WO2013183585A1 - Nuclear furnace control rod control device - Google Patents

Nuclear furnace control rod control device Download PDF

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Publication number
WO2013183585A1
WO2013183585A1 PCT/JP2013/065344 JP2013065344W WO2013183585A1 WO 2013183585 A1 WO2013183585 A1 WO 2013183585A1 JP 2013065344 W JP2013065344 W JP 2013065344W WO 2013183585 A1 WO2013183585 A1 WO 2013183585A1
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control rod
drive
control
group
unit
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French (fr)
Japanese (ja)
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江口　和宏
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三菱電機株式会社
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    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C7/00—Control of nuclear reaction
    • G21C7/06—Control of nuclear reaction by application of neutron-absorbing material, i.e. material with absorption cross-section very much in excess of reflection cross-section
    • G21C7/08—Control of nuclear reaction by application of neutron-absorbing material, i.e. material with absorption cross-section very much in excess of reflection cross-section by displacement of solid control elements, e.g. control rods
    • G21C7/12—Means for moving control elements to desired position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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  • the present invention relates to a reactor control rod control apparatus for controlling a drive mechanism of a control rod used for inserting or withdrawing a control rod used for controlling a thermal output of a nuclear reactor and shutting down the reactor. It takes.
  • the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a nuclear reactor control rod control device that can be easily operated by an arbitrary number of steps.
  • the reactor control rod control device of the present invention is A plurality of control rods that control the output of the nuclear reactor by inserting or withdrawing it into the nuclear reactor is configured as a group for each of the plurality of control rods, and a drive mechanism that drives each group step by step is controlled.
  • a movement amount setting unit for inputting the number of movement steps of the control rod
  • An instruction unit for instructing whether the control rod is inserted or pulled out
  • a drive database for storing the drive speed data of the control rods for each group;
  • the drive time of the control rod for each group is calculated from the number of steps of the movement amount setting unit, the instruction of the instruction unit, and the drive speed data, and the drive signal for insertion or withdrawal of the drive time for each group is driven.
  • a drive signal generator for transmitting to the mechanism.
  • the reactor control rod control device of the present invention is A plurality of control rods that control the output of the nuclear reactor by inserting or withdrawing it into the nuclear reactor is configured as a group for each of the plurality of control rods, and a drive mechanism that drives each group step by step is controlled.
  • An instruction unit for instructing which operation is one-step insertion or one-step extraction of the control rod;
  • a driving database for storing driving time data for one-step driving of control rods for each group;
  • a drive signal generator for extracting the drive time of the control rod for each group from the instruction of the instruction unit and the drive time data, and transmitting the drive signal for insertion or withdrawal of the drive time for each group to the drive mechanism; It is equipped with.
  • the reactor control rod control device of the present invention is A plurality of control rods that control the output of the nuclear reactor by inserting or withdrawing it into the nuclear reactor is configured as a group for each of the plurality of control rods, and a drive mechanism that drives each group step by step is controlled.
  • a movement amount setting unit for inputting the number of movement steps of the control rod
  • An instructing unit for instructing whether the control rod is inserted or pulled out
  • a drive database for storing the drive speed data of the control rods for each group, The drive time of the control rod for each group is calculated from the number of steps of the movement amount setting unit, the instruction of the instruction unit, and the drive speed data, and the drive signal for inserting or extracting the drive time for each group is driven. Because it has a drive signal creation unit to send to the mechanism, By inputting the number of movement steps and using the driving speed data of the control rod, it is possible to automatically realize the continuation of the input of the conventional manual driving signal.
  • the reactor control rod control device of the present invention is A plurality of control rods that control the output of the nuclear reactor by inserting or withdrawing it into the nuclear reactor is configured as a group for each of the plurality of control rods, and a drive mechanism that drives each group step by step is controlled.
  • An instruction unit for instructing whether the operation is one-step insertion or one-step extraction of the control rods of each group;
  • a drive database for storing drive time data for one-step drive of the control rods for each of the groups driven by the drive mechanism;
  • a drive signal generator for extracting the drive time of the control rod for each group from the instruction of the instruction unit and the drive time data, and transmitting the drive signal for insertion or withdrawal of the drive time for each group to the drive mechanism; So that By using the one-step control rod driving time data, it is possible to automatically realize the continuation of the input of the conventional manual operation signal.
  • FIG. 1 is a diagram showing a configuration of a reactor control system using a reactor control rod control apparatus according to Embodiment 1 of the present invention
  • FIG. 2 shows a configuration of a reactor control rod control apparatus according to Embodiment 1 of the present invention.
  • the nuclear reactor control system is for controlling the nuclear reactor device 30, and an operation console 33, an automatic nuclear reactor control system 34, and a nuclear reactor controller 35 are connected by an optical communication line 17.
  • the nuclear reactor apparatus 30 includes a plurality of control rods that control the output of the nuclear reactor 31 by being inserted into or extracted from the nuclear reactor 31, and a drive for inserting or extracting each control rod into the nuclear reactor 31 step by step.
  • Device 32 includes a plurality of control rods that control the output of the nuclear reactor 31 by being inserted into or extracted from the nuclear reactor 31, and a drive for inserting or extracting each control rod into the nuclear reactor 31 step by step.
  • the operation console 33 sets whether the nuclear reactor 31 is automatically operated or manually operated, and gives an instruction to the nuclear reactor controller 35 during the manual operation.
  • the nuclear reactor control unit 35 controls the driving device 32 of the nuclear reactor 31.
  • the nuclear reactor automatic control system 34 instructs the nuclear reactor controller 35 to automatically operate the nuclear reactor 31.
  • the reactor control rod control device of the present invention is configured to control a drive mechanism that controls each group by forming a group for each of the plurality of control rods in this reactor device 30.
  • the step mentioned here is a minimum unit for performing an operation of inserting or withdrawing the control rod into or from the nuclear reactor 31, and is set in advance for each nuclear reactor device 30.
  • the order in which insertion or withdrawal is controlled is set in advance, and insertion and withdrawal are performed for each group based on the order.
  • the control rod insertion or extraction operation controlled by the reactor control rod control device is performed when the reactor device 30 is manually controlled when the reactor device 30 is started or stopped. is there.
  • the reactor control rod control device includes a movement amount setting unit 3 for inputting the number of movement steps of the control rod, and an instruction unit 60 for instructing whether the operation is control rod insertion or extraction.
  • the insertion button 1 and the withdrawal button 2, the manual operation mode switching button 6 for switching the operation mode to manual, the automatic operation mode switching button 7 for switching the operation mode to automatic, and the drive speed data of the control rod for each group are stored.
  • a drive database 4 When switching to the manual operation mode switching button 6, the number of steps input to the movement amount setting unit 3, the instructions that are input to the insertion button 1 and the extraction button 2, and driving speed data stored in the driving database 4 Thus, the control rod drive time for each group is calculated.
  • the drive signal preparation part 18 which transmits the drive signal of the insertion or extraction of the drive time for every group to a drive mechanism
  • the control rod drive device for receiving the signal from the drive signal preparation part 18 and driving a control rod And a control rod operating unit 19 that transmits an insertion or extraction drive signal to the CDRM dedicated card 5 inserted in (CDRM: Control Rod Drive Mechanical).
  • a drive signal for insertion or extraction of the drive signal creation unit 18 is input via the control rod operation unit 19, and the step count unit 20 that calculates the current step number of the control rod is calculated by the step count unit 20.
  • a step count display unit 21 for displaying the number of steps.
  • the drive speed data referred to here is, for example, data that allows the drive mechanism to drive the control rod every n steps, such as n steps / minute.
  • the movement amount setting unit 3, the insertion button 1, the extraction button 2, the step count display unit 21, the drive signal creation unit 18, and the drive database 4 are formed at separated locations. Therefore, the movement amount setting unit 3, the insertion button 1, the extraction button 2, the step count display unit 21, and the drive signal creation unit 18 are connected by the optical communication line 17.
  • the operation of the reactor control rod control apparatus of the first embodiment configured as described above will be described. Since the present invention is for the case of manual operation, it is assumed that the operator can switch to the manual operation mode by pressing the manual operation mode switching button 6 when in the automatic operation mode. To do. First, the operator inputs the number of steps for operating the control rod to the movement amount setting unit 3. Here, for example, 5 is input as 5 steps. Next, the operator presses either the insertion button 1 or the extraction button 2 to instruct whether to perform the operation of inserting the control rod or the operation of extraction. Here, for example, the insert button 1 is pressed.
  • the step number signal input to the movement amount setting unit 3 and the insertion signal indicating that the insert button 1 has been pressed are input to the drive signal generation unit 18 via the optical communication line 17.
  • the drive signal creation unit 18 starts the operation using the insertion signal of the insertion button 1 as a start trigger.
  • the drive signal creation unit 18 calculates the time taken to move the input number of steps for each group. Specifically, the drive signal generator 18 extracts the drive speed data of each group stored in the drive database 4 and calculates the control rod drive time for each group.
  • the drive signal creation unit 18 transmits a drive signal for insertion corresponding to the drive time for each group for inserting 5 steps to the control rod operation unit 19.
  • the control rod operating unit 19 transmits a drive signal for insertion into the CDRM dedicated card 5.
  • the control rod driving device drives each group by one step in order based on the inserted driving signal.
  • the control rod driving device drives the next step again in order after all the groups are driven one step.
  • the control rod drive device is driven until it becomes 5 steps by repeating the above operation.
  • the step count unit 20 inputs a drive signal for insertion through the control rod operation unit 19. Then, the step count unit 20 calculates the current number of steps by converting the number of steps from the drive signal. Then, the step count unit 20 displays the calculated current step number on the step count display unit 21 via the optical communication line 17.
  • the movement of an arbitrary number of steps is continued by inputting the conventional manual driving signal by using the driving speed data of the control rod, and every step for each groove. This can be realized automatically without changing the conventional logic of driving the motor.
  • the drive signal creation unit and the drive database are formed at locations separated from each other and connected by an optical communication line, the drive signal can be created without causing a time lag.
  • the bar can be controlled.
  • FIG. 3 is a diagram showing a configuration of a nuclear reactor control rod control apparatus according to Embodiment 2 of the present invention.
  • the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.
  • the configuration of the reactor control system is the same as that shown in FIG.
  • a one-step extraction button 9 for outputting an operation command for extraction is provided.
  • Driving database 40 for storing driving time data for one-step driving of control rods for each group, instructions that are inputs to the one-step insertion button 8 and the one-step withdrawal button 9, and driving times stored in the driving database 40
  • a drive signal creating unit 180 that extracts the drive time of the control rod for each group from the data and transmits a drive signal for inserting or extracting the drive time for each group to the drive mechanism.
  • the operation of the reactor control rod control apparatus of the second embodiment configured as described above will be described.
  • the operator moves the control rod in one step
  • the operator instructs to perform the operation of inserting the control rod or the operation of pulling out the one-step insertion button 8 or one-step extraction. Press one of the buttons 9.
  • the one-step insertion button 8 is pressed.
  • the insertion signal for pressing the one-step insertion button 8 is input to the drive signal creation unit 180 via the optical communication line 17.
  • the drive signal generator 180 starts the operation with the insertion signal of the one-step insertion button 8 as a start trigger.
  • the drive signal generation unit 180 extracts the drive time required for moving one step for each group. Specifically, the drive signal creation unit 180 extracts the drive time data of each group stored in the drive database 40, and extracts the drive time of the control rod for each group. Then, the drive signal creating unit 180 transmits a drive signal for insertion corresponding to the drive time for each group for inserting one step to the control rod operating unit 19. Then, the control rod operating unit 19 transmits a drive signal for insertion into the CDRM dedicated card 5, and the control rod is driven for each group. Then, the step count unit 20 inputs a drive signal for insertion through the control rod operation unit 19. Then, the step count unit 20 adds one step from the drive signal for insertion, and calculates the current number of steps. Then, the step count unit 20 displays the calculated current step number on the step count display unit 21 via the optical communication line 17.
  • control rod is inserted and controlled.
  • the control rod can be pulled out in the same manner.
  • the example which forms the 1 step insertion button 8 and the 1 step extraction button 9 separately was shown, it is not restricted to this, Even if it forms with one button which can select insertion or extraction Any other configuration may be used as long as it can instruct any one of these controls.
  • the 1-step insertion button 8 and the 1-step extraction button 9 are separately formed is shown, but the present invention is not limited to this, and one step having either the 1-step insertion button or the 1-step extraction button is provided. It may be formed by a button, and other configurations may be used as long as they can instruct these controls.
  • the same effect as that of the first embodiment can be obtained, but when the control rod is moved only one step, Since it is not necessary to calculate to generate the drive signal, the control rod can be controlled with higher accuracy.

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Abstract

A nuclear furnace control rod control device equipped with: a movement amount setting unit (3) that inputs the number of control rod movement steps; an insertion button (1) and a withdrawal button (2) that respectively provide an instruction for a control rod insertion and a control rod withdrawal operation; a drive database (4) that stores drive speed data for each group of control rods; and a drive signal creation unit (18) that calculates the driving time for each group of control rods on the basis of the number of steps, the instruction, and the drive speed data, and that transmits to a drive unit an insertion or a withdrawal drive signal for the driving time.

Description

原子炉制御棒制御装置Reactor control rod controller
　この発明は、原子炉の熱出力の制御および原子炉の停止に使用する制御棒を原子炉内に対して挿入または引抜するために用いられる制御棒の駆動機構を制御する原子炉制御棒制御装置にかかる。 The present invention relates to a reactor control rod control apparatus for controlling a drive mechanism of a control rod used for inserting or withdrawing a control rod used for controlling a thermal output of a nuclear reactor and shutting down the reactor. It takes.
　従来の原子炉制御棒制御装置は、自動モードにおいては原子炉自動制御系からの命令信号を基に自動的に制御棒を引抜もしくは挿入することが可能であったが、手動モードにおいて制御棒を引抜もしくは挿入する場合、中央制御盤に設置されたレバースイッチを操作することによって必要なステップ数分動作させることを積算ステップ数で監視しながら動作させていた（例えば、特許文献１参照）。 In the conventional reactor control rod control device, in the automatic mode, it was possible to automatically pull out or insert the control rod based on the command signal from the automatic reactor control system. In the case of pulling out or inserting, the operation is performed while monitoring the number of necessary steps by operating a lever switch installed on the central control panel with the total number of steps (see, for example, Patent Document 1).
特開２００４－１８４２２７号公報（「０００５」）JP 2004-184227 A (“0005”)
　従来の原子炉制御棒制御装置は、手動モードにおいては操作員が任意のステップ数制御棒が動作するまで、レバースイッチを継続して操作する必要があり、特に原子炉起動時および停止時においては、レバースイッチを一定時間操作し続ける必要があり、操作員の負荷が大きいという問題点があった。 In the conventional reactor control rod control device, in the manual mode, the operator needs to continuously operate the lever switch until the arbitrary number of steps control rod operates, especially when the reactor is started and stopped. The lever switch has to be operated for a certain period of time, and the load on the operator is large.
　また、運転中における定期的な制御棒の動作試験においては、特定のステップ分制御棒を動作させる必要があり、一定のステップ数を繰り返し動作させることは操作員の負荷が大きいという問題点があった。 In addition, in a periodic control rod operation test during operation, it is necessary to operate the control rod for a specific number of steps, and repeating a certain number of steps has a problem that the load on the operator is large. It was.
　この発明は上記の課題を解決するためになされたものであり、容易に任意のステップ数動作させることを可能とする原子炉制御棒制御装置を提供することを目的とする。 The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a nuclear reactor control rod control device that can be easily operated by an arbitrary number of steps.
　この発明の原子炉制御棒制御装置は、
原子炉内に挿入または引抜させることにより上記原子炉の出力を制御する複数の制御棒を、複数の上記制御棒ごとにグループを構成し、上記各グループをステップごとに駆動させる駆動機構を制御する原子炉制御棒制御装置において、
　上記制御棒の移動ステップ数を入力する移動量設定部と、
　上記制御棒の挿入または引抜のいずれの動作であるかを指示する指示部と、
　上記グループごとの制御棒の駆動速度データを格納する駆動データベースと、
　上記移動量設定部のステップ数と上記指示部の指示と上記駆動速度データにより上記グループごとの制御棒の駆動時間を算出して上記グループごとの上記駆動時間の挿入または引抜の駆動信号を上記駆動機構に送信する駆動信号作成部とを備えたものである。 The reactor control rod control device of the present invention is
A plurality of control rods that control the output of the nuclear reactor by inserting or withdrawing it into the nuclear reactor is configured as a group for each of the plurality of control rods, and a drive mechanism that drives each group step by step is controlled. In the reactor control rod control device,
A movement amount setting unit for inputting the number of movement steps of the control rod;
An instruction unit for instructing whether the control rod is inserted or pulled out;
A drive database for storing the drive speed data of the control rods for each group;
The drive time of the control rod for each group is calculated from the number of steps of the movement amount setting unit, the instruction of the instruction unit, and the drive speed data, and the drive signal for insertion or withdrawal of the drive time for each group is driven. And a drive signal generator for transmitting to the mechanism.
　また、この発明の原子炉制御棒制御装置は、
原子炉内に挿入または引抜させることにより上記原子炉の出力を制御する複数の制御棒を、複数の上記制御棒ごとにグループを構成し、上記各グループをステップごとに駆動させる駆動機構を制御する原子炉制御棒制御装置において、
　上記制御棒の１ステップ挿入または１ステップ引抜のいずれの動作であるかを指示する指示部と、
　上記グループごとの制御棒の１ステップ駆動にかかる駆動時間データを格納する駆動データベースと、
　上記指示部の指示と上記駆動時間データにより上記グループごとの制御棒の駆動時間を抽出して上記グループごとの上記駆動時間の挿入または引抜の駆動信号を上記駆動機構に送信する駆動信号作成部とを備えたものである。 The reactor control rod control device of the present invention is
A plurality of control rods that control the output of the nuclear reactor by inserting or withdrawing it into the nuclear reactor is configured as a group for each of the plurality of control rods, and a drive mechanism that drives each group step by step is controlled. In the reactor control rod control device,
An instruction unit for instructing which operation is one-step insertion or one-step extraction of the control rod;
A driving database for storing driving time data for one-step driving of control rods for each group;
A drive signal generator for extracting the drive time of the control rod for each group from the instruction of the instruction unit and the drive time data, and transmitting the drive signal for insertion or withdrawal of the drive time for each group to the drive mechanism; It is equipped with.
　この発明の原子炉制御棒制御装置は、
原子炉内に挿入または引抜させることにより上記原子炉の出力を制御する複数の制御棒を、複数の上記制御棒ごとにグループを構成し、上記各グループをステップごとに駆動させる駆動機構を制御する原子炉制御棒制御装置において、
　上記制御棒の移動ステップ数を入力する移動量設定部と、
　上記制御棒の挿入または引抜のいずれの動作であるかを指示する指示部と、
　上記グループごとの制御棒の駆動速度データを格納する駆動データベースと、
　上記移動量設定部のステップ数と上記指示部の指示と上記駆動速度データにより上記グループごとの制御棒の駆動時間を算出して上記グループごとの上記駆動時間の挿入または引抜の駆動信号を上記駆動機構に送信する駆動信号作成部とを備えたので、
移動ステップ数を入力し、制御棒の駆動速度データを用いることにより、従来までの手動駆動信号の入力継続を自動的に実現することできる。 The reactor control rod control device of the present invention is
A plurality of control rods that control the output of the nuclear reactor by inserting or withdrawing it into the nuclear reactor is configured as a group for each of the plurality of control rods, and a drive mechanism that drives each group step by step is controlled. In the reactor control rod control device,
A movement amount setting unit for inputting the number of movement steps of the control rod;
An instructing unit for instructing whether the control rod is inserted or pulled out;
A drive database for storing the drive speed data of the control rods for each group,
The drive time of the control rod for each group is calculated from the number of steps of the movement amount setting unit, the instruction of the instruction unit, and the drive speed data, and the drive signal for inserting or extracting the drive time for each group is driven. Because it has a drive signal creation unit to send to the mechanism,
By inputting the number of movement steps and using the driving speed data of the control rod, it is possible to automatically realize the continuation of the input of the conventional manual driving signal.
　また、この発明の原子炉制御棒制御装置は、
原子炉内に挿入または引抜させることにより上記原子炉の出力を制御する複数の制御棒を、複数の上記制御棒ごとにグループを構成し、上記各グループをステップごとに駆動させる駆動機構を制御する原子炉制御棒制御装置において、
　上記各グループの制御棒の１ステップ挿入または１ステップ引抜のいずれの動作であるかを指示する指示部と、
　上記駆動機構が駆動させる上記グループごとの制御棒の１ステップ駆動にかかる駆動時間データを格納する駆動データベースと、
　上記指示部の指示と上記駆動時間データにより上記グループごとの制御棒の駆動時間を抽出して上記グループごとの上記駆動時間の挿入または引抜の駆動信号を上記駆動機構に送信する駆動信号作成部とを備えたので、
１ステップの制御棒の駆動時間データを用いることにより、従来までの手動操作信号の入力継続を自動的に実現することできる。 The reactor control rod control device of the present invention is
A plurality of control rods that control the output of the nuclear reactor by inserting or withdrawing it into the nuclear reactor is configured as a group for each of the plurality of control rods, and a drive mechanism that drives each group step by step is controlled. In the reactor control rod control device,
An instruction unit for instructing whether the operation is one-step insertion or one-step extraction of the control rods of each group;
A drive database for storing drive time data for one-step drive of the control rods for each of the groups driven by the drive mechanism;
A drive signal generator for extracting the drive time of the control rod for each group from the instruction of the instruction unit and the drive time data, and transmitting the drive signal for insertion or withdrawal of the drive time for each group to the drive mechanism; So that
By using the one-step control rod driving time data, it is possible to automatically realize the continuation of the input of the conventional manual operation signal.
この発明の実施の形態１の原子炉制御棒制御装置を用いる原子炉制御システムの構成を示す図である。It is a figure which shows the structure of the nuclear reactor control system using the nuclear reactor control rod control apparatus of Embodiment 1 of this invention. この発明の実施の形態１の原子炉制御棒制御装置の構成を示す図である。It is a figure which shows the structure of the nuclear reactor control rod control apparatus of Embodiment 1 of this invention. この発明の実施の形態２の原子炉制御棒制御装置の構成を示す図である。It is a figure which shows the structure of the nuclear reactor control rod control apparatus of Embodiment 2 of this invention.
実施の形態１．
　以下、本発明の実施の形態について説明する。図１はこの発明の実施の形態１の原子炉制御棒制御装置を用いる原子炉制御システムの構成を示す図、図２はこの発明の実施の形態１における原子炉制御棒制御装置の構成を示す図である。原子炉制御システムは、原子炉装置３０を制御するためのものであり、運転コンソール３３と、原子炉自動制御系３４と、原子炉制御部３５とが光通信線１７にて接続されている。原子炉装置３０は、原子炉３１内に挿入または引抜させることにより原子炉３１の出力を制御する複数の制御棒と、各制御棒をステップごとに原子炉３１内に挿入または引抜するための駆動装置３２とを有している。そして、運転コンソール３３は、原子炉３１を自動運転するか手動運転するかを設定し、手動運転の時に原子炉制御部３５に指示を行うものである。原子炉制御部３５は、原子炉３１の駆動装置３２を制御するものである。原子炉自動制御系３４は、原子炉３１を自動運転するための指示を原子炉制御部３５に行うものである。 Embodiment 1 FIG.
Embodiments of the present invention will be described below. FIG. 1 is a diagram showing a configuration of a reactor control system using a reactor control rod control apparatus according to Embodiment 1 of the present invention, and FIG. 2 shows a configuration of a reactor control rod control apparatus according to Embodiment 1 of the present invention. FIG. The nuclear reactor control system is for controlling the nuclear reactor device 30, and an operation console 33, an automatic nuclear reactor control system 34, and a nuclear reactor controller 35 are connected by an optical communication line 17. The nuclear reactor apparatus 30 includes a plurality of control rods that control the output of the nuclear reactor 31 by being inserted into or extracted from the nuclear reactor 31, and a drive for inserting or extracting each control rod into the nuclear reactor 31 step by step. Device 32. The operation console 33 sets whether the nuclear reactor 31 is automatically operated or manually operated, and gives an instruction to the nuclear reactor controller 35 during the manual operation. The nuclear reactor control unit 35 controls the driving device 32 of the nuclear reactor 31. The nuclear reactor automatic control system 34 instructs the nuclear reactor controller 35 to automatically operate the nuclear reactor 31.
　そして、本発明の原子炉制御棒制御装置は、この原子炉装置３０において、複数の制御棒ごとにグループを構成し、グループごとに制御を行う駆動機構を制御するものである。ここで言うステップとは、制御棒を原子炉３１内に挿入または引抜する動作を行うための最小単位であり、原子炉装置３０ごとにあらかじめ設定されているものである。そして、各グループは、挿入または引抜の制御される順番があらかじめ設定されており、その順番に基づいてグループごとに挿入および引抜の動作を行うものである。また、原子炉制御棒制御装置にて制御する、制御棒の挿入または引抜の動作は、原子炉装置３０を起動または停止させる際の、原子炉装置３０を手動による制御する際に行われるものである。 And the reactor control rod control device of the present invention is configured to control a drive mechanism that controls each group by forming a group for each of the plurality of control rods in this reactor device 30. The step mentioned here is a minimum unit for performing an operation of inserting or withdrawing the control rod into or from the nuclear reactor 31, and is set in advance for each nuclear reactor device 30. In each group, the order in which insertion or withdrawal is controlled is set in advance, and insertion and withdrawal are performed for each group based on the order. In addition, the control rod insertion or extraction operation controlled by the reactor control rod control device is performed when the reactor device 30 is manually controlled when the reactor device 30 is started or stopped. is there.
　図に示すように、原子炉制御棒制御装置は、制御棒の移動ステップ数を入力する移動量設定部３と、制御棒の挿入または引抜のいずれの動作であるかを指示する指示部６０としての挿入ボタン１および引抜ボタン２と、運転モードを手動に切替える手動運転モード切替ボタン６と、運転モードを自動に切替える自動運転モード切替ボタン７と、グループごとの制御棒の駆動速度データを格納する駆動データベース４とを有する。そして、手動運転モード切替ボタン６に切替えると、移動量設定部３に入力されたステップ数と、挿入ボタン１および引抜ボタン２の入力である指示と、駆動データベース４に格納されている駆動速度データにより、グループごとの制御棒の駆動時間を算出するものである。そして、グループごとの駆動時間の挿入または引抜の駆動信号を駆動機構に送信する駆動信号作成部１８と、駆動信号作成部１８からの信号を受信し、制御棒を駆動するための制御棒駆動装置（ＣＤＲＭ：Ｃｏｎｔｒｏｌ　Ｒｏｄ　Ｄｒｉｖｅ　Ｍｅｃｈａｎｉｓｍ）に挿入されているＣＤＲＭ専用カード５に挿入または引抜の駆動信号を送信する制御棒動作部１９とを備える。 As shown in the figure, the reactor control rod control device includes a movement amount setting unit 3 for inputting the number of movement steps of the control rod, and an instruction unit 60 for instructing whether the operation is control rod insertion or extraction. The insertion button 1 and the withdrawal button 2, the manual operation mode switching button 6 for switching the operation mode to manual, the automatic operation mode switching button 7 for switching the operation mode to automatic, and the drive speed data of the control rod for each group are stored. And a drive database 4. When switching to the manual operation mode switching button 6, the number of steps input to the movement amount setting unit 3, the instructions that are input to the insertion button 1 and the extraction button 2, and driving speed data stored in the driving database 4 Thus, the control rod drive time for each group is calculated. And the drive signal preparation part 18 which transmits the drive signal of the insertion or extraction of the drive time for every group to a drive mechanism, and the control rod drive device for receiving the signal from the drive signal preparation part 18 and driving a control rod And a control rod operating unit 19 that transmits an insertion or extraction drive signal to the CDRM dedicated card 5 inserted in (CDRM: Control Rod Drive Mechanical).
　そして、駆動信号作成部１８の挿入または引抜の駆動信号を制御棒動作部１９を介して入力し、制御棒の現在のステップ数を算出するステップカウント部２０と、ステップカウント部２０にて算出されたステップ数を表示するステップカウント表示部２１とを備える。ここで言う、駆動速度データとは、例えば、ｎステップ／分のように、毎分、ｎステップ、駆動機構が制御棒を駆動させることができるようなデータが考えられる。そして、移動量設定部３、挿入ボタン１、引抜ボタン２およびステップカウント表示部２１と、駆動信号作成部１８および駆動データベース４とは離反された箇所に形成されている。よって、移動量設定部３、挿入ボタン１、引抜ボタン２およびステップカウント表示部２１と、駆動信号作成部１８とは光通信線１７にてそれぞれ接続されている。 Then, a drive signal for insertion or extraction of the drive signal creation unit 18 is input via the control rod operation unit 19, and the step count unit 20 that calculates the current step number of the control rod is calculated by the step count unit 20. And a step count display unit 21 for displaying the number of steps. The drive speed data referred to here is, for example, data that allows the drive mechanism to drive the control rod every n steps, such as n steps / minute. The movement amount setting unit 3, the insertion button 1, the extraction button 2, the step count display unit 21, the drive signal creation unit 18, and the drive database 4 are formed at separated locations. Therefore, the movement amount setting unit 3, the insertion button 1, the extraction button 2, the step count display unit 21, and the drive signal creation unit 18 are connected by the optical communication line 17.
　次に上記のように構成された実施の形態１の原子炉制御棒制御装置の動作について説明する。この発明においては、手動運転の場合に対するものであるため、操作員が、自動運転モードの状態にある場合には、手動運転モード切替ボタン６を押して、手動運転モードに切替えられることを前提に説明する。まず、操作員が制御棒を動作させるべきステップ数を移動量設定部３に入力する。ここでは、例えば、５ステップとして５を入力する。次に、操作員は、制御棒の挿入する動作を行うか、または、引抜する動作を行うかを指示するため、挿入ボタン１または引抜ボタン２のいずれかを押下する。ここでは、例えば、挿入ボタン１を押下する。そして、移動量設定部３に入力されたステップ数の信号と、挿入ボタン１の押下の挿入信号とは、光通信線１７を介して駆動信号作成部１８に入力される。次に、駆動信号作成部１８は、挿入ボタン１の挿入信号をスタートトリガとして動作を開始する。そして、駆動信号作成部１８は、入力されたステップ数を移動させるためにかかる時間をグループごとに算出する。具体的には、駆動信号作成部１８は駆動データベース４に格納されている各グループの駆動速度データを抽出して、グループごとの制御棒の駆動時間を算出する。 Next, the operation of the reactor control rod control apparatus of the first embodiment configured as described above will be described. Since the present invention is for the case of manual operation, it is assumed that the operator can switch to the manual operation mode by pressing the manual operation mode switching button 6 when in the automatic operation mode. To do. First, the operator inputs the number of steps for operating the control rod to the movement amount setting unit 3. Here, for example, 5 is input as 5 steps. Next, the operator presses either the insertion button 1 or the extraction button 2 to instruct whether to perform the operation of inserting the control rod or the operation of extraction. Here, for example, the insert button 1 is pressed. Then, the step number signal input to the movement amount setting unit 3 and the insertion signal indicating that the insert button 1 has been pressed are input to the drive signal generation unit 18 via the optical communication line 17. Next, the drive signal creation unit 18 starts the operation using the insertion signal of the insertion button 1 as a start trigger. Then, the drive signal creation unit 18 calculates the time taken to move the input number of steps for each group. Specifically, the drive signal generator 18 extracts the drive speed data of each group stored in the drive database 4 and calculates the control rod drive time for each group.
　そして、駆動信号作成部１８は、５ステップ挿入するためのグループごとの駆動時間に対応する挿入するための駆動信号を制御棒動作部１９に送信する。そして、制御棒動作部１９はＣＤＲＭ専用カード５に挿入するための駆動信号を送信する。そして、制御棒駆動装置は、この挿入された駆動信号に基づいて、各グループを順番通りに１ステップ駆動させる。そして、制御棒駆動装置は、全てのグループが１ステップ駆動後に、次のステップ分を再び順番通り駆動させる。そして、制御棒駆動装置は、以上の動作を繰り返すことにより、５ステップとなるまで駆動させる。 Then, the drive signal creation unit 18 transmits a drive signal for insertion corresponding to the drive time for each group for inserting 5 steps to the control rod operation unit 19. Then, the control rod operating unit 19 transmits a drive signal for insertion into the CDRM dedicated card 5. Then, the control rod driving device drives each group by one step in order based on the inserted driving signal. The control rod driving device drives the next step again in order after all the groups are driven one step. Then, the control rod drive device is driven until it becomes 5 steps by repeating the above operation.
　そして、ステップカウント部２０は、制御棒動作部１９を介して挿入するための駆動信号を入力する。そして、ステップカウント部２０は、駆動信号からステップ数を換算して、現在のステップ数を算出する。そして、ステップカウント部２０は算出した現在のステップ数を光通信線１７を介してステップカウント表示部２１に表示する。 Then, the step count unit 20 inputs a drive signal for insertion through the control rod operation unit 19. Then, the step count unit 20 calculates the current number of steps by converting the number of steps from the drive signal. Then, the step count unit 20 displays the calculated current step number on the step count display unit 21 via the optical communication line 17.
　尚、上記においては、制御棒を挿入制御する例を示したが、これに限られることはなく、制御棒を引抜制御する場合も同様に行うことができる。また、挿入ボタン１および引抜ボタン２を別々に形成する例を示したが、これに限られることはなく、挿入または引抜を選択することができる１つのボタンにて形成してもよく、また、他の構成であっても、このいずれかの制御を指示することができるものであればよい。 In addition, in the above, although the example which controls insertion of a control rod was shown, it is not restricted to this, It can perform similarly also when carrying out pull-out control of a control rod. Moreover, although the example which forms the insertion button 1 and the extraction button 2 separately was shown, it is not restricted to this, You may form with one button which can select insertion or extraction, Any other configuration may be used as long as it can instruct any one of these controls.
　上記のように構成された実施の形態１によれば、任意のステップ数の移動を、制御棒の駆動速度データを用いることにより、従来までの手動駆動信号の入力継続しグルーブごとに１ステップごとに駆動させるという従来のロジックを変更することなく、自動的に実現することできる。 According to the first embodiment configured as described above, the movement of an arbitrary number of steps is continued by inputting the conventional manual driving signal by using the driving speed data of the control rod, and every step for each groove. This can be realized automatically without changing the conventional logic of driving the motor.
　また、移動量設定部および指示部と、駆動信号作成部および駆動データベースとは離反した箇所に形成され、光通信線にて接続しているため、駆動信号をタイムラグを生じることなく作成でき、制御棒の制御を行うことができる。 In addition, since the movement amount setting unit and the instruction unit, the drive signal creation unit and the drive database are formed at locations separated from each other and connected by an optical communication line, the drive signal can be created without causing a time lag. The bar can be controlled.
　また、駆動信号作成部の駆動信号から各グループの制御棒の現在のステップ数を算出して表示することができるため、制御棒の現在のステップ状態を容易に確認することができる。 Also, since the current number of steps of the control rods of each group can be calculated and displayed from the drive signal of the drive signal creation unit, the current step state of the control rods can be easily confirmed.
実施の形態２．
　上記実施の形態１においては、所望のステップ数を入力することにより制御棒を制御する例を示したが、本実施の形態２においては、１ステップを入力することにより制御棒を制御する場合について説明する。図３はこの発明の実施の形態２における原子炉制御棒制御装置の構成を示す図である。図において、上記実施の形態１と同様の部分は同一符号を付して説明を省略する。また、原子炉制御システムの構成は、上記実施の形態１に示した図１と同様に形成されているため説明を省略する。制御棒の１ステップ挿入または１ステップ引抜のいずれの動作であるかを指示する指示部５０としての１ステップ分のみ挿入の動作指令を出力する１ステップ挿入ボタン８と、制御棒の１ステップ分のみ引抜の動作指令を出力する１ステップ引抜ボタン９とを備えている。 Embodiment 2. FIG.
In the first embodiment, an example in which the control rod is controlled by inputting a desired number of steps has been described. However, in the second embodiment, the control rod is controlled by inputting one step. explain. FIG. 3 is a diagram showing a configuration of a nuclear reactor control rod control apparatus according to Embodiment 2 of the present invention. In the figure, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. The configuration of the reactor control system is the same as that shown in FIG. A 1-step insertion button 8 for outputting an operation command for only one step serving as an instruction unit 50 for instructing whether the operation is one-step insertion or one-step extraction of the control rod, and only one step of the control rod. A one-step extraction button 9 for outputting an operation command for extraction is provided.
　グループごとの制御棒の１ステップ駆動にかかる駆動時間データを格納する駆動データベース４０と、１ステップ挿入ボタン８および１ステップ引抜ボタン９の入力である指示と、駆動データベース４０に格納されている駆動時間データから、グループごとの制御棒の駆動時間を抽出してグループごとの駆動時間の挿入または引抜の駆動信号を駆動機構に送信する駆動信号作成部１８０とを備える。 Driving database 40 for storing driving time data for one-step driving of control rods for each group, instructions that are inputs to the one-step insertion button 8 and the one-step withdrawal button 9, and driving times stored in the driving database 40 And a drive signal creating unit 180 that extracts the drive time of the control rod for each group from the data and transmits a drive signal for inserting or extracting the drive time for each group to the drive mechanism.
　次に上記のように構成された実施の形態２の原子炉制御棒制御装置の動作について説明する。まず、操作員が制御棒を１ステップ動作させる際、操作員は、制御棒の挿入する動作を行うか、または、引抜する動作を行うかを指示するため、１ステップ挿入ボタン８または１ステップ引抜ボタン９のいずれかを押下する。ここでは、例えば、１ステップ挿入ボタン８を押下する。そして、１ステップ挿入ボタン８の押下の挿入信号とは、光通信線１７を介して駆動信号作成部１８０に入力される。次に、駆動信号作成部１８０は、１ステップ挿入ボタン８の挿入信号をスタートトリガとして動作を開始する。 Next, the operation of the reactor control rod control apparatus of the second embodiment configured as described above will be described. First, when the operator moves the control rod in one step, the operator instructs to perform the operation of inserting the control rod or the operation of pulling out the one-step insertion button 8 or one-step extraction. Press one of the buttons 9. Here, for example, the one-step insertion button 8 is pressed. The insertion signal for pressing the one-step insertion button 8 is input to the drive signal creation unit 180 via the optical communication line 17. Next, the drive signal generator 180 starts the operation with the insertion signal of the one-step insertion button 8 as a start trigger.
　そして、駆動信号作成部１８０は、１ステップを移動させるためにかかる駆動時間をグループごとに抽出する。具体的には、駆動信号作成部１８０は駆動データベース４０に格納されている各グループの駆動時間データを抽出して、グループごとの制御棒の駆動時間を抽出する。そして、駆動信号作成部１８０は、１ステップ挿入するためのグループごとの駆動時間に対応する挿入するための駆動信号を制御棒動作部１９に送信する。そして、制御棒動作部１９はＣＤＲＭ専用カード５に挿入するための駆動信号を送信し、制御棒がグループごとに駆動される。そして、ステップカウント部２０は、制御棒動作部１９を介して挿入するための駆動信号を入力する。そして、ステップカウント部２０は、挿入するための駆動信号から１ステップを加算して、現在のステップ数を算出する。そして、ステップカウント部２０は算出した現在のステップ数を光通信線１７を介してステップカウント表示部２１に表示する。 Then, the drive signal generation unit 180 extracts the drive time required for moving one step for each group. Specifically, the drive signal creation unit 180 extracts the drive time data of each group stored in the drive database 40, and extracts the drive time of the control rod for each group. Then, the drive signal creating unit 180 transmits a drive signal for insertion corresponding to the drive time for each group for inserting one step to the control rod operating unit 19. Then, the control rod operating unit 19 transmits a drive signal for insertion into the CDRM dedicated card 5, and the control rod is driven for each group. Then, the step count unit 20 inputs a drive signal for insertion through the control rod operation unit 19. Then, the step count unit 20 adds one step from the drive signal for insertion, and calculates the current number of steps. Then, the step count unit 20 displays the calculated current step number on the step count display unit 21 via the optical communication line 17.
　尚、上記においては、制御棒を挿入制御する例を示したが、制御棒を引抜制御する場合も同様に行うことができる。また、１ステップ挿入ボタン８および１ステップ引抜ボタン９を別々に形成する例を示したが、これに限られることはなく、挿入または引抜を選択することができる１つのボタンにて形成してもよく、また、他の構成であっても、このいずれかの制御を指示することができるものであればよい。さらに、１ステップ挿入ボタン８および１ステップ引抜ボタン９とを別々に形成する例を示しが、これに限られることはなく、１ステップ挿入ボタンまたは１ステップ引抜ボタンとのいずれもの機能を有する１つのボタンにて形成してもよく、また、他の構成であっても、これらの制御を指示することができるものであればよい。 In the above description, the control rod is inserted and controlled. However, the control rod can be pulled out in the same manner. Moreover, although the example which forms the 1 step insertion button 8 and the 1 step extraction button 9 separately was shown, it is not restricted to this, Even if it forms with one button which can select insertion or extraction Any other configuration may be used as long as it can instruct any one of these controls. Further, an example in which the 1-step insertion button 8 and the 1-step extraction button 9 are separately formed is shown, but the present invention is not limited to this, and one step having either the 1-step insertion button or the 1-step extraction button is provided. It may be formed by a button, and other configurations may be used as long as they can instruct these controls.
　上記のように構成された実施の形態２の原子炉制御棒制御装置によれば、上記実施の形態１と同様の効果を奏するのはもちろんのこと、制御棒を１ステップのみ移動させる場合は、駆動信号を作成するのに算出する必要がないため、より一層精度に優れた制御棒の制御を行うことができる。 According to the reactor control rod control apparatus of the second embodiment configured as described above, the same effect as that of the first embodiment can be obtained, but when the control rod is moved only one step, Since it is not necessary to calculate to generate the drive signal, the control rod can be controlled with higher accuracy.
　尚、本発明は、その発明の範囲内において、各実施の形態を自由に組み合わせたり、各実施の形態を適宜、変形、省略することが可能である。 It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

Claims (6)

  1. 原子炉内に挿入または引抜させることにより上記原子炉の出力を制御する複数の制御棒を、複数の上記制御棒ごとにグループを構成し、上記各グループをステップごとに駆動させる駆動機構を制御する原子炉制御棒制御装置において、
    　上記制御棒の移動ステップ数を入力する移動量設定部と、
    　上記制御棒の挿入または引抜のいずれの動作であるかを指示する指示部と、
    　上記グループごとの制御棒の駆動速度データを格納する駆動データベースと、
    　上記移動量設定部のステップ数と上記指示部の指示と上記駆動速度データにより上記グループごとの制御棒の駆動時間を算出して上記グループごとの上記駆動時間の挿入または引抜の駆動信号を上記駆動機構に送信する駆動信号作成部とを備えた原子炉制御棒制御装置。     A plurality of control rods that control the output of the nuclear reactor by inserting or withdrawing it into the nuclear reactor is configured as a group for each of the plurality of control rods, and a drive mechanism that drives each group step by step is controlled. In the reactor control rod control device,
    A movement amount setting unit for inputting the number of movement steps of the control rod;
    An instruction unit for instructing whether the control rod is inserted or pulled out;
    A drive database for storing the drive speed data of the control rods for each group;
    The drive time of the control rod for each group is calculated from the number of steps of the movement amount setting unit, the instruction of the instruction unit, and the drive speed data, and the drive signal for insertion or withdrawal of the drive time for each group is driven. A nuclear reactor control rod control device comprising a drive signal generation unit that transmits to a mechanism.
  2. 上記移動量設定部および上記指示部と、上記駆動信号作成部および上記駆動データベースとは離反した箇所に形成され、上記移動量設定部および上記指示部と上記駆動信号作成部とは光通信線にて接続されている請求項１に記載の原子炉制御棒制御装置。 The movement amount setting unit, the instruction unit, the drive signal creation unit, and the drive database are formed at locations separated from each other, and the movement amount setting unit, the instruction unit, and the drive signal creation unit are connected to an optical communication line. The reactor control rod control device according to claim 1, which is connected to each other.
  3. 上記駆動信号作成部の駆動信号から上記制御棒の現在のステップ数を算出して表示するステップカウント表示部を備えた請求項１または請求項２に記載の原子炉制御棒制御装置。 The nuclear reactor control rod control device according to claim 1, further comprising a step count display unit that calculates and displays a current step number of the control rod from the drive signal of the drive signal generation unit.
  4. 原子炉内に挿入または引抜させることにより上記原子炉の出力を制御する複数の制御棒を、複数の上記制御棒ごとにグループを構成し、上記各グループをステップごとに駆動させる駆動機構を制御する原子炉制御棒制御装置において、
    　上記制御棒の１ステップ挿入または１ステップ引抜のいずれの動作であるかを指示する指示部と、
    　上記グループごとの制御棒の１ステップ駆動にかかる駆動時間データを格納する駆動データベースと、
    　上記指示部の指示と上記駆動時間データにより上記グループごとの制御棒の駆動時間を抽出して上記グループごとの上記駆動時間の挿入または引抜の駆動信号を上記駆動機構に送信する駆動信号作成部とを備えた原子炉制御棒制御装置。     A plurality of control rods that control the output of the nuclear reactor by inserting or withdrawing it into the nuclear reactor is configured as a group for each of the plurality of control rods, and a drive mechanism that drives each group step by step is controlled. In the reactor control rod control device,
    An instruction unit for instructing which operation is one-step insertion or one-step extraction of the control rod;
    A driving database for storing driving time data for one-step driving of control rods for each group;
    A drive signal generator for extracting the drive time of the control rod for each group from the instruction of the instruction unit and the drive time data, and transmitting the drive signal for insertion or withdrawal of the drive time for each group to the drive mechanism; Reactor control rod control device equipped with.
  5. 上記指示部と、上記駆動信号作成部および上記駆動データベースとは離反した箇所に形成され、上記指示部と上記駆動信号作成部とは光通信線にて接続されている請求項４に記載の原子炉制御棒制御装置。 5. The atom according to claim 4, wherein the instruction unit, the drive signal creation unit, and the drive database are formed at locations separated from each other, and the instruction unit and the drive signal creation unit are connected by an optical communication line. Furnace control rod control device.
  6. 上記駆動信号作成部の駆動信号から上記制御棒の現在のステップ数を算出して表示するステップカウント表示部を備えた請求項４または請求項５に記載の原子炉制御棒制御装置。 The nuclear reactor control rod control device according to claim 4 or 5, further comprising a step count display unit that calculates and displays the current number of steps of the control rod from the drive signal of the drive signal creation unit.
PCT/JP2013/065344 2012-06-07 2013-06-03 Nuclear furnace control rod control device WO2013183585A1 (en)

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JP2012129443A JP2015158364A (en) 2012-06-07 2012-06-07 Control device for nuclear reactor control rod

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5636093A (en) * 1979-08-31 1981-04-09 Tokyo Shibaura Electric Co Control rod monitor control device
JPS59203989A (en) * 1983-05-04 1984-11-19 東京電力株式会社 Control rod drive mechanism
JPS62272190A (en) * 1986-05-20 1987-11-26 株式会社日立製作所 Control-rod drive controller
JPH07134191A (en) * 1993-11-12 1995-05-23 Toshiba Corp Driving device for control rod driving mechanism
JPH11153694A (en) * 1997-11-20 1999-06-08 Hitachi Ltd Control method for control rod and automatic controller for control rod

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5636093A (en) * 1979-08-31 1981-04-09 Tokyo Shibaura Electric Co Control rod monitor control device
JPS59203989A (en) * 1983-05-04 1984-11-19 東京電力株式会社 Control rod drive mechanism
JPS62272190A (en) * 1986-05-20 1987-11-26 株式会社日立製作所 Control-rod drive controller
JPH07134191A (en) * 1993-11-12 1995-05-23 Toshiba Corp Driving device for control rod driving mechanism
JPH11153694A (en) * 1997-11-20 1999-06-08 Hitachi Ltd Control method for control rod and automatic controller for control rod

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