CN1808629A - Coil self-inductance based control rod position measuring system - Google Patents
Coil self-inductance based control rod position measuring system Download PDFInfo
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- CN1808629A CN1808629A CNA2005100112258A CN200510011225A CN1808629A CN 1808629 A CN1808629 A CN 1808629A CN A2005100112258 A CNA2005100112258 A CN A2005100112258A CN 200510011225 A CN200510011225 A CN 200510011225A CN 1808629 A CN1808629 A CN 1808629A
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- 238000005259 measurement Methods 0.000 claims abstract description 62
- 239000000463 material Substances 0.000 claims abstract description 13
- 230000006698 induction Effects 0.000 claims description 28
- 230000035699 permeability Effects 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 238000005086 pumping Methods 0.000 claims description 8
- 239000000696 magnetic material Substances 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 7
- 230000001939 inductive effect Effects 0.000 abstract 2
- 230000010365 information processing Effects 0.000 abstract 1
- 238000012423 maintenance Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 239000011295 pitch Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000009835 boiling Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000009257 reactivity Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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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
- 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
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The disclosed single-coil measurement system for position of control rod based on coil self-induction principle in reactor measuring and controlling technique comprises a measurement sensor for rod position, a reference signal sensor, a measurement mandrel space arranged with the magnetic inductive material and non-inductive material connected to the control rod, and the information processing device with ADC to analyze by the dc signal with linear relation with self-inductive voltage from sensors. This invention has small volume and stable running with convenient maintenance to provide security guarantee for reactor.
Description
Technical field
The invention belongs to reactor observation and control technology field, relate to a kind of rod position measuring system of reactor control rod, relate in particular to a kind of measuring system for reactor control bar position of the sensor based on coil self-inductance work.
Background technology
Control rod and driving mechanism thereof are the important device that guarantees the reactor safety operation.Under the nominal situation, by regulating control rod rod position, normal startup that can the realization response heap with close down, make reactor in given power level operation or carry out reactor capability and regulate; Under accident conditions, reduce the reactor core reactivity by quick insertion control rod, thereby realize emergency shut-down.Rod position measuring system is one of most important system in this device, and its reliability and security is related to the normal operation and the safety of entire reaction heap.
In most of reactors, use measuring system for reactor control bar position mainly to comprise angled type at present, ultrasonic type, electric vortex type and inductance type etc. are several.
The control rod rod position measuring system of angled type is that the displacement of control rod in reactor core is converted to angle signal, utilizes selsyn (receiving selsyn) that this angle signal is measured then.The problem that this measuring method exists is: 1, the response speed of system is slower; 2, system's requirement on machining accuracy height, interchangeability is poor; 3, system check and demarcation difficulty.
The control rod rod position measuring system of ultrasonic type is at control rod duct inner bottom part ultrasonic generator and sensor to be installed, the reflected signal that the ultrasonic signal that uses ultrasonic sensor reception ultrasonic generator to send produces in the control rod bottom is by calculating reflected signal and the controlled excellent position of the time difference that transmits.Belong to such rod position measuring device as Chinese patent 90100692.0-" position measuring system of reactor control rod and ultrasonic rod " and 93102729.2-" self-correcting supersonic level gauge ".The problem that this measuring method exists is: 1, can not work under the reactor accident state of generation bubble in boiling water type reactor and heap; 2, making the control rod position that records in this way is relative position with pressure vessel, to system's installation requirement height.
The control rod rod position measuring system of electric vortex type is installed a precision lead screw and is driven a position measurement plate with it and moves on the main drive shaft of control rod drive mechanisms (CRD), measure distance between position measurement plate and the reference by location plate of fixing and the positional information of controlled rod by current vortex sensor.The problem that this measuring method exists is: 1, belong to indirect measurement method, and can not diameter measurement control rod position; 2, the measurement mechanism volume is bigger.
The control rod rod position measuring system of inductance type is that the measurement plug that will be made up of permeability magnetic material is connected control rod one end and is synchronized with the movement with control rod; Measure plug at a hollow duct internal motion, elementary drive coil and measurement secondary coil are sleeved on outside, hollow duct, when measuring plug portion's motion in coil, the magnetic induction density that changes telefault changes measurement secondary coil amplitude output signal.As Chinese patent 85108640-" digital rod position detector system ".The problem that this rod position measurement method exists is: sensor lead is more, connects complicated.Though in the Chinese patent 95116462.9-" address code measuring system for reactor control bar position " of Chinese patent 92103620.5-" self-coding digital type rod position measuring system " that the applicant applied on June 4th, 1992 and application on October 6 nineteen ninety-five, improve for loop construction.Still have following problem: 1, volume is bigger; 2, owing to use an independently elementary drive coil, coil power is bigger, in case coil damages measuring system complete failure.3, the process consistency of each coil requires to make the manufacture process requirement height, and processing and manufacturing difficulty is big.
Summary of the invention
It is bigger to the objective of the invention is to solve in the existing inductance type rod position measuring system sensor bulk, manufacture difficulty is big, the problem that the primary coil damage can cause entire system to lose efficacy the invention provides a kind of control rod rod position measuring system based on coil self-inductance and comprises:
Measure the rod position measurement sensor that coil and auxiliary signal circuit thereof are formed by one group of self-induction that is used for position measurement, the described coil of sensed quantity separately is independent separately, corresponding respectively auxiliary signal circuit separately;
By the reference signal sensor that self-induction external reference coil and auxiliary signal circuit thereof are formed, described self-induction external reference coil and auxiliary signal circuit thereof are identical with the self-induction measurement coil and the auxiliary signal circuit structure thereof of described rod position measurement sensor, to produce reference signal;
One be connected with control rod be spaced the measurement plug of forming by permeability magnetic material and non-magnet material, measure the coil inside motion in described self-induction; And
Be equipped with the messaging device of A/D conversion equipment, what its acquisition rod position measuring sensor and reference signal sensor were exported has the direct current signal that linear relationship changes with self induction voltage, carries out analyzing and processing.
Rod position measurement sensor employing of the present invention is measured self-induction and is measured the work of self-induction of loop change in voltage principle, and drive coil unites two into one with the measurement coil.
Auxiliary signal circuit of the present invention comprises generation circuit and the amplifying circuit that produces sensed quantity coil separately or the used pumping signal of reference measurement coil, and is used to measure the self induction voltage metering circuit that self-induction is measured the self induction voltage of coil or reference measurement coil.
The present invention compared with prior art, have the following advantages and the high-lighting effect: owing to used the inductance type transducer that utilizes self-inductance work to carry out the control rod rod position measurement in the rod position measuring system of the present invention, remove the bigger elementary drive coil of volume, thereby made the volume of whole measuring system greatly reduce.Because the independence of each inductance type transducer does not influence other working sensor after some sensor damages, can guarantee to keep the correct rod position signal of sensor output under certain conditions.Each coil independent actuation can use less power to carry out work, thereby has reduced the lead installation difficulty.Compare with the inductance type transducer of other form, it is less to go between.Used external reference coil, removed the influence of environmental factors such as temperature to sensor signal, it is easier to make.
Description of drawings
Fig. 1 is based on the structural representation of the control rod rod position measuring system of coil self-inductance.
Fig. 2 is based on the synoptic diagram of an embodiment of the control rod rod position measuring system of coil self-inductance.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 1, the invention provides a kind of control rod rod position measuring system based on coil self-inductance, comprise by one group and be used for the self-induction measurement coil 1 of position measurement and the rod position measurement sensor that auxiliary signal circuit is formed thereof, the described coil of sensed quantity separately is independent separately, corresponding respectively auxiliary signal circuit separately; By the reference signal sensor that self-induction external reference coil 2 and auxiliary signal circuit thereof are formed, described self-induction external reference coil and auxiliary signal circuit thereof are identical with the self-induction measurement coil and the auxiliary signal circuit structure thereof of described rod position measurement sensor, to produce reference signal; One be connected with control rod be spaced the measurement plug of forming 3 by permeability magnetic material and non-magnet material, measure the coil inside motion in described self-induction; Be equipped with the messaging device 7 of A/D conversion equipment, what its acquisition rod position measuring sensor and reference signal sensor were exported has the direct current signal that linear relationship changes with self induction voltage, carries out analyzing and processing.For display result, can also connect and show output device 8.
The employing of rod position measurement sensor is measured self-induction and is measured the work of self-induction of loop change in voltage principle, and drive coil unites two into one with the measurement coil.Auxiliary signal circuit comprises generation circuit 4 and the amplifying circuit 5 that produces sensed quantity coil 1 separately or reference measurement coil 2 used pumping signals, and is used to measure the self induction voltage metering circuit 6 that self-induction is measured the self induction voltage of coil 1 or reference measurement coil 2.All self-induction measurement coils 1 are installed on and measure in plug 3 movement travels in the rod position measurement sensor.Self-induction external reference coil 2 is installed in to be measured outside plug 3 movement travels.
Fig. 2 has shown the structure based on a specific embodiment of the control rod rod position measuring system of coil self-inductance, in this embodiment, described rod position measuring system has used three self-inductions of uniformly-spaced arranging to measure coil 1 altogether, and self-induction is measured the 2 times of control rod step pitches that are spaced apart of coil 2; Measure plug 3 and form by three sections magnetic conductions and non-magnet material, the two ends layout be the non-magnet material part, intermediate arrangement be the permeability magnetic material part, three sections materials are isometric, and are 3 times of control rod step pitches.
In this embodiment, exiting signal generating circuit 4 adopts the DIO port of PCI-MIO-16XE-10 type multifunctional signal collection/output board to produce the AC signal of fixed frequency, pumping signal amplifying circuit 5 adopts the complementary symmetrical power amplification circuit of the OTL that is made up of 9013 types and 9012 transistor npn npns, and self induction voltage metering circuit 6 adopts AM-T-ACU5 type AC signal amplitude measurement module.Two output terminals of exiting signal generating circuit 4 are connected to two input ends of each pumping signal amplifying circuit 5, two output terminals of pumping signal amplifying circuit 5 are directly connected to two joints that self-induction is measured coil 2 or reference measurement coil 3, and two self induction voltage input adapters of self induction voltage metering circuit 6 are connected in parallel on two joints that self-induction is measured coil 2 or reference measurement coil 3.
Owing to use the AC signal of the DIO port generation fixed frequency of multifunctional signal collection/output board in the present embodiment, so rod position measuring system can be regulated the amplitude and the frequency of pumping signal voluntarily according to the environment needs situation that conforms.
A/D conversion equipment in the present embodiment adopts the analog acquisition passage of PCI-MIO-16XE-10 type multifunctional signal collection/output board.Messaging device uses the PC computing machine.
In the foregoing description only is illustrative for example, and it is nonrestrictive, in actual use according to concrete request for utilization, self-induction is measured the number of coil and position can free adjustment, measure the material hop count and the arrangement of plug and can do corresponding modification according to coil arrangement, auxiliary signal circuit also can be changed other form circuit with identical function as required, the A/D conversion equipment can also be selected other A/D conversion equipments such as PXI-MIO-16XE-10 for use according to concrete needs, and messaging device can use PLC, embedded controller etc.
The principle of work of rod position measuring system of the present invention is as follows:
The measurement plug 3 that is connected with control rod moves with control rod is synchronously bottom-up, and measurement plug 3 is measured coil 1A in self-induction, self-induction measures coil 1B and self-induction is measured coil 1C internal motion.
The AC signal of the fixed frequency that exiting signal generating circuit 4 produces, after pumping signal amplifying circuit 5 amplifies, send into self-induction and measure coil 2 or reference measurement coil 3, self induction voltage metering circuit 6 is converted to a direct-flow output signal that has a linear changing relation with the self induction voltage amplitude with the self induction voltage that measures and exports.
Measure coil 1 when inner when the permeability magnetic material of measuring plug 3 partly enters self-induction,, measure in self-induction that induction obtains a bigger self induction voltage value, self induction voltage metering circuit 6 output signal U on the coil 1 because the material magnetic permeability is big than the non-magnet material part; And when the non-magnet material of measuring plug 3 partly enters self-induction measurement coil 1 inside, because the material magnetic permeability is little than the permeability magnetic material part, induction obtains a self induction voltage value that is significantly less than U, self induction voltage metering circuit 6 output signal V on self-induction measurement coil 1.Because reference measurement coil 2 is positioned at outside the stroke of measuring plug 3 all the time, and it is inner for empty or place a reference plug 9 with the non-magnetic conduction part same structure of measurement plug 3, self-induction was measured the self induction voltage of induction on the coil 1 when its self induction voltage size partly entered self-induction measurement coil 1 near the non-magnetic conduction of measuring plug 3, and its self induction voltage metering circuit 6 outputs are near the output signal V0 of output signal V.
Then when measuring plug 3 and control rod and measured coil 1 below and moved upward by self-induction jointly, three self-inductions are measured on coil 1 and the reference measurement coil 2 in each of control rod motion back self induction voltage metering circuit 6 output signals in step and are changed as table 1.By data presentation in the table, corresponding self-induction of each step of control rod motion is measured coil 1A, self-induction measures coil 1B and self-induction is measured coil 1C, unique with the array configuration of the difference of the output signal of reference measurement coil 2, each goes on foot corresponding output signal combination and does not repeat, can be used for representing control rod motion step number, i.e. the control rod position.Use the collection of A/D conversion equipment represent each self-induction measure coil 1 and reference measurement coil 2 the self induction voltage size direct current signal and be converted to the corresponding digital value, the digital value that corresponding three self-inductions are measured coil 1 is subtracted each other with the digital value of corresponding reference measurement coil 2, and compare with 1/2 (U-V0) value, digital value is counted binary condition 1 greater than the state of 1/2 (U-V0), otherwise count binary condition 0, obtain the state value that self-induction as shown in table 1 is measured coil 1A, self-induction measurement coil 1B and self-induction measurement coil 1C.After being stored in program " combination of coil state value and the control rod step number relation table " comparison in the computing machine, can get control rod place step number value, i.e. control rod position up till now with storage in advance in above-mentioned state value and the computing machine.Computing machine can also be delivered to the control rod step number value that obtains and show in the output device 8 (as display), shows control rod rod position measurement result.
Table 1
| Step number | 1 | 2 | 3 | 4 | 5 |
| Self-induction is measured coil 1A | U | U | V | V | V |
| Self-induction is measured coil 1B | V | U | U | U | V |
| Self-induction is measured coil 1C | V | V | V | U | U |
| External reference coil | V0 | V0 | V0 | V0 | V0 |
| Self-induction is measured coil 1A-external reference coil | U-V0 | U-V0 | ～0 | ～0 | ～0 |
| Self-induction is measured coil 1B-external reference coil | ～0 | U-V0 | U-V0 | U-V0 | ～0 |
| Self-induction is measured coil 1C-external reference coil | ～0 | ～0 | ～0 | U-V0 | U-V0 |
| Self-induction is measured the state of coil 1A | 1 | 1 | 0 | 0 | 0 |
| Self-induction is measured the state of coil 1B | 0 | 1 | 1 | 1 | 0 |
| Self-induction is measured the state of coil 1C | 0 | 0 | 0 | 1 | 1 |
Only provided a kind of self-induction in the table of the foregoing description and measured coil and measure uniformly-spaced arranging situation combinations of states method down of plug, also can adopt as required in addition as address code encoding scheme and the corresponding self-induction thereof mentioned among the Chinese patent 95116462.9-" address code measuring system for reactor control bar position " and measure coil arrangement mode and measurement mandrel structure.
Claims (5)
1. control rod rod position measuring system based on coil self-inductance is characterized in that described rod position measuring system comprises:
Measure the rod position measurement sensor that coil and auxiliary signal circuit thereof are formed by one group of self-induction that is used for position measurement, the described coil of sensed quantity separately is independent separately, corresponding respectively auxiliary signal circuit separately;
By the reference signal sensor that self-induction external reference coil and auxiliary signal circuit thereof are formed, described self-induction external reference coil and auxiliary signal circuit thereof are identical with the self-induction measurement coil and the auxiliary signal circuit structure thereof of described rod position measurement sensor, to produce reference signal;
One be connected with control rod be spaced the measurement plug of forming by permeability magnetic material and non-magnet material, measure the coil inside motion in described self-induction; And
Be equipped with the messaging device of A/D conversion equipment, what its acquisition rod position measuring sensor and reference signal sensor were exported has the direct current signal that linear relationship changes with self induction voltage, carries out analyzing and processing.
2. the control rod rod position measuring system based on coil self-inductance according to claim 1 is characterized in that: described rod position measurement sensor employing is measured self-induction and is measured the work of self-induction of loop change in voltage principle, and drive coil unites two into one with the measurement coil.
3. the control rod rod position measuring system based on coil self-inductance according to claim 1, it is characterized in that: described auxiliary signal circuit comprises generation circuit and the amplifying circuit that produces sensed quantity coil separately or the used pumping signal of reference measurement coil, and is used to measure the self induction voltage metering circuit that self-induction is measured the self induction voltage of coil or reference measurement coil.
4. the control rod rod position measuring system based on coil self-inductance according to claim 1 is characterized in that: all self-induction measurement coils are installed on and measure in the plug movement travel in the described rod position measurement sensor.
5. the control rod rod position measuring system based on coil self-inductance according to claim 1 is characterized in that: described self-induction external reference coil is installed in to be measured outside the plug movement travel.
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| CNB2005100112258A CN100483561C (en) | 2005-01-21 | 2005-01-21 | Coil self-inductance based control rod position measuring system |
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| CNB2005100112258A CN100483561C (en) | 2005-01-21 | 2005-01-21 | Coil self-inductance based control rod position measuring system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100397030C (en) * | 2006-08-07 | 2008-06-25 | 中国计量学院 | Method for measuring deep displacement and sensor based on mutual inductance unit and self-inductance unit buried underground |
| CN101794630A (en) * | 2010-03-12 | 2010-08-04 | 清华大学 | Rod position measuring device with double-spiral coil cascade structure |
| CN101794628A (en) * | 2010-03-12 | 2010-08-04 | 清华大学 | Rod position measuring system based on error tape correction method |
| CN101794627A (en) * | 2010-03-12 | 2010-08-04 | 清华大学 | Rod position measuring device based on differential pressure variation |
| CN102280150A (en) * | 2011-08-18 | 2011-12-14 | 国核自仪系统工程有限公司 | Rod position detecting system of nuclear power plant and method for testing free rod-drop time thereof |
| CN102543229A (en) * | 2012-02-08 | 2012-07-04 | 上海昱章电气成套设备有限公司 | Nuclear electric rod position measurement device based on single coils and difference value measurement method of nuclear power rod position thereof |
| CN103403502A (en) * | 2011-03-07 | 2013-11-20 | 阿海珐有限公司 | Apparatus for detecting a magnetically conductive object and position measuring system for measuring the position of a guide rod and associated position measuring method |
| CN103871523A (en) * | 2012-12-11 | 2014-06-18 | 中国核动力研究设计院 | Nuclear power plant control rod position measurement method |
| CN104332201A (en) * | 2013-07-22 | 2015-02-04 | 中国核动力研究设计院 | New rod-position measuring method |
| CN106782711A (en) * | 2016-12-27 | 2017-05-31 | 四川英杰电气股份有限公司 | Signal extraction and error filtering method and device |
| CN107256729A (en) * | 2017-07-20 | 2017-10-17 | 中国核动力研究设计院 | A kind of rod position measurement method based on independent lines ring type stick location probe |
| CN109785984A (en) * | 2019-03-26 | 2019-05-21 | 四川华都核设备制造有限公司 | A kind of handgrip position detecting device and handle component |
-
2005
- 2005-01-21 CN CNB2005100112258A patent/CN100483561C/en active Active
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100397030C (en) * | 2006-08-07 | 2008-06-25 | 中国计量学院 | Method for measuring deep displacement and sensor based on mutual inductance unit and self-inductance unit buried underground |
| CN101794628B (en) * | 2010-03-12 | 2012-07-25 | 清华大学 | Rod position measuring system based on error tape correction method |
| CN101794630A (en) * | 2010-03-12 | 2010-08-04 | 清华大学 | Rod position measuring device with double-spiral coil cascade structure |
| CN101794628A (en) * | 2010-03-12 | 2010-08-04 | 清华大学 | Rod position measuring system based on error tape correction method |
| CN101794627A (en) * | 2010-03-12 | 2010-08-04 | 清华大学 | Rod position measuring device based on differential pressure variation |
| CN101794630B (en) * | 2010-03-12 | 2012-02-08 | 清华大学 | Rod position measuring device with double-spiral coil cascade structure |
| CN101794627B (en) * | 2010-03-12 | 2012-07-25 | 清华大学 | Rod position measuring device based on differential pressure variation |
| US9329019B2 (en) | 2011-03-07 | 2016-05-03 | Areva Gmbh | Apparatus for detecting a magnetically conductive object and position measuring system for measuring the position of a guide rod and associated position measuring method |
| CN103403502A (en) * | 2011-03-07 | 2013-11-20 | 阿海珐有限公司 | Apparatus for detecting a magnetically conductive object and position measuring system for measuring the position of a guide rod and associated position measuring method |
| CN102280150A (en) * | 2011-08-18 | 2011-12-14 | 国核自仪系统工程有限公司 | Rod position detecting system of nuclear power plant and method for testing free rod-drop time thereof |
| CN102543229A (en) * | 2012-02-08 | 2012-07-04 | 上海昱章电气成套设备有限公司 | Nuclear electric rod position measurement device based on single coils and difference value measurement method of nuclear power rod position thereof |
| CN103871523A (en) * | 2012-12-11 | 2014-06-18 | 中国核动力研究设计院 | Nuclear power plant control rod position measurement method |
| CN104332201A (en) * | 2013-07-22 | 2015-02-04 | 中国核动力研究设计院 | New rod-position measuring method |
| CN106782711A (en) * | 2016-12-27 | 2017-05-31 | 四川英杰电气股份有限公司 | Signal extraction and error filtering method and device |
| CN106782711B (en) * | 2016-12-27 | 2018-06-29 | 四川英杰电气股份有限公司 | Signal extraction and error filtering method and device |
| CN107256729A (en) * | 2017-07-20 | 2017-10-17 | 中国核动力研究设计院 | A kind of rod position measurement method based on independent lines ring type stick location probe |
| CN109785984A (en) * | 2019-03-26 | 2019-05-21 | 四川华都核设备制造有限公司 | A kind of handgrip position detecting device and handle component |
| CN109785984B (en) * | 2019-03-26 | 2024-02-20 | 中国原子能科学研究院 | Gripper position detection device and gripper part |
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| CN100483561C (en) | 2009-04-29 |
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