JP2020139801A - Fuel replacing machine - Google Patents

Abstract

To provide a fuel replacing machine capable of suppressing vibration of a fuel assembly and an expansion pipe, without providing a vibration control device.SOLUTION: A fuel replacing machine comprises: a movable traveling carriage 2; a traversing carriage 3 movable on the traveling carriage 2; an expansion pipe 4 mounted on the traversing carriage 3, expansible and capable of suspending the fuel assembly 5; a control device 100 controlling the traveling carriage 2, the traversing carriage 3 and the expansion pipe 4; a resonance frequency identification device 101 calculating a resonance frequency f of a vibration system formed of the expansion pipe 4 and the fuel assembly 5; and a correction device 102 calculating a correction command value 201 obtained by eliminating a component of the resonance frequency f from a command value 200 of the traveling carriage 2 and the traversing carriage 3. The control device 100 controls the traveling carriage 2 and the traversing carriage 3 according to the correction command value 201.SELECTED DRAWING: Figure 1

Description

The present invention relates to a fuel replacement machine for transferring fuel assemblies and equipment installed underwater in a nuclear power plant.

At nuclear power plants, it is desired to reduce the time required for fuel replacement work performed during regular inspections. In the fuel replacement work, the fuel assembly is transferred from the core in the reactor pressure vessel to the fuel storage rack placed in the fuel pool via the reactor well, and from the fuel storage rack to the core. This includes work and transfer within the core and fuel storage racks. The fuel changer that performs this work is equipped with a traveling carriage, a traversing carriage that moves on the traveling carriage, and an expandable and contractible telescopic pipe that is attached to the traversing carriage, and grips the fuel assembly at the lower end of the telescopic pipe to run. The fuel assembly is transferred by the movement of the bogie and the traverse bogie (hereinafter referred to as "horizontal running") and the expansion and contraction of the expansion and contraction pipe.

In the fuel replacement work using the fuel replacement machine, the expansion pipe and the fuel assembly gripped by the expansion pipe run out when the lateral traveling is stopped. If this runout is large, problems such as the fuel replacement machine failing to grasp the fuel assembly in the core and the fuel storage rack, and the fuel assembly cannot be inserted into the predetermined positions of the core and the fuel storage rack occur. It will be easier.

Therefore, in the fuel changer, before gripping the fuel assembly and before inserting the fuel assembly into a predetermined position, the fuel changer is stopped until the runout of the expansion pipe and the fuel assembly is settled, and a predetermined position is set. Waiting for time An operation called "waiting for swing" is performed. If the runout of the expansion pipe and the fuel assembly that occurs when the lateral running is stopped can be quickly suppressed and the runout waiting time can be shortened, the time required for the fuel replacement work can be shortened.

Patent Document 1 discloses an example of a refueling machine that rapidly suppresses runout of a telescopic pipe and a fuel assembly. The refueling machine described in Patent Document 1 is provided with a vibration damping device composed of a suspension and an electromagnet between the traversing carriage and the telescopic tube, and controls the current supplied to the electromagnet by the swing speed of the telescopic tube to control the telescopic tube. Suppress runout.

Japanese Unexamined Patent Publication No. 2008-304382

A conventional refueling machine such as the refueling machine described in Patent Document 1 is provided with a vibration damping device in order to suppress the runout of the expansion pipe and the fuel assembly, so that the configuration becomes complicated, the number of parts increases, and the cost increases. There is a problem of increasing. Further, since the fuel assembly is suspended in the telescopic pipe in a swingable state, there is a concern that the runout of the fuel assembly remains after the runout of the telescopic pipe has subsided.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a fuel replacement machine capable of suppressing the runout of a fuel assembly and a telescopic pipe without providing a vibration damping device. To do.

The fuel changer according to the present invention is attached to a movable traveling carriage, a traversing carriage that can move on the traveling carriage, and the traversing carriage, is expandable and contractible, and can suspend a fuel assembly. An expansion tube, a control device for controlling the traveling carriage, the traversing carriage, and the expansion tube, a resonance frequency identification device for obtaining the resonance frequency of a vibration system composed of the expansion tube and the fuel assembly, and the traveling carriage. And a correction device for obtaining a correction command value obtained by removing the component of the resonance frequency from the command value for the traversing carriage. The control device controls the traveling carriage and the traversing carriage according to the correction command value.

According to the present invention, it is possible to provide a fuel changer capable of suppressing the runout of a fuel assembly and a telescopic pipe without providing a vibration damping device.

It is a figure which shows the structure of the fuel change machine according to Example 1 of this invention. It is a figure which shows the simple model of the vibration system for the resonance frequency identification apparatus to obtain the resonance frequency. It is a figure which looked at the fuel assembly shown in FIG. 2A from above. It is a figure explaining the process which the correction device removes the resonance frequency component of a vibration system from a command value, and is the graph which shows an example of a command value. It is a figure explaining the process which the correction device removes the resonance frequency component of a vibration system from a command value, and is the graph which shows an example of the gain of the notch filter provided in the correction device. It is a figure explaining the process which the correction apparatus removes the resonance frequency component of a vibration system from a command value, and is the graph which shows an example of a correction command value. It is a figure which shows another structure of the correction apparatus in Example 1. FIG. It is a figure which shows the structure of the fuel change machine by Example 2 of this invention. It is a figure which shows the structure of the fuel change machine by Example 5 of this invention. It is a figure which shows another structure of the fuel change machine according to Example 5 of this invention. It is a figure which shows the structure of the fuel change machine by Example 3 of this invention.

The fuel changer according to the present invention controls the command value of the movement (lateral travel) of the traveling carriage and the traverse carriage, so that the fuel assembly held by the expansion and contraction pipe and the expansion and contraction pipe is held without a vibration damping device. It is possible to quickly suppress the fluctuation with.

Hereinafter, the fuel replacement machine according to the embodiment of the present invention will be described with reference to the drawings. In the drawings used in the present specification, the same or corresponding components may be designated by the same reference numerals, and repeated description of these components may be omitted.

In the examples described below, an example in which a fuel changer transfers a fuel assembly installed in water will be described. The fuel changer according to the present invention can also transfer equipment installed underwater in a nuclear power plant, such as a core control rod.

The fuel changer according to the first embodiment of the present invention will be described.

FIG. 1 is a diagram showing a configuration of a fuel changer 1 according to the present embodiment. The fuel changer 1 includes a traveling carriage 2, a traversing carriage 3, a telescopic tube 4, a swivel device (not shown), a control device 100, a resonance frequency identification device 101, and a correction device 102.

The traveling carriage 2 can move directly above the reactor well or the fuel pool 21 along the rails 22 installed in parallel on the floor 20 facing the reactor well or the fuel pool 21.

The traversing carriage 3 can move on the traveling carriage 2 along a rail (not shown) installed on the traveling carriage 2 in a direction orthogonal to the moving direction of the traveling carriage 2.

The telescopic pipe 4 is attached to the traverse carriage 3 via the universal joint 4a, extends downward from the traverse carriage 3, and can be expanded and contracted in the vertical direction. The telescopic tube 4 includes a plurality of coaxial circular tubes 4b, 4c, and 4d having different diameters, and these circular tubes 4b, 4c, and 4d have a telescopic structure. In the example shown in FIG. 1, the circular tubes 4b, 4c, and 4d are located from top to bottom in this order. The telescopic pipe 4 is provided with a gripper 4e at the lower end, and the fuel assembly 5 can be suspended and gripped by the gripper 4e. The gripper 4e is provided on the circular pipe 4d located at the lower end of the telescopic pipe 4, has a hook, and has a structure capable of suspending the handle 5a on the upper part of the fuel assembly 5 with the hook and releasing the handle 5a. .. Although FIG. 1 shows an example in which the telescopic tube 4 includes three circular tubes 4b, 4c, and 4d, the number of circular tubes included in the telescopic tube 4 is not limited to three.

The swivel device (not shown) is installed on the traverse carriage 3 and can swivel the universal joint 4a around the vertical axis to swivel the entire telescopic pipe 4 in the vertical direction.

The control device 100 is input with a command value 200 (actually, a correction command value 201 obtained by correcting the command value 200) for the traveling carriage 2, the traversing carriage 3, the telescopic tube 4, the gripper 4e, and the turning device. According to the command value 200, the traveling carriage 2, the traversing carriage 3, the telescopic tube 4, the gripping tool 4e, and the turning device are controlled. The command value 200 includes, for example, a command value for the speed of the traveling carriage 2, the speed of the traversing carriage 3, the length of the telescopic pipe 4, the operation of the gripping tool 4e, and the turning angle of the turning device.

The resonance frequency identification device 101 and the correction device 102 will be described later.

The control device 100, the resonance frequency identification device 101, and the correction device 102 can be installed at any location.

The horizontal position of the fuel assembly 5 is determined by the movement (lateral travel) of the traveling carriage 2 and the traversing carriage 3, the vertical position is determined by the expansion and contraction of the expansion / contraction pipe 4, and the orientation around the vertical axis is determined by the rotation of the swivel device. Be done. It is assumed that the fuel assembly 5 is installed in water.

The fuel changer 1 can be provided with any configuration for determining the horizontal position, the vertical position, and the orientation around the vertical axis of the fuel assembly 5, and does not have to include the above configuration. Further, the command value 200 is a command value other than the above (for example, a command value for a position, acceleration, force, etc.) if the traveling carriage 2, the traversing carriage 3, the telescopic pipe 4, the gripping tool 4e, and the turning device can be controlled. It may be included. The present invention is not limited to the type of command value 200.

In the fuel changer 1, since the telescopic pipe 4 is attached to the traverse carriage 3 by the universal joint 4a, the telescopic pipe 4 swings. Further, since the fuel assembly 5 is swayably suspended from the hook of the gripping tool 4e, the fuel assembly 5 gripped by the telescopic pipe 4 also swings. Further, a gap is provided at the joint portion of the circular tubes 4b, 4c, and 4d constituting the telescopic tube 4 so that the telescopic tube 4 can be expanded and contracted, and the circular tube 4d located at the lower end of the expansion tube 4 and the gripper 4e Since gaps for fitting are also provided between them, the circular tubes 4b, 4c, 4d and the gripping tool 4e also swing due to these gaps.

These runouts are prominent in lateral running. In particular, if the runout generated when the lateral traveling is stopped is large, problems such as the fuel replacement machine 1 failing to grasp the fuel assembly 5 and the fuel assembly 5 not being able to be inserted into a predetermined position are likely to occur. Therefore, it is necessary to promptly suppress these runouts, especially when the lateral traveling is stopped.

The reason why the runout occurs due to the lateral running is that an external force that excites the resonance frequency component of the vibration system is applied to the vibration system composed of the expansion tube 4 and the fuel assembly 5 by the lateral running, and resonance occurs. .. Therefore, if the resonance frequency component is removed from the external force applied to the vibration system, the vibration can be quickly suppressed. That is, the resonance frequency component of the vibration system composed of the expansion pipe 4 and the fuel assembly 5 may be removed from the command value 200 for the traveling carriage 2 and the traveling carriage 3 that travel laterally.

Therefore, the fuel changer 1 according to the present embodiment includes a resonance frequency identification device 101 and a correction device 102. The resonance frequency identification device 101 is a device for obtaining the resonance frequency. The correction device 102 is a device that corrects the command value 200 to obtain the correction command value 201, and obtains the correction command value 201 obtained by removing the resonance frequency component from the command value 200. The control device 100 controls the traveling carriage 2, the traversing carriage 3, the telescopic pipe 4, the gripping tool 4e, and the turning device according to the correction command value 201 instead of the command value 200.

First, the resonance frequency identification device 101 will be described.

The resonance frequency identification device 101 obtains the resonance frequency f of the vibration system composed of the expansion tube 4 and the fuel assembly 5. This vibration system is numerically modeled, and the resonance frequency identification device 101 obtains the resonance frequency f by calculating using this numerical model, and outputs the obtained resonance frequency f to the correction device 102. As the numerical model of the vibration system, a numerical model in which the resonance frequency identification device 101 numerically models the vibration system can also be used, and a numerical model in which a device other than the resonance frequency identification device 101 numerically models the vibration system can be used. It can also be used.

The swing angles (angles relative to the connected upper elements) of the circular tubes 4b, 4c, 4d, the gripper 4e, and the fuel assembly 5 constituting the telescopic tube 4 are functions of time θ1 (t), θ2 ( When t), θ3 (t), θ4 (t), and θ5 (t) are expressed, and the vector summarizing these is expressed by Θ (t), the equation of motion of the vibration system can be expressed as the following equation.
M (t, Θ (t)) * Θ'' (t) + G (t, Θ (t)) * Θ (t) + V (t, Θ (t), Θ'(t)) = A (t) ... (1)
Here, "'" represents the first derivative with respect to time, and "''" represents the second derivative with respect to time. M is a matrix (inertia matrix) that summarizes the coefficients related to Θ'' (t). G is a matrix (gravity term matrix) that summarizes the coefficients related to Θ (t). V is a matrix in which terms other than Θ'' (t) and Θ (t) are put together. A is a vector of inertial force generated by lateral running. The values of M, G, V, and A and the number of elements of Θ (t) change with time according to the expansion and contraction of the expansion and contraction tube 4.

The resonance frequency f of this vibration system is obtained by linearly approximating M and G in the vicinity of the state where the expansion tube 4 and the fuel assembly 5 hang vertically, and solving the equation (2) for the angular frequency ω, and the equation (3). ) Is used.
det (Gl-Ml * ω ^ 2) = 0 ... (2)
f = ω / (2π) ・ ・ ・ (3)
Here, Gl represents a matrix that is a linear approximation of G, Ml is a matrix that is a linear approximation of M, and det represents a determinant operation.

If the vibration system is numerically modeled as described above and Ml and Gl are obtained, the resonance frequency f can be calculated from the equations (2) and (3).

2A and 2B are diagrams showing a simple model of the vibration system for the resonance frequency identification device 101 to obtain the resonance frequency f. In the vibration system model shown in FIG. 2A, the quadrangular prism-shaped fuel assembly 5 is swayably suspended from the grip 4e by the handle 5a, and these move in the direction indicated by the arrow by lateral traveling. It is said that only the fuel assembly 5 swings. FIG. 2B is a view of the fuel assembly 5 shown in FIG. 2A as viewed from above.

In the model of the vibration system of FIGS. 2A and 2B, assuming that the length of the fuel assembly 5 is L, the width is w, the density is ρ, and the density ρ is uniformly distributed in the fuel assembly 5, Ml. Is calculated as follows.
Ml = 1/3 * ρ * w ^ 2 * L ^ 3 + 1/12 * κ * π * ρf * w ^ 2 * L ^ 3
... (4)
In the equation (4), the first term on the right side is the moment of inertia around the center of rotation of the fuel assembly 5. The second term on the right side represents the additional mass effect due to the surrounding water dragged by the fuel assembly 5, where ρf is the density of water and κ is the additional mass that changes depending on the shape and moving direction of the fuel assembly 5. It is a coefficient.

Gl is calculated by the following equation.
Gl = 1/2 * g * ρ * w ^ 2 * L ^ 2-1 / 2 * g * ρf * w ^ 2 * L ^ 2
... (5)
The first term on the right side of the equation (5) represents the effect of gravity applied to the fuel assembly 5, the second term on the right side represents the effect of buoyancy applied to the fuel assembly 5, and g is the gravitational acceleration.

The resonance frequency f of the numerical model described above can be obtained by using the following equation.
ω = sqrt (Gl / Ml) ・ ・ ・ (6)
f = ω / (2π) ・ ・ ・ (7)
As described above, the above numerical model includes the additional mass effect and buoyancy that the portion of the expansion pipe 4 and the fuel assembly 5 existing in water receives from the water.

In this embodiment, for the sake of simplicity, an example in which the resonance frequency identification device 101 obtains the resonance frequency f using a numerical model in which only the fuel assembly 5 swings has been described. The vibration system composed of the expansion tube 4 and the fuel assembly 5 can be numerically modeled including not only the runout of the fuel assembly 5 but also the runout of the circular pipes 4b, 4c, 4d and the gripper 4e. The resonance frequency identification device 101 can also obtain the resonance frequency f by using a numerical model including the fuel assembly 5, the circular tubes 4b, 4c, 4d, and the deflection of the gripper 4e.

As described above, the resonance frequency identification device 101 can obtain the resonance frequency f of the vibration system composed of the expansion tube 4 and the fuel assembly 5. The resonance frequency identification device 101 may obtain the resonance frequency f by any method other than the above (for example, finite element method analysis) as long as the resonance frequency f of the vibration system modeled numerically can be calculated. The present invention is not limited to the above method.

A steady rest device (not shown) is attached to the traverse carriage 3. The expansion tube 4 has a minute runout due to the steady rest device, and the runout is greatly attenuated due to the collision with the steady rest device and the resistance of water. Further, the circular tubes 4b, 4c, 4d and the gripper 4e have a small runout because the gap between these members is small, and the collision between these members, the resistance of water, and the inflow and outflow of water into the gap portion. Due to this, the runout is greatly attenuated. Therefore, the runout of the telescopic pipe 4 can be ignored as a minute amount, and the influence of the runout of the telescopic pipe 4 on the runout of the fuel assembly 5 can be ignored. Therefore, the numerical model of the vibration system composed of the expansion pipe 4 and the fuel assembly 5 may be a numerical model in which only the fuel assembly 5 vibrates (simple pendulum motion).

Next, the correction device 102 will be described.

The correction device 102 removes a component of the resonance frequency f of the vibration system composed of the expansion pipe 4 and the fuel assembly 5 from the command value 200 for the traveling carriage 2 and the traversing carriage 3. The correction device 102 includes a notch filter having a resonance frequency f as a cutoff frequency, and uses this notch filter to remove the resonance frequency component of the vibration system from the command value 200 to obtain the correction command value 201 (see FIG. 1). ). The correction device 102 inputs a command value 200 by another device or a worker, inputs a value of the resonance frequency f from the resonance frequency identification device 101, and outputs the obtained correction command value 201 to the control device 100.

3A, 3B, and 3C are diagrams illustrating a process in which the correction device 102 removes the resonance frequency component of the vibration system from the command value 200. 3A to 3C show an example in which the command value 200 is the speed of the traverse carriage 3. FIG. 3A is a graph showing an example of the command value 200, showing the time change of the speed of the traverse carriage 3 and the frequency characteristic of the speed amplitude. FIG. 3B is a graph showing an example of an absolute value (gain) of the transfer function G (s) of the notch filter included in the correction device 102. FIG. 3C is a graph showing an example of the correction command value 201, which is the command value 200 from which the resonance frequency component of the vibration system is removed, and corresponds to FIG. 3A, the time change of the speed of the traverse trolley 3 and the speed amplitude. Shows the frequency characteristics of.

The notch filter removes a specific frequency component of the velocity amplitude of the command value 200. The transfer function G (s) of the notch filter is expressed by the following equation.
G (s) = (s ^ 2 + 2 * ζn * ω * s + ω ^ 2) / (s ^ 2 + 2 * ζd * ω * s + ω ^ 2) ・ ・ ・ (8)
Here, ω = 2π * f (f is the resonance frequency to be cut off), and ζ n and ζ d are attenuation coefficients. ζ n is a design parameter determined from the width and strength of the frequency band to be cut off. It is desirable that ζ d is 0.71 so that the gain characteristic of the denominator of G (s) becomes flat in all frequency bands.

When the resonance frequency f is input from the resonance frequency identification device 101 and the command values 200 of the traveling trolley 2 and the traversing trolley 3 are input, the correction device 102 uses a notch filter having the characteristics indicated by G (s). The frequency component of the resonance frequency f is removed from the command value 200 to obtain the correction command value 201.

When the resonance frequency f changes with time due to the expansion and contraction of the expansion / contraction tube 4, the parameter of the transfer function G (s) of the notch filter may change with the time change of the resonance frequency f.

FIG. 4 is a diagram showing another configuration of the correction device 102. The correction device 102 includes a plurality of notch filters 102a, 102b, 102c, inputs a command value 200, obtains a correction command value 201 using these notch filters, and outputs the correction command value 201 to the control device 100. Note that FIG. 4 shows a configuration in which the correction device 102 includes three notch filters 102a to 102c as an example, but the correction device 102 may include two or four or more notch filters.

A plurality of resonance frequencies (for example, f1, f2, f3) can be obtained in the vibration system including the vibration of the fuel assembly 5, the circular tubes 4b, 4c, 4d, and the gripper 4e. In this case, the correction device 102 may include a plurality of notch filters 102a, 102b, 102c having different cutoff frequencies. The notch filters 102a, 102b, and 102c are connected in series with resonance frequencies f1, f2, and f3 as cutoff frequencies, respectively. As a result, the correction device 102 can obtain the correction command value 201 obtained by removing the frequency components of the resonance frequencies f1, f2, and f3 from the command value 200.

The correction device 102 may include only a notch filter that blocks a resonance frequency component having a large amplitude among a plurality of resonance frequencies. Further, in the correction device 102, the design parameter of the transfer function G (s) of the notch filter may be adjusted to widen the frequency band to be cut off so that one notch filter cuts off a plurality of resonance frequency components. .. The correction device 102 can be provided with an arbitrary filter such as a low-pass filter as long as it can block the resonance frequency component of the vibration system. The present invention is not limited to the above configuration.

Further, the correction device 102 may obtain the correction command value 201 for each of the command values 200 for each of the traveling carriage 2 and the traversing carriage 3, and the command value 200 obtained by combining the command values of the traveling carriage 2 and the traversing carriage 3 The correction command value 201 may be obtained.

As described above, the control device 100 controls the traveling carriage 2 and the traversing carriage 3 according to the correction command value 201 obtained by the resonance frequency identification device 101 and the correction device 102. The command value 200 of the traveling carriage 2 and the traversing carriage 3 can be predetermined, and the correction device 102 can obtain and record the correction command value 201 from the predetermined command value 200 in advance. When the operation is executed, the control device 100 may read the correction command value 201 obtained in advance by the correction device 102 to control the traveling carriage 2 and the traversing carriage 3.

As described above, in the fuel replacement machine according to the present embodiment, the correction command value 201, which is the command value for controlling the traveling trolley 2 and the traversing trolley 3, is a vibration system composed of the expansion pipe 4 and the fuel assembly 5. Since the resonance frequency component of the above is not included, the resonance between the expansion tube 4 and the fuel assembly 5 is not excited, and the vibration of the expansion tube 4 and the fuel assembly 5 can be suppressed. Since the fuel changer according to the present embodiment can suppress not only the runout of the telescopic pipe 4 but also the runout of the fuel assembly 5, there is a concern that the runout of the fuel assembly 5 will remain after the runout of the telescopic pipe 4 has subsided. Absent. Therefore, in the fuel replacement machine according to the present embodiment, by correcting the command value 200 for lateral traveling, it is possible to quickly suppress the vibration of the expansion pipe 4 and the fuel assembly 5 without providing the vibration damping device. ..

The fuel changer according to the second embodiment of the present invention will be described. The description of the configuration common to the fuel changer according to the above embodiment may be omitted.

FIG. 5 is a diagram showing a configuration of the fuel changer 1 according to the present embodiment. In the fuel changer 1 according to the present embodiment, the resonance frequency identification device 101 includes a runout observation device 101a and a resonance frequency calculation device 101b.

If the parameters (for example, shape and mass) representing the actual expansion tube 4 and the fuel assembly 5 are different from the design values, or if the mass of the fuel assembly 5 changes due to the use of fuel, the design values are set. The resonance frequency f calculated using the numerical model obtained based on the above is different from the resonance frequency f of the actual vibration system. The fuel changer 1 according to the present embodiment includes a runout observation device 101a and a resonance frequency calculation device 101b, and obtains the resonance frequency f of the actual vibration system.

The runout of the telescopic pipe 4 can be observed and suppressed by including it in the runout of the fuel assembly 5.

The runout observation device 101a is a device that measures the runout θ (t) of the fuel assembly 5, and can be configured by, for example, an underwater camera capable of photographing the fuel assembly 5 from underwater. The runout θ (t) is an angle with respect to the vertical direction. By photographing the fuel assembly 5 from the water, the runout observation device 101a can measure the runout of the fuel assembly 5 without being affected by the waves appearing on the water surface. If the runout observation device 101a can measure the runout of the fuel assembly 5, it can be installed at an arbitrary position such as a traveling carriage 2, a traversing carriage 3, a telescopic pipe 4, or a grip 4e, and can be provided at an arbitrary position, such as a reactor pressure vessel or a fuel pool. It can also be attached to.

The resonance frequency calculation device 101b calculates and obtains the resonance frequency f from the runout θ (t) of the fuel assembly 5 measured by the runout observation device 101a. The resonance frequency arithmetic unit 101b can calculate the resonance frequency f, for example, by performing FFT analysis of θ (t) or from the time interval between the peak values of θ (t). The resonance frequency arithmetic unit 101b outputs the obtained resonance frequency f to the correction device 102.

The above calculation of the resonance frequency f is performed at the start of operation of the fuel changer 1. The actual parameters of the expansion tube 4 differ from the design values because of insufficient accuracy in estimating the parameters at the design stage and dimensional tolerances during machining. If the resonance frequency f is obtained at the start of operation of the fuel changer 1, it is possible to prevent the calculated resonance frequency f from being different from the actual resonance frequency f of the vibration system due to these causes.

Further, the calculation of the resonance frequency f may be performed when the expansion / contraction pipe 4 grips and transfers the fuel assembly 5. Changes in the parameters (particularly mass) of the fuel assembly 5 due to the use of fuel can be observed at the stage of grasping and transferring the fuel assembly 5. Therefore, when the fuel assembly 5 is gripped and transferred, when the runout of the fuel assembly 5 is measured and the resonance frequency f is calculated, the resonance frequency f in consideration of the change in the parameters of the fuel assembly 5 due to the use of fuel is taken into consideration. Can be sought.

As described above, in the fuel replacement machine 1 according to the present embodiment, the resonance frequency f of the vibration system is obtained by measuring the runout of the fuel assembly 5, so that the actual parameter of the fuel assembly 5 is the design value. Even if they are different, the resonance frequency f can be accurately obtained without being affected by this, and the runout of the fuel assembly 5 can be suppressed more effectively.

The runout observation device 101a and the resonance frequency calculation device 101b can be provided with any configuration as long as the runout of the fuel assembly 5 can be measured and the resonance frequency f can be obtained, and the embodiment is limited to the embodiment of the present embodiment. It is not something that is done.

The fuel changer according to the third embodiment of the present invention will be described. The description of the configuration common to the fuel changer according to the above embodiment may be omitted.

FIG. 8 is a diagram showing a configuration of the fuel changer 1 according to the present embodiment. The fuel changer 1 according to the present embodiment includes a fuel assembly parameter measuring device 50.

The parameters (particularly mass) of the fuel assembly 5 change due to the use of fuel. Further, when the fuel changer 1 handles a plurality of types of fuel assemblies 5, the parameters of the fuel assemblies 5 differ depending on the fuel assemblies 5. Even in such a case, the resonance frequency f calculated by using the numerical model obtained based on the design value is different from the resonance frequency f of the actual vibration system. The fuel replacement machine 1 according to the present embodiment includes the fuel assembly parameter measuring device 50 and the resonance frequency identification device 101, measures the actual parameters of the fuel assembly 5, and obtains the resonance frequency f of the actual vibration system.

The fuel assembly parameter measuring device 50 can be configured by, for example, a measuring instrument 50a for measuring the mass of the fuel assembly 5. For example, a load meter can be used as the measuring instrument 50a for measuring the mass of the fuel assembly 5. The measuring instrument 50a can be installed, for example, in the telescopic tube 4 or the grip 4e. When the mass of the fuel assembly 5 changes due to the use of fuel, the resonance frequency f calculated by using the numerical model obtained based on the design value is different from the resonance frequency f of the actual vibration system. In the fuel replacement machine 1 according to the present embodiment, the fuel assembly parameter measuring device 50 (measuring instrument 50a) measures the mass of the fuel assembly 5, and the resonance frequency identification device 101 uses the measured mass as a numerical model. By calculating (recalculating) the resonance frequency f using the above, the resonance frequency f of the actual vibration system is obtained.

The fuel assembly parameter measuring device 50 may include another measuring instrument (for example, an underwater camera 50b capable of photographing the fuel assembly 5 from underwater) in addition to the measuring instrument 50a for measuring the mass of the fuel assembly 5. .. The underwater camera 50b measures the shape parameters (for example, length, width, cross-sectional shape, etc.) of the fuel assembly 5.

The resonance frequency identification device 101 calculates and obtains the resonance frequency f using a numerical model using the parameters (mass and shape parameters) measured by the fuel assembly parameter measuring device 50. (Note that the mass of the parameter is reflected in the density ρ in the numerical model of the fuel assembly 5.) The resonance frequency identification device 101 includes the fuel assembly 5 whose mass and shape vary from the design value, and the mass and shape. The resonance frequency f can be accurately obtained for each of the plurality of fuel assemblies 5 which are different from each other.

The measurement of the parameters of the fuel assembly 5 by the fuel assembly parameter measuring device 50 and the calculation of the resonance frequency f using the measured values by the resonance frequency identification device 101 are performed when the expansion tube 4 grips the fuel assembly 5. ..

As described above, in the fuel replacement machine 1 according to the present embodiment, the resonance frequency is accurately resonated even when the parameters of the fuel assembly 5 fluctuate or when the parameters of the fuel assembly 5 differ depending on the fuel assembly 5. f can be obtained, and the runout of the fuel assembly 5 can be suppressed more effectively.

The fuel assembly parameter measuring device 50 can be provided with an arbitrary configuration as long as it can measure at least the mass of the fuel assembly 5 and preferably the shape parameter of the fuel assembly 5, which is the embodiment of the present embodiment. It is not limited to. Further, the measuring instrument 50a for measuring the mass of the fuel assembly 5 can obtain the mass of the fuel assembly 5 from the measured load even when the load of the fuel assembly 5 is measured.

The fuel changer according to the fourth embodiment of the present invention will be described. The description of the configuration common to the fuel changer according to the above embodiment may be omitted.

In the fuel replacement work, a large amount of fuel assembly 5 is transferred, so it is necessary to prevent mistakes in replacing the fuel assembly 5. Therefore, the fuel replacement machine 1 according to the present embodiment is provided with a fuel assembly individual identification device, and identifies each fuel assembly 5. The fuel assembly individual identification device can detect individual identification information (for example, a marker) of the fuel assembly 5 and identify each fuel assembly 5 from the detected individual identification information. The individual identification information is information unique to each fuel assembly 5, and is information for identifying each fuel assembly 5.

The fuel assembly individual identification device can include, for example, an underwater camera (for example, the underwater camera 50b in FIG. 8). The underwater camera captures and detects the individual identification information attached to the fuel assembly 5. The fuel assembly individual identification device detects the individual identification information of the fuel assembly 5, and identifies and identifies each fuel assembly 5 by the detected individual identification information. The identification of the fuel assembly 5 may be performed when the expansion / contraction pipe 4 grips the fuel assembly 5 or while traveling laterally to grip the fuel assembly 5.

In the fuel replacement machine 1 according to the present embodiment, when the parameters representing the fuel assemblies 5 are different from each other in the plurality of fuel assemblies 5, the individual identification information and the parameters of each fuel assembly 5 are recorded in the database. When the fuel assembly 5 is gripped, the parameter corresponding to the individual identification information of the fuel assembly 5 to be gripped is read from the database, and the resonance frequency f is calculated (recalculated) using this parameter. Good.

The fuel replacement machine 1 according to the present embodiment can suppress the runout of the fuel assembly 5, and can prevent the fuel assembly 5 from being mistakenly replaced. Further, when the resonance frequency f is calculated using the parameters of the fuel assembly 5 recorded in the database, the fuel assembly 5 to be gripped can be identified and accurately specified, so that the fuel assembly to be gripped can be specified accurately. The parameters for the body 5 can be correctly read from the database to obtain the resonance frequency f, and the runout of the fuel assembly 5 can be suppressed more effectively.

The fuel assembly individual identification device can be provided with an arbitrary configuration as long as it can identify each fuel assembly 5, and is not limited to the embodiment of the present embodiment.

The fuel changer according to the fifth embodiment of the present invention will be described. The description of the configuration common to the fuel changer according to the above embodiment may be omitted.

In the fuel replacement machine 1 according to the present embodiment, it is possible to suppress the runout of the fuel assembly 5 caused by the disturbance applied to the expansion pipe 4 and the fuel assembly 5.

FIG. 6 is a diagram showing a configuration of the fuel changer 1 according to the present embodiment. The fuel changer 1 according to the present embodiment includes a runout observation device 101a and a runout feedback correction device 103.

Disturbances such as convection of water due to heat generated by the fuel assembly 5 stored in the core or the fuel storage rack may be applied to the expansion pipe 4 and the fuel assembly 5. The runout observation device 101a and the runout feedback correction device 103 are provided to suppress the runout of the fuel assembly 5 caused by this disturbance.

As described in the second embodiment, the runout observation device 101a is a device for measuring the runout θ (t) of the fuel assembly 5, and may be configured by, for example, an underwater camera capable of photographing the fuel assembly 5 from underwater. it can.

The runout feedback correction device 103 is a device that corrects a command value (correction command value 201) for the traveling carriage 2 and the traverse carriage 3 so as to suppress the runout of the fuel assembly 5 measured by the runout observation device 101a. The runout feedback correction device 103 calculates and obtains a feedback correction amount 202 to the correction command value 201 from the runout θ (t) of the fuel assembly 5 measured by the runout observation device 101a, and corrects using the feedback correction amount 202. The command value 201 is corrected.

The runout feedback correction device 103 can calculate the feedback correction amount 202 by, for example, the calculation of the following equation.
F = kp * θ (t) + kd * θ'(t) + ki * Σθ (t) ・ ・ ・ (9)
Here, F is a feedback correction amount, and kp, kd, and ki are feedback correction gains. The feedback correction gain can be determined using known techniques.

The runout feedback correction device 103 performs PID control with the state in which the fuel assembly 5 hangs vertically as a target value according to the equation (9), and uses an appropriately set feedback correction gain to perform fuel assembly caused by disturbance. The runout of the body 5 can be suppressed.

In the control device 100, the feedback correction amount 202 is added to the correction command value 201 (the command value obtained by removing the frequency component of the resonance frequency f of the vibration system composed of the expansion tube 4 and the fuel assembly 5 from the command value 200). The traveling trolley 2 and the traversing trolley 3 are controlled by using the command value 203, that is, the command value 203 which is the correction command value 201 corrected by using the feedback correction amount 202.

As described above, in the fuel replacement machine 1 according to the present embodiment, the runout θ (t) of the fuel assembly 5 is fed back to the command values for the traveling carriage 2 and the traversing carriage 3, so that the resonance frequency identification device 101 is used. It is possible to suppress the runout of the fuel assembly 5 including the influence of disturbance due to water flow and the like, which could not be considered by the correction device 102.

The runout observation device 101a and the runout feedback correction device 103 can be provided with an arbitrary configuration as long as the runout of the fuel assembly 5 can be measured and the command value can be corrected so as to suppress the runout. The mode is not limited to.

FIG. 7 is a diagram showing another configuration of the fuel changer 1 according to the present embodiment. The fuel changer 1 shown in FIG. 7 has a configuration in which the fuel changer 1 shown in FIG. 6 does not include the resonance frequency identification device 101 and the correction device 102. The runout feedback correction device 103 corrects the command value 200 for the traveling carriage 2 and the traversing carriage 3 by using the feedback correction amount 202. The control device 100 controls the traveling carriage 2 and the traversing carriage 3 according to the command value 204, which is the command value 200 corrected by the runout feedback correction device 103.

The runout of the telescopic pipe 4 and the fuel assembly 5 caused by lateral traveling can also be suppressed by using the runout observation device 101a and the runout feedback correction device 103. Therefore, the fuel changer 1 shown in FIG. 7 adds the feedback correction amount 202 obtained by the runout observation device 101a and the runout feedback correction device 103 to the command value 200.

The control device 100 controls the traveling carriage 2 and the traversing carriage 3 by using the command value 204, which is a command value obtained by adding the feedback correction amount 202 to the command value 200.

Since the fuel changer 1 shown in FIG. 7 corrects the command value 200 by using the measured runout of the fuel assembly 5, it is possible to suppress the runout of the fuel assembly 5 including the influence of disturbance due to water flow or the like. Can be done.

The present invention is not limited to the above embodiment, and various modifications are possible. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to the embodiment including all the described configurations. In addition, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment. It is also possible to add the configuration of another embodiment to the configuration of one embodiment. In addition, it is possible to delete a part of the configurations of each embodiment and add / replace other configurations.

1 ... Fuel replacement machine, 2 ... Traveling trolley, 3 ... Traverse trolley, 4 ... Telescopic tube, 4a ... Universal joint, 4b, 4c, 4d ... Circular tube constituting the telescopic tube, 4e ... Grip, 5 ... Fuel assembly Body, 5a ... handle, 20 ... floor, 21 ... reactor well or fuel pool, 22 ... rail, 50 ... fuel assembly parameter measuring device, 50a ... measuring instrument for measuring the mass of fuel assembly, 50b ... fuel assembly Underwater camera, 100 ... control device, 101 ... resonance frequency identification device, 101a ... runout observation device, 101b ... resonance frequency calculation device, 102 ... correction device, 103 ... runout feedback correction device, 200 ... command value, 201 ... Correction command value, 202 ... Feedback correction amount, 203, 204 ... Command value to which the feedback correction amount is added.

Claims (12)

Movable trolley and
A traverse trolley that can move on the traveling trolley and
A telescopic pipe that is attached to the traversing carriage, can be expanded and contracted, and can suspend the fuel assembly.
A control device for controlling the traveling carriage, the traversing carriage, and the telescopic pipe,
A resonance frequency identification device for obtaining the resonance frequency of the vibration system composed of the expansion tube and the fuel assembly, and
A correction device that obtains a correction command value obtained by removing the component of the resonance frequency from the command values for the traveling carriage and the traversing carriage, and
With
The control device controls the traveling carriage and the traversing carriage according to the correction command value.
A fuel changer characterized by that. The command value includes a command value for the speed of the traveling carriage and a command value for the speed of the traversing carriage.
The fuel replacement machine according to claim 1. The resonance frequency identification device obtains the resonance frequency by calculating using the numerical model of the vibration system.
The fuel replacement machine according to claim 1. The telescopic pipe can suspend the fuel assembly installed in water.
The resonance frequency identification device obtains the resonance frequency by using the numerical model including the additional mass effect and buoyancy that the fuel assembly and the expansion tube receive from water.
The fuel replacement machine according to claim 3. The resonance frequency identification device obtains the resonance frequency by using the numerical model in which only the fuel assembly vibrates.
The fuel replacement machine according to claim 4. The resonance frequency identification device is
A runout observation device that measures the runout of the fuel assembly,
A resonance frequency calculation device that calculates and obtains the resonance frequency from the runout of the fuel assembly measured by the runout observation device.
To prepare
The fuel replacement machine according to claim 1. The correction device includes at least one notch filter having the resonance frequency as a cutoff frequency.
The fuel replacement machine according to claim 1. A fuel assembly parameter measuring device for measuring at least the mass of the fuel assembly as a parameter of the fuel assembly is provided.
The resonance frequency identification device obtains the resonance frequency by calculating using a numerical model of the vibration system using the parameters measured by the fuel assembly parameter measuring device.
The fuel replacement machine according to claim 1. A fuel assembly individual identification device for detecting individual identification information of the fuel assembly is provided.
The fuel replacement machine according to claim 1. A runout observation device that measures the runout of the fuel assembly,
A runout feedback correction device for correcting the correction command value is provided so as to suppress the runout of the fuel assembly measured by the runout observation device.
The fuel replacement machine according to claim 1. Movable trolley and
A traverse trolley that moves on the traveling trolley and
A telescopic pipe that is attached to the traversing carriage, can be expanded and contracted, and can suspend the fuel assembly.
A control device for controlling the traveling carriage, the traversing carriage, and the telescopic pipe,
A runout observation device that measures the runout of the fuel assembly,
A runout feedback correction device that corrects command values for the traveling carriage and the traversing carriage so as to suppress the runout of the fuel assembly measured by the runout observation device.
With
The control device controls the traveling carriage and the traversing carriage according to the command value corrected by the runout feedback correction device.
A fuel changer characterized by that. The command value includes a command value for the speed of the traveling carriage and a command value for the speed of the traversing carriage.
The fuel replacement machine according to claim 11.

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