Radioactive source flip system servo control method

A technology of servo control and radioactive source, applied in the control system, observer control, motor control and other directions, can solve the problems of danger, can not meet the irradiation requirements, etc., to achieve strong overload capacity, good low frequency characteristics, and serious lag phenomenon. Effect

Pending Publication Date: 2019-08-02
TECHN PHYSICS INST HEILONGJIANG ACADOF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its physical half-life is 5.27a, which means that the activity of the radioactive source will be reduced by about half every 5 years, so that it cannot meet the radiation requirements and needs to be supplemented 60 The amount of Co, the process of adding radioactive sources is a dangerous work

Method used

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  • Radioactive source flip system servo control method
  • Radioactive source flip system servo control method
  • Radioactive source flip system servo control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0063] A method for servo control of a radioactive source flip-chip system, the method comprising the following steps:

[0064] (1) Parameter identification based on the least square method;

[0065] The principle of least square fitting can be used to fit the parameters of the quadratic equation, and the servo system is used to measure the different input of The angular position output of , the amplitude ratio of the input and output is obtained, that is , substitute into the corresponding and The value of , and then fit, first get value, obtained by calculating , , The value of is brought back to the original form to get the object properties . However, due to inaccurate measurements, the first obtained , , There may be negative values ​​among them, which requires multiple sets of data to be fitted to obtain a set of normal value;

[0066] (2) Obtain the motor parameters of the servo system;

[0067] (3) Establishment of the linearly extended state...

Embodiment 2

[0070] According to the servo control method of the radioactive source flip-chip system described in Embodiment 1, the specific process of obtaining the quadratic polynomial in the step (1) is as follows:

[0071] First of all, it is necessary to model the system model through the experimental method. For the parameter model of the servo motor, the mechanism model of the controlled object should be simplified. The characteristics of the object are now set as:

[0072] (1)

[0073] Will Substitute into the object characteristics to get the amplitude-frequency characteristics of the servo system,

[0074] (2)

[0075] Assume , the above formula can be changed into

[0076] (3)

[0077] reset , , so the above formula becomes

[0078] (4)

[0079] The above formula is a quadratic polynomial.

Embodiment 3

[0081] According to the servo control method of the radioactive source flip-chip system described in Embodiment 1 or 2, the specific process of the step (2) is: measure the angular position output for different inputs, and measure the amplitude of the input and output as figure 1 As shown, after calculation, the result of finally solving the transfer function of the servo system is:

[0082] (5)

[0083] The amplitude ratio of the transfer function is compared with the measured amplitude ratio such as figure 2 shown;

[0084] It has been verified that the curve fitting error between the amplitude ratio of the transfer function and the measured amplitude ratio is relatively small, and this result can be used as the transfer function of the controlled object as the basis for subsequent design;

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Abstract

The invention relates to a radioactive source flip system servo control method. Slope climbing or resonance often occurs in a low-speed servo system. The method comprises steps that a quadratic formula can be subjected to parameter fitting through utilizng the principle of least squares fitting, a servo system is utilized to measure u angle position output for different omega inputs, an input andoutput amplitude ratio is obtained, that is phi, the phi is substituted to obtain corresponding x and y values, fitting is then performed, first, values of a<2>, b<2>-2ac and c<2> are obtained, valuesof a, b and c are obtained by calculation, and the object property G(s) is obtained by substituting the values to a original formula. However, due to inaccurate measurement, the first obtained a<2>,b<2>-2ac and c<2> may have negative values, which requires measuring a large number of data for fitting, and a set of values for normal a, b and c are obtained; (2), servo system motor parameters areobtained; and (3), a linear expansion state observer model is established, and 3w speed and acceleration are performed. The method is advantaged in that the method is for radioactive source flip system servo control.

Description

[0001] Technical field: [0002] The invention relates to the field of civil nuclear technology and the field of automatic control, in particular to a servo control method for a radioactive source flip-chip system. [0003] Background technique: [0004] According to the statistics of the China Isotope and Radiation Industry Association, by 2015, there will be more than 300 various irradiation devices in my country, and there will be more than 180 cobalt-60 irradiation devices alone, with a total design source capacity of about 30 EBq, of which more than 3.7 PBq There are more than 100 of them, distributed in more than 50 cities across the country. At present, adding, flipping, and decommissioning high-activity cobalt-60 radioactive sources in the irradiation device are operated at a depth of about 7 meters in the source water well, and traditional handle-type mechanical clamps are mostly used, which is inconvenient to operate. At the same time, due to the design flaws of tradi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P23/12
CPCH02P23/0077H02P23/12H02P2205/07
Inventor 蒋继成姚钢赵弘涛赵孝文吴鹏卫光王强张玉宝梁爽张晓东韩业辉
Owner TECHN PHYSICS INST HEILONGJIANG ACADOF SCI
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