KR101807638B1 - Dual control rod drive mechanism and control method in nuclear power - Google Patents

Abstract

The present invention relates to a redundant control rod drive apparatus for a reactor and a control method thereof, and more particularly, to a redundant control rod drive apparatus for a reactor that drives a worm wheel for performing insertion or extraction of a control rod into a reactor, A worm wheel 100 for moving the position of the control rod 10 through operation of the worm wheel 100 and a first worm 20 for driving the worm wheel 100 through rotation, A first worm driving part 200 for controlling the driving of the first worm 20 and a second worm 30 for driving the worm wheel 100 through a rotation operation combined with the worm wheel 100 A second worm drive unit 300 for controlling the driving of the second worm 30 and an external input unit 410 for receiving a drive command for controlling driving of the worm wheel 100 from the outside, , And transmits the drive command to the first worm drive (200) and the second worm The worm 20 and the second worm 30 are coupled to two points of the worm wheel 100 so that the first worm 20 and the second worm 30 are rotated, And the worm wheel 100 is driven through the worm wheel 100.

Description

Technical Field [0001] The present invention relates to a dual control rod drive mechanism for a nuclear reactor,

The present invention relates to a redundant control rod driving apparatus for a nuclear reactor and a control method thereof, including two independent worm drives for driving a worm wheel for performing insertion or withdrawal of a control rod into a reactor, Which can prevent a control failure such as overspeed rotation due to the other motor even if a malfunction such as an over speed rotation occurs in one motor while controlling the worm wheel driving of the worm wheel and control method thereof .

In other words, even if the motor is overspeed due to the occurrence of an abnormality in one of the worm driving parts, the worm wheel can not be over-rotated depending on the normal rotation of the other worm driving part. Therefore, And a control method thereof. 2. Description of the Related Art

In commercial and research reactors, the control rod must be moved up and down from the core to control the reactor output.

In this case, the control rod is a device capable of controlling the neutron absorbed by the degree of insertion into the reactor, having a rod shape inserted or withdrawn into the reactor to control the fission reaction in the nuclear power plant. The control rod is used to regulate the reactor output by controlling the fission reaction by adjusting the position of the rod during normal output operation, and to stop the fission reaction by inserting a control rod into the reactor when an event is required to interrupt the nuclear reaction of the reactor .

The control rod of the reactor of such a nuclear power plant is designed to receive or receive the command of insertion or withdrawal from the host controller to regulate the reactor output during normal output operation, and the control rod drive apparatus is designed to insert or withdraw the control rod.

Failure of the control rod drive causes the control rod to be out of control, which ultimately leads to an accident leading to the shutdown of the nuclear power plant.

Since the control rod drive system is made by a combination of motor and gear and the reactor output is sensitive to the change of the position of the control rod, the motor is always rotated at a slow speed to avoid an accident such as shutdown of an undesired nuclear power plant It is preferable to adjust the position of the control rod.

However, since the conventional control rod driving apparatus is a combination of a single motor and a gearless device that prevents overspeed rotation of the motor, if the motor or the motor driver rotates the motor at an overspeed operation, .

That is, as shown in FIG. 1, conventionally, the control rod driving device is constituted by a general motor and a gear device, and the control rod is moved up and down.

The conventional motor driver receives a drive command for rotation of the motor from a control unit of the control rod control device and transmits a control signal to the motor. The motor drives the gear by performing a rotation operation according to the received control signal . Finally, the gear is rotated to move the control rod to a desired position, and the moved result is provided to the user through the display unit of the control rod control device.

However, as described above, such a conventional control rod driving apparatus is vulnerable to failure of the motor and the motor driver.

For example, when the motor driver is in a normal state, a driving signal to rotate 10 degrees is received, and a corresponding control signal is generated and transmitted to the motor.

On the other hand, when the motor driver is in a failure state, even if the drive signal for rotating the 10 degrees is inputted, the control signal for requesting rotation of the other maximum rotation amount is generated and transmitted to the motor. In this case, Rotation is performed in a rotational amount, so that the control rod is drawn to the reactor at the maximum speed, causing an accident related to the neutron reactivity, resulting in an accident leading to the shutdown of the reactor plant.

Accordingly, since an accident occurring at a nuclear power plant has an important effect on safety, a method for preventing over speed operation of the motor, which is the above-described problem, is needed.

In the case of a control rod driving system of a reactor, the failure of some parts constituting the control rod driving device causes failure of the current flowing in the coil of the control rod in the registered patent No. 10-0489989 (registered on May 05, 2005, Discloses a control rod drive system for a nuclear reactor capable of continuing operation by automatic or manual switching to increase the operating rate and increase reliability.

However, such a system does not mention at all the problem that the control rod is drawn out to the reactor at a high speed due to the above-mentioned problem of the motor overspeed operation.

Domestic Registered Patent No. 10-0489989 (Registered: May, 2005., entitled: Reactor control rod drive system)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide an apparatus and a method for operating a worm wheel for inserting or pulling out a control rod, A redundant control rod drive device for a reactor capable of preventing a controllable state such as over-speed rotation due to another motor even if a worm drive controls the driving of one worm wheel and a malfunction such as an over speed rotation occurs in one motor and And a control method thereof.

That is, it is an object of the present invention to provide a worm driving device that can prevent over-speed rotation of a worm wheel depending on a normal rotation of another worm driving part even if an abnormality occurs in one worm driving part, The present invention provides a control apparatus for a reactor control system and a control method thereof.

The redundant control rod driving apparatus for a nuclear reactor according to an embodiment of the present invention includes a control rod 10 coupled to a control rod 10 for driving a worm wheel for driving a worm wheel for inserting or extracting a control rod into or from a reactor, And a first worm 20 coupled to the worm wheel 100 to drive the worm wheel 100 through a rotation operation. The worm wheel 100 moves the control rod 10 via the worm wheel 100, A first worm driving part 200 for controlling the driving of the first worm 20 and a second worm 30 for driving the worm wheel 100 through a rotation operation combined with the worm wheel 100 A second worm drive unit 300 for controlling the driving of the second worm 30 and an external input unit 410 for receiving a drive command for controlling driving of the worm wheel 100 from the outside, The drive command is transmitted to the first worm drive unit 200 and the second worm drive unit 300 The first worm 20 and the second worm 30 are coupled to two points of the worm wheel 100 and are connected to the worm wheel 100 through a rotation operation, 100).

A control method of a redundant control rod driving apparatus for a nuclear reactor according to an embodiment of the present invention is a control method for a redundant control rod driving apparatus for a reactor that drives a worm wheel that performs insertion or withdrawal of a control rod into a reactor, The worm wheel is coupled to two points of the rotation axis of the worm wheel so as to drive the worm wheel through a rotation operation and the worm wheel is coupled to the control rod from the outside to move the position of the control rod through the rotation operation, (S100) for inputting a driving command for controlling the driving of the worm wheel (S100); and a control unit The first worm driving unit and the second worm driving unit for controlling the worm driving unit and the second worm driving the worm wheel, And a result output step (S300) of receiving and outputting a rotation angle at which the actual worm movement of the first worm and the second worm is performed by the driving step (S200) and the driving step (S200) .

The redundant control rod driving apparatus for a nuclear reactor and the control method thereof include two independent worm driving units for driving a worm wheel for performing insertion or withdrawal of a control rod into a reactor, It is possible to prevent an inability to control such as overspeed rotation due to the other motor even if a malfunction such as overspeed rotation occurs in one motor while controlling the driving of the motor.

In addition, since the driving synchronization of the independent two-channel worm driving unit is easy, there is an advantage that the driving loss according to the worm driving unit of the two channels can be minimized.

In other words, even if the motor is overspeed due to the occurrence of an abnormality in one of the worm driving parts, it is impossible to over rotate the worm wheel due to the normal rotation of the other worm driving part. There are advantages to be able to.

1 is a view showing a control rod driving apparatus for a conventional reactor.
FIG. 2 is a schematic view of a redundant control rod drive apparatus for a nuclear reactor according to an embodiment of the present invention.
3 is a detailed view of a first worm drive unit 200 of a redundant control rod drive apparatus for a reactor according to an embodiment of the present invention.
4 is a detailed view of a second worm drive unit 300 of a redundant control rod drive apparatus for a reactor according to an embodiment of the present invention.
5 is a detailed view of the control means 400 of the duplication control rod driving apparatus for a reactor according to an embodiment of the present invention.
6 is an exemplary diagram for synchronizing driving commands of the control means 400 of the redundant control rod driving apparatus for a reactor according to an embodiment of the present invention.
FIG. 7 is a detailed view of a redundant control rod drive apparatus for a reactor according to an embodiment of the present invention.
FIG. 8 and FIG. 9 are flowcharts showing a control method of a control apparatus for a reactor control system according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The following drawings are provided by way of example so that those skilled in the art can fully understand the spirit of the present invention. Therefore, the present invention is not limited to the following drawings, but may be embodied in other forms. In addition, like reference numerals designate like elements throughout the specification.

In this case, unless otherwise defined, technical terms and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In the following description and the accompanying drawings, A description of known functions and configurations that may unnecessarily obscure the description of the present invention will be omitted.

Hereinafter, a redundant control rod driving apparatus for a nuclear reactor and a control method thereof include two independent worm driving units for driving a worm wheel for performing insertion or withdrawal of a control rod into a reactor, Even if a motor included in one worm drive unit malfunctions such as over-speed rotation, the motor included in another worm drive unit prevents a controllable state such as over-speed rotation, The present invention relates to a redundant control rod drive apparatus for a reactor that is easy to apply to commercial nuclear reactors and research reactors in which stability is important by preventing overspeed rotation, and a control method thereof.

FIG. 2 and FIG. 7 are simplified views of a redundant control rod drive apparatus for a nuclear reactor according to an embodiment of the present invention. Referring to FIG. 2 and FIG. 7, a redundant control rod driving apparatus for a reactor according to an embodiment of the present invention will be described in detail.

2 and 7, the apparatus for driving a redundant control rod for a reactor according to an embodiment of the present invention includes a worm wheel 100, a first worm drive unit 200, a second worm drive unit 300, (400).

To learn more about each configuration,

The wheel 100 is coupled with the control rod 10 of the reactor so as to move the control rod 10 in the up and down direction through the rotation operation.

The first worm drive unit 200 includes a first worm 20 coupled to the worm wheel 100 to drive the worm wheel 100 through a rotation operation, Can be controlled. In other words, the worm wheel 100 can receive a rotational force from the first worm 20 and can perform a rotational operation. Due to the rotation of the worm wheel 100, the control rod 10 is inserted into the reactor Or draw operation.

As described above, the redundant control rod driving apparatus for a reactor according to an embodiment of the present invention is configured such that the motor rotates at an overspeed due to a failure of the motor for operating the worm to receive the maximum rotational force of the worm, In order to prevent an accident that the reactor is stopped by inserting or withdrawing the worm, two worms are coupled to the worm wheel, and each worm performs independent operation control.

For this, the second worm drive unit 300 may be further included.

The second worm drive unit 300 includes a second worm 30 coupled to the worm wheel 100 to drive the worm wheel 100 through a rotation operation. Can be controlled.

As shown in FIG. 2, the first worm 20 and the second worm 30 are coupled to positions facing each other with respect to the rotation axis of the worm wheel 100, The wheel 100 is driven.

The worm wheel is rotated depending on the speed of the motor which slowly rotates due to the other worm driving part even if the one worm driving part generates an abnormality and thus causes over speed rotation. do.

That is, the rotation speed of the worm wheel is determined by a circular driving part that operates slowly among the two worm driving parts.

The control unit 400 further includes an external input unit 410 receiving a drive command for controlling driving of the worm wheel 100 from an external manager, And the second worm driving unit 300 simultaneously.

However, even if the control means 400 simultaneously transmits the drive command to the first worm drive unit 200 and the second worm drive unit 300, if the synchronization between the two motors is not matched, a drive loss is generated . Means for solving this disadvantage will be described later.

The first worm drive unit 200 may include a first signal processor 210, a first motor driver 220, and a first motor 230 as shown in FIG.

The first signal processing unit 210 may include a first command transmission unit 211 and a first result transmission unit 212. The first command transmission unit 211 may receive the first signal transmitted from the control unit 400 And transmits the drive command inputted by the external manager.

At this time, when the drive command is transmitted from the control means 400, the first command transmission unit 211 does not directly transmit the drive command to the first motor driver 220, Command to the first motor driver 220.

The preset predetermined time means a time arbitrarily inputted by an external manager in order to minimize the drive loss that may occur due to the synchronization between the two motors, which can be changed according to the input of the external manager.

The first result transmitter 212 receives the rotation angle of the actual rotation from the first motor 230 and transmits the rotation angle to the control unit 400. In this way, the external manager has the advantage of being able to check the rotational angle at which the inputted driving command and the actual operation are performed.

The first motor driver 220 generates a drive signal for driving the motor using the drive command received from the first signal processor 210 and transmits the generated drive signal.

The first motor 230 drives the rotation of the first worm 20 according to a driving signal generated by the first motor driver 220.

The second worm drive unit 300 may include a second signal processor 310, a second motor driver 320, and a second motor 330 as shown in FIG.

The second signal processing unit 310 includes a second instruction transmission unit 311, a second result transmission unit 312, an operation unit 313, a delay time unit conversion unit 314, and a storage unit 315 And,

The second motor driver 320 generates a drive signal for driving the motor using the drive command received from the second signal processor 310 and transmits the drive signal.

The second motor 330 drives the rotation of the second worm 30 according to a driving signal generated by the second motor driver 320.

In detail, the second command transmitter 311 of the second signal processor 310 delivers the drive command input by the external manager received from the controller 400. [

The second result transmitter 312 receives the rotation angle of the actual rotation operation from the second motor 330 and transmits the rotation angle to the control unit 400. Through this, the external manager has an advantage that the inputted driving command and the rotation angle at which the actual operation is performed can be confirmed.

The calculation means 313 compares the rotation angle of the actual operation of the second result transmission unit 312 with the drive command of the second command transmission unit 311 to calculate the rotation angle at which the drive loss occurs.

The delay time unit conversion unit 314 converts the rotation angle generated by the calculation unit 313 into a delay time and the storage unit 315 converts the rotational angle generated by the delay time unit conversion unit 314 And the converted delay time is stored and managed.

The first command transmission unit 211 of the first signal processing unit 210 receives the drive command from the control unit 400 and does not directly transmit the drive command to the first motor driver 220, And transmits a drive command to the first motor driver 220 after a preset predetermined time elapses.

Alternatively, the second command transmission unit 311 of the second signal processing unit 320 receives the drive command from the control unit 400 and does not directly transmit the drive command to the second motor driver 320, The second motor driver 320 transmits a drive command to the second motor driver 320 after a delay time stored in the first motor driver 320 has passed.

The reason why the first command transmitter 211 of the first signal processor 210 has a predetermined time is that the rotation result of the second motor 330 operated by the second signal processor 310 is +) Or (-) to be synchronized.

That is, the calculation unit 313, the delay time unit conversion unit 314 and the storage unit 315 of the second signal processing unit 310 are controlled by the control unit 400 so that the first worm drive unit 200 and the second worm drive unit 200, The present invention is not limited to the case where the drive command is transmitted at the same time as the first drive command but the drive command is transmitted to the worm drive unit 300. [ After the first worm drive unit 200 and the second worm drive unit 300 drive the worm wheel 100, the motor rotation value by the first worm drive unit 200 and the motor rotation value by the second worm drive unit 300, When a manual synchronization request is generated by the user (manager) due to a difference in the rotation value, the delay time is newly set based on the result of the immediately preceding operation of the second worm driving part 300 to control the driving of the second worm driving part 300 have.

6, even if the control unit 400 simultaneously transmits the first drive command ((1) drive command) to the first worm drive unit 200 and the second worm drive unit 300, (1) drive command 1) for performing an actual operation in the first worm drive unit 200 and a start point ((1) drive command 2) for performing an actual operation in the second worm drive unit 300 are different from each other There is a problem that the desired result value is not displayed by the manager.

Therefore, the control means 400 can control the additional driving command ((2)) by using the calculation means 313, the delay time unit conversion portion 314 and the storage portion 315 of the second signal processing portion 310, It is necessary to newly set the delay time on the basis of the result of the immediately preceding operation of the second worm drive unit 300 and to control the driving of the second worm drive unit 300 in advance. (2) drive instruction 1) for performing an actual operation in the first worm drive unit 200 and a start point (2) drive instruction 2 for performing an actual operation in the second worm drive unit 300, The same result is displayed, and the result value desired by the manager is displayed.

That is, since the redundant control rod driving apparatus for a reactor according to the embodiment of the present invention drives one worm wheel 100 through two worms 200 and 300, Motivation is important.

For example, if the administrator inputs a 30 degree rotation with a drive command,

In the first worm drive unit 200, the first command transmission unit 211 of the first signal processing unit 210 receives the first motor driver (the first motor driver) 220 to transmit a drive command of 30 degrees rotation,

The second worm driving unit 300 may control the second worm driving unit 300 after the delay time stored in the storage unit 315 has passed (the delay time stored immediately before or the first delay time set to 60 ms) The second command transmission unit 311 of the second motor driver 310 transmits a drive command of 30 degrees rotation to the second motor driver 320. [

In this case, assuming that a driving loss of 1 degree occurs every 20 ms,

The first worm driving part 200 and the second worm driving part 300 have a synchronization error of 40 ms and the rotation angle of the manager is 30 degrees but the rotation is substantially 28 degrees.

In order to solve such problems, a redundant control rod driving apparatus for a reactor according to an embodiment of the present invention includes a calculation unit 313, a delay time unit conversion unit 314, and a storage unit 315 of the second signal processing unit 310 When the first worm drive unit 200 and the second worm drive unit 300 drive the worm wheel 100 according to the first drive command and an additional drive command is generated, the second worm drive unit 300, the delay time can be newly set and the driving of the second worm drive unit 300 can be controlled.

The control unit 400 may include the external input unit 410 and the monitoring unit 420, as shown in FIG.

The external input unit 410 receives a driving command for controlling driving of the worm wheel 100 from an external manager and simultaneously transmits the driving command to the first worm driving unit 200 and the second worm driving unit 300 do.

6, the monitoring unit 420 receives the rotation angle of the first motor 230 or the second motor 330 and performs the actual rotation of the first worm 20 or the second motor 330, 2 worm (30).

That is, the rotation angle of the first motor 230 is received from the first result transmitter 212, and the actual rotation of the second motor 330 from the second result transmitter 312 The rotation angle at which the operation is performed is received, and the external manager can easily confirm the rotation angle.

In addition, the control unit 400 may perform the actual rotation operation of the first motor 230 or the second motor 330 transmitted from the first result transmitting unit 212 and the second result transmitting unit 312 If the rotation angle differs from the predetermined angle, it is determined that an abnormality of the motor has occurred and another alarm can be transmitted through the monitoring unit 420.

FIG. 8 and FIG. 9 are flowcharts showing a control method of a control apparatus for a reactor control system according to an embodiment of the present invention. Referring to FIGS. 8 and 9, a method of controlling a redundant control rod driving apparatus for a reactor according to an embodiment of the present invention will be described in detail.

8 and 9, the method for controlling a redundant control rod driving apparatus for a reactor according to an embodiment of the present invention includes a driving command input step S100, a driving step S200, and a result output step S300. ≪ / RTI >

To learn more about each step,

The driving command input step S100 may receive a driving command for controlling the driving of the worm wheel 100 from an external manager by an external manager in the control unit 400. [

The driving step S200 simultaneously transmits the driving command by the driving command input step S100 to the first worm driving part 200 and the second worm driving part 300 by the control part 400. [

The first worm drive unit 200 and the second worm drive unit 300, which received the drive command, are each independently configured to provide rotational force by the worm wheel 100.

More specifically, the first command transmission unit 211 of the first worm drive unit 200 receives a drive command input from an external manager received from the control unit 400. [

At this time, when the drive command is transmitted from the control means 400, the first command transmission unit 211 does not directly transmit the drive command to the first motor driver 220, Command to the first motor driver 220.

The preset predetermined time means a time arbitrarily inputted by an external manager in order to minimize the drive loss that may occur due to the synchronization between the two motors, which can be changed according to the input of the external manager.

The first motor driver 220 generates a drive signal for driving the motor using the drive command received from the first signal processor 210 and transmits the generated drive signal.

The first motor 230 drives the rotation of the first worm 20 according to a driving signal generated by the first motor driver 220.

The second command transmission unit 311 of the second worm drive unit 300 receives the drive command input from the external manager received from the control unit 400. [

The second command transmission unit 311 receives the drive command from the control unit 400 and does not directly transmit the drive command to the second motor driver 320 but transmits the delay time stored in the storage unit 315 And then transmits a drive command to the second motor driver 320. [

The second motor 330 drives the rotation of the second worm 30 according to a driving signal generated by the second motor driver 320.

The result output step S300 is a step of receiving the rotation angle at which the first worm 20 and the second worm 30 are actually rotated by the driving step S200, And outputs it to the monitoring unit 420 so as to easily confirm the driving command inputted by the external manager and the rotation angle at which the actual operation is performed.

At this time, in the control method of the control apparatus for a redundant control rod for a reactor according to an embodiment of the present invention, the control unit 400 simultaneously transmits a drive command to the first worm drive unit 200 and the second worm drive unit 300 In order to solve the problem that drive loss may occur when the motors are not synchronized with each other,

When a manual synchronization request is generated by the user (manager) due to a difference between the motor rotation value by the first worm drive unit 200 and the motor rotation value by the second worm drive unit 300 after the first drive is performed, S400), and then performs the driving step S200.

The synchronous operation step S400 is a step of synchronizing the drive command transmitted to the second worm drive part 300 by the operation unit 313 of the second worm drive part 300 by the drive command input step S100, The rotation angle at which the actual operation of the second worm 30 is performed is compared by the value output step S300, and the rotation angle at which the drive loss occurs is calculated.

Since the rotational angle at which the actual operation of the second worm 30 is performed is substantially the same as the rotational angle at which the actual rotation of the second motor 330 is performed, The results may be the same even if they are compared using one rotation angle.

After calculating the rotation angle at which the drive loss has occurred in the synchronization calculation step (S400), the rotation angle at which the drive loss calculated by the calculation means (313) in the delay time unit conversion unit (314) And stores the delay time in the storage unit 315 and manages the delay time.

The second command transmission unit 311 of the second worm drive unit 300 repeatedly performs the driving step S200 even if an additional driving command is inputted by the driving command input step S100, The synchronous operation step S400 is performed without passing the driving command immediately and the driving command is transmitted to the second motor driver 320 after the delay time stored in the storage unit 315 has passed.

That is, in other words, the redundant control rod driving apparatus and control method for a reactor according to an embodiment of the present invention includes independent worm drive units of two channels for driving a worm wheel that performs insertion or withdrawal of a control rod into a reactor Thus, even if one of the two worm drives controls the driving of one worm wheel and a malfunction such as an overspeed occurs in one motor, it is possible to prevent a control failure such as over-speed rotation due to the other motor ,

The driving synchronization of the independent two-channel worm driving unit is easy, and the driving loss due to the worm driving unit of the two channels can be minimized.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, And various modifications and changes may be made thereto by those skilled in the art to which the present invention pertains.

Therefore, it is to be understood that the subject matter of the present invention is not limited to the described embodiments, and all of the equivalents or equivalents of the claims are intended to fall within the scope of the present invention will be.

100: Worm wheel
200: first worm drive
210: first signal processor 220: first motor driver
230: first motor
211: first command transmission unit 212: first result transmission unit
300: a second worm drive
310: second signal processor 320: second motor driver
330: second motor
311: second command transmission unit 312: second result transmission unit
313: calculation means 314: delay time unit conversion unit
315:
400: control means
410: external input unit 420:

Claims (11)

1. A duplication control rod drive apparatus for a nuclear reactor for driving a worm wheel that performs insertion or withdrawal of a control rod into a reactor,
A worm wheel (100) coupled with the control rod (10) to move the position of the control rod (10) through a rotation operation;
And a first worm 20 coupled to the worm wheel 100 to drive the worm wheel 100 through a rotation operation and includes a first worm drive unit 200 for controlling driving of the first worm 20, );
And a second worm 30 coupled to the worm wheel 100 to drive the worm wheel 100 through a rotation operation and includes a second worm drive unit 300 for controlling driving of the second worm 30, ); And
And an external input unit 410 receiving a driving command for controlling the driving of the worm wheel 100 from the outside and transmitting the driving command to the first worm driving unit 200 and the second worm driving unit 300 A control means (400)
And,
The first worm (20) and the second worm (30)
The worm wheel 100 is coupled to two points of the worm wheel 100 so as to drive the worm wheel 100 through a rotating operation and the driving speed of the worm wheel 100 is controlled by the first worm 20, 30. The apparatus of claim 1, wherein the control unit is operatively coupled to the control unit.

The method according to claim 1,
The first worm drive part 200
A first signal processing unit 210 receiving a drive command from the control means 400 and transmitting the received drive command;
A first motor driver 220 receiving a drive command from the first signal processor 210 and generating and transmitting a drive signal for driving the motor; And
A first motor 230 for driving the rotation of the first worm 20 according to a driving signal generated by the first motor driver 220;
And a control unit for controlling the operation of the control unit.
3. The method of claim 2,
The first signal processing unit 210
A first command transmission unit 211 for receiving and transmitting a drive command from the control means 400; And
A first result transmitter 212 receiving the rotation angle of the actual rotation operation from the first motor 230 and transmitting the rotation angle to the outside;
And a control unit for controlling the operation of the control unit.
The method of claim 3,
The first command transmission unit 211
Wherein the drive command is received from the control means (400), and the drive command is transmitted to the first motor driver (220) after a predetermined time elapses.
5. The method of claim 4,
The second worm drive part 300
A second signal processing unit (310) for receiving a drive command from the control means (400) and delivering it;
A second motor driver 320 receiving a drive command from the second signal processor 310 and generating and delivering a drive signal for driving the motor; And
A second motor (330) for driving the rotation of the second worm (30) according to a driving signal generated by the second motor driver (320);
And a control unit for controlling the operation of the control unit.
6. The method of claim 5,
The second signal processor 310
A second command transmission unit 311 for receiving and transmitting a drive command from the control means 400;
A second result transmitter 312 receiving the rotation angle of the actual rotation operation from the second motor 330 and transmitting the rotation angle to the outside;
Calculation means (313) for comparing a driving command of the second command transmission unit (311) with a rotation angle of the second result transmission unit (312) and calculating a rotation angle at which a driving loss occurs;
A delay time unit conversion unit (314) for converting a rotation angle at which the drive loss calculated by the calculation means (313) is generated into a delay time;
A storage unit 315 for storing and managing the delay time converted by the delay time unit conversion unit 314;
And a control unit for controlling the operation of the control unit.
The method according to claim 6,
The second command transmission unit 311
Wherein the control unit receives a drive command from the control unit and transmits the drive command to the second motor driver after a delay time stored in the storage unit is elapsed. Control rod drive device.
The method according to claim 6,
The control means (400)
The rotational angle of the first worm 20 or the second worm 30 is received from the first motor 230 or the second motor 330 and is output as the rotational result of the first worm 20 or the second worm 30 A monitoring unit 420;
And a control unit for controlling the control unit.
A control method for a redundant control rod driving apparatus for a nuclear reactor that drives a worm wheel that performs insertion or extraction of a control rod into a reactor,
The first worm and the second worm are respectively coupled to two points on the rotation axis of the worm wheel so as to drive the worm wheel through a rotation operation. The driving speed of the worm wheel is slower than the first worm and the second worm Dependent on the speed of the worm,
A driving command input step (S100) for receiving a driving command for controlling the driving of the worm wheel, which is coupled to the control rod from the outside and moves the position of the control rod through the rotation operation;
The control unit controls the first worm drive unit to control the first worm for driving the worm wheel based on the drive command input by the drive command input step (S100). The second worm drive unit controls the second worm for driving the worm wheel A driving step (S200) for transferring the first worm and the second worm to the worm driving unit and performing a rotating operation of the first worm and the second worm; And
A result output step (S300) of receiving and outputting a rotational angle at which the first worm and the second worm have been actually rotated by the driving step (S200);
And a control unit for controlling the operation of the control unit.
10. The method of claim 9,
When a manual synchronization request is generated from the outside due to a difference between the motor rotation value by the first worm drive unit and the motor rotation value by the second worm drive unit after the first drive is performed,
In the second worm driving unit, a driving command transmitted to the second worm driving unit in the driving command input step (S100) is compared with a rotation angle obtained by performing an actual rotation operation of the second worm in the result output step (S300) (S400) for calculating a rotation angle at which the drive loss occurs;
Wherein the control unit is further operable to control the operation of the control unit.
11. The method of claim 10,
In the second worm drive, after performing the synchronization operation step (S400)
Wherein the control unit controls the driving of the second worm so that the rotation of the second worm is performed after the converted delay time has elapsed after converting the rotation angle at which the drive loss calculated in the synchronization calculation step (S400) Control method of a redundant control rod drive apparatus.

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