving mechanism power supply control mode based on a P L C + FPGA/DSP + IGBT control framework, and equipment designed based on the control mode has the following characteristics:

the control unit is modularized. Each control unit in the equipment based on the system framework realizes modularization and independence, mutual interference is avoided, and the function failure of the whole equipment cannot be caused by single fault.

Each control unit in the equipment based on the system framework, the P L C and the upper computer form a communication network, key data in each control unit can be monitored in real time through a special software system in the upper computer, and partial data needing to be adjusted are adjusted on line in real time, so that each driving mechanism with the incompletely same parameters is controlled independently in a targeted manner.

The control function is specialized. Each control unit in the equipment based on the system framework adopts an FPGA/DSP control platform, and respective technical characteristics of two processors are fully utilized to pertinently realize corresponding data calculation processing, time sequence control and network communication functions.

The main control logic is unified, key parameters in the whole network can be uploaded to a P L C and an upper computer through a control network, a key control time sequence and key control parameters required by normal and stable operation of the driving mechanism are uniformly controlled through the P L C, and specific parameters in the FPGA/DSP control unit are accurately adjusted through the upper computer.

The control framework of the FPGA/DSP + IGBT penetrates through the whole control system, the multi-channel control module, the P L C and the upper computer can be arranged in a unified network control framework through a bus data communication mode, data exchange is carried out among the multi-channel control module, the P L C and the upper computer, and the general-division control of the power control system of the driving mechanism is realized.

The method comprises the steps of uploading key parameters of all functional modules in the whole network to a P L C and an upper computer through a control network, uniformly controlling key control time sequences and key parameters required by normal and stable operation of a driving mechanism through the P L C, accurately adjusting specific adjustment parameters in a control unit FPGA/DSP through the upper computer, receiving real-time current signals sent back by a current converter on the side of the driving mechanism through a waveform acquisition and conversion module by the FPGA/DSP, and performing closed-loop adjustment on the real-time current signals and given value signals in the control module, so that accurate adjustment of current output to the driving mechanism is achieved.

The invention adopts P L C to realize current time sequence control, communicates with an upper computer, and simultaneously performs information interaction with an FPGA/DSP control module, thereby mastering the information of each detection point in the whole set of equipment in real time and facilitating the fault positioning of an operator;

the invention adopts an FPGA/DSP control platform, realizes the control time sequence function and the current precision regulating algorithm control function of the control rod driving mechanism operation by two processors respectively according to the respective characteristics of the FPGA and the DSP, and interconnects information;

the main power control circuit takes the IGBT as a power control core and is provided with the high-efficiency drive circuit, so that the switching speed is high, the heat loss is low, the under-voltage protection, the over-current protection and the over-temperature protection of the drive power can be realized quickly, the noise is low, the size is small, the service life is long, and the stability and the reliability of equipment are improved;

the invention designs a pulse width modulation type closed loop feedback current regulation control mode of FPGA/DSP + IGBT, conveniently and effectively realizes real-time dynamic accurate regulation of current output waveform, detects current fault in real time, and improves the availability and reliability of equipment;

the control framework adopts the FPGA modular processing of the control circuit and the fault detection circuit, simplifies the hardware circuit, is more convenient for operators to operate on site, can be applied to various power supply control devices through adaptive modification, and improves the practicability of the devices;

the invention adopts a dynamic current signal detection technology to dynamically detect the coil current of the driving mechanism in real time, and can stop the control rod in time when an abnormal current waveform appears, thereby avoiding the damage to the structure of the driving machine and improving the reliability of the equipment;

the invention introduces a coding type fault judgment mechanism, and the processing mode can effectively judge fault conditions such as signal false triggering, signal path abnormal interruption, P L C fault or power loss and the like, thereby improving the reliability of the equipment.

Claims (8)

1. A control rod driving mechanism power supply based on a P L C + FPGA/DSP + IGBT control framework is characterized by comprising an inter-equipment communication unit, an intra-equipment communication unit, a control and driving unit and a driving mechanism power supply unit;

wherein the inter-equipment communication unit is a P L C communication network among control rod drive mechanism power control equipment;

the communication unit in the equipment is a bus network between the P L C and each FPGA/IGBT control module in single equipment;

the control and drive unit is an FPGA/IGBT control module and controls an IGBT through a drive circuit;

and the power supply unit of the driving mechanism rectifies an input power supply through an IGBT (insulated gate bipolar transistor) to obtain a current value meeting the operation requirement of the driving mechanism.

2. The power supply of the control rod drive mechanism based on the P L C + FPGA/DSP + IGBT control framework as claimed in claim 1, wherein the P L C receives lifting and inserting commands from the control logic device of the control system in the nuclear power plant, and sends the commands of 'large current', 'small current', 'zero current' to the control unit.

3. The power supply of the control rod driving mechanism based on the P L C + FPGA/DSP + IGBT control framework as claimed in claim 1, wherein the constant value module in the control unit sends a reference constant value signal to the FPGA/DSP control module inside the control unit for adjustment after receiving the large, small and zero current commands.

4. The control rod drive mechanism power supply based on the P L C + FPGA/DSP + IGBT control framework as claimed in claim 1, wherein the control unit further receives an induced voltage signal for regulation control on a drive mechanism coil, the induced voltage signal is obtained by a Hall sensor 1, and PID regulation is performed on the signal and a reference fixed value in a regulation module of the FPGA/DSP control module.

5. The power supply of the control rod drive mechanism based on the P L C + FPGA/DSP + IGBT control framework as claimed in claim 1, wherein the control unit sends a pulse width modulation control signal with a certain duty ratio to the drive unit in real time according to the PID regulation condition.

6. The control rod drive mechanism power supply based on the P L C + FPGA/DSP + IGBT control framework as claimed in claim 1, wherein the drive unit converts the pulse width modulation control signal into a drive signal through an IGBT driver to control the operation of the IGBT, thereby realizing the adjustment of the output current.

7. The power supply of the control rod drive mechanism based on the P L C + FPGA/DSP + IGBT control framework as claimed in claim 1, wherein:

the fault detection unit receives another path of induced voltage signals used for current fault detection on a coil of the driving mechanism, the induced voltage signals for current fault detection are obtained through the Hall sensor 2, meanwhile, the command signals of fixed size, fixed size and fixed zero sent by the P L C are used as time domain reference for dynamically judging the waveform of the coil current, and the induced voltage signals and the reference signals are judged in real time in a dynamic threshold judgment module of the FPGA/DSP control module;

the fault detection unit receives the constant value command signal, encodes three state signals of constant large, constant small and constant zero, and when other codes except the three codes occur, the encoded fault judgment module triggers an alarm;

the fault detection unit also monitors the state of the FPGA/DSP control module in real time, monitors other fault set points in the equipment in real time, and triggers an alarm when a fault occurs.

8. The power supply of the control rod drive mechanism based on the P L C + FPGA/DSP + IGBT control framework as claimed in claim 1, wherein:

the FPGA/DSP control module in each control unit is networked in a bus mode, and forms a control network with an upper computer and P L C in the equipment;

the relevant variables in each FPGA/DSP control module can be monitored and displayed in real time through a control network;

the key internal parameters in each FPGA/DSP control module can be adjusted online in real time through a control network;

each FPGA/DSP control module can be downloaded with an off-line program through a control network;

the key parameters in the whole network can be uploaded to the P L C through the control network, and the P L C carries out unified control processing.

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