JPS5821238B2 - Control device for nuclear reactor fuel exchange equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device for a fuel exchange device in a nuclear reactor power plant, and when work is automatically performed by a control computer,
The present invention relates to a control device for a nuclear reactor refueling system that can control the refueling system after determining whether to permit or disallow the operation before starting the operation.

In boiling water nuclear power plants, reactor fuel exchange is
This is done by shutting down the reactor during the periodic plant inspection that is carried out once a year.

The fuel exchange machine is installed, for example, on the fifth floor of a nuclear reactor building, spanning the spent fuel storage pool and the reactor core pool, and conventionally, an operation panel was provided on the exchange machine and manually operated by an operator.

However, this operating method has the following problems.

(1) Since the work is performed above the reactor core, the radiation exposure (especially internal exposure) of the operators cannot be ignored.

(2) The movement range is limited to the core pool and spent fuel storage pool, and the reactor core and fuel rack into which fuel is inserted are very narrow, making operation difficult and complicated, and requires multiple workers at all times. monitoring and confirmation by

(3) Fuel in the core (for example, 548 MW in the 800 MW class)
Approximately 25% of the fuel (mains) will be replaced with new fuel, and 25% of the fuel will be relocated within the reactor core, which requires a huge amount of work and a great deal of time, making it a critical path during regular plant inspections. There is.

(4) Due to manual operation, work efficiency is poor and the time required for one replacement work is long.

Therefore, for the purpose of reducing radiation exposure, improving plant availability, and saving labor, there is a strong desire to recently introduce a control computer to automatically perform fuel exchange operations.

The purpose of the present invention is not only to eliminate the above-mentioned drawbacks, but also to ensure safe and rational operation, especially in refueling work at nuclear power plants, by determining whether or not to permit operation before starting the work. The goal is to make it possible to perform various tasks.

The present invention comprehensively checks the target position data set by the operator before starting work, the fuel loading situation at the target position, and the hook state of the gripping device of the fuel exchanger at the current position. The system determines whether or not the operation of moving the refueling machine to be executed matches a preset work mode to determine whether or not the operation is permitted.

First, an example of a fuel exchanger will be explained with reference to FIG.

The fuel exchange machine consists of traveling truck 1, traversing truck 2, grapple 3,
It is composed of a gripping device 4 and a hoist 5.

The traveling truck 1 is moved by a drive motor 8 on a pair of rails 6 installed on both sides of a core pool 32 and a fuel storage pool 30, which will be described later.

The traveling truck 2 has a grapple 3, a gripping device 4, and a hoist 5, and a pair of rails 7 installed on the traveling truck 1.
is moved by the drive motor 9.

The grapple 3 is raised and lowered by a hoist 5 and a drive motor 9, and is also rotated by a drive motor 11 to adjust the angle of the fuel.

Further, this grapple 3 is composed of several telescopic tubes, and a gripping device 4 is attached to the lower end.

Hereinafter, the moving direction of the traveling cart 1 will be referred to as X, the moving direction of the traversing cart 2 will be referred to as Y, and the vertical movement of the grapple 3 will be referred to as Z2 and the rotation will be referred to as θ.

Now, the present invention will be explained in detail.

X, Y, Z. A position signal indicating the amount of movement of θ is detected by a synchro transmitter (not shown) attached to each drive shaft and input to the process input/output device 13.

The process input/output device 13 converts this signal into a digital signal and outputs it to a computer or central processing unit 14.

Based on the operator's command from the operator console 16, the central processing unit 14 compares the position to be moved with the current position, calculates the amount of movement, and sends the operation signal to the process input/output device 13 and control. Via the plate 12, it is applied to the respective drive motors 8.9, 10, 11.

The computer system includes a central processing unit 14, a process input/output device 13, an operator console 16, and a storage device 15°/θ typewriter 17 as a peripheral device.
, logging typewriter 18, and paper tape reader 1
9 is provided.

In addition, the positional state of the fuel exchanger shown in Fig. 2, that is, the position above the moving bogie furnace (the position indicated by the dashed-dotted line parallel to the Y axis in Fig. 2)
, Traversing bogie gate passing position ■ (position parallel to the Y-axis in FIG. 2, indicated by a chain line passing through the fuel storage pool 30, gate 31, and core pool 32) Grapple upper limit position ■, intermediate position ■, and seating position ■.

■ is detected by the limit switch, and each relay board 2
0 and is input to the central processing unit 14 via the process input/output device 13.

The computer uses these signals for positioning control and monitoring.

The content of automatic operation of fuel exchange work using a computer will be specifically explained with reference to FIG. 2.

The fuel exchange machine includes a fuel storage pool 30 and a core pool 32.
installed across the

When performing fuel exchange, the gate 31 is opened and the fuel storage pool 30 and core pool 32 are filled with water.

Inside the fuel storage pool 30, a fuel rack 33, a cask storage area 35, a work table 36, and a storage table 37 are installed.

Typically, refueling operations are performed between the fuel rack 33 and the reactor core 34.

Therefore, the computer has X of the fuel rack 33 and the reactor core 34,
The X, Y, Z, and θ control coordinates corresponding to the YID coordinates and the fuel loading status at each position are stored in advance.

Hereinafter, a case in which fuel is transferred from a position P where the fuel rack 33 is located to a position Q where the reactor core 34 is located will be described as an example.

The coordinates of the current position P of the refueling machine are X, Y.

Z, θ, and the coordinates of Q, which is the transfer target, are X' and Y'.

2/, θ'.

The operator first sets the X-YID coordinates of the target position Q and the presence or absence of fuel using the operator console 16.

Next, a request is made to the computer to determine whether automatic startup is possible.

If automatic start-up is permitted, press the start push button to request start-up of automatic operation.

When startup is started, Z-up control (■) is first performed, and the motor is temporarily stopped at the upper limit position (◎).

Next, XY simultaneous control (2) is performed.

In XY control, reference points A, B, and C are set in advance, and the computer calculates a straight route passing through P-A-B-C-Q, and adjusts the drive amount of X and Y so that the route is on this route. Output.

That is, using A, B, C, and Q as target positions, calculate the deviations △X and △Y from the current position, and set the one with the larger deviation as a constant speed, and set the other speeds as calculated using the deviation ratio. .

When the positioning at the target position Q is completed, the rotation angle adjustment θ control (2) is then performed.

Also in θ control, the deviation Δθ between θ′ and θ is calculated and the drive amount is output.

When the θ control is completed, next, Z lowering control (2) is performed, fuel is inserted into the reactor core 34, and the reactor is stopped at the seating position (2).

In automatic operation using a computer, as described above, the operation in which one cycle is Z rise-XY→θ-Z fall is performed continuously.

After stopping at the seating position ■, the operator presses the operator console 1.
At step 6, the hook of the gripping device 4 is opened.

The operation for fetching fuel is also controlled in exactly the same way as described above.

However, in this case, after stopping at the seating position ■ or ■, the hook close operation is performed.

In this fuel exchange work, there is a cask storage area 35, a work table 36, and a storage table 37 in the fuel storage pool 30, a stud bolt is attached to the pressure vessel 38, and because it passes through a very narrow gate 31, The movable range of the refueling machine is determined to prevent the refueling machine from colliding with these objects.

If there is a possibility that the refueling machine may deviate from this movable range, movement of the refueling machine is prevented by an interlock mechanism (not shown).

The present invention proposes an exchange system in which the operator determines the rationality of the requested work using the operator console 16 before starting such automatic operation.

In order to implement the present invention, setting data, computer input data, and automatic operation mode are determined as follows, for example.

1 Setting data The operator sets the target position of each operation using a digital setting device (for example, 5 digits) on the operator console 16.

If these 5 digits are called from the left as ■@O○■, the target position is either core pool 32 or fuel storage pool 30.
Set the

It also sets whether there is fuel there.

(1 digit) (i) Set to 20 when there is fuel in the core pool 32 (11) When there is no fuel in the core pool 32: C (Song When there is fuel in the fuel storage pool 30: P* OV) Fuel storage When there is no fuel in the pool 30: P◎O; X coordinate (2 digits) of the X-YID coordinates of the target position ■■; Different YID coordinates are determined in advance for the core 34 and the fuel rack 33.

Note that the ID coordinates here are not the coordinates indicated by the absolute distance between XY and husband, but are coordinates indicated by the code attached to the fuel storage position.

Therefore, this is ultimately converted to distance.

)2 Computer input data As an example, it is defined as below.

(1) Above target position data (2) Traveling bogie position (detected by synchro transmitter) (3
) Traverse truck position (detected by synchro transmitter) (4) Grip device hook status (detected by limit switch) (5) All X-YID coordinates of the core and fuel rack and fuel data (However, this data is It is stored in a table in memory.

)3 Work Mode In automatic operation, the following eight types of work are performed between the fuel rack 33 and the reactor core 34 depending on the purpose of movement.

(1) Retrieve fuel from the fuel rack 33 to the reactor core 34.

(Denoted as pc*) (2) Transfer fuel from the fuel rack 33 to the reactor core 34.

(P”-C) (3) Go to get fuel from the fuel rack 33 to another fuel rack 33.

(P-P") (4) Transfer fuel from one fuel rack 33 to another fuel rack 33.

(P"-P) (5) Go to get fuel from the core 34 to the fuel rack 33.

(c-p'') (6) Transfer the fuel from the core 34 to the fuel rack 33.

(CI-P) (7) Retrieve fuel from one position in the core 34 to another.

(C-C'') (8) Transfer fuel from one location in the core 34 to another location.

(C-C) Furthermore, the gripping device 4 cannot grip the fuel unless the hook is open, so be sure to open the hook when going to pick up fuel.

Conversely, when transferring fuel, the hook must be left open as the fuel must be grasped.

In other words, whether fuel is currently being grabbed is determined by the state of the hook.

The pre-startup check according to the present invention is requested by the operator after setting the target position data (of course, it may be automatically requested in accordance with the setting of the target position data).

The computer then executes the functions shown in FIGS. 3 and 4.

First, read the data of the set target position, then
The current position represented by Y control coordinates is read and it is determined whether it is above the core pool 32 or the fuel storage pool 30.

The case where the current position is on the fuel storage pool 30 will be described below.

(The same is true when the current position is on the core pool 32.

) Once the current position has been determined, the target position is the core 34.
or the fuel rack 33.

Then, it searches the memory table to check whether fuel is inserted at the target position, and at the same time determines whether the data set by the operator is correct.

When the target position is the core 34, the setting data must be C when fuel is inserted, and the setting data when fuel is not inserted.

Further, when the target position is the fuel rack 33, if fuel is inserted, it must be P, and if fuel is not inserted, it must be P.

Next, the open/closed state of the hook of the gripping device 4 at the current position is determined to determine whether fuel is being gripped.

When the target position is the core 34 and there is fuel at that position, if the hook is open, it corresponds to the previously determined work mode P-C.

Moreover, if there is no fuel at that position, if the hook is closed, it corresponds to the work mode B→C.

When the target position is the fuel rack 33 and there is fuel at that position, if the hook is closed, it corresponds to the work mode P-hi.

Also, if there is no fuel at that position, if the hook is closed, it corresponds to the work mode P → P.

Only when the work requested by the operator matches the work mode as described above, the start of automatic operation is permitted and a notification to that effect is printed on the logging typewriter.

If an abnormality is found during the determination process, startup is prevented, the abnormality is checked, and a message to that effect is printed on the logging typewriter.

As described above, this embodiment has the following effects.

It is possible to prevent the abnormal operation of attempting to insert the currently held fuel into the position where the fuel is being inserted, and in addition, in the embodiment, 1. Since the setting data and the stored data are double-checked, reliability is improved. This improves the operator's sense of security regarding the judgment results.

2. Eliminate the wasteful work of going to grab fuel where there is no fuel.

3. Since the check is performed before starting, it is possible to prevent accidents due to malfunction of the starting push button.

The effect of this can be obtained.

In the above embodiment, the state signal of the hook of the gripping device was used to determine whether fuel is being grabbed at the current position, but since a load is applied when the grab pull is raised after the hook is closed, this load By detecting and inputting it into a computer, it can be replaced with the hook state signal.

Furthermore, as a means for recognizing whether the current position is above the reactor core or the fuel storage pool, a signal from a limit switch that detects the position above the bogie reactor (point ■ in Figure 2) can be used instead of the position signal.

According to the present invention, since it is determined whether or not the fuel gripping device can be moved to a specified position before the fuel gripping device is moved, it is possible to prevent erroneous operations and improve the safety of automatic fuel exchange, and also to improve the safety of automatic fuel exchange. It is possible to prevent unnecessary work and to perform automatic fuel exchange in a short time.

[Brief explanation of drawings]

FIG. 1 shows the overall configuration of the mechanical system and control system of a fuel exchange device for a nuclear power plant. FIG. 2 specifically shows, using a plan view of the fifth floor of the reactor building and a sectional view of the reactor building, an automatic operation control method when a computer is introduced to automate the fuel exchange work. FIGS. 3 and 4 are flowcharts outlining the contents of program processing according to the present invention. Explanation of symbols, 1... Traveling trolley, 2...
Traverse trolley, 3...Grat pull, 4...
Grasping device, 5... Hoist, 6...
Traveling rail, 7... Traverse rail, 8...
... Traveling trolley drive motor, 9... Traversing trolley drive motor, 10... Grapple drive motor (elevating), 11... Grapple drive motor (rotation)
, 12... control panel, 13... process input/output device, 14... central processing unit, 15...
...Storage device, 16...Operator console, 17...■10 Typewriter, 18...
... Logging typewriter, 19 ... Paper tape reader, 20 ... Relay board, 30 ...
...Fuel storage pool, 31...Gate, 32
... Core pool, 33 ... Fuel rack, 34 ... Core, 35 ... Cask storage area, 36 ... Workbench, 37. ...Storage stand, 38...Pressure vessel.

Claims (1)

[Claims] 1. A movable trolley configured to be movable on an X-Y axis plane between the core of a nuclear reactor and a fuel storage section adjacent thereto; A control device for a nuclear reactor refueling system having a fuel gripping device to be moved, and a drive means for moving the movable cart and the fuel gripping device in respective axial directions, the X, Y and Z axes of the fuel gripping device a first means for detecting the position of the fuel gripping device, a second means for detecting an open/closed state of the fuel gripping device, and a determination as to whether or not automatic activation is possible while specifying a position on the X and Y axes to which the fuel gripping device is to be moved. a fourth means for storing the X and Y axes positions of the core and fuel storage and the presence or absence of fuel at the positions; of the fuel gripping device based on the fuel loading state at the specified position by the third means, the current position of the fuel gripping device inputted from the first means, and the open/closed state of the fuel gripping device inputted from the second means. A control device for a nuclear reactor fuel exchange device, comprising: a control device that outputs a signal instructing the drive device to be driven when movement to the specified position is permitted.