JPH11202075A - Control rod controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the difference between the stop position and the target position of a control rod during withdrawal and insertion of the control rod when it is driven by on-off control of an induction motor. SOLUTION: A plurality of control rods are arranged in a reactor 5. As a driving source of a plurality of control rods 6, an induction motor 7 is connected respectively. The control rod position is controlled by a semiconductor switching elements 13B in a control rod drive auxiliary panel 3 controlling the power supply to the induction motor 7 and an electromagnetic brake 15. When the control rod position reaches a predetermined prior value to the target position, the power supply to the induction motor 7 and an electromagnetic brake 15 is cut by the semiconductor switching elements 13B to work the electromagnetic brake 15. The predetermined prior values differ between withdrawal and insertion and the latter is smaller than the former.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a control rod control device, and more particularly to a control rod control device used for a boiling water reactor.

[0002]

2. Description of the Related Art An improved boiling water nuclear power plant (ABW)
The output control of R) is performed by operating the control rod with an electric drive type control rod drive device. The electric drive type control rod driving device includes a step motor, a ball screw screw connected to the step motor, a ball nut meshing with the ball screw screw, and a connection rod attached to the ball nut and extending in the axial direction. Fine drive is possible. This control rod driving device has an electromagnetic brake connected to a step motor rotation shaft. A connecting rod is connected to a control rod in the reactor. Reactor power is controlled by moving control rods into and out of the reactor core. One of the control requests for the reactor power is to stop the control rods with as little delay time as possible based on a control rod stop request from an operator.

The operation of the control rod is performed based on a control rod operation procedure in accordance with an operation command from a control rod operation monitoring panel of the central control room. The step motor operates by a pulse signal from a speed control circuit. The speed control of the step motor is performed by changing the frequency of the pulse current.
When the control rod is stopped, a low frequency pulse signal is output from the speed control circuit to reduce the rotation of the stepping motor, thereby reducing the rotation speed. When the step motor finally stops, the electromagnetic brake operates. The electromagnetic brake does not operate at the same time while the control rod is driven, and does not operate at the time of the step motor stop control. The operation of the electromagnetic brake prevents the control rod from moving due to its own weight after the step motor is stopped. As a technique related to control rod operation by a step motor, there are techniques described in Japanese Patent Application Laid-Open Nos. 55-143604 and 57-208880.

If the control rod can be finely driven by the step motor, a large number of step motor power panels and laid cables are required. For this reason, application of an induction motor instead of a step motor is being studied. The induction motor includes a primary-side stator and a secondary-side rotor. The secondary winding receives electric energy from the stator by electromagnetic induction, converts the electric energy into mechanical energy through an air gap, rotates the rotor, and generates mechanical power.

[0005] The principle of this induction motor is different from that of a stepping motor, and the rotation speed cannot be controlled by a pulse signal unlike a stepping motor. Further, the detent torque of the induction motor is substantially equal to zero, and the rotor rotates even if the current on the stator side is zero. Therefore, in order to stop the induction motor, a braking brake that is stopped by friction or the like from the outside,
Alternatively, a braking mechanism for controlling the phase of the exciting current to perform dynamic braking is required. Japanese Patent Application Laid-Open No. 61-59287 discloses a technique relating to control rod drive by an induction motor. This is to control the phase of the exciting current of the induction motor to apply dynamic braking to improve the positioning accuracy when stopping.

[0006]

A gang operation for simultaneously operating a plurality of control rods has been considered for the purpose of shortening the start-up time and power control time of a nuclear reactor. Since the step motor rotates by an amount corresponding to the number of pulses to be added, when the step motor is used, the control rod can be accurately moved to the target position by controlling the number of pulses. Therefore, during the gang operation, the plurality of control rods can be simultaneously moved to the same target position.

In the case of using a control rod driving device to which an induction motor is applied, when the control rod is driven by driving the induction motor by on / off control, a power converter and a speed control device required for a step motor are used. Is unnecessary, and the equipment can be simplified and reduced. However, the induction motor rotates at a synchronous speed or lower due to slip, and the slip speed changes depending on the load condition, so that the rotation speed changes.

Further, there are an operation direction for moving the control rod in the core and an insertion direction and a pull-out direction. In both operation directions, the control rod is operated in the vertical direction in the core. The operation of the control rod in the insertion direction is to move the control rod from the lower end of the core toward the upper end of the core. The operation of the control rod in the pulling direction is the reverse of moving the control rod from the upper end of the core toward the lower end of the core. The weight of the control rod changes the load condition applied to the induction motor in the operation direction of the control rod. The rotation speed of the induction motor changes depending on the direction in which the control rod is inserted and the direction in which the control rod is withdrawn. That is, when the control rod is inserted, the control rod has a heavy load for the induction motor, and when the control rod is withdrawn, the control rod has a light load for the induction motor. When the control rod is stopped, the induction motor is prevented from rotating by its own weight by the electromagnetic brake, and the control rod is held at a predetermined position in the core. Since the stop position of the control rod is determined depending on the performance of the electromagnetic brake and the load conditions, the amount of movement of the control rod from the operation of the electromagnetic brake to the stop of the control rod depends on the insertion direction in the pull-out direction. It will be longer than in the case.

As described above, when operating the control rod by the control rod drive device using the induction motor, the present inventors apply the electromagnetic brake to the target control rod position to be stopped regardless of the operation direction. When the operation timing is fixed, a new problem has been discovered in which the control rod stops beyond the target control rod position depending on the operation direction, or stops before the control rod. In particular, when such a phenomenon occurs in the gang operation, the actual reactor output differs from the target output in proportion to the number of control rods performing the gang operation. For this reason, the problem that operation management of a nuclear reactor plant becomes more complicated arises. Conventionally, no consideration has been given to this point.

SUMMARY OF THE INVENTION An object of the present invention is to provide a control rod control device which can reduce the difference between the stop position of each control rod and the target stop position in each of the inserting direction and the pulling-out direction when a control rod driving device having an induction motor is used. It is to provide a device.

[0011]

A first aspect of the present invention for achieving the above object is as follows.
A feature of the invention is a plurality of control rod driving devices connected to control rods and driven by an induction motor, and an electromagnetic brake provided for each control rod driving device and stopping rotation of the induction motor by stopping supply of power. A control rod operation command output means for outputting an operation command including any of a pull-out command and an insertion command to the control rod; and
The first control rod movement amount from the stop of the power supply to the induction motor to the stop of the rotation of the induction motor, and the first movement from the stop of the power supply to the induction motor to the stop of the rotation of the induction motor in response to the insertion command. A storage means for storing the second control rod movement amount, which is different from the first control rod movement amount, and a control rod operation command output means provided for each control rod driving device; The control rod operation target position included in the operation command input from the control command, and the control rod movement amount read from the storage means corresponding to one of the pull-out command and the insertion command included in the operation command. Power cutoff determining means for stopping the output of the input operation command when the measured control rod position reaches the set power cutoff position; and the operation command output from the power cutoff determining means. Opening / closing means for turning on the power supply to the induction motor and the electromagnetic brake based on the power supply to the induction motor and the electromagnetic brake by stopping the output of the operation command of the power cutoff determining means. And a power control means provided for each control rod drive device.

The power cutoff position corresponds to the control rod operation target position included in the operation command and the pull-out command or the insertion command included in the operation command, and the control rod movement amount (pull-out) read from the storage means. For the command, the first control rod movement amount from the stop of the power supply to the induction motor to the stop of the rotation of the movable induction motor, and for the insertion command, the stop of the power supply to the induction motor to the rotation of the induction motor. Second until stop
The control rod movement amount is set based on the second control rod movement amount having a value different from the first control rod movement amount, and is input when the measured control rod position reaches this power cutoff position. Since the output of the operation command is stopped, when the control rod is pulled out, the load of the induction motor is reduced by the action of the control rod's own weight, the power cutoff position can be set by reflecting the first control rod movement amount. The difference between the control rod stop position and the control rod operation target position can be reduced. Also, when inserting a control rod in which the load on the induction motor increases due to the weight of the control rod itself, the power cutoff position can be set by reflecting the second control rod movement amount having a value different from the first control rod movement amount. The difference between the control rod stop position when the rod is inserted and the control rod operation target position can be reduced.

A second feature of the present invention to achieve the above object is that the power cutoff position is controlled from the control rod operation target position to a stop of power supply to the induction motor to a stop of rotation of the mobile induction motor. This is to be set based on a value obtained by subtracting the rod movement amount.

[0014] The power cutoff position is the control rod movement amount from the control rod operation target position (the first control rod movement amount from the stop of the power supply to the induction motor to the stop of the rotation of the mobile induction motor in response to the pull-out command). And a second control rod movement amount, which is different from the first control rod movement amount, from the stop of power supply to the induction motor to the stop of rotation of the induction motor in response to the insertion command. ) Is set based on the value obtained by subtracting), the difference between the control rod stop position and the control rod operation target position when the control rod is withdrawn and when the control rod is inserted can be significantly reduced.

A third feature of the present invention to achieve the above object is that the control rod operation command output means outputs an operation command including one of a pull-out command and an insertion command to a plurality of control rods to be gang operated. A rod operation command output unit, wherein the power cutoff determining unit is provided for each of the control rod driving devices, and the control rod operation target position included in the operation command input from the control rod operation command output unit; The control rod movement amount read from the storage means in response to one of the pull-out command and the insertion command included in the command, and the position of the control rod at the leading position among the plurality of gang-operated control rods When the measured control rod position reaches the power cutoff position set based on the above, the power cutoff determining means stops outputting the input operation command.

In the setting of the power cutoff position, the position of the control rod at the leading position among the plurality of control rods to be gang operated is reflected together with the control rod operation target position and the control rod movement amount. Even if there is a difference in the movement of the control rod by each of the control rod driving devices that operate the control rod (for example, due to the degree of engagement with the ball screw nut in the control rod driving device, the driving history, aging, etc.) ) In the gang operation, the difference in the stop position between the control rods can be significantly reduced.

A fourth feature of the present invention to achieve the above object is that the power cut-off position is controlled from the control rod operation target position to a stop of power supply to the induction motor to a stop of rotation of the mobile induction motor. The control rod is set based on the value obtained by subtracting the rod movement amount and the position of the control rod at the leading position among the plurality of control rods to be gang operated. Since the value obtained by subtracting the control rod movement amount from the control rod operation target position is reflected in the setting of the power cutoff position as in the feature of the second invention, the operation and effect obtained by the feature of the second invention are produced.

A fifth feature of the present invention to achieve the above object is that the power cutoff determining means is provided for each of the control rod driving devices, and the control included in the operation command input from the control rod operation command output means. A rod control target position, and a first control rod setting position set based on the control rod movement amount read from the storage means in response to one of the pull-out command and the insertion command included in the operation command; The second control rod setting position set based on the position of the control rod at the leading position among the plurality of gang operated control rods matches, and the measured control rod position is the first control rod setting. A power cut-off determining means for stopping the output of the input operation command when the position matches the position or the second control rod set position.

The fifth aspect of the invention has the effect obtained by the features of the third aspect of the invention.

A sixth feature of the present invention to achieve the above object is that the power cutoff determining means is provided for each of the control rod driving devices, and the control included in the operation command input from the control rod operation command output means. The first control rod setting position is set based on the rod operation target position and the control rod movement amount read from the storage means in response to one of the pull-out instruction and the insertion instruction included in the operation instruction. Means, means for determining the position of the control rod at the leading position among the plurality of control rods to be gang operated, and the second control having a position larger than the obtained position of the control rod at the leading position. Means for setting a rod setting position, means for holding the second control rod setting position when the first control rod setting position matches the second control rod setting position, and means for holding the second control rod setting position. Control rod setting position When the measured control rod position match, lies in a power cutoff determining means and a means for stopping the output of the entered operation command.

Means for setting a second control rod setting position larger than the obtained position of the control rod at the leading position, and a second control rod setting position when the first control rod setting position coincides with the second control rod setting position. 2 means for holding the control rod setting position, and when the measured control rod position matches the held second control rod setting position, the output of the input operation command is stopped. Until the set position coincides with the second control rod set position, the target value during the movement of the control rod does not deviate more than the current position of the moving control rod. When input, the control rod can be stopped without causing an overrun from the control rod position when the control rod stop command is input. As an example in which an operator inputs a control rod stop command by a manual command, for example, there is a case where a neutron flux rapidly rises.

A seventh feature of the present invention to achieve the above object is that the first control rod setting position is from the control rod operation target position to a stop of power supply to the induction motor to a stop of rotation of the mobile induction motor. A value obtained by adding a control rod movement amount equal to or greater than the control rod movement amount to the position of the control rod whose second control rod setting position is at the head position, wherein the control rod movement amount is set based on a value obtained by subtracting the control rod movement amount. It is to be set based on.

Since the first control rod setting position is set based on a value obtained by subtracting the control rod movement amount from the control rod operation target position, the control rod is set when the control rod is withdrawn and when the control rod is inserted, as in the second aspect of the invention. Thus, the difference between the control rod stop position and the control rod operation target position can be significantly reduced. Furthermore, since the second control rod setting position is set based on the value obtained by adding the control rod movement amount equal to or greater than the control rod movement amount to the position of the control rod at the head position, the control rod stop command is issued manually. When input, the control rod can be stopped by significantly reducing the amount of overrun from the position of the control rod when the control rod stop command is input.

An eighth feature of the present invention to achieve the above object is that the switching means is a semiconductor switching element.

Since the operation delay of the semiconductor switching element is extremely short and the variation thereof is small, the power supply to the induction motor and the electromagnetic brake is controlled on / off using the semiconductor switching element, so that the induction motor for performing the gang operation is controlled. The difference between the timing of the activation and the release of the braking force of the electromagnetic brake, and the timing of the stop of the rotation of the induction motor due to the operation of the braking force of the electromagnetic brake is reduced in each control rod performing the gang operation. For this reason, when the induction motor is applied to the control rod drive, the deviation of the stop position of each control rod during the gang operation can be reduced.

According to a ninth aspect of the present invention which achieves the above object, the first control rod movement amount from the stop of the power supply to the induction motor to the stop of the rotation of the mobile induction motor in response to the pull-out instruction, and the insertion instruction The second control rod movement amount, which is different from the first control rod movement amount, is a second control rod movement amount from a stop of power supply to the induction motor to a stop of rotation of the mobile induction motor. Storage means;
It is provided for each control rod driving device, and corresponds to a control rod operation target position included in the operation command input from the control rod operation command output means, and any of a pull-out command and an insertion command included in the operation command. Power cutoff determining means for stopping output of the input operation command when the measured control rod position reaches a power cutoff position set based on the control rod movement amount read from the storage means; Turning on the power supply to the induction motor based on the operation command output from the power cutoff determining means, and stopping the output of the operation command by the power cutoff determination means to supply power to the induction motor. A first power control means provided for each control rod driving device, comprising: a first opening / closing means for turning off; a rectifying device connected to an AC power supply for converting AC to DC; Means for turning off the power supply from the rectifier to the electromagnetic brake by stopping output of the control command of the means, and second power control means provided for each control rod driving device. It is in.

According to a ninth aspect of the present invention, the power cutoff position corresponds to the control rod operation target position included in the operation command and the pull-out command or the insertion command included in the operation command, and the control read out from the storage means. The output of the input operation command is stopped when the control rod position, which is set based on the rod movement amount and reaches the power cutoff position, reaches the power cutoff position. Furthermore, since a direct current is supplied to the electromagnetic brake via the second semiconductor switching element with the rectifier, the time from the activation of the electromagnetic brake to the stop of the induction motor becomes shorter. As a result, the moving distance from the actuation of the electromagnetic brake to the stop of the control rod is shortened, so that the influence of the load fluctuation of the control rod driving device is reduced, and the positioning accuracy of the control rod to the control rod operation target position is reduced. Is further improved.

The features of the tenth invention for achieving the above object are as follows:
The power cutoff position is set based on a value obtained by subtracting the control rod movement amount from the stop of power supply to the induction motor to the stop of rotation of the mobile induction motor from the control rod operation target position. is there. The tenth invention is the second invention described above.
The operation and effect obtained by the features of the invention are produced.

The features of the eleventh invention for achieving the above object are as follows:
The control rod operation command output unit is a control rod operation command output unit that outputs an operation command including any of a pull-out command and an insertion command for the plurality of control rods to be gang operated, and the power cutoff determining unit is A control rod operation target position provided for each of the control rod drive devices and included in the operation command input from the control rod operation command output means, corresponding to one of a pull-out command and an insertion command included in the operation command. The control measured at the power cutoff position set based on the control rod movement amount read from the storage means and the position of the control rod at the leading position among the plurality of control rods to be gang operated. When the rod position is reached, the power cutoff determining means stops output of the input operation command.

The eleventh aspect of the present invention has the function and effect obtained by the features of the third aspect of the present invention.

The features of the twelfth invention for achieving the above object are as follows:
The power cutoff position is a value obtained by subtracting the control rod movement amount from the stop of power supply to the induction motor to the stop of rotation of the mobile induction motor from the control rod operation target position, and a plurality of gang operations. The control rod is set based on the position of the control rod at the leading position among the control rods.

According to the twelfth aspect, the operation and effect obtained by the features of the fourth aspect are obtained.

The features of a thirteenth invention for achieving the above object are as follows:
The power cutoff determining means is provided for each control rod driving device, and the control rod operation target position included in the operation command input from the control rod operation command output means, and the pull-out command and insertion included in the operation command A first control rod setting position set based on the control rod movement amount read from the storage means in response to any of the commands, and a first control rod set position among a plurality of gang operated control rods. When the second control rod setting position set based on the position of the control rod matches, and the measured control rod position matches the first control rod setting position or the second control rod setting position, It is power cutoff determining means for stopping the output of the input operation command.

According to the thirteenth aspect, the operation and effect obtained by the features of the fifth aspect are obtained.

The features of the fourteenth invention for achieving the above object are as follows:
The power cutoff determining means is configured to store the control rod operation target position included in the operation command input from the control rod operation command output means, and the pull-out command and the insertion command included in the operation command. Means for setting the first control rod setting position based on the control rod movement amount read from the means, and determining the position of the control rod at the leading position among a plurality of gang operated control rods Means to
Means for setting the second control rod setting position based on the obtained position of the control rod at the leading position, and when the first control rod setting position matches the second control rod setting position, Means for holding the second control rod setting position, and means for stopping output of the input operation command when the control rod position measured to the held second control rod setting position matches. Power cutoff determining means.

According to the fourteenth aspect, the operation and effect obtained by the features of the sixth aspect are obtained.

The features of the fifteenth invention for achieving the above object are as follows:
The first control rod setting position is set based on a value obtained by subtracting the control rod movement amount from the stop of the power supply to the induction motor to the stop of the rotation of the mobile induction motor from the control rod operation target position. The second control rod setting position is set based on a value obtained by adding a control rod movement amount equal to or greater than the control rod movement amount to a position of the control rod at the head position.

The fifteenth aspect of the invention has the effect obtained by the features of the seventh aspect of the invention.

A feature of a sixteenth invention for achieving the above object is as follows.
The first switching means is a first semiconductor switching element, and the second switching means is a second semiconductor switching element.

According to the sixteenth aspect, the operation and effect obtained by the features of the eighth aspect are obtained.

[0041]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A control rod control device according to an embodiment of the present invention will be described below with reference to FIG. The control rod control device of the present embodiment includes a plurality of electrically driven control rod drive devices 18 using an induction motor. Each control rod drive 1
Reference numeral 8 includes an induction motor 7 and an electromagnetic brake 15 connected to a rotation shaft of the induction motor 7. Further, although not shown, the control rod driving device 18 includes a ball screw screw connected to the rotating shaft of the induction motor 7, a ball nut meshing with the ball screw screw, and a connecting rod attached to the ball nut and extending in the axial direction. Is provided.

The reactor 5 of the ABWR to which this embodiment is applied
Inside, a plurality of fuel assemblies 16 are installed while being immersed in cooling water 17. The plurality of control rods 6 are the fuel assemblies 1
It is arranged so as to be freely inserted and removed between the six. Each control rod 6 is connected to a connecting rod of a separate control rod drive 18 by a respective coupler (eg a gear or an electromagnetic clutch) 20.
Each control rod 6 is operated by driving the induction motor 7 of the corresponding control rod driving device 18. A control rod position detector 8 for detecting the position of the control rod in the axial direction in the core is provided.

The control rod control device of this embodiment is a device for controlling the operation of the control rod operation monitoring panel 1, the induction motor 7, and the electromagnetic brake 15 provided in the central control room, in addition to the control rod drive device 18. The control rod drive auxiliary panel 3 having the control rod operation monitoring panel 1 and the contents of the control rod operation command are compared with the current state of the control rods, and when the control rod operation is necessary,
The control rod position transmission auxiliary panel 2 for outputting an operation command to the control rod drive auxiliary panel 3 is provided. The control rod position transmission auxiliary panel 2 and the control rod drive auxiliary panel 3 are provided for each control rod driving device 18.

The control rod operation monitoring panel 1 includes an input / output device (not shown) for the operator to operate and monitor, a control rod withdrawal / insertion procedure for a plurality of control rods 6, and a control rod in which the operation amount is predetermined. It has a control rod operation procedure storage unit 11 for storing an operation procedure, and a control rod operation circuit 10 for outputting a withdrawal / insertion command to the control rod position transmission auxiliary panel 2. The input / output devices include a display device for displaying the coordinates of the control rods, a coordinate selection button, and an instruction input device for operation command buttons for control rod operation mode, insertion, and removal. The operator commands the operation of the control rod by using these devices. However, if a control rod that should not be operated is pulled out due to an operator incorrectly selecting a control rod to be operated, the thermal margin of the nuclear reactor may be deviated, and a dangerous situation may occur. In order to prevent this, the present embodiment
Using the control rod operation procedure stored in the control rod operation procedure storage unit 11, whether or not the plurality of control rods selected by the operator are control rods of coordinates to be operated without fail, and the amount of operation is a specified value Is constantly monitored to see if it exceeds.

The auxiliary control rod position transmission panel 2 includes a control rod stop / movement amount storage means 21, an excitation cutoff target position creation means 22, an excitation cutoff target position determination means 23, and a control rod position determination means 2.
4, a driving target position setting means 25 and an operation command cutoff means 26 are provided. The control rod stop movement amount storage means 21 has a pull-out stop movement amount storage means 21A and an insertion stop movement amount storage means 21B. The control rod position transmission auxiliary panel 2 is configured to control the control rod position based on the output signals of the control rod position detectors 8 and the control rod operation monitoring panel 1 so that the control rod position is output from the excitation cutoff target position creating means 22. If the insertion target value has not been reached, a control rod withdrawal / insertion command is output to the control rod drive auxiliary panel 3. On the other hand, when the position of the operated control rod matches the target value of the pull-out / insertion output from the excitation cutoff target position creating means 22, the output of the control rod pull-out / insertion command is cut off.

An AC power supply is connected to the induction motor 7 via a cable 35 via the semiconductor switching element 13 B in the control rod drive auxiliary panel 3 and the induction motor control circuit 13. The electromagnetic brake 15 is connected to a cable 35 by a cable 36. The control rod drive auxiliary panel 3 changes the direction of rotation of the induction motor 7 in response to a control rod withdrawal / insertion command (pull or insert), and a semiconductor switching element 13B for turning on / off the power supplied to the induction motor 7 and the electromagnetic brake 15. The semiconductor switching device 1 receives a control rod operation direction switching circuit 13A to be set and a control rod withdrawal / insertion command.
An induction motor control circuit 13 that performs on / off control of 3B and outputs a signal for setting the rotation direction of the induction motor 7 to a control rod operation direction switching circuit 13A. Examples of the semiconductor switching element 13B include a transistor and a thyristor.

In the ABWR, heat generated by a nuclear reaction of uranium or the like as nuclear fuel charged in the fuel assembly 16 loaded in the reactor 5 is transmitted to the cooling water 17 charged in the reactor 5. Can be The cooling water 17 is boiled and steam 1
7A. Although not shown, the turbine is a steam 1
It is rotated by the supply of 7A to rotate the generator. The control of the nuclear fission of the nuclear fuel is performed by the operation of pulling out / inserting the control rod 6. The fission of nuclear fuel is suppressed by inserting the control rod 6 into the core, and the fission of nuclear fuel is promoted by withdrawing the control rod 6 from the core.

The control rod pull-out operation by the control rod control device of the present embodiment will be described below. The operation sequence of a plurality of control rods to be gang operated is stored in the control rod operation procedure storage unit 11.
Is stored in FIG. 2 shows an operation sequence of the gang operation when the control rod is pulled out of the operation sequence.

In the control rod operation, a gang operation for simultaneously operating a plurality of control rods as one group as shown by the control rod coordinates in FIG. 2 is performed instead of operating only one control rod. This gang operation can achieve a reduction in the start-up time of the reactor plant and a saving in control rod operation. For example, there are 26 control rods whose control rod group number is indicated as 1, and the control rods of this group are first operated simultaneously. The information regarding the operation of the control rod is shown in FIG. 2 as a control rod withdrawal sequence. The operation information during the drawing sequence includes a control rod operation limit, a guide pattern, and a drawing number. The control rod operation limit is information indicating an operation target position of the control rod, the guide pattern is information indicating continuous operation and stepwise operation of the control rod, and the extraction number is information indicating the order of the extraction operation. Cases in which the control rod is operated stepwise include a step operation and a notch operation. Notch operation is
The amount of movement when operating the control rod in a stepwise manner is greater than in the stepwise operation.

FIG. 2 shows that all the control rods of the control rod group number 1 are continuously extracted up to the position 18 in the extraction order 1. Drawing order 2 is operation order 1
Is operated subsequently. In operation order 2, all control rods of control rod group number 1 are in position 18
To the position 22 by a step operation. In the drawing order 3, all the control rods of the control rod group number 1 are continuously drawn from the position 22 to the position 48. The position where the control rod is completely inserted into the core is defined as position 0, and the position where the control rod is completely removed from the core is defined as position 48. From the viewpoint of minute movement of the control rod, the entire insertion position of the control rod may be set to position 0, and the entire removal position of the control rod may be set to position 200.

In the next drawing order 4, the operation of continuously drawing up to the position 18 is performed for all the control rods of the control rod group number 2. Hereinafter, the control rods are pulled out by the gang operation in the order of the number of the pull-out order according to the control rod pull-out sequence of FIG. The drawing order is C in FIG.
Is shown in the part.

The insertion of the control rod into the core by the gang operation is performed in the reverse order of the operation sequence of the gang operation when the control rod is withdrawn in FIG.

As described above, the operation of the plurality of control rods to be gang-operated includes the pull-out control rod coordinates (or insertion control rod coordinates) input by the operator using the input / output device and the control rod operation modes (continuous, notch). , Step), and the control rod operation circuit 10 reads a control rod operation command 9 such as a pull-out command (or an insertion command). However, in the following control rod withdrawal by gang operation, the control rod operation circuit 10 reads out information (control rod operation limit, guide pattern and withdrawal number) from the control rod withdrawal sequence in the control rod operation procedure storage unit 11, and inputs This is performed by outputting a control rod operation command 9 including a pull-out command (or insertion command) input by the operator using an output device to the excitation cutoff target position creating means 22 of the control rod position transmission auxiliary panel 2. This control rod operation command 9
Contains information on the pull-out command and the pull-out control rod coordinates.
When the operator inputs a withdrawal command from the input / output device, the control rod operation circuit 10 reads necessary information from the control rod withdrawal sequence in the control rod operation procedure storage unit 11.

The withdrawal stop moving amount storage means 21A stores the command from the time when the control rod 6 is stopped until the control rod 6 stops after the command to cut off the power supply to the induction motor 7 is output to the semiconductor switching element 13B when the control rod is pulled out. The first control rod moving amount to be moved is stored. The first control rod movement amount is stored for each control rod operation mode, that is, for the continuous operation mode, the notch operation mode, and the step operation mode. The excitation cutoff target position creation means 22 receives the first control rod movement amount corresponding to the continuous operation mode from the removal stop movement amount storage device 21A when the extraction command specifying the continuous operation mode is input from the control rod operation circuit 10. Is read. Based on the first control rod movement amount and the pull-out target position output from the control rod operating circuit 10, the excitation cut-off target position creation means 22 cuts off the excitation by a first control rod movement amount before the pull-out target position. A target position (= (drawing target position)-(first control rod movement amount)) is created. This excitation cutoff target position finally becomes a control rod position for cutting off the power supply to the induction motor 7 and operating the electromagnetic brake 15. When the control rod reaches the power cutoff target position, the power supply to the induction motor 7 is cut off, and the control rod 6 moves by the first control rod movement amount after the electromagnetic brake 15 is operated, and the control rod is pulled out. Stop at the target position. The excitation cutoff target position created by the excitation cutoff target position creation means 22 is output to the excitation cutoff target position determination means 23.

The outputs of all the control rod position detectors 8 provided for all the control rods are input to the control rod position determination means 24. The control rod position determination unit 24 determines the control rod coordinates of each control rod to be subjected to the gang operation (for example, (02,3) for each control rod of control rod group number 1 in FIG.
9) and (02, 23)). The control rod position determining means 24 outputs the control rod position detectors 8 corresponding to the respective control rods to be subjected to the gang operation indicated by the control rod coordinates.
The measured control rod position signal is input. The control rod position determination means 24 detects the control rod position of the first control rod in the moving direction of the control rod 6 (in this case, the pulling direction) based on these control rod position signals. The driving target position setting means 25 adds the control rod position of the first control rod output from the control rod position determining means 24 and the movement addition amount read from the movement addition amount storage means 27 to control the movement during movement. Create a target position for the bar. The movement addition amount at the time of control rod withdrawal is the above-described first control rod movement amount or a value equal to or greater than the first control rod movement amount. In other words, in order to add this movement addition amount to the control rod position of the current control rod to obtain the target position of the moving control rod, if the control rod position of the first control rod changes due to the movement, The target position of the bar is also updated. When the control rod position of the leading control rod reaches the target position of the moving control rod, the communication of the driving target position setting means 25 is stopped. The target position of the moving control rod output from the driving target position setting unit 25 is input to the excitation cutoff target position determination unit 23 and the holding unit 28.

The excitation cutoff target position determination means 23 compares the output of the excitation cutoff target position creation means 22 with the output of the driving target position setting means 25, and when they match, the "target position of moving control rod" is compared. Is output to the holding means 28 to cause the holding means 28 to hold "." The holding unit 28 outputs the “target position of the moving control rod” output from the driving target position setting unit 25 to the target position determination unit 29 as it is until the holding command signal is input. The self-control rod position detecting means 30 detects the position of the own control rod operated.

The target position judging means 29 compares the output signal of the holding means 28 with the control rod position which is the output of the self-control rod position detecting means 30. Output to means 26. The operation command cut-off means 26 is opened by the input of the cut-off means open signal, and controls the induction motor control of the control rod drive auxiliary panel 3 according to the pull-out command (pull-out direction, drive ON) output from the excitation cut-off target position creating means 22. The transmission to the circuit 13 is blocked. On the other hand, when the output signal of the holding means 28 and the control rod position from the self-control rod position detecting means 30 do not match, the target position determining means 29 outputs a shut-off means closing signal. The operation command cutoff means 26 is closed by the input of the cutoff means close signal, and transmits the extraction command output from the excitation cutoff target position creation means 22 to the induction motor control circuit 13.

When operating a plurality of control rods simultaneously, load conditions (for example, the ball
Due to the slight misalignment between the corresponding control rods depending on the degree of engagement with the screw nut, drive history, aging, etc., the control rods may stop significantly beyond the corresponding target pull-out position. This can be prevented by setting the movement target position based on the control rod position of the first control rod in the movement direction and moving each control rod for gang operation. Further, in the present embodiment, the driving target position setting means 25 generates the "target position of the driving control rod" by adding the "control rod position of the first control rod" and the "movement addition amount". Since a large movement target amount is not given to the current position of the control rod, even if an abnormality occurs in the control rod position determination means 24 and the movement addition amount storage means 27, it is possible to mistakenly move the control rod greatly. Can be prevented. When the operation command interrupting means 26 is closed by the interrupting means closing signal, the induction motor control circuit 13 controls the excitation interrupting target position creating means 22.
Input the pull-out command output from. The induction motor control circuit 13 determines whether the input command corresponds to a pull-out command or an insertion command. The induction motor control circuit 13
If it is determined that the command is a pull-out command, a signal indicating the pull-out (first switching command) is sent to the control rod operation direction switching circuit 1.
3A and the semiconductor switching element 13B
Turn on. Therefore, the AC power is supplied to the induction motor 7 by the cable 35 via the semiconductor switching element 13B and the control rod operation direction switching circuit 13A. At the same time, the electric power is supplied to the electromagnetic brake 15 via the cables 35 and 36, and the braking force of the electromagnetic brake 15 that prevents the rotation of the induction motor 7 is released. The induction motor 7 starts rotating in the direction in which the control rod 6 is pulled out. The control rod 6 moves in a direction in which it is withdrawn from the core.

When the target position judging means 29 outputs the shut-off means open signal, the input of the command (pull-out command or insertion command) from the excitation cut-off target position creating means 22 to the induction motor control circuit 13 is stopped. The induction motor control circuit 13
Stopping the input of the pull-out command causes the semiconductor switching element 13
Turn off B. The power supply to the induction motor 7 and the electromagnetic brake 15 is stopped, the excitation of the induction motor 7 is released, and the braking force of the electromagnetic brake 15 is applied. For this reason, each control rod 6 that has performed the gang operation can stop at the same pullout target position. That is, the power supply to the induction motor 7 and the electromagnetic brake 15 is cut off, the excitation of the induction motor 7 is released, and at the same time the control rod 6 stops after the braking force by the electromagnetic brake 15 is applied and the control rod 6 stops.
Moves by the first control rod movement amount stored in the withdrawal stop movement amount storage means 21A, and stops at the target control rod position.

In particular, the response delay time of the semiconductor switching element 13B is extremely short. For this reason, by providing the semiconductor switching element 13B, the start timing of the induction motor 7 of each control rod driving device 18 and the operation timing of the electromagnetic brake 15 at the start of the gang operation do not shift, and the respective control rods being driven are not shifted. Does not shift. Further, when the rotation of the induction motor 7 is stopped, the rotation stop position of the induction motor 7 is determined depending on the braking performance.
Since the operation timings of the control rods do not shift, the stop position of each control rod can be matched with the target pull-out position. As a result, no deviation occurs in the position of each control rod that has been subjected to the gang operation, and the symmetry of the reactor power distribution is broken, so that no thermal stress is applied to the fuel rods in the fuel assembly.

The control rod pull-out operation in the continuous operation mode of the control rod operation modes has been described above. Other control rod operation modes include a notch operation mode and a step operation mode. In this embodiment, the control rod is pulled out in the notch operation mode and the step operation mode as in the continuous operation mode. The different point is that the first control rod movement amount read by the excitation cutoff target position creating means 22 corresponds to the notch operation mode or the step operation mode, and the manner of movement of the control rod.

Induction motor 7 in each control rod operation mode
Is as shown in FIG. 3, for example. The continuous operation mode is a mode in which the control rod is continuously moved,
As shown in FIG. 3A, the maximum rotation speed of the induction motor 7 reaches the rated speed. The step operation mode is a mode in which the control rod is moved in a stepwise manner. As shown in FIG. 3C, the time during which the induction motor 7 is excited is short, so that the maximum rotation speed does not reach the rated speed. Absent. The notch operation mode is a mode that exists between the continuous operation mode and the step operation mode. As shown in FIG. 3B, the excitation time of the induction motor 7 is longer than that in the step operation mode, and the control rod is longer than the step operation mode. In this mode, the moving amount is large, and the control rod is operated by a constant moving amount. Here, the maximum rotation speed in the notch operation mode is larger than the maximum rotation speed in the step operation mode and smaller than the maximum rotation speed in the continuous operation mode. T1, t in FIG.
2, t3 are times at which the excitation of the induction motor in each operation mode is released and the electromagnetic brake is operated.

Since the rotational speed of the induction motor 7 in each operation mode is different, the control rod 6 moves until the excitation of the induction motor 7 is released and the electromagnetic brake 15 is operated to stop the control rod 6. The amount is different for each mode of operation. Therefore, the withdrawal stop movement amount storage means 21A is
As described above, the first control rod operation mode differs depending on the control rod operation mode.
The control rod movement amount is stored.

In the example shown in FIG. 3, the maximum rotation speed in each operation mode is different, but the movement width of the control rod in the step operation mode and the notch operation mode becomes large in relation to the operation of the reactor plant. In some cases, and when the mechanical configuration of the control rod driving device 18 is different, the maximum rotational speed of the induction motor 7 in each operation mode may reach the rated speed and become the same as the continuous operation mode. In this case, the same first control rod movement amount is stored in the withdrawal stop movement amount storage means 21A for each operation mode. The same applies to the second control rod moving amount stored in the later-described insertion stop moving amount storage means 21B.

In this embodiment, since a part of the cable for supplying power to the induction motor 7 and the electromagnetic brake 15 is shared, the number of cables for about 200 control rods can be greatly reduced. If this point is not considered, power may be supplied by separate cables separated to the induction motor 7 and the electromagnetic brake 15 as in the embodiment of FIG.

The above is an example of the control rod withdrawal. When the control rod is inserted, the excitation cutoff target position is set using the second control rod movement stored in the insertion stop movement storage means 21B. The rest is the same as the control rod withdrawal. The control rod has its own weight, which is a difference in the load condition in the control rod movement direction, and the rotational speed of the induction motor changes in the insertion direction and the pull-out direction. That is, when the control rod is inserted, the control rod has a heavy load on the induction motor, and when the control rod is withdrawn, the load on the induction motor is reduced by the weight of the control rod. Therefore, the second control rod moves after the command to cut off the power supply to the induction motor 7 is output to the semiconductor switching element 13B during the operation of inserting the control rod.
The control rod movement amount is shorter than the first control rod movement amount at the time of withdrawal, as shown in Table 1 described later.

The control rod insertion operation in the continuous operation mode will be described below. When each control rod 6 for performing a gang operation is inserted into the core, the control rod operation circuit 10 executes a control rod insertion sequence stored in the control rod operation procedure storage unit 11 based on an insertion command input by an operator. A control rod operation command 9 including the read insertion control rod coordinates, control rod operation limit, guide pattern and insertion number, and the above-described insertion command input by the operator is created, and the control rod operation command 9 is generated as an excitation cutoff target position. Output to the means 22. The excitation cutoff target position creating means 22 includes a pull-out target position input from the control rod operation circuit 10 and a second control rod movement amount read from the insertion stop movement amount storage means 21B of the control rod stop movement amount storage means 21. , An excitation cutoff target position (= (insertion target position) − (second control rod movement amount)) that is before the insertion target position by this second control rod movement amount is created. The driving target position setting means 25 adds the control rod position of the first control rod output from the control rod position determining means 24 and the moving addition amount read from the moving addition amount storage means to add Create a target position for the control rod. The amount of addition when the control rod is inserted is the second control rod movement amount or a value equal to or more than this movement amount.

The target position judging means 29 compares the output signal of the holding means 28 with the control rod position which is the output of the self-control rod position detecting means 30. Outputs a close signal. When the shutoff means close signal is output, the insertion command (insertion direction, drive ON) output from the excitation cutoff target position creating means 22 is transmitted to the induction motor control circuit 13 via the operation command cutoff means 26.

The induction motor control circuit 13 outputs a signal indicating the insertion (second switching command) to the control rod operating direction switching circuit 13A and the semiconductor switching element 1
Turn on 3B. The braking force of the electromagnetic brake 15 is released. The induction motor 7 rotates in the direction opposite to the direction at the time of drawing, and inserts the control rod 6 into the core. The operation command cutoff means 26 is opened by the cutoff means open signal, and the input of the insertion command to the induction motor control circuit 13 is blocked. When the semiconductor switching element 13B is turned off and the braking force of the electromagnetic brake 15 acts, each control rod 6 that has performed a gang operation is
Stop at the same insertion target position.

By installing the semiconductor switching element 13B, the same effect as that at the time of the control rod withdrawal operation can be obtained at the time of the control rod insertion operation.

The operation of the present embodiment will be described below with reference to specific numerical values by taking control rod withdrawal in the continuous operation mode as an example. For ease of understanding, the total insertion position of the control rod 6 is set to 0, and the total withdrawal position is set to 200. Target pull-out position is 1
00, and the current position of the control rod 6 is set to 70. The control rod position of the first control rod is 71. The first control rod moving amount stored in the pulling stop moving amount storage unit 21A is set to 5, and the moving addition amount stored in the moving addition amount storage unit 27 is 5 or more. And Since the operation command output from the control rod operation circuit 10 is a pull-out command, the pull-out target position is 100, and the excitation cut-off target position output from the target excitation cut-off position creating means 22 is 95. Since the control rod position of the leading control rod determined by the control rod position determination means 24 is 71, the target position of the driving control rod which is the output of the driving target position setting means 25 is 76. The excitation cutoff target position determining means 23 compares the inputs 95 and 75 and does not output a holding command to the holding means 28 because they do not match. Therefore, the holding means 28
Is 76, and since the control rod position, which is the output of the self-control rod position detecting means 30, is 70, the target position determining means 29 outputs a shutoff means close signal. Command (withdrawal direction,
Drive ON) is input to the induction motor control circuit 13.

For this reason, the control rod is pulled out of the core.
With this pulling, the position of the control rod 6 increases, and the target position of the driving control rod, which is the output of the driving target position setting means 25, also increases. When the output of the driving target position setting means 25 becomes 95, the excitation cutoff target position determination means 23 outputs a holding command to the holding means 28 in order to match the output of the excitation cutoff target position creation means 22. The holding unit 28 holds the target position 95 of the driving control rod output from the driving target position setting unit 25. The target position judging means 29 outputs the output of the self-control rod position detecting means 30 and the holding means 2
When the output (value 95) matches the output signal of No. 8, a shutoff means open signal is output to the operation command shutoff means 26. As a result, the operation command cutoff means 26 does not transmit the pull-out command (pull-out direction, drive ON) from the excitation cutoff target position creating means 22 to the induction motor control circuit 13. Accordingly, when the control rod position is at 95, the power supply to the induction motor 7 and the electromagnetic brake 15 is cut off, the excitation of the induction motor 7 is released, and the braking force of the electromagnetic brake 15 acts.
Stop at Thus, the other control rods also operate, and the gang drive control rods all stop at the target position 100.

The operation of the present embodiment, taking the control rod insertion in the continuous operation mode as an example, will be described below using specific numerical values. In the continuous operation mode during insertion, the electromagnetic brake 1
The movement amount of the second control rod from operation of the control rod 5 to the stop of the control rod is, for example, 3.8.
When driving from 0 to 70, the drive command is interrupted at 73.8 before the target position 70. The driving target position output from the driving target position setting means 25 has a value about 3.8 smaller than the control rod position of the leading control rod. As a result, after the excitation of the induction motor 7 is released at 73.8 before the target position 70 with respect to the target position 70 and the electromagnetic brake 15 is operated, the excitation of the induction motor 7 is released. Move about 8 and stop. That is, each control rod correctly moves to the target position 70.

At the time of insertion, the amount of movement of the control rod 6 before the excitation of the induction motor 7 is released and the electromagnetic brake 15 is operated to stop the control rod 6 is different for each drive mode. Therefore, the insertion stop movement amount storage means 2
1B also stores a second control rod movement amount that differs depending on each control rod operation mode.

The first and second control rod movement amounts stored in the withdrawal stop movement amount storage means 21A and the insertion stop movement amount storage means 21B are as shown in Table 1, for example.

[0076]

[Table 1]

The value in the pull-out direction is large. In the continuous operation mode, it is 5.0 in the withdrawal direction and 3.8 in the insertion direction, and in the notch operation mode, it is 3.8 in the withdrawal direction and 2.2 in the insertion direction.
9, in the step operation mode, 2.
9, 2.3 in the insertion direction. That is, when the control position is short of the target position and is in the pull-out direction compared to the insertion direction, the excitation of the induction motor 7 is released and the electromagnetic brake 15 is operated to stop the control rod.

As described above, the value before the control rod target position is a predetermined value, and the value before the predetermined control rod is different depending on the driving direction. When it reached the value just before, the power supply to the induction motor was cut off and the electromagnetic brake was operated, so that the gang operation was performed at the control rod target position regardless of whether the moving direction was the pulling direction or the inserting direction. Each control rod can be stopped accurately.
For this reason, the reactor power at the position of each control rod that has been gang operated in the horizontal cross section of the core can be made substantially uniform, and the core operation management in consideration of the thermal limit value and the like can be easily performed.

FIG. 4 shows the relationship between the control rod operation command from the central control room, the operation of the induction motor 7 based on the command, and the amount of movement of the control rod. As shown in FIG. 4, the rotation direction of the induction motor 7 changes according to whether the control rod operation command is withdrawal / insertion. Further, when the shut-off means open signal is output, it substantially corresponds to when a stop command of the control rod is issued, and the induction conductor 7 is in a stopped state. The control rod withdrawal amount increases when a pullout command is issued, becomes constant when a shutoff means open signal is output, and decreases when an insertion command is output.

Next, a control rod control device according to another embodiment of the present invention will be described with reference to FIG. The same components as those in the embodiment of FIG. 1 are denoted by the same reference numerals. This embodiment uses the embodiment of FIG. 1 and the control rod position transmission auxiliary panel 2A in which the target position setting means 25 during movement and the movement addition amount storage means 27 are substantially deleted from the control rod position transmission auxiliary panel 2. Is different.

A part of the operation of the auxiliary control rod position transmission panel 2A that is different from that of the auxiliary control rod position transmission panel 2 will be described.
The excitation cutoff target position determination means 23A compares the excitation cutoff target position output from the excitation cutoff target position creation means 22 with the "control rod position of the first control rod" output from the control rod position determination means 24, If they match, the holding unit 28A holds the excitation cutoff target position. Target position determination means 29A
Is the output of the holding means 28A and the self-control rod position detecting means 3
0 and outputs a shutoff means close signal until they match, an interrupter open signal when they match,
Each is output to the operation command cutoff means 26. In this embodiment, power can be supplied to the induction motor 7 and the electromagnetic brake 15 and the power supply can be stopped in the same manner as in the embodiment of FIG. 1, and the same effect as in the embodiment of FIG. 1 can be obtained. be able to.

When the function of the control rod position transmission auxiliary panel 2 in the embodiment of FIG. 1 is realized by a computer system (or a microprocessor system), the operation cycle is increased and the target position during driving is set for each operation cycle. The output of the movement addition amount storage means 27 and the control rod position determination means 24
It is necessary to obtain the target position of the moving control rod by adding the outputs from the control rods. If the operation cycle of the computer system (or the microprocessor system) is slow, the control rod 6 may exceed the target pull-out position (or target insertion position) and stop. Computer systems (or microprocessor systems) that achieve high-speed operation cycles are large. On the other hand, in the embodiment of FIG. 5, there is no need to determine the target position of the moving control rod, and
A can be realized by a small and inexpensive computer system (or microprocessor system).

A control rod control device according to another embodiment of the present invention will be described below. In this embodiment, the control rod position transmission auxiliary panel 2 is realized by a computer system (or a microprocessor system) in the configuration of the embodiment of FIG. The control rod position transmission auxiliary panel 2 in the present embodiment executes the processing shown in FIG.

The processing contents of FIG. 6 will be described below. First, the control rod operation command 9 (moving direction,
(Operation mode, target position, etc.) (Step 4)
1). With respect to the control rod target position in the taken control rod operation command 9, the control rod movement amount (control rod stop movement storage means 21) which moves from the operation of the electromagnetic brake to the stop of the control rod.
Is calculated, and an excitation cutoff target position at which power supply to the induction motor is cut off is calculated based on the control rod movement amount (step 42). Here, if the control rod operation command 9 is for pulling out the control rod, the control rod movement amount is read out from the pullout stop movement amount storage means 21A of the control rod stop movement amount storage means 21, and the control rod operation command 9 is read. Is the control rod insertion amount, the control rod movement amount is read from the insertion stop movement amount storage means 21B of the control rod stop movement amount storage means 21. The control rod position information detected from all the control rod position detectors 8 is taken in, and the control rod position of the first control rod in the moving direction of the control rod is calculated (step 43). The target position of the control rod being driven is calculated by adding a moving addition amount (information stored in the moving addition amount storage means 27) to the calculated control rod position of the first control rod (step 44). When the moving direction is the insertion, the target position of the driven control rod is calculated by subtracting the above-described movement addition amount from the calculated control rod position of the first control rod. The calculated value in step 42 and the calculated value in step 44 are compared to determine whether these calculated values match (step 45). The determination in step 45 is “mismatch”
In the case of, the process of step 46 is executed. Step 4
If the determination in 5 is “match”, the process of step 47 is executed. At step 46, an operation command (moving direction of the control rod, drive ON) is output to the control rod drive auxiliary panel 3. Thereby, the movement of the control rod is started, and the movement of the control rod is continued until the processing of step 47 is executed. Step 4
In step 7, the position of the control rod to be moved is fetched, and it is determined whether or not this position matches the "target position of the driven control rod" calculated last in step 44. If the determination in step 47 is "mismatch", a cutoff means close signal is output to the operation command cutoff means 26 (not shown), and the processing in step 47 is executed again. If the determination in step 47 is "match", the process of step 48 is executed. In step 48, a shutoff means open signal for stopping output of an operation command (control rod moving direction, drive ON) to the control rod drive auxiliary panel 3 is output to the operation command cutoff means 26. The target position of the control rod being driven last calculated in step 44 is equal to the target position at which the excitation of the induction motor is cut off, which is created by the excitation cutoff target position creating means 22 in FIG. In this way, the function of the control rod position transmission auxiliary panel 2 is transferred to a computer system (or a microprocessor system).
Can be realized.

This embodiment has the same effect as the embodiment of FIG.

A control rod control device according to another embodiment of the present invention will be described below. In the present embodiment, the control rod position transmission auxiliary panel 2A in the configuration of the embodiment of FIG. 5 is configured by a computer system (or a microprocessor system). Control rod position transmission auxiliary panel 2A in this embodiment
Executes the processing shown in FIG.

The same processes as those in FIG. 6 among the processes in FIG. 7 are denoted by the same reference numerals. As in the process of FIG.
1, 42 and 43 are executed. Thereafter, the calculated value in step 42 is compared with the calculated value in step 33, and it is determined whether these calculated values match (step 45A). If the determination in step 45A is "mismatch", the process of step 46 is executed. Step 45A
Is "match", the process of step 47A is executed. In step 74A, the position of the control rod to be moved is fetched, and it is determined whether or not this position matches the “control rod position of the first control rod” calculated last in step 43. If the determination in step 47A is "mismatch", a cutoff means close signal is output to the operation command cutoff means 26 (not shown), and the process of step 47A is executed again. If the determination in step 47 is "match", the process of step 48 is executed. The control rod position of the first control rod finally calculated in step 43 is equal to the target position for interrupting the excitation of the induction motor created by the excitation cutoff target position creating means 22 in the embodiment of FIG. This embodiment can obtain the same effect as the embodiment of FIG.

A control rod control device according to another embodiment of the present invention will be described below with reference to FIG. In this embodiment, the rectifier 4
1 and the electromagnetic brake power supply device 4 having the semiconductor switching element 4B.

The rectifier 4A converts the brake power supply AC into a DC power supply for operating the electromagnetic brake 15A. The semiconductor switching element 4B is connected to the rectifier 4A, and is connected to the electromagnetic brake 15A by a cable 36A. The semiconductor switching element 4 </ b> B inputs the shutoff unit close signal and the shutoff unit open signal which are the outputs of the target position determination unit 29. When the shutoff means close signal is input, the semiconductor switching element 4B is turned on and the electromagnetic brake 15A is turned on.
Is released. On the other hand, when the shutoff means open signal is input, the semiconductor switching element 4B is turned off, and the braking force of the electromagnetic brake 15A operates. At this time, the induction motor 7 cannot rotate.

As in the embodiment of FIG. 1, power is supplied to the induction motor 7 when the semiconductor switching element 13B is turned on, and power supply to the induction motor 7 is stopped when the semiconductor switching element 13B is turned off. The on / off operations of the semiconductor switching elements 4B and 13B are the same. Therefore, when the braking force of the electromagnetic brake 15A is released, power is supplied to the induction motor 7, the induction motor 7 rotates, and the control rod 6 moves in the set direction.
This embodiment can obtain the effects produced in the embodiment of FIG.

The electromagnetic brake 15A connected to the rotating shaft of the induction motor 7 operates with a DC power supply. The reason for using such an electromagnetic brake 15A is that the response time of the brake is shorter than that of the electromagnetic brake 15 operated by the AC power supply. Therefore, the application of the electromagnetic brake 15A shortens the time affected by the load fluctuation as compared with the case where the electromagnetic brake operated by the AC power supply is used, so that the control rod positioning accuracy can be further improved. Note that the electromagnetic brake 15A may be one in which a braking force is activated by power supply.
In this case, it is only necessary to excite the induction motor 7 to rotate and to cut off the power supply to the electromagnetic brake 15A, so that the excitation of the induction motor 7 is cut off and power is supplied to the electromagnetic brake 15.

The electromagnetic brake power supply 4 and the electromagnetic brake 15A can be applied to the embodiment shown in FIG.

[0093]

According to the first aspect of the invention, when the control rod is pulled out to reduce the load on the induction motor due to the action of the control rod's own weight, and when the control rod is inserted where the load on the induction motor increases due to the weight of the control rod, The difference between the control rod stop position and the control rod operation target position can be reduced.

According to the second invention, the difference between the control rod stop position and the control rod operation target position can be significantly reduced when the control rod is withdrawn and when the control rod is inserted.

According to the third aspect of the present invention, even if there is a difference in the movement of the control rods by the respective control rod driving devices that operate the respective control rods in the gang operation, the control rods are not moved between the control rods during the gang operation. The difference between the stop positions can be significantly reduced.

According to the fourth aspect, the difference between the control rod stop position and the control rod operation target position can be significantly reduced when the control rod is withdrawn and when the control rod is inserted.

According to the fifth aspect of the present invention, even if there is a difference in the movement of the control rods by the respective control rod driving devices that operate the respective control rods in the gang operation, the control rods are not moved between the control rods during the gang operation. The difference between the stop positions can be significantly reduced.

According to the sixth aspect, when a control rod stop command is input by a manual command of the operator, the control rod is stopped without causing an overrun from the control rod position when the control rod stop command is input. be able to.

According to the seventh aspect, the difference between the control rod stop position and the control rod operation target position can be significantly reduced when the control rod is withdrawn and when the control rod is inserted. Further, when a control rod stop command is input as a manual command, the control rod can be stopped by significantly reducing the amount of overrun from the control rod position at the time when the control rod stop command is input.

According to the eighth aspect, since the operation delay of the semiconductor switching element is extremely short and its variation is small, when the induction motor is applied to the control rod driving device, each control rod stops when the gang operation is performed. Position deviation can be reduced.

According to the ninth aspect, the same effect as that of the first aspect can be obtained. Furthermore, since the moving distance from the activation of the electromagnetic brake to the stop of the control rod is reduced, the influence of the load fluctuation of the control rod drive device is less likely to occur, and the positioning accuracy of the control rod to the control rod operation target position is reduced. Further improve.

According to the tenth aspect, the difference between the control rod stop position and the control rod operation target position can be significantly reduced when the control rod is withdrawn and when the control rod is inserted.

According to the eleventh aspect, even if there is a difference in the movement of the control rods by the respective control rod driving devices that operate the respective control rods in the gang operation, the control rods are not moved between the control rods during the gang operation. The difference between the stop positions can be significantly reduced.

According to the twelfth aspect, the difference between the control rod stop position and the control rod operation target position can be significantly reduced when the control rod is withdrawn and when the control rod is inserted.

According to the thirteenth aspect, even if there is a difference in the movement of the control rods by the corresponding control rod driving device that operates each control rod in the gang operation, the control rods are not moved between the control rods during the gang operation. The difference between the stop positions can be significantly reduced.

According to the fourteenth aspect, when a control rod stop command is input by a manual command of an operator, the control rod is stopped without causing an overrun from the control rod position at the time when the control rod stop instruction is input. be able to.

According to the fifteenth aspect, the difference between the control rod stop position and the control rod operation target position can be significantly reduced when the control rod is withdrawn and when the control rod is inserted. Further, when a control rod stop command is input as a manual command, the control rod can be stopped by significantly reducing the amount of overrun from the control rod position at the time when the control rod stop command is input. According to the sixteenth aspect, the operation delay of the semiconductor switching element is extremely short and its variation is small. Therefore, when the induction motor is applied to the control rod driving device, the deviation of the stop position of each control rod during the gang operation. Can be reduced.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a control rod control device according to a preferred embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a specific example of a control rod withdrawal sequence stored in a control rod operation procedure storage unit in FIG. 1;

FIG. 3 is an explanatory diagram showing a change in a rotation speed of an induction motor in each operation mode of a control rod.

FIG. 4 is a characteristic diagram showing a relationship between an operation of the induction motor and an operation amount of a control rod in FIG. 1;

FIG. 5 is a configuration diagram of a control rod control device according to another embodiment of the present invention.

FIG. 6 is a flowchart of a process executed by a control rod position transmission auxiliary panel 2 of a control rod control device according to another embodiment of the present invention.

FIG. 7 is a flowchart of a process executed by a control rod position transmission auxiliary panel 2 of a control rod control device according to another embodiment of the present invention.

FIG. 8 is a configuration diagram of a control rod control device according to another embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Control rod operation monitoring panel, 2, 2A ... Control rod position transmission auxiliary panel, 3 ... Control rod drive auxiliary panel, 4 ... Electromagnetic brake power supply device, 6 ... Control rod, 7 ... Induction motor, 8 ... Control rod position detection , 4B, 13B ... semiconductor switching element, 15, 1
5A: electromagnetic brake, 21: control rod stop movement amount storage means, 21A: pull-out stop movement amount storage means, 21B: insertion stop movement amount storage means, 22: excitation cutoff target position creation means, 23: excitation cutoff target position Determination means, 24: control rod position determination means, 25: driving target position setting means, 26: operation command cutoff means, 27: movement addition amount storage means, 28: holding means, 29: target position determination means, 30: self Control rod position detecting means.

Claims (16)

[Claims] A plurality of control rod driving devices connected to control rods and driven by an induction motor; and an electromagnetic brake provided for each of the control rod driving devices and for stopping rotation of the induction motor by stopping power supply. A control rod operation command output means for outputting an operation command including any of a pull-out command and an insertion command to the control rod; and, in response to the pull-out command, from stopping power supply to the induction motor to stopping rotation of the induction motor. The first control rod movement amount from the stop of power supply to the induction motor to the stop of rotation of the induction motor in response to the first control rod movement amount and the insertion command, and the first control rod movement amount A storage means for storing the second control rod movement amount having a different value; and a control means provided for each control rod driving device and included in the operation command input from the control rod operation command output means. The control rod operation target position, and the power cutoff position set based on the control rod movement amount read from the storage means corresponding to one of the pull-out command and the insertion command included in the operation command, are measured. Power cut-off determining means for stopping the output of the input operation command when the control rod position reaches, and, based on the operation command output from the power cut-off determining means, to the induction motor and the electromagnetic brake. An opening / closing means for turning on the power supply and turning off the power supply to the induction motor and the electromagnetic brake by stopping the output of the operation command of the power cutoff determining means; A control rod control device comprising control means. 2. The power cutoff position is based on a value obtained by subtracting the control rod movement amount from a stop of power supply to the induction motor to a stop of rotation of the mobile induction motor from the control rod operation target position. The control rod control device according to claim 1, which is set. 3. The control rod operation command output means for outputting an operation command including one of a pull-out command and an insertion command for a plurality of control rods to be gang-operated, and A cutoff determining unit is provided for each of the control rod driving devices, and a control rod operation target position included in the operation command input from the control rod operation command output unit, a pull-out command and an insertion command included in the operation command. Either the control rod movement amount read from the storage means corresponding to any one of the plurality of control rods to be gang operated, and a power cutoff position set based on a position of the control rod at a leading position among a plurality of control rods. ,
2. The control rod control device according to claim 1, wherein the control rod control device is a power cutoff determining unit that stops outputting the input operation command when the measured control rod position reaches. 4. The power cutoff position is a value obtained by subtracting the control rod movement amount from the control rod operation target position to a stop of power supply to the induction motor to a stop of rotation of the mobile induction motor, and a gang. 4. The control rod control device according to claim 3, wherein the control rod control device is set based on a position of the control rod at a leading position among a plurality of control rods operated. 5. A control rod operation target position and a control rod operation target position included in the operation command input from the control rod operation command output means, the power cutoff determination means being provided for each of the control rod driving devices. A first control rod setting position set based on the control rod movement amount read from the storage means in response to one of the included pull-out command and insertion command, and a plurality of gang-operated control rods The second control rod setting position set based on the position of the control rod at the leading position matches, and the measured control rod position is set to the first control rod setting position or the second control rod setting position. 4. The control rod control device according to claim 3, wherein the control rod control device is a power cutoff determining unit that stops output of the input operation command when the values match. 6. A control rod operation target position and a control rod operation target position included in the operation command input from the control rod operation command output means are provided for each of the control rod driving devices. Means for setting the first control rod setting position based on the control rod movement amount read from the storage means in response to one of the included withdrawal command and insertion command, and a plurality of gang operated controls Means for determining the position of the control rod at the leading position of the rod; means for setting the second control rod setting position larger than the obtained position of the control rod at the leading position; Means for holding the second control rod setting position when the first control rod setting position matches the second control rod setting position; and controlling the control rod measured at the held second control rod setting position. When the positions match , The control rod control system of claim 3 is a power cutoff determining means and means for stopping the output of the operation command to the input. 7. The first control rod setting position is a value obtained by subtracting the control rod movement amount from the stop of power supply to the induction motor to the stop of rotation of the mobile induction motor from the control rod operation target position. The second control rod setting position is set based on a value obtained by adding a control rod movement amount equal to or greater than the control rod movement amount to a position of the control rod at the leading position. The control rod control device according to claim 6. 8. The control rod control device according to claim 3, wherein said switching means is a semiconductor switching element. 9. A plurality of control rod drive units connected to control rods and driven by an induction motor; and an electromagnetic brake provided for each of the control rod drive units and for stopping rotation of the induction motor by stopping supply of power. A control rod operation command output unit that outputs an operation command to the control rod; a first control rod movement amount from a stop of power supply to the induction motor to a stop of rotation of the induction motor in response to the pull-out command; The second control rod travel distance from the stop of power supply to the induction motor to the stop of rotation of the induction motor in response to the insertion command, the second control rod travel distance being different from the first control rod travel distance A control rod operation target position, which is provided for each control rod driving device and is included in the operation command input from the control rod operation command output means, and the operation command. When the measured control rod position reaches the power cutoff position set based on the control rod movement amount read from the storage means in response to any of the included pull-out command and insertion command, Power cutoff determining means for stopping the output of the input operation command, and turning on the power supply to the induction motor based on the operation command output from the power cutoff determining means,
First power control means provided for each control rod drive device, comprising first opening / closing means for turning off the power supply to the induction motor by stopping output of the operation command of the power cutoff determination means; A rectifier that is connected to convert alternating current to direct current,
And a second opening / closing means for turning off the power supply from the rectifier to the electromagnetic brake by stopping the output of the control command from the power cutoff determining means, and a second power control provided for each control rod driving device. And a control rod control device. 10. The power cutoff position is based on a value obtained by subtracting the control rod movement amount from a stop of power supply to the induction motor to a stop of rotation of the mobile induction motor from the control rod operation target position. 10. The control rod control device according to claim 9, which is set. 11. The control rod operation command output means for outputting an operation command including one of a pull-out command and an insertion command for a plurality of control rods to be gang-operated, and A cutoff determining unit is provided for each of the control rod driving devices, and a control rod operation target position included in the operation command input from the control rod operation command output unit, a pull-out command and an insertion command included in the operation command. Either the control rod movement amount read from the storage means corresponding to any one of the plurality of control rods to be gang operated, and a power cutoff position set based on a position of the control rod at a leading position among a plurality of control rods. ,
The control rod control device according to claim 9, wherein the control rod control device is a power cutoff determination unit that stops outputting the input operation command when the measured control rod position reaches. 12. The power cutoff position is a value obtained by subtracting the control rod movement amount from the control rod operation target position to a stop of power supply to the induction motor to a stop of rotation of the mobile induction motor, and a gang. The control rod control device according to claim 11, wherein the control rod control apparatus is set based on a position of the control rod at a leading position among a plurality of control rods operated. 13. A control rod operation target position included in said operation command input from said control rod operation command output means, said power cutoff determination means being provided for each control rod driving device, and said power cutoff determination means being included in said operation command. A first control rod setting position set based on the control rod movement amount read from the storage means in response to one of a withdrawal command and an insertion command, and a first control rod among a plurality of gang operated control rods. And the second control rod setting position set based on the position of the control rod at the position of the control rod coincides, and the measured control rod position coincides with the first control rod setting position or the second control rod setting position. 12. The control rod control device according to claim 11, wherein the control rod control device is a power cutoff determination unit that stops outputting the input operation command when the operation is performed. 14. A control rod operation target position included in the operation command input from the control rod operation command output means, and one of a pull-out command and an insertion command included in the operation command. Means for setting the first control rod setting position based on the control rod movement amount read from the storage means in correspondence with the control rod, and the control at the head position among a plurality of gang operated control rods Means for determining the position of the rod, means for setting the second control rod setting position based on the obtained position of the control rod at the leading position, the first control rod setting position and the second control Means for holding the second control rod setting position when the rod setting position matches, and the input operation when the control rod position measured to the held second control rod setting position matches. Stop command output Control rod control system of claim 11 is a power cut-off determining means having means for. 15. The first control rod setting position is a value obtained by subtracting the control rod movement amount from the stop of power supply to the induction motor to the stop of rotation of the mobile induction motor from the control rod operation target position. The second control rod setting position is set based on a value obtained by adding a control rod movement amount equal to or more than the control rod movement amount to a position of the control rod at the leading position. The control rod control device according to claim 14. 16. The control rod control device according to claim 11, wherein said first switching means is a first semiconductor switching element, and said second switching means is a second semiconductor switching element.