Method, device, equipment and storage medium for monitoring control rod position of high temperature gas-cooled reactor

Abstract

The present invention proposes a method, device, equipment, and storage medium for monitoring the position of a control rod of a high-temperature gas-cooled reactor. The method acquires the working signal of a stepper motor, combines the step detection signal and the upper limit signal, performs fault monitoring on the action of the control rod of the high-temperature gas-cooled reactor, and performs zeroing and fault monitoring on the control rod of the high-temperature gas-cooled reactor based on the calculated actual rod position, logical rod position, and spare rod position. Through the present invention, the online calibration function of the control rod position signal of the high-temperature gas-cooled reactor can be realized, the measurement accuracy of the control rod position of the high-temperature gas-cooled reactor can be improved, and the economy and reliability of the control rod drive mechanism can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment monitoring, and in particular to a method, device, equipment and storage medium for monitoring the position of control rods of a high-temperature gas-cooled reactor. Background Art

[0002] The modular high-temperature gas-cooled reactor is an advanced reactor type with the characteristics of the fourth-generation reactor. It has the advantages of good inherent safety, high power generation efficiency, good economy and wide application. It can replace traditional fossil energy and achieve coordinated development of economy and ecological environment. High-temperature gas-cooled reactors generally have two independent reactivity control systems. The main reactivity control system generally adopts a control rod shutdown system, and the backup reactivity control system generally adopts an absorption ball shutdown system. Due to the low power density of the core of the pebble bed high-temperature gas-cooled reactor, in order to achieve more economical electric power, the core volume is large and the overall core structure is slender. The length of the control rod and the length of the control rod drive line reach more than 11 meters. Therefore, the connection between the control rod drive mechanism and the control rod generally adopts a soft connection such as a ring chain or a wire rope, which can achieve a long distance of lifting and inserting the rod in a limited space.

[0003] In order to obtain the precise position of the control rods inside the core, a rod position measuring device needs to be installed on the control rod drive mechanism. The rod position measuring device is required to operate reliably, measure accurately, and be resistant to radiation and high temperature. Summary of the invention

[0004] The present invention provides a method, device, equipment and storage medium for monitoring the position of control rods of a high-temperature gas-cooled reactor, aiming to realize accurate and reliable rod position measurement and online calibration functions.

[0005] To this end, the first object of the present invention is to provide a method for monitoring the position of a control rod of a high temperature gas-cooled reactor, comprising:

[0006] Obtaining the driving motor action signal, step detection signal and upper limit position signal of the high temperature gas-cooled reactor control rod;

[0007] Based on the motor rotation signal and the step detection signal, the actual rod position, logical rod position and spare rod position of the high temperature gas-cooled reactor control rod are determined;

[0008] Based on the actual rod position, logical rod position and spare rod position, the high temperature gas-cooled reactor control rod position zeroing and fault monitoring are carried out.

[0009] The driving motor action signal includes a motor steering signal, a motor rotation signal and a motor speed signal.

[0010] The step of determining the actual rod position of the high temperature gas-cooled reactor control rod based on the motor rotation signal and the step detection signal includes:

[0011] Determine the number of steps of the stepper motor based on the step detection signal, and determine the rod position action mode of the high temperature gas-cooled reactor control rod according to the motor rotation signal;

[0012] If the stick position is lifting, add the initial stick position and the number of steps to get the current stick position; if the stick position is inserting, subtract the initial stick position and the number of steps to get the current stick position;

[0013] When the fault signal is normal, the current rod position is assigned to the actual rod position and the actual rod position is output at the same time.

[0014] Wherein, the step of determining the logical rod position of the high temperature gas-cooled reactor control rod based on the motor rotation signal and the step detection signal includes:

[0015] Calculate the rotation distance of the stepper motor according to the integral of the motor rotation signal duration and the motor speed signal;

[0016] The control rod displacement is calculated through the constant relationship between the stepper motor rotation distance and the control rod displacement; the control rod position action mode is obtained according to the stepper motor steering signal X1;

[0017] If the rod position action mode is lifting, the actual rod position and the control rod displacement are added to obtain the logical rod position; if the rod position action mode is inserting, the actual rod position and the control rod displacement are subtracted to obtain the logical rod position;

[0018] Compare the logical stick position with the actual stick position. If the deviation is within 3 steps, the fault signal is normal. If the deviation exceeds 3 steps, the first fault signal is output.

[0019] The step of determining the spare rod position of the high temperature gas-cooled reactor control rod based on the motor rotation signal and the step detection signal includes:

[0020] Obtain a standby step detection signal, determine the standby step number of the stepper motor based on the standby step detection signal, and determine the stick position action mode according to the motor rotation signal;

[0021] If the stick position action mode is lifting, the current stick position is added to the number of spare steps to obtain the spare stick position; if the stick position action mode is inserting, the current stick position is subtracted from the number of spare steps to obtain the spare stick position;

[0022] Compare the spare stick position with the logical stick position. If the deviation is within 3 steps, the fault signal is normal. If the deviation exceeds 3 steps, the second fault signal is output.

[0023] Among them, in the step of zeroing the rod position of the high-temperature gas-cooled reactor control rod, when the upper limit position signal is triggered, the current rod position is compared with the preset rod position length. If the deviation is within 50 mm, the fault signal is normal. If the deviation exceeds 50 mm, the third fault signal is output.

[0024] Wherein, in the step of performing rod position zeroing on the high temperature gas-cooled reactor control rod, if at least one of the first fault signal, the second fault signal and the third fault signal is received, a fault alarm is issued.

[0025] The second object of the present invention is to provide a high temperature gas-cooled reactor control rod position monitoring device, comprising:

[0026] A signal acquisition module, used to obtain the drive motor action signal, step detection signal and upper limit position signal of the high temperature gas-cooled reactor control rod;

[0027] A rod position calculation module, used to determine the actual rod position, logical rod position and spare rod position of the high temperature gas-cooled reactor control rod based on the motor rotation signal and the step detection signal;

[0028] The rod position monitoring module is used to perform zeroing and fault monitoring of the high temperature gas-cooled reactor control rods based on the actual rod position, logical rod position and spare rod position.

[0029] The third object of the present invention is to provide an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute each step in the method of the aforementioned technical solution.

[0030] A fourth object of the present invention is to provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute each step in the method according to the aforementioned technical solution.

[0031] Different from the prior art, the method for monitoring the position of a control rod of a high-temperature gas-cooled reactor provided by the present invention acquires the working signal of a stepper motor, combines the step detection signal and the upper limit position signal, performs fault monitoring on the action of the control rod of the high-temperature gas-cooled reactor, and performs zeroing and fault monitoring on the control rod of the high-temperature gas-cooled reactor based on the calculated actual rod position, logical rod position and spare rod position. Through the present invention, the online calibration function of the control rod position signal of the high-temperature gas-cooled reactor can be realized, the measurement accuracy of the control rod position of the high-temperature gas-cooled reactor can be improved, and the economy and reliability of the control rod drive mechanism can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention and / or additional aspects and advantages will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0033] Figure 1 The present invention is a flowchart of a method for monitoring the position of control rods of a high-temperature gas-cooled reactor.

[0034] Figure 2It is a structural schematic diagram of a monitoring device used in a method for monitoring the position of a control rod of a high-temperature gas-cooled reactor provided by the present invention.

[0035] Figure 3 It is a structural schematic diagram of a high temperature gas-cooled reactor control rod position monitoring device provided by the present invention.

[0036] Figure 4 It is a structural schematic diagram of a non-temporary computer-readable storage medium provided by the present invention.

[0037] Figure 2 Among them, 1-control rod driver, 2-control rod position transmitter, 3-control rod drive motor, 4-transmission mechanism, 5-spare step detector, 6-hub mechanism, 7-step detector, 8-upper limit switch, 9-control rod, 11-control rod driver output terminal, 12-control rod driver input terminal, 21-control rod position logic processor, 22-control rod position transmitter input terminal, 23-control rod position transmitter output terminal, 41-planetary reducer, 42-electromagnetic coupling, 43-eddy current speed limiter. DETAILED DESCRIPTION

[0038] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0039] like Figure 1 As shown, a method for monitoring the position of a control rod of a high temperature gas-cooled reactor provided by an embodiment of the present invention includes:

[0040] S110: Obtaining a drive motor action signal, a step detection signal and an upper limit position signal of a high temperature gas-cooled reactor control rod.

[0041] The method of the present invention is based on the following when monitoring the position of the control rods of a high temperature gas-cooled reactor: Figure 2 Specifically, the device includes: a control rod driver 1, a control rod position transmitter 2, a control rod drive motor 3, a transmission mechanism 4, a standby step detector 5, a hub mechanism 6, a step detector 7, an upper limit switch 8, and a control rod 9;

[0042] The control rod drive motor 3 , the transmission mechanism 4 , the hub mechanism 6 , and the upper limit switch 8 are connected in sequence. The control rod drive motor 3 is connected to the control rod driver 1 , and the upper limit switch 8 is connected to the control rod 9 .

[0043] The control rod driver 1 is a power control device for the control rod drive motor 3, and includes two power control modules inside. Each module is independently connected to a winding of the control rod drive motor 3, and both can realize the rotation control of the control rod drive motor 3; the two control modules are backup for each other, and when one module fails, the other module is immediately activated. Figure 2 In the figure, 11 represents the control rod driver output terminal, 12 represents the control rod driver input terminal, and the motor action signal of the stepper motor is obtained through the control rod driver input terminal 12, the specific type is identified, and the signal is sent to the control rod position transmitter 2 through the control rod driver output terminal 11.

[0044] The control rod position transmitter 2 is a control logic processing device for the control rod 9 . Figure 2 In the figure, 21 represents the control rod position logic processor, 22 represents the control rod position transmitter input terminal, and 23 represents the control rod position transmitter output terminal. The motor action signal, step detection signal and upper limit position signal are received through the control rod position transmitter input terminal 22, and the logic processor inside the control rod position transmitter 2 performs logic processing to obtain the fault signal, limit output signal and rod position output signal, and outputs them through the control rod position transmitter output terminal 23.

[0045] The control rod drive motor 3 is a double-winding stepper motor or servo motor, adopts a one-for-one winding arrangement, and is connected to the input shaft of the transmission mechanism 4 with an external spline or a flat key.

[0046] The transmission mechanism 4 is composed of a planetary gear reducer 41, an electromagnetic clutch 42 and an electromagnetic damper 43, and plays the functions of transmission, speed limiting and rod position holding.

[0047] The standby step detector 5 is an eddy current sensor installed on the side of the gear of the hub mechanism 6; the distance between the top of the gear of the hub mechanism 6 and the eddy current sensor probe changes periodically as the gear rotates; every time the hub mechanism 6 rotates one tooth spacing, the signal of the eddy current sensor changes periodically; the monitoring signal of the eddy current sensor is transmitted to the control rod position transmitter 2 through a wire, and a periodic change is identified as a step signal, thereby realizing online monitoring of the control rod position; the detection signal of the standby step detector 5 is used as a standby comparison signal of the control rod position transmitter 2, to calibrate the accuracy of the main signal and to be used as an emergency rod position measurement signal when the main signal fails.

[0048] The hub mechanism 6 is a stepped cylindrical structure with a wire rope guide wheel installed at the bottom and a cable guide groove on the upper cylinder for guiding the wire rope when it is wound; there are gears at both ends of the cylinder, a flat gear on the left side for monitoring the rod position during operation, and a bevel gear on the right side for meshing with the bevel gear of the transmission device to transmit the rotational motion of the stepper motor to the hub mechanism 6; there is a shaft in the middle with bearings installed at both ends of the shaft; the wire rope is finally fastened to the bevel gear fixing hole on one side of the hub.

[0049] The step detector 7 is another eddy current sensor installed on the opposite side of the hub mechanism gear; the distance between the top of the hub mechanism 6 gear and the eddy current sensor probe changes periodically as the gear rotates; every time the hub mechanism 6 rotates one tooth pitch, the signal of the eddy current sensor changes periodically; the monitoring signal of the eddy current sensor is transmitted to the control rod position transmitter 2 through a wire, and a periodic change is identified as a step signal, thereby realizing online monitoring of the control rod position; the step detector signal serves as the main rod position detection signal, and the monitoring result serves as the main basis for reactive control. When the step detector 7 fails, the reactor needs to be shut down for maintenance, and the spare step detector 5 is only used as a rod position indication during shutdown.

[0050] The upper limit switch 8 is a ring sleeve structure equipped with a travel switch. The size of the middle opening of the ring sleeve can pass the wire rope, but cannot pass the control rod 9. A travel switch is set inside the ring sleeve so that when the control rod is lifted to the upper limit position, it contacts the travel switch and triggers the upper limit signal.

[0051] The control rod 9 adopted in the present invention is a chain-link rod structure; dual verification of spare rod position and logical rod position is adopted to ensure the accuracy of rod position measurement; rod position drift monitoring is realized through the upper limit position switch, and the elongation of the wire rope caused by high-temperature creep and other reasons is corrected to make the reactivity control more accurate; a dual-winding motor and a dual drive module are set up to improve the reliability of the drive mechanism and ensure the safety of the reactor.

[0052] The implementation process of the method is described below in conjunction with the specific structure of the device.

[0053] Specifically, the control rod driver 1 obtains the motor steering signal X1, motor rotation signal X2 and motor speed signal X3 of the control rod drive motor 3 from the control rod drive motor 3, and outputs the three-phase pulse signal of the control rod drive motor 3 through processing by the control module, drives the control rod drive motor to rotate, and realizes the lifting and lowering of the control rod. The control rod position transmitter 2 obtains the motor steering signal X1, motor rotation signal X2 and motor speed signal X3 of the control rod drive motor 3, obtains the step signal Z0 from the control rod step detector 7, obtains the standby step signal Z1 from the standby step detector 5, and obtains the upper limit position signal Z2 from the upper limit position switch 8.

[0054] S120: Determine the actual rod position, logical rod position and spare rod position of the high temperature gas-cooled reactor control rod based on the motor rotation signal and the step detection signal.

[0055] When determining the actual rod position of a high temperature gas-cooled reactor control rod based on a motor rotation signal and a step detection signal, the following steps are included:

[0056] Determine the number of steps of the stepper motor based on the step detection signal, and determine the rod position action mode of the high temperature gas-cooled reactor control rod according to the motor rotation signal;

[0057] If the stick position is lifting, add the initial stick position and the number of steps to get the current stick position; if the stick position is inserting, subtract the initial stick position and the number of steps to get the current stick position;

[0058] When the fault signal is normal, the current rod position is assigned to the actual rod position and the actual rod position is output at the same time.

[0059] Specifically, the step number A0 is obtained through the step signal Z0, and the rod position is judged to be lifted or inserted according to the motor rotation signal X2. If it is a lifting signal, the initial rod position B0 is added to the step number A0 to obtain the current rod position B1. When it is a inserting signal, the initial rod position B0 is subtracted from the step number A0 to obtain the current rod position B1. When the fault signal G0 is the normal value 0, the current rod position B1 is assigned to the rod position B0, and the rod position B0 signal is output to the reactive control system.

[0060] When determining the logical rod position of the high temperature gas-cooled reactor control rod based on the motor rotation signal and the step detection signal, the following steps are included:

[0061] Calculate the rotation distance of the stepper motor according to the integral of the motor rotation signal duration and the motor speed signal;

[0062] The control rod displacement is calculated through the constant relationship between the stepper motor rotation distance and the control rod displacement; the control rod position action mode is obtained according to the stepper motor steering signal X1;

[0063] If the rod position action mode is lifting, the actual rod position and the control rod displacement are added to obtain the logical rod position; if the rod position action mode is inserting, the actual rod position and the control rod displacement are subtracted to obtain the logical rod position;

[0064] Compare the logical stick position with the actual stick position. If the deviation is within 3 steps, the fault signal is normal. If the deviation exceeds 3 steps, the first fault signal is output.

[0065] Specifically, the rotation distance D1 of the stepper motor is obtained according to the integral of the duration of the motor rotation signal X2 and the motor speed signal X3, and the control rod displacement L1 is obtained through the constant relationship L1=n*D1 (n is determined according to the design of the speed reduction mechanism) between the motor rotation distance and the control rod displacement L1. The insertion and lifting states of the control rod are obtained according to the stepper motor steering signal X1. When lifting, the initial rod position B0 is added to L1 to obtain the logical rod position B2. When inserting, the initial rod position B0 is subtracted from L1 to obtain the logical rod position B2. The B1 rod position is compared with the B2 rod position. If the deviation is within 3 steps, the fault signal G1 is assigned a value of 0. If the deviation exceeds 3 steps, the fault signal G1 is assigned a value of 1.

[0066] When determining the spare rod position of the control rod of the high temperature gas-cooled reactor based on the motor rotation signal and the step detection signal, the following steps are included:

[0067] Obtain a standby step detection signal, determine the standby step number of the stepper motor based on the standby step detection signal, and determine the stick position action mode according to the motor rotation signal;

[0068] If the stick position action mode is lifting, the current stick position is added to the number of spare steps to obtain the spare stick position; if the stick position action mode is inserting, the current stick position is subtracted from the number of spare steps to obtain the spare stick position;

[0069] Compare the spare stick position with the logical stick position. If the deviation is within 3 steps, the fault signal is normal. If the deviation exceeds 3 steps, the second fault signal is output.

[0070] Specifically, the step number A1 is obtained through the spare step signal Z1, and the rod position is judged to be lifted or inserted according to the motor rotation signal X2. When the signal is lifted, the initial rod position B0 is added to the step number A1 to obtain the spare rod position B3. When the signal is inserted, the initial rod position B0 is subtracted from the step number to obtain the spare rod position B3. The B3 rod position is compared with the B1 rod position. If the deviation is within 3 steps, the fault signal G2 is assigned a value of 0. If the deviation exceeds 3 steps, the fault signal G2 is assigned a value of 1.

[0071] S130: Based on the actual rod position, logical rod position and spare rod position, the rod position of the high temperature gas-cooled reactor is zeroed and fault monitored.

[0072] When the control rod is lifted to the upper limit position, it contacts the travel switch and triggers the upper limit signal.

[0073] In the step of zeroing the rod position of the high-temperature gas-cooled reactor control rod, when the upper limit position signal Z2 is triggered to 1, the B0 rod position is compared with the constant Bmax (determined according to the stroke of the control rod drive mechanism, at least 11000). If the deviation is within 50 mm, the fault signal G3 is assigned a value of 0. If the deviation exceeds 50 mm, the fault signal G3 is assigned a value of 1.

[0074] If at least one of the first fault signal, the second fault signal and the third fault signal is received, a fault alarm is issued. That is, the G1 signal is obtained from the logic stick position processing, the G2 signal is obtained from the stick position calibration, and the G3 signal is obtained from the stick position zeroing. The three groups of signals are ORed and the G0 signal is output, and an alarm is issued according to the G0 signal.

[0075] The output signals of the control rod position transmitter are fault signal G0, normal rod position signal B0, spare rod position signal B2, and limit signal Z2 to the reactive control system (not shown).

[0076] like Figure 3 As shown, the present invention also provides a high temperature gas-cooled reactor control rod position monitoring device, comprising:

[0077] A signal acquisition module 310 is used to acquire a drive motor action signal, a step detection signal and an upper limit position signal of a high temperature gas-cooled reactor control rod;

[0078] A rod position calculation module 320, for determining the actual rod position, logical rod position and spare rod position of the high temperature gas-cooled reactor control rod based on the motor rotation signal and the step detection signal;

[0079] The rod position monitoring module 330 is used to perform rod position zeroing and fault monitoring of the high temperature gas-cooled reactor control rods based on the actual rod position, logical rod position and spare rod position.

[0080] In order to implement the embodiment, the present invention also proposes an electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute each step in the high-temperature gas-cooled reactor control rod position monitoring method of the aforementioned technical solution.

[0081] like Figure 4 As shown, the non-transitory computer-readable storage medium includes a memory 810 of instructions, an interface 830, and the instructions can be executed by a processor 820 for monitoring the position of a high temperature gas-cooled reactor control rod to complete the method. Optionally, the storage medium can be a non-transitory computer-readable storage medium, for example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0082] In order to implement the embodiment, the present invention also proposes a non-temporary computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the high-temperature gas-cooled reactor control rod position monitoring as in the embodiment of the present invention is implemented.

[0083] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0084] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0085] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0086] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0087] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the described embodiment, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0088] A person skilled in the art may understand that all or part of the steps of implementing the method of the embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0089] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0090] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the embodiments are exemplary and cannot be construed as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the embodiments within the scope of the present invention.

Claims

1. A method for monitoring the position of control rods of a high temperature gas-cooled reactor, characterized in that: include: Obtaining the driving motor action signal, step detection signal and upper limit position signal of the high temperature gas-cooled reactor control rod; Determining the actual rod position, logical rod position and spare rod position of the high temperature gas-cooled reactor control rod based on the motor rotation signal and the step detection signal; Based on the actual rod position, logical rod position and spare rod position, performing rod position zeroing and fault monitoring of the high temperature gas-cooled reactor control rod; The step of determining the actual rod position of the high temperature gas-cooled reactor control rod based on the motor rotation signal and the step detection signal includes: Determine the number of steps of the stepping motor based on the stepping detection signal, and judge the rod position action mode of the high temperature gas-cooled reactor control rod according to the motor rotation signal; If the stick position action mode is lifting, the initial stick position and the step number are added to obtain the current stick position; if the stick position action mode is inserting, the initial stick position and the step number are subtracted to obtain the current stick position; When the fault signal is normal, the current rod position is assigned to the actual rod position, and the actual rod position is output at the same time; The step of determining the logical rod position of the high temperature gas-cooled reactor control rod based on the motor rotation signal and the step detection signal includes: Calculating the rotation distance of the stepper motor according to the integral of the motor rotation signal duration and the motor speed signal; The control rod displacement is calculated through the constant relationship between the stepper motor rotation distance and the control rod displacement; the control rod position action mode is obtained according to the stepper motor steering signal X1; If the rod position action mode is lifting, the actual rod position is added to the control rod displacement to obtain the logical rod position; if the rod position action mode is inserting, the actual rod position is subtracted from the control rod displacement to obtain the logical rod position; Compare the logical stick position with the actual stick position. If the deviation is within 3 steps, the fault signal is normal. If the deviation exceeds 3 steps, the first fault signal is output.

2. The method for monitoring the position of control rods of a high temperature gas-cooled reactor according to claim 1, characterized in that: The driving motor action signal includes a motor steering signal, a motor rotation signal and a motor speed signal.

3. The method for monitoring the position of control rods of a high temperature gas-cooled reactor according to claim 1, characterized in that: The step of determining the standby rod position of the high temperature gas-cooled reactor control rod based on the motor rotation signal and the step detection signal includes: Acquire a standby step detection signal, determine the standby step number of the stepping motor based on the standby step detection signal, and determine the stick position action mode according to the motor rotation signal; If the stick position action mode is lifting, the current stick position is added to the number of spare steps to obtain the spare stick position; if the stick position action mode is inserting, the current stick position is subtracted from the number of spare steps to obtain the spare stick position; The spare stick position is compared with the logical stick position. If the deviation is within 3 steps, the fault signal is normal. If the deviation exceeds 3 steps, a second fault signal is output.

4. The method for monitoring the position of control rods of a high temperature gas-cooled reactor according to claim 3, characterized in that: In the step of zeroing the rod position of the high-temperature gas-cooled reactor control rod, when the upper limit signal is triggered, the current rod position is compared with the preset rod position length. If the deviation is within 50 mm, the fault signal is normal. If the deviation exceeds 50 mm, a third fault signal is output.

5. The method for monitoring the position of control rods of a high temperature gas-cooled reactor according to claim 4, characterized in that: In the step of performing rod position zeroing on the high temperature gas-cooled reactor control rod, if at least one of the first fault signal, the second fault signal and the third fault signal is received, a fault alarm is issued.

6. A high temperature gas-cooled reactor control rod position monitoring device, characterized in that: include: A signal acquisition module, used to obtain the drive motor action signal, step detection signal and upper limit position signal of the high temperature gas-cooled reactor control rod; A rod position calculation module, used to determine the actual rod position, logical rod position and spare rod position of the high temperature gas-cooled reactor control rod based on the motor rotation signal and the step detection signal; A rod position monitoring module, used for performing rod position zeroing and fault monitoring of the high temperature gas-cooled reactor control rods based on the actual rod position, logical rod position and spare rod position; The rod position calculation module is also used for: Determine the number of steps of the stepping motor based on the stepping detection signal, and judge the rod position action mode of the high temperature gas-cooled reactor control rod according to the motor rotation signal; If the stick position action mode is lifting, the initial stick position and the step number are added to obtain the current stick position; if the stick position action mode is inserting, the initial stick position and the step number are subtracted to obtain the current stick position; When the fault signal is normal, the current rod position is assigned to the actual rod position, and the actual rod position is output at the same time; Calculating the rotation distance of the stepper motor according to the integral of the motor rotation signal duration and the motor speed signal; The control rod displacement is calculated through the constant relationship between the stepper motor rotation distance and the control rod displacement; the control rod position action mode is obtained according to the stepper motor steering signal X1; If the rod position action mode is lifting, the actual rod position is added to the control rod displacement to obtain the logical rod position; if the rod position action mode is inserting, the actual rod position is subtracted from the control rod displacement to obtain the logical rod position; Compare the logical stick position with the actual stick position. If the deviation is within 3 steps, the fault signal is normal. If the deviation exceeds 3 steps, the first fault signal is output.

7. An electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform each step in the method described in any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute each step in the method according to any one of claims 1 to 5.

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