JPH07159585A - Position detecting method and device therefor - Google Patents

Abstract

PURPOSE:To detect the accurate position without requiring manual actions during the operation of a device. CONSTITUTION:When a plurality of objects arranged and moved as appropriate reach definite positions of a shift section 2, position detection sections 4a, 4b output the corresponding detection point signals 104, 105 respectively. A compensation function correcting unit 5 makes prescribed calculations from the value of the definite position and the position signal 103 corresponding to the inputs of the detection point signals 104, 105, obtains the corrected compensation function correcting the prescribed compensation function, and outputs the compensation function correction signal 106. A compensating unit 6 corrects the detector output position signal 101 based on the compensation function correction signal 106 and outputs the position signal 103.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting method and apparatus for accurately detecting the position of an object moving within a predetermined distance.

[0002]

2. Description of the Related Art For example, in a nuclear power plant, the reaction output is adjusted by controlling the position of the control rod, and it is extremely important to accurately grasp the position of the control rod. Since it is difficult to directly detect the position of the control rod, continuous measurement is indirectly performed from the rotation angle or the like by a drive unit that drives the control rod or a detector that is interlocked with the control rod.

FIG. 16 shows a conventional position detecting device of this type.

In the figure, reference numeral 1 denotes a detector, which indirectly detects the rotation angle signal or the rotation amount of the position of an object, such as a control rod, which moves within a predetermined distance of a predetermined path, and digitally or A detector output position signal 101 of a signal such as analog is output.

Reference numeral 2 denotes a moving unit provided for explaining a moving object whose position is to be detected or an object that indirectly moves according to the moving object. 3 is added with a bias signal 102 for correcting the detector output position signal 101. The position signal output section is provided with an adder 3a for outputting the position signal 103.

With the above configuration, when a moving object (not shown) moves, the moving unit 2 correspondingly moves along a predetermined route over a predetermined distance, and the position of the moving unit 2 moves corresponding to the moving object. Then, for example, the detector 1 is converted into a rotation angle or a rotation amount.
Is detected and the detector output position signal 101 of a digital signal or an analog signal is output to the adder 3a.

In the adder 3a of the position signal output section 3, the detector output position signal 101 and the bias signal 102 are added and a position signal 103 is output. In this way, the position of the moving unit 2 detected by the detector 1 is corrected and output to the outside.

[0008]

However, as shown in FIG.
In the position detecting device shown by 1, the bias signal 102 as the correction signal obtained in advance is uniformly applied to the detector output position signal 101.
However, there is a problem that the position is not corrected accurately and the entire apparatus must be stopped in order to obtain the value of the bias signal 102.

For example, in the conventional apparatus, the moving portion 2 is moved to the upper and lower positions where the position of the moving portion 2 is mechanically determined, and the value of the bias signal 102 as a correction value is obtained.

However, this method has a problem in that it is necessary to stop the entire apparatus, and it takes a lot of time and effort to obtain the value of the bias signal 102 when the number of position detecting apparatuses is large.

Further, as shown in FIG. 17, the bias value 202 of the bias signal 102 is uniformly added to the pre-correction correction function 201 of the detector output position signal 101 to obtain the post-correction correction function 203 of the position signal 103. Since it is calculated, if the bias value changes between the upper limit and the lower limit of the moving unit 2, correct correction cannot be performed.

Therefore, an object of the present invention is to provide a position detecting device which corrects the position accurately without stopping the device and without requiring manual labor.

[0013]

According to a first aspect of the present invention, a detector output position signal detected by a detector is corrected according to the position of an object in a moving part in which the object moves on the same path between predetermined distances. In the position detection method of applying a position signal by applying the value of the fixed position and the detector output position signal or position signal corresponding to each time the object arrives at the position detection unit that is appropriately arranged in plural positions at the fixed position of the moving unit. A correction function is obtained from the above, and the detector output position signal is corrected based on this correction function to detect the position signal.

According to a second aspect of the present invention, the detector output position signal detected by the detector is corrected according to the position of the object in the moving part where the object moves on the same path for a predetermined distance, and the position signal is output. In the position detecting device, when a plurality of moving objects are appropriately arranged at the fixed position of the moving unit and the moving object arrives, the position detecting unit that outputs each corresponding detection point signal and the corresponding fixed position by the input of the detection point signal. The correction function corrector that performs a predetermined calculation to correct the predetermined correction function by calculating the correction value and the value of the detector output signal or the position signal and outputs the correction function correction signal, and the correction function correction signal Based on this, a detector output position signal is corrected to provide a corrector for outputting the position signal.

[0015]

According to the present invention, when the moving body reaches the position detecting portion of the moving portion arranged in advance, a predetermined calculation is performed from the position signal at that time and the accurate position signal to obtain a correction function and the correction is performed. Therefore, it is not necessary to stop the entire device,
It can be done in a short time without requiring human intervention. Therefore, even in the case of the control rod position detecting device of the nuclear reactor, it is possible to automatically correct the position during operation of the device.

[0016]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of a position detecting device showing a first embodiment of the present invention. 16 showing the conventional example, the same reference numerals as those in FIG. 16 indicate the same or corresponding portions, and the main difference between the two is that the position detecting unit 4a and the position detecting unit 4b are installed in the moving unit 2 and the correction function is The correction device 5 is provided and the correction device 6 is provided instead of the position signal output unit 3.

Here, the position detecting section 4a is appropriately moved by the moving section 2
The first detection point signal 104 is output when the moving body passes through this position or when the specific portion of the moving body passes. The position detection unit 4b is appropriately arranged in the moving unit 2 and its position is fixed, and the second detection point signal 105 is output when the moving body passes through this position or when the specific portion of the moving body passes. It is what is output.

The correction function modifier 5 includes a first detection point signal 10
4 or the second detection point signal 105 is input, the correction function correction signal 106 is obtained by performing a predetermined calculation from the actual position signal determined in advance and the corresponding position signal 103 corrected in the corrector 6. It is what is output.

The corrector 6 corrects the correction function internally set by the correction function correction signal 106, and the detector output position signal 101 is changed to the position signal 1 based on the correction function.
It is corrected to 03 and output.

With the above configuration, first, when the moving body or the specific portion of the moving body passes through the position detecting section 4a or the position detecting section 4b, the first detection point signal 104 or the second detection point signal 10 is detected.
5 is input to the correction function modifier 5. Here, the position detection unit 4a or the position detection unit 4b detects a moving body by a contact point, an optical sensor, a magnetic sensor, or the like, and is appropriately arranged at a predetermined position of the moving unit 2, and the position is accurately measured in advance. , Are stored in the correction function modifier 5.

Next, the creation of the correction function correction signal 106 output by the correction function modifier 5 will be described with reference to FIG.

First, the correction function (A) 301 is applied to the corrector 6.
Is set, when the moving body now reaches the position detection unit 4a, the first detection point signal 104 is input to the correction function modifier 5. In this case, it is assumed that the position signal 103 input to the correction function modifier 5 is compared with the accurate position signal of the first detection point signal 104 to generate the deviation amount α.

The correction function modifier 5 determines the correction function (B) 302 based on the following idea. First, the correction function is generally expressed by the following linear expression (1).

[0025]

[Equation 1]

Next, the equation (2) corresponding to the first detection point signal 104 is obtained.

[0027]

[Equation 2]

Further, the equation (3) corresponding to the second detection point signal 105 is obtained.

[0029]

[Equation 3]

As a result, from equations (2) and (3), a
And b are obtained, the correction function (B) is obtained as the following equation (4).
302 is required.

[0031]

[Equation 4]

In the correction function modifier 5, the correction function (A) 3
The correction function (B) 302 is changed from 01 to output the correction function correction signal 106 to the corrector 6, and the corrector 6 corrects the correction function (B) 302.

When the moving body reaches the position detecting section 4b, the second detection point signal 105 is input to the correction function modifier 5, where the position signal 103 and the second detection point signal 105 are input.
It is assumed that the deviation amount β is generated as shown in FIG.

Also in this case, as in the case where the first detection point signal 104 is output, the correction function (C) 303 is calculated based on the correction function (B) 302, and the correction function correction signal is output from the correction function correction unit 5. 106 is output to the corrector 6. As a result, the position signal 103 corrected by the corrector 6 according to the detector output position signal 101 is output to the outside.

In this way, when the moving body reaches the position detecting sections 4a and 4b of the moving section 2 arranged in advance, the position signal 103 at that time is compared with the accurate position signal and correction is made based on the deviation. Since the function is corrected, it is not necessary to stop the entire apparatus, and it can be done in a short time without requiring manpower. Therefore, even in the case of the control rod position detecting device of the nuclear reactor, it is possible to automatically correct the position during operation of the device.

In the first embodiment, the correction function set in the corrector 6 is the correction function (A) 3 as described with reference to FIG.
When 01, the position detecting unit 4a calculates the correction function (B) 302 when the first detection point signal 104 is output, and the corrector 6
Is used as the correction function (B) 302, the position detection unit 4b calculates the correction function (C) 303 when the second detection point signal 105 is output, and the corrector 6 is used as the correction function (C) 303. When the first detection point signal 104 and the second detection point signal 105 are output from the unit 4a and the position detection unit 4b, the correction function (C) 303 is calculated and the content of the corrector 6 is set as the correction function (C) 303. Good.

Next, a second embodiment of the present invention will be described with reference to FIG.

In the second embodiment shown in FIG. 3, the correction function is modified based on the position signal 103 in the first embodiment shown in FIG. 1, whereas the correction function is modified based on the detector output position signal 101. It is different in that it is doing.

That is, as described with reference to FIG. 2, first, when the correction function (A) 301 is set in the corrector 6, the position detection unit 4a changes the first detection point signal 104 to the correction function corrector 5. Then, the correction function (B) 302 is calculated by the equation (4) based on the value of the detector output position signal 101, and the correction function correction signal 106 is output to the corrector 6. As a result, the corrector 6 is corrected to the contents of the correction function (B) 302.

On the other hand, the position detector 4b outputs the second detection point signal 1
When 05 is output to the correction function corrector 5, the correction function (C) 303 is calculated based on the detector output position signal 101, the correction function correction signal 106 is output to the corrector 6, and the corrector 6
Is corrected to the correction function (C) 303.

As described above, like the first embodiment, the position can be corrected without stopping the apparatus and without the need for manpower, and the accurate position can be detected.

Next, a third embodiment and a fourth embodiment of the present invention will be described with reference to FIGS. 4 and 5.

First, in the third embodiment shown in FIG. 4, means for inputting the correction command signal 107 to the compensator 6 of the first embodiment described in FIG. 1 is provided, and the correction command signal 107 is input. At this time, the correction function is modified to the latest one.

In the fourth embodiment shown in FIG. 5, means for inputting the correction command signal 107 to the compensator 6 of the second embodiment described in FIG. 3 is provided, and the correction command signal 107 is input. At this time, the correction function is modified to the latest one.

In both the third embodiment and the fourth embodiment, when the correction is not always necessary, such as when the correction is necessary due to aging, etc., or when the detector output position signal 101 and the position signal 103 have large correction values. It is effective when it is not available and can be modified as needed without being constantly modified.

Next, fifth and sixth embodiments of the present invention will be described with reference to FIGS. 6 and 7.

First, in the fifth embodiment shown in FIG. 6, the correction command signal 1 is sent to the correction function modifier 5 of the first embodiment described in FIG.
This correction command signal 107 is provided with a means for inputting 07.
The correction function modifier 5 calculates the correction function when is input.

In the sixth embodiment shown in FIG. 7, the correction command signal 1 is sent to the correction function modifier 5 of the second embodiment described in FIG.
07 is provided with means for inputting the correction command signal 107
The correction function is calculated when is input.

In both the fifth embodiment and the sixth embodiment, when the correction is necessary due to aging or the like, the detector output position signal 1
This is effective when a large correction value does not occur between 01 and the position signal 103, and can be corrected as needed without always correcting it.

Next, a seventh embodiment of the present invention will be described with reference to FIG.

FIG. 8 differs from the first embodiment shown in FIG. 1 mainly in that three or more position detecting units 4a to 4n are provided instead of the position detecting unit 4a and the position detecting unit 4b arranged in the moving unit 2. That is, the correction function modifier 5A and the compensator 6 are arranged differently, and the correction function modifier 5A and the compensator 6A are provided.

Here, the position detecting units 4a to 4n are appropriately arranged in the moving unit 2 and their positions are fixed, and when the moving body passes this position, or the specific unit of the moving body passes. Correspondingly, the detection point signals 108a to 108n are output.

The correction function corrector 5A uses the detection point signal 108
When a to 108n are input, the correction function correction signal 106 is output by performing a predetermined calculation from the previously determined actual position signal and the corresponding position signal 103 corrected in the correction function corrector 5A. Is.

The corrector 6A corrects the correction function internally set by the correction function correction signal 106, and also corrects the detector output position signal 101 to the position signal 103 based on the correction function and outputs it. .

With the above configuration, first, when the moving body or the specific portion of the moving body passes through the position detecting sections 4a to 4n, the corresponding detection point signals 108a to 108n are input to the correction function modifier 5A.

Here, the position detectors 4a to 4n detect a moving body by a contact point, an optical sensor, a magnetic sensor, or the like, and are appropriately arranged at predetermined positions of the moving unit 2, and the positions are accurately measured in advance. , Are stored in the correction function modifier 5A.

Here, the calculation of the correction function of the correction function modifier 5A will be specifically described with reference to FIG.

For example, when the moving body now reaches the position detecting section 4i, the detection point signal 108i is input to the correction function modifier 5A. In this case, it is assumed that the position signal 103 input to the correction function modifier 5A and the accurate position signal are compared to generate the deviation amount α.

The correction function modifier 5A obtains the correction function (B) 302 from the correction function (A) 301 from the following equation (5) in the same manner as described in the first embodiment.

[0060]

[Equation 5]

In the correction function modifier 5A, the correction function (A)
The correction function is changed from 301 to the correction function (B) 302, and the correction function correction signal 106 is output to the corrector 6A. In the corrector 6A, the correction function (B) 302 is corrected.

In this way, when the moving body reaches the position detecting sections 4a to 4n of the moving section 2 arranged in advance, the position signal 103 at that time is compared with the accurate position signal and the correction is made based on the deviation. Since the function is corrected, it is not necessary to stop the entire apparatus, and it can be done in a short time without requiring manpower.

Therefore, even in the case of the position detecting device for the control rod of the nuclear reactor, it is possible to automatically correct the position during the operation of the device. In particular, in the seventh embodiment, many correction points are provided,
An accurate position signal 103 is obtained for detailed correction.

In the seventh embodiment, the correction function set in the corrector 6A as described with reference to FIG. 9 is the correction function (A).
In the case of 301, when the position detector 4i outputs the detection point signal 108i, the correction function (B) 302 is calculated, and the corrector 6
A is the correction function (B) 302, and when the moving body reaches the next point of the position detection unit 4i, the correction function (C) 303 is calculated and the corrector 6A is used as the correction function (C) 303. When all the detection point signals from the position detecting unit 4a to the position detecting unit 4n are output, a correction function can be calculated based on this and the contents of the corrector 6A can be corrected.

Further, in the seventh embodiment, as shown in FIG. 10, a large number of position detectors 4a to 4n are provided as a multi-fold correction function.
The detector output position signal 101 is corrected every time and the position signal 10
It is also possible to have a configuration in which 3 is output.

That is, the detection point signal 10 described with reference to FIG.
Correction function (A) between 8i and detection point signal 108i + 1
If the calculation of the correction function (B) 302 from 301 is sequentially performed for each detection point as shown in FIG. 10, an accurate correction function 304 can be obtained between each detection point.

Next, an eighth embodiment of the present invention will be described with reference to FIG.

In the eighth embodiment shown in FIG. 11, the correction function is modified based on the position signal 103 in the seventh embodiment shown in FIG. 8, whereas the correction function is modified based on the detector output position signal 101. It is different in that it is doing.

As described above, like the seventh embodiment, the position can be corrected without stopping the apparatus and without the need for manpower, and the accurate position can be detected.

Next, the ninth and tenth embodiments of the present invention will be described with reference to FIGS.

First, in the ninth embodiment shown in FIG. 12, the correction command signal 107 is sent to the corrector 6A of the seventh embodiment described in FIG.
Is provided to correct the correction function to the latest one when the correction command signal 107 is input.

The tenth embodiment shown in FIG. 13 is the same as that shown in FIG.
The correction command signal 1 to the corrector 6A of the eighth embodiment described in 1.
07 is provided with means for inputting the correction command signal 107
The correction function is corrected to the latest one when is input.

Both the ninth embodiment and the tenth embodiment are effective when correction is required due to aging or the like, and when a large correction value does not occur in the detector output position signal 101 and the position signal 103, It can be modified as needed without being constantly modified.

Next, the eleventh and twelfth embodiments of the present invention.
An embodiment will be described with reference to FIGS. 14 and 15.

First, the eleventh embodiment shown in FIG. 14 is shown in FIG.
A means for inputting the correction command signal 107 to the correction function correction device 5A of the seventh embodiment described above is provided, and when the correction command signal 107 is input, the correction function correction device 5A calculates the correction function. It is a thing.

The twelfth embodiment shown in FIG. 15 is similar to that shown in FIG.
A means for inputting the correction command signal 107 to the correction function modifier 5A of the eighth embodiment described in 1 is provided, and the correction function is calculated when the correction command signal 107 is input.

Both the eleventh embodiment and the twelfth embodiment are effective when correction is required due to aging or the like, or when a large correction value does not occur in the detector output position signal 101 and the position signal 103, It can be modified as needed without being constantly modified.

[0078]

As described above, according to the present invention, when the moving body arrives at the position detecting portion of the moving portion arranged in advance, a predetermined calculation is performed from the position signal and the accurate position signal to make a correction function. Since the above is calculated and corrected, it is not necessary to stop the entire apparatus, and it can be done in a short time without requiring manpower. Therefore, even in the case of a control rod position detection device of a nuclear reactor, it can be automatically corrected to an accurate position during the operation of the device.

[Brief description of drawings]

FIG. 1 is a block configuration diagram of a position detection device showing a first embodiment of the present invention.

FIG. 2 is an explanatory diagram showing an operation of the position detection device of FIG.

FIG. 3 is a block configuration diagram of a position detection device showing a second embodiment of the present invention.

FIG. 4 is a block configuration diagram of a position detection device showing a third embodiment of the present invention.

FIG. 5 is a block configuration diagram of a position detection device showing a fourth embodiment of the present invention.

FIG. 6 is a block configuration diagram of a position detection device showing a fifth embodiment of the present invention.

FIG. 7 is a block configuration diagram of a position detection device showing a sixth embodiment of the present invention.

FIG. 8 is a block configuration diagram of a position detection device showing a seventh embodiment of the present invention.

FIG. 9 is an explanatory diagram showing the operation of the position detection device of FIG.

10 is an explanatory diagram showing another operation of the position detection device of FIG.

FIG. 11 is a block configuration diagram of a position detection device showing an eighth embodiment of the present invention.

FIG. 12 is a block configuration diagram of a position detection device showing a ninth embodiment of the present invention.

FIG. 13 is a block configuration diagram of a position detection device showing a tenth embodiment of the present invention.

FIG. 14 is a block configuration diagram of a position detection device showing an eleventh embodiment of the present invention.

FIG. 15 is a block configuration diagram of a position detection device showing a twelfth embodiment of the present invention.

FIG. 16 is a block diagram showing a conventional position detecting device.

FIG. 17 is an explanatory diagram showing the operation of the position detection device of FIG. 16.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 detector 2 moving part 3 position signal output part 4a, 4b position detecting part 5,5A correction function corrector 6,6A corrector

Claims (4)

[Claims] 1. A position detection method for correcting a detector output position signal detected by a detector according to the position of an object in a moving part, in which the object moves on the same path for a predetermined distance, and outputting the position signal. , A correction function is obtained from the value of the determined position and the detector output position signal or the position signal corresponding to each time the object arrives at a position detection unit appropriately arranged at a determined position of the moving unit, A position detecting method characterized by correcting the detector output position signal based on the correction function to detect the position signal. 2. A position detecting device which corrects a detector output position signal detected by a detector according to the position of an object in a moving part in which the object moves on the same path for a predetermined distance and outputs the position signal. When a plurality of moving objects are appropriately arranged at the fixed position of the moving unit and the moving object arrives, a position detecting unit that outputs each corresponding detection point signal, and a value of the corresponding fixed position by inputting the detection point signal And a value of the detector output signal or the position signal to perform a predetermined calculation to obtain a corrected correction function for correcting a predetermined correction function, and output a correction function correction signal, and the correction function correction signal And a corrector for correcting the detector output position signal based on the above and outputting the position signal. 3. The correction function correction device obtains a correction correction function for correcting the predetermined correction function and outputs a correction function correction signal only when a correction request is made from the outside. 2. The position detection device according to 2. 4. The position detection according to claim 2, wherein the correction device corrects the detector output position signal based on the correction function correction signal only when a correction request is made from the outside. apparatus.