Nuclear power trolley jacking mechanism control method and device

Abstract

The application discloses a kind of nuclear power trolley jacking mechanism control method and device, using jacking body jacking main pump, each jacking body is divided into fast jacking stage, initial alignment stage and accurate alignment stage in jacking process control, by in fast jacking stage, control four motors fast synchronous jacking;In initial alignment stage, according to angle position setting, control three motors fast synchronous jacking;In accurate alignment stage, according to angle deviation condition, control three motors, four motors or single motor slow fine adjustment, finally realize motor jacking positioning.The application guarantees the controllability, accuracy, homogeneity of positioning position of multi-point jacking mechanism control, can be accurately controlled for different jacking points, realize that different speed runs through multi-point jacking body, so that jacking surface runs in a controllable slope, can effectively prevent the accurate positioning of multi-point jacking body position uncontrollable, and prevent the position difference of multi-point jacking body position not in a plane.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of nuclear power trolley jacking mechanism control, and discloses a nuclear power trolley jacking mechanism control method and device. BACKGROUND

[0002] The nuclear power trolley jacking mechanism control mode is a mode for controlling the nuclear power trolley jacking process. The existing nuclear power trolley jacking mechanism control mode mainly has the following shortcomings:

[0003] 1. The nuclear power trolley jacking process has only one speed, and when the speed is synchronized, the motor is started and stopped to control the motor operation to achieve consistency between the jacking height positions of the jacking body. Frequent starting and stopping can easily cause the motor to be overloaded. Moreover, it is difficult to align the main pump and the main pump cover at one time at a faster speed in the final docking stage.

[0004] 2. When the inclined plane needs to be adjusted to dock with the main pump cover in the final stage of the nuclear power trolley jacking, only single jacking motors can be controlled to adjust the plane, which causes a long time for the inclined plane adjustment process and an unbalanced load and other adverse conditions.

[0005] 3. In the final positioning stage of the nuclear power trolley jacking, the running distance can only be adjusted by starting and stopping manually, and the positioning distance is easily affected by manual operation, and the controllability is poor. Sometimes, frequent adjustment is needed to achieve accurate positioning.

[0006] Therefore, the above-mentioned defects of the existing nuclear power trolley jacking mechanism control mode are technical problems to be solved at present. SUMMARY

[0007] The present application provides a nuclear power trolley jacking mechanism control method and device, which aims to solve the above-mentioned defects of the existing nuclear power trolley jacking mechanism control mode.

[0008] One aspect of the present application relates to a nuclear power trolley jacking mechanism control method for jacking the main pump using the jacking body. Each jacking body is divided into a rapid jacking stage, an initial alignment stage and a precise alignment stage in the jacking process control. The nuclear power trolley jacking mechanism control method comprises the following steps:

[0009] In the rapid jacking stage, four motors are controlled to jacking synchronously at a fast speed;

[0010] In the initial alignment stage, three motors are controlled to jacking synchronously at a fast speed according to the angle position setting;

[0011] In the precise alignment stage, three motors, four motors or a single motor are controlled to slow adjustment according to the angle deviation, and finally the motor jacking positioning is achieved.

[0012] Furthermore, during the rapid jacking phase, the steps for controlling the rapid synchronous jacking of the four motors include:

[0013] Based on the heights z1, z2, z3, and z4 of the four motors at various points, calculate zt1 and zt2, where zt1 = (z3 - z1) / A*A1 + z1; zt2 = (z4 - z2) / B*B1 + z2; A is the distance between z1 and z3 when the four motors are on the same horizontal plane; A1 is the distance between the intersection of the line connecting z1 and z1z3 and the line connecting z2 and z4 when the four motors are on the same horizontal plane; B is the distance between z2 and z4 when the four motors are on the same horizontal plane; B1 is the distance between the intersection of the line connecting z2 and z1z3 and the line connecting z2 and z4 when the four motors are on the same horizontal plane.

[0014] If |zt1-zt2| is detected to be greater than the preset first threshold, a shutdown alarm will be triggered; if |zt1-zt2| is detected to be greater than the preset second threshold but less than the first threshold, speed adjustment will be performed; if |zt1-zt2| is detected to be less than or equal to the third threshold, normal operation will be performed.

[0015] Furthermore, in the initial alignment stage, in the step of controlling the rapid synchronous lifting of the three motors according to the angle and position settings, the stationary point among the three moving motors is used as the base point. The moving points of each motor are calculated by using trigonometric formulas to ensure that each moving point runs at the required speed so that the position of each moving point is always in a plane during the movement.

[0016] Furthermore, in the initial alignment stage, during the step of controlling the rapid synchronous lifting of the three motors according to the angle position setting, when the elevator Y+ is fixed and the speed at point Y- is v, the speeds of the four motors are as follows:

[0017] v1=(1 / 2-1 / 2*cosa)*v

[0018] v2=(1 / 2+1 / 2*sinb)*v

[0019] v3=(1 / 2+1 / 2*cosd)*v

[0020] v4=(1 / 2+1 / 2*cosc)*v

[0021] Where v1 is the speed of the first motor, v2 is the speed of the second motor, v3 is the speed of the third motor, v4 is the speed of the fourth motor, and v is the speed of the Y-point; a, b, c, and d are the angles between the lifting points of the first, second, third, and fourth motors and the XY coordinate system, respectively; this ensures that the projections of the running speed relationships Y+, v1, v2, v3, v4, and Y- on the Y-axis, Y+', 1#', 2#', 3#', 4#', and Y-', are on a straight line;

[0022] When the elevator X- is fixed, and the speed at point X+ is v, the speeds of the four motors are as follows:

[0023] v1=(1 / 2-1 / 2*sina)*v

[0024] v2=(1 / 2-1 / 2*cosb)*v

[0025] v3=(1 / 2+1 / 2*sind)*v

[0026] v4=(1 / 2+1 / 2*sinc)*v

[0027] Where v1 is the speed of the first motor, v2 is the speed of the second motor, v3 is the speed of the third motor, v4 is the speed of the fourth motor, and v is the speed of point X+; a, b, c, and d are the angles between the lifting points of the first, second, third, and fourth motors and the XY coordinate system, respectively; this ensures that the projections of the running speed relationships X-, v1, v2, v3, v4, and X+ on the Y-axis are on a straight line X-”, 1#”, 2#”, 3#”, 4#”, and X+”.

[0028] Furthermore, in the initial alignment stage, during the step of controlling the rapid synchronous lifting of the three motors according to the angle position settings, when it is necessary to use any point located in the XY coordinate system as a fixed point for lifting, the circular dot is used as the coordinate 0 point, and the fixed point is used as X- or Y+. The angles a, b, c, and d between the lifting point of each motor and the XY coordinate system are calculated respectively. Through the above derivation, the speeds v1 of the first motor, v2 of the second motor, v3 of the third motor, and v4 of the fourth motor are calculated respectively.

[0029] Another aspect of the present invention relates to a control device for a nuclear power plant trolley lifting mechanism, used to lift the main pump using lifting bodies. The lifting process control of each lifting body is divided into a rapid lifting stage, an initial alignment stage, and a precise alignment stage. The nuclear power plant trolley lifting mechanism control device includes:

[0030] The rapid lifting module is used to control the four motors to lift rapidly and synchronously during the rapid lifting phase.

[0031] The initial alignment module is used to control the three motors to quickly and synchronously lift the vehicle according to the angle and position settings during the initial alignment stage.

[0032] The precision alignment module is used to control the slow fine-tuning of three, four, or single motors according to the angle deviation during the precision alignment stage, so as to ultimately achieve motor lifting and positioning.

[0033] Furthermore, the rapid lifting module includes:

[0034] The calculation unit is used to calculate zt1 and zt2 based on the heights z1, z2, z3, and z4 of the four motors at each point. Where zt1 = (z3 - z1) / A*A1 + z1; zt2 = (z4 - z2) / B*B1 + z2; A is the distance between z1 and z3 when the four motors are on the same horizontal plane; A1 is the distance between the intersection points of the lines connecting z1 and z1z3 and z2z4 when the four motors are on the same horizontal plane; B is the distance between z2 and z4 when the four motors are on the same horizontal plane; B1 is the distance between the intersection points of the lines connecting z2 and z1z3 and z2z4 when the four motors are on the same horizontal plane.

[0035] The identification unit is used to trigger a shutdown alarm if |zt1-zt2| is greater than a preset first threshold; to adjust the speed if |zt1-zt2| is greater than a preset second threshold but less than the first threshold; and to operate normally if |zt1-zt2| is less than or equal to a third threshold.

[0036] Furthermore, in the initial alignment module, the stationary point among the three moving motors is used as the base point. The moving points of each motor are calculated using trigonometric formulas to ensure that each moving point runs at the required speed, thus ensuring that the position of each moving point is always in a plane during the movement.

[0037] Furthermore, in the initial alignment module, when the elevator Y+ is fixed and the speed at point Y- is v, the speeds of the four motors are as follows:

[0038] v1=(1 / 2-1 / 2*cosa)*v

[0039] v2=(1 / 2+1 / 2*sinb)*v

[0040] v3=(1 / 2+1 / 2*cosd)*v

[0041] v4=(1 / 2+1 / 2*cosc)*v

[0042] Where v1 is the speed of the first motor, v2 is the speed of the second motor, v3 is the speed of the third motor, v4 is the speed of the fourth motor, and v is the speed of the Y-point; a, b, c, and d are the angles between the lifting points of the first, second, third, and fourth motors and the XY coordinate system, respectively; this ensures that the projections of the running speed relationships Y+, v1, v2, v3, v4, and Y- on the Y-axis, Y+', 1#', 2#', 3#', 4#', and Y-', are on a straight line;

[0043] When the elevator X- is fixed, and the speed at point X+ is v, the speeds of the four motors are as follows:

[0044] v1=(1 / 2-1 / 2*sina)*v

[0045] v2=(1 / 2-1 / 2*cosb)*v

[0046] v3=(1 / 2+1 / 2*sind)*v

[0047] v4=(1 / 2+1 / 2*sinc)*v

[0048] Where v1 is the speed of the first motor, v2 is the speed of the second motor, v3 is the speed of the third motor, v4 is the speed of the fourth motor, and v is the speed of point X+; a, b, c, and d are the angles between the lifting points of the first, second, third, and fourth motors and the XY coordinate system, respectively; this ensures that the projections of the running speed relationships X-, v1, v2, v3, v4, and X+ on the Y-axis are on a straight line X-”, 1#”, 2#”, 3#”, 4#”, and X+”.

[0049] Furthermore, in the initial alignment module, when it is necessary to use any point located in the XY coordinate system as a fixed point for lifting, the circular dot is used as the coordinate 0 point, and the fixed point is used as X- or Y+. The angles a, b, c, and d between the lifting point of each motor and the XY coordinate system are calculated respectively. Through the above derivation, the speeds v1 of the first motor, v2 of the second motor, v3 of the third motor, and v4 of the fourth motor are calculated respectively.

[0050] The beneficial effects achieved by this invention are as follows:

[0051] This invention provides a control method and device for a nuclear power plant trolley lifting mechanism. It uses lifting bodies to lift the main pump. The lifting process of each lifting body is divided into a rapid lifting stage, an initial alignment stage, and a precise alignment stage. In the rapid lifting stage, four motors are controlled to lift rapidly and synchronously. In the initial alignment stage, three motors are controlled to lift rapidly and synchronously according to the angle position setting. In the precise alignment stage, the three, four, or single motors are controlled for slow fine-tuning based on the angle deviation, ultimately achieving motor lifting and positioning. This invention ensures the controllability, accuracy, and congruence of the multi-point lifting mechanism's positioning. By precisely controlling the speed difference between different lifting points, it enables the multi-point lifting bodies to operate at different speeds, keeping the lifting surface within a controllable inclined plane. This effectively prevents uncontrollable precise positioning of the multi-point lifting bodies and prevents the positional differences of the multi-point lifting bodies from being outside the same plane. Attached Figure Description

[0052] Figure 1 This is a flowchart illustrating the first embodiment of the nuclear power trolley lifting mechanism control method of the present invention;

[0053] Figure 2 This is a schematic diagram of the main control flow of the second embodiment of the nuclear power trolley lifting mechanism control method of the present invention;

[0054] Figure 3 This is a schematic diagram of the multi-motor synchronous adjustment process in the nuclear power trolley lifting mechanism control method of the present invention;

[0055] Figure 4 This is a schematic diagram showing the height relationship of each lifting motor in this invention;

[0056] Figure 5 This is a schematic diagram showing the speed relationship of each lifting motor in this invention;

[0057] Figure 6 Functional block diagram of an embodiment of the nuclear power trolley lifting mechanism control device provided by the present invention;

[0058] Figure 7 for Figure 6 The diagram shows a functional module schematic of one embodiment of the rapid lifting module.

[0059] Explanation of icon numbers:

[0060] 10. Rapid Lifting Module; 20. Initial Alignment Module; 30. Precise Alignment Module; 11. Calculation Unit; 12. Recognition Unit. Detailed Implementation

[0061] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0062] like Figure 1 and Figure 2 As shown, the first embodiment of the present invention proposes a control method for a nuclear power plant trolley lifting mechanism, which is used to lift the main pump using lifting bodies. The docking object is a circular main pump top cover that forms a certain angle with the horizontal plane. The lifting process of each lifting body is divided into a rapid lifting stage, an initial alignment stage, and a precise alignment stage. The control method for the nuclear power plant trolley lifting mechanism includes the following steps:

[0063] Step S100: During the rapid lifting phase, control the four motors to lift rapidly and synchronously.

[0064] During the rapid lifting phase, control the four motors to lift rapidly and synchronously. During the rapid lifting phase, confirm whether the set distance has been completed. If the set distance has been completed, proceed to the initial alignment phase. If the set distance has not been completed, re-control the four motors to lift rapidly and synchronously.

[0065] Step S200: In the initial alignment stage, control the three motors to quickly and synchronously lift according to the angle and position settings.

[0066] During the initial alignment phase, the three motors are controlled to lift rapidly and synchronously according to the angle and position settings. During the initial alignment phase, it is confirmed whether the set distance has been completed. If the set distance has been completed, the precise alignment phase begins. If the set distance has not been completed, the three motors are controlled to lift rapidly and synchronously again according to the angle and position settings.

[0067] Step S300: In the precise alignment stage, based on the angle deviation, control the three motors, four motors or a single motor for slow fine-tuning to ultimately achieve motor lifting and positioning.

[0068] During the precise alignment stage, depending on the angle deviation, the three-motor, four-motor, or single-motor slow fine-tuning is controlled. If the precise alignment mode is selected, if four motors are selected, precise fine-tuning of four motors is used to control the four motors to lift slowly and synchronously; if three motors are selected, precise fine-tuning of three motors is used to control the three motors to lift slowly and synchronously; if a single motor is selected, precise fine-tuning of a single motor is used to control the single motor to lift slowly.

[0069] During the precise alignment phase, confirm whether the distance setting is complete. If the distance setting is complete, proceed to the precise alignment phase and confirm whether the lifting is in place. If so, the lifting is complete.

[0070] Compared with existing technologies, the nuclear power trolley lifting mechanism control method provided in this embodiment uses lifting bodies to lift the main pump. The lifting process of each lifting body is divided into a rapid lifting stage, an initial alignment stage, and a precise alignment stage. In the rapid lifting stage, four motors are controlled to lift rapidly and synchronously. In the initial alignment stage, three motors are controlled to lift rapidly and synchronously according to the angle position setting. In the precise alignment stage, the three, four, or single motors are controlled for slow fine-tuning based on the angle deviation, ultimately achieving motor lifting and positioning. This embodiment ensures the controllability, accuracy, and congruence of the multi-point lifting mechanism's positioning. Through precise speed difference control of different lifting points, it enables the multi-point lifting bodies to operate at different speeds, ensuring the lifting surface runs within a controllable inclined plane. This effectively prevents uncontrollable precise positioning of the multi-point lifting bodies and prevents the positional differences of the multi-point lifting bodies from being outside the same plane.

[0071] Further, as shown in the figure, the nuclear power trolley lifting mechanism control method provided in this embodiment includes step S100 as follows:

[0072] Step S110: Calculate zt1 and zt2 based on the heights z1, z2, z3, and z4 of the four motors at each point, where zt1 = (z3 - z1) / A*A1 + z1; zt2 = (z4 - z2) / B*B1 + z2.

[0073] Using height difference protection, calculate based on the heights z1, z2, z3, and z4 at each point:

[0074] zt1=(z3-z1) / A*A1+z1 (1)

[0075] zt2=(z4-z2) / B*B1+z2 (2)

[0076] In formulas (1) and (2), z1 is the lifting height of the first motor; z2 is the lifting height of the second motor; z3 is the lifting height of the third motor; z4 is the lifting height of the fourth motor; A is the distance between z1 and z3 when the four motors are on the same horizontal plane; A1 is the distance between the intersection of the line connecting z1 and z1z3 and the line connecting z2 and z4 when the four motors are on the same horizontal plane; B is the distance between z2 and z4 when the four motors are on the same horizontal plane; B1 is the distance between the intersection of the line connecting z2 and z1z3 and the line connecting z2 and z4 when the four motors are on the same horizontal plane.

[0077] Step S120: If |zt1-zt2| is found to be greater than the preset first threshold, a shutdown alarm is triggered; if |zt1-zt2| is found to be greater than the preset second threshold but less than the first threshold, speed adjustment is performed; if |zt1-zt2| is found to be less than or equal to the third threshold, normal operation is resumed.

[0078] If |zt1-zt2| is detected to be greater than the preset value of 0.5, a shutdown alarm will be triggered; if |zt1-zt2| is detected to be greater than the preset value of 0.1 but less than 0.5, speed adjustment will be performed; if |zt1-zt2| is detected to be less than or equal to 0.05, normal operation will be performed.

[0079] The nuclear power trolley lifting mechanism control method provided in this embodiment realizes fast and slow lifting speed control. During the initial lifting and initial alignment stages, it performs rapid lifting at a speed of 0.5 mm / s (the fastest speed when the three motors are synchronized), and slow docking at a speed of 0.1 mm / s (the fastest speed when the three motors are synchronized) during the precise alignment stage. It achieves regular differential speed operation of the three motors on the same plane, enabling the rapid and accurate creation of a specific angular deviation surface (corresponding to the main pump top cover) when the trolley docks with the main pump. It allows for preset running distances, avoiding positioning errors caused by manual control and ensuring the accuracy of the docking distance during the docking stage. It also features higher precision position protection, ensuring that adjustments are made when the height difference between the four lifting points is within 0.1 mm, and a shutdown alarm is triggered when the difference is within 0.5 mm.

[0080] Further, please see Figures 1 to 5The nuclear power trolley lifting mechanism control method provided in this embodiment, in the initial alignment stage, according to the angle position setting, controls the three motors to lift rapidly and synchronously. The stationary point of the three moving motors is used as the base point. The moving points of each motor are calculated by the trigonometric formula to ensure that the moving points run at the required speed so that the position of each moving point is always in a plane during the movement.

[0081] Specifically, when the elevator Y+ is fixed, and the speed at point Y- is v, the speeds of the four motors are as follows:

[0082] v1=(1 / 2-1 / 2*cosa)*v (3)

[0083] v2=(1 / 2+1 / 2*sinb)*v (4)

[0084] v3=(1 / 2+1 / 2*cosd)*v (5)

[0085] v4=(1 / 2+1 / 2*cosc)*v (6)

[0086] In formulas (3) to (6), v1 is the speed of the first motor, v2 is the speed of the second motor, v3 is the speed of the third motor, v4 is the speed of the fourth motor, and v is the speed of the Y-point; a, b, c, and d are the angles between the lifting points of the first motor, the second motor, the third motor, and the fourth motor and the XY coordinate system, respectively; this ensures that the projections of the running speed relationships Y+, v1, v2, v3, v4, and Y- on the Y-axis are Y+', 1#', 2#', 3#', 4#', and Y-' on a straight line.

[0087] When the elevator X- is fixed, and the speed at point X+ is v, the speeds of the four motors are as follows:

[0088] v1=(1 / 2-1 / 2*sina)*v (7)

[0089] v2=(1 / 2-1 / 2*cosb)*v (8)

[0090] v3=(1 / 2+1 / 2*sind)*v (9)

[0091] v4=(1 / 2+1 / 2*sinc)*v (10)

[0092] In formulas (7) to (10), v1 is the speed of the first motor, v2 is the speed of the second motor, v3 is the speed of the third motor, v4 is the speed of the fourth motor, and v is the speed of point X+; a, b, c, and d are the angles between the lifting points of the first motor, the second motor, the third motor, and the fourth motor and the XY coordinate system, respectively; this ensures that the projections of the running speed relationships X-, v1, v2, v3, v4, and X+ on the Y-axis are on a straight line.

[0093] Further extending this concept, when lifting is required using any point within the XY coordinate system as a fixed point, the circular dot is taken as coordinate 0, and the fixed point is taken as X- or Y+. The angles a, b, c, and d between the lifting point of each motor and the XY coordinate system are calculated respectively. Through the above derivation, the speeds v1 of the first motor, v2 of the second motor, v3 of the third motor, and v4 of the fourth motor are calculated respectively.

[0094] The nuclear power trolley lifting mechanism control method provided in this embodiment realizes fast and slow speed control of the lifting speed. During the initial lifting and initial alignment stages, it performs rapid lifting at a speed of 0.5 mm / s (the fastest speed when the three motors are synchronized), and slow docking at a speed of 0.1 mm / s (the fastest speed when the three motors are synchronized) during the precise alignment stage. It achieves regular differential speed operation of the three motors on the same plane, enabling the rapid and accurate creation of a specific angular deviation surface (corresponding to the main pump top cover) when the trolley docks with the main pump. It allows for preset running distances, avoiding positioning errors caused by manual control and ensuring the accuracy of the docking distance during the docking stage. It also features higher precision position protection, ensuring that adjustments are made when the height difference between the four lifting points is within 0.1 mm, adjustments are stopped only when the height difference is within 0.05 mm, and a shutdown alarm is triggered when the height difference is within 0.5 mm.

[0095] Please see Figure 6 , Figure 6 This is a functional block diagram of an embodiment of the nuclear power vehicle jacking mechanism control device provided by the present invention. In this embodiment, the nuclear power vehicle jacking mechanism control device is used to jack the main pump using jacking bodies. The docking object is a circular main pump top cover that forms a certain angle with the horizontal plane. The jacking process control of each jacking body is divided into a rapid jacking stage, an initial alignment stage, and a precise alignment stage. The nuclear power vehicle jacking mechanism control device includes a rapid jacking module 10, an initial alignment module 20, and a precise alignment module 30. The rapid jacking module 10 is used to control four motors to quickly and synchronously jack up during the rapid jacking stage. The initial alignment module 20 is used to control three motors to quickly and synchronously jack up during the initial alignment stage according to the angle position setting. The precise alignment module 30 is used to control the slow fine adjustment of three motors, four motors, or a single motor according to the angle deviation during the precise alignment stage, ultimately achieving motor jacking and positioning.

[0096] During the rapid lifting phase, the rapid lifting module 10 controls four motors to lift rapidly and synchronously. During the rapid lifting phase, it checks whether the set distance has been completed. If the set distance has been completed, it enters the initial alignment phase. If the set distance has not been completed, it re-controls the four motors to lift rapidly and synchronously.

[0097] In the initial alignment phase, the initial alignment module 20 controls the three motors to lift rapidly and synchronously according to the angle and position settings. In the initial alignment phase, it confirms whether the set distance is completed. If the set distance is completed, it enters the precise alignment phase. If the set distance is not completed, it re-controls the three motors to lift rapidly and synchronously according to the angle and position settings.

[0098] During the precise alignment stage, the precise alignment module 30 controls the slow fine-tuning of three motors, four motors, or a single motor based on the angle deviation. If the precise alignment mode is selected, four motors are used for precise fine-tuning, controlling the four motors to lift slowly and synchronously; if three motors are selected, three motors are used for precise fine-tuning, controlling the three motors to lift slowly and synchronously; if a single motor is selected, a single motor is used for precise fine-tuning, controlling the single motor to lift slowly.

[0099] During the precise alignment phase, confirm whether the distance setting is complete. If the distance setting is complete, proceed to the precise alignment phase and confirm whether the lifting is in place. If so, the lifting is complete.

[0100] Compared with existing technologies, the nuclear power trolley lifting mechanism control device provided in this embodiment adopts a rapid lifting module 10, an initial alignment module 20, and a precise alignment module 30. It uses lifting bodies to lift the main pump. The lifting process control of each lifting body is divided into a rapid lifting stage, an initial alignment stage, and a precise alignment stage. In the rapid lifting stage, four motors are controlled to lift rapidly and synchronously. In the initial alignment stage, three motors are controlled to lift rapidly and synchronously according to the angle position setting. In the precise alignment stage, the three, four, or single motors are controlled for slow fine-tuning according to the angle deviation, ultimately achieving motor lifting and positioning. This embodiment ensures the controllability, accuracy, and congruence of the multi-point lifting mechanism's positioning. Through precise speed difference control of different lifting points, it enables the multi-point lifting bodies to operate at different speeds, keeping the lifting surface within a controllable inclined plane. This effectively prevents uncontrollable precise positioning of the multi-point lifting bodies and prevents the positional differences of the multi-point lifting bodies from being outside the same plane.

[0101] Further, see Figure 7 , Figure 7 for Figure 6The diagram shows a functional module schematic of an embodiment of the rapid lifting module. In this embodiment, the rapid lifting module 10 includes a calculation unit 11 and an identification unit 12. The calculation unit 11 is used to calculate zt1 and zt2 based on the heights z1, z2, z3, and z4 of the four motors at each point, where zt1 = (z3-z1) / A*A1+z1; zt2 = (z4-z2) / B*B1+z2. The identification unit 12 is used to trigger a shutdown alarm if |zt1-zt2| is greater than a preset first threshold; to adjust the speed if |zt1-zt2| is greater than a preset second threshold but less than the first threshold; and to operate normally if |zt1-zt2| is less than or equal to a third threshold.

[0102] Calculation unit 11 adopts a height difference protection setting, and calculates based on the heights z1, z2, z3, and z4 of each point:

[0103] zt1=(z3-z1) / A*A1+z1 (11)

[0104] zt2=(z4-z2) / B*B1+z2 (12)

[0105] In formulas (11) and (12), z1 is the lifting height of the first motor; z2 is the lifting height of the second motor; z3 is the lifting height of the third motor; and z4 is the lifting height of the fourth motor.

[0106] If the identification unit 12 detects that |zt1-zt2| is greater than the preset value of 0.5, it will trigger a shutdown alarm; if it detects that |zt1-zt2| is greater than the preset value of 0.1 but less than 0.5, it will adjust the speed; if it detects that |zt1-zt2| is less than or equal to 0.05, it will operate normally.

[0107] The nuclear power trolley lifting mechanism control device provided in this embodiment realizes fast and slow speed control of the lifting speed. It performs rapid lifting at 0.5 mm / s (the fastest speed when the three motors are synchronized) during the initial lifting and initial alignment stages, and slow docking at 0.1 mm / s (the fastest speed when the three motors are synchronized) during the precise alignment stage. It achieves regular differential speed operation of the three motors on the same plane, enabling the rapid and accurate creation of a specific angular deviation surface (corresponding to the main pump top cover) when the trolley docks with the main pump. It allows for preset running distances, avoiding positioning errors caused by manual control and ensuring the accuracy of the docking distance during the docking stage. It also features higher precision position protection, ensuring that adjustments are made when the height difference between the four lifting points is within 0.1 mm, adjustments are stopped only when the height difference is within 0.05 mm, and a shutdown alarm is triggered when the height difference is within 0.5 mm.

[0108] Furthermore, in the initial alignment module 20, the stationary point among the three moving motors is used as the base point. The moving points of each motor are calculated using trigonometric formulas to ensure that each moving point runs at the required speed so that the position of each moving point is always in a plane during the movement.

[0109] Specifically, in the initial alignment module 20, when the elevator Y+ is fixed and the speed at point Y- is v, the speeds of the four motors are as follows:

[0110] v1=(1 / 2-1 / 2*cosa)*v (13)

[0111] v2=(1 / 2+1 / 2*sinb)*v (14)

[0112] v3=(1 / 2+1 / 2*cosd)*v (15)

[0113] v4=(1 / 2+1 / 2*cosc)*v (16)

[0114] In formulas (13) to (16), v1 is the speed of the first motor, v2 is the speed of the second motor, v3 is the speed of the third motor, v4 is the speed of the fourth motor, and v is the speed of the Y-point; a, b, c, and d are the angles between the lifting points of the first motor, the second motor, the third motor, and the fourth motor and the XY coordinate system, respectively; this ensures that the projections of the running speed relationships Y+, v1, v2, v3, v4, and Y- on the Y-axis are Y+', 1#', 2#', 3#', 4#', and Y-' on a straight line.

[0115] When the elevator X- is fixed, and the speed at point X+ is v, the speeds of the four motors are as follows:

[0116] v1=(1 / 2-1 / 2*sina)*v (17)

[0117] v2=(1 / 2-1 / 2*cosb)*v (18)

[0118] v3=(1 / 2+1 / 2*sind)*v (19)

[0119] v4=(1 / 2+1 / 2*sinc)*v (20)

[0120] In formulas (17) to (20), v1 is the speed of the first motor, v2 is the speed of the second motor, v3 is the speed of the third motor, v4 is the speed of the fourth motor, and v is the speed of point X+; a, b, c, and d are the angles between the lifting points of the first motor, the second motor, the third motor, and the fourth motor and the XY coordinate system, respectively; this ensures that the projections of the running speed relationships X-, v1, v2, v3, v4, and X+ on the Y-axis are on a straight line.

[0121] Further extending this concept, when lifting is required using any point within the XY coordinate system as a fixed point, the circular dot is taken as coordinate 0, and the fixed point is taken as X- or Y+. The angles a, b, c, and d between the lifting point of each motor and the XY coordinate system are calculated respectively. Through the above derivation, the speeds v1 of the first motor, v2 of the second motor, v3 of the third motor, and v4 of the fourth motor are calculated respectively.

[0122] Compared with the prior art, the nuclear power trolley lifting mechanism control device provided in this embodiment achieves fast and slow speed control of the lifting speed. It performs rapid lifting at 0.5 mm / s (the fastest speed when the three motors are synchronized) during the initial lifting and initial alignment stages, and slow docking at 0.1 mm / s (the fastest speed when the three motors are synchronized) during the precise alignment stage. It achieves regular differential speed operation of the three motors on the same plane, enabling the rapid and accurate creation of a specific angular deviation surface (corresponding to the main pump top cover) when the trolley docks with the main pump. It allows for preset running distances, avoiding positioning errors caused by manual control and ensuring the accuracy of the docking distance during the docking stage. It also features higher precision position protection, ensuring that adjustments are made when the height difference between the four lifting points is within 0.1 mm, adjustments are stopped only when the height difference is within 0.05 mm, and a shutdown alarm is triggered when the height difference is within 0.5 mm.

[0123] like Figures 1 to 7 As shown in this embodiment, the working principle of the nuclear power trolley lifting mechanism control method and device is as follows:

[0124] Because the lifting body docks with a circular main pump cover at a certain angle to the horizontal plane when lifting the main pump, the lifting process control of each lifting body can be divided into several stages: rapid lifting stage, where four motors lift rapidly and synchronously; initial alignment stage, where three motors lift rapidly and synchronously according to the angle position setting; precise alignment stage, where three motors, four motors, or a single motor make slow fine adjustments according to the angle deviation; and finally, the motor lifting and positioning are achieved.

[0125] 1. Synchronous lifting speed and single motor synchronization

[0126] The speed v at each point can be set to equal the rapid lifting speed of 0.5 mm / s, and the slow lifting speed at each point can be set to 0.1 mm / s. When the three motors lift synchronously, the point with the farthest point corresponding to the center of the fixed point is the point with the fastest speed v.

[0127] 2. Height difference protection settings

[0128] Based on the heights z1, z2, z3, and z4 at each point, calculate:

[0129] zt1 = (z3-z1) / A*A1+z1;

[0130] zt2 = (z4 - z2) / B*B1 + z2;

[0131] When |zt1-zt2|>0.5, a shutdown alarm is triggered.

[0132] 3. Speed ​​adjustment

[0133] When synchronizing four motors and three motors, calculate based on the heights z1, z2, z3, and z4 of each point:

[0134] zt1 = (z3-z1) / A*A1+z1;

[0135] zt2 = (z4 - z2) / B*B1 + z2;

[0136] During the ascent, if zt1-zt2>0.1, the higher point between z1 and z3 decelerates to 1 / 2v or lower; if zt1-zt2<0.05, the ascent continues normally. If zt1-zt2<-0.1, the higher point between z2 and z4 decelerates to 1 / 2v or lower; if zt1-zt2>-0.05, the ascent continues normally.

[0137] During descent, if zt1-zt2>0.1, the lower of z2 and z4 decelerates to 1 / 2v or lower. When zt1-zt2<0.05, normal descent continues. If zt1-zt2<-0.1, the lower of z1 and z3 decelerates to 1 / 2v or lower. When zt1-zt2>-0.05, normal descent continues.

[0138] 4. Synchronous lifting speed of three motors

[0139] Three-motor synchronization does not mean that the three motors have the same speed. Rather, it means that the three or four moving motors can use a fixed point as a reference point, and each motor can use trigonometric formulas to calculate and ensure that each moving point runs at the required speed, so that the position of each moving point is always in a plane during the movement.

[0140] When the elevator Y+ is fixed, the speed at point Y- is v, which can be either fast V or slow 1 / 5V.

[0141] v1=(B / 2-B / 2*cosa)*v / B, v1=(1 / 2-1 / 2*cosa)*v;

[0142] v2=(B / 2+B / 2*sinb)*v / B, v2=(1 / 2+1 / 2*sinb)*v;

[0143] v3=(B / 2+B / 2*cosd)*v / B, v3=(1 / 2+1 / 2*cosd)*v;

[0144] v4=(B / 2+B / 2*cosc)*v / B, v4=(1 / 2+1 / 2*cosc)*v;

[0145] This ensures that the projections of the running speed relationships Y+, v1, v2, v3, v4, and Y- onto the Y-axis, namely Y+', 1#', 2#', 3#', 4#', and Y-', lie on a straight line.

[0146] When the elevator X- is fixed, and the speed at point X+ is v, v can be either a fast V or a slow 1 / 5V.

[0147] v1=(B / 2-B / 2*sina)*v / B, v1=(1 / 2-1 / 2*sina)*v;

[0148] v2=(B / 2-B / 2*cosb)*v / B, v2=(1 / 2-1 / 2*cosb)*v;

[0149] v3=(B / 2+B / 2*sind)*v / B, v3=(1 / 2+1 / 2*sind)*v;

[0150] v4=(B / 2+B / 2*sinc)*v / B, v4=(1 / 2+1 / 2*sinc)*v;

[0151] This ensures that the projections of the speed relationships X-, v1, v2, v3, v4, and X+ onto the Y-axis, namely X-”, 1#”, 2#”, 3#”, 4#”, and X+”, are on a straight line.

[0152] Further extending this approach, when it is necessary to use any point within the XY coordinate system as a fixed point for jacking, the circular dot can be used as coordinate 0, and the fixed point as X- or Y+. The angles a, b, c, and d between the jacking point of each motor and the XY coordinate system can be calculated. Through the above derivation, the speeds v1, v2, v3, and v4 of the first, second, third, and fourth motors can be calculated.

[0153] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention. Clearly, those skilled in the art can make various alterations and modifications to the invention without departing from its spirit and scope. Thus, if these modifications and modifications of the invention fall within the scope of the claims and their equivalents, the invention is also intended to include these modifications and modifications.

Claims

1. A control method for a nuclear power plant trolley lifting mechanism, characterized in that, The method for controlling the nuclear power plant trolley lifting mechanism, which uses lifting bodies to lift the main pump, includes the following steps: Each lifting body is divided into a rapid lifting stage, an initial alignment stage, and a precise alignment stage during the lifting process control. During the rapid lifting phase, four motors are controlled to lift rapidly and synchronously. During the initial alignment phase, the three motors are controlled to rapidly and synchronously lift the object according to the angular position settings. During the precise alignment stage, depending on the angle deviation, the three-motor, four-motor, or single-motor slow fine-tuning is controlled to ultimately achieve motor lifting and positioning. The steps for controlling the four motors to rapidly and synchronously lift during the rapid lifting phase include: Based on the heights z1, z2, z3, and z4 of the four motors at various points, calculate zt1 and zt2, where zt1 = (z3 - z1) / A*A1 + z1; zt2 = (z4 - z2) / B*B1 + z2; A1 is the distance between the intersection points of the lines connecting z1 to z1z3 and z2z4 when the four motors are on the same horizontal plane; B1 is the distance between the intersection points of the lines connecting z2 to z1z3 and z2z4 when the four motors are on the same horizontal plane. If |zt1-zt2| is detected to be greater than the preset first threshold, a shutdown alarm will be triggered; if |zt1-zt2| is detected to be greater than the preset second threshold but less than the first threshold, speed adjustment will be performed; if |zt1-zt2| is detected to be less than or equal to the third threshold, normal operation will be performed. In the initial alignment stage, in the step of controlling the three motors to quickly and synchronously lift according to the angle position setting, the stationary point of the three moving motors is used as the base point. The moving points of each motor are calculated by using trigonometric function formulas to ensure that each moving point runs at the required speed so that the position of each moving point is always in a plane during the movement.

2. The control method for the nuclear power plant trolley lifting mechanism as described in claim 1, characterized in that, In the initial alignment stage, during the step of controlling the three motors to rapidly and synchronously lift according to the angle position setting, when the elevator Y+ is fixed and the speed at point Y- is v, the speeds of the four motors are as follows: v1=(1 / 2-1 / 2*cosa)*v v2=(1 / 2+1 / 2*sinb)*v v3=(1 / 2+1 / 2*cosd)*v v4=(1 / 2+1 / 2*cosc)*v Where v1 is the speed of the first motor, v2 is the speed of the second motor, v3 is the speed of the third motor, v4 is the speed of the fourth motor, and v is the speed of the Y-point; a, b, c, and d are the angles between the lifting points of the first, second, third, and fourth motors and the XY coordinate system, respectively; this ensures that the projections of the running speed relationships Y+, v1, v2, v3, v4, and Y- on the Y-axis, Y+', 1#', 2#', 3#', 4#', and Y-', are on a straight line; When the elevator X- is fixed, and the speed at point X+ is v, the speeds of the four motors are as follows: v1=(1 / 2-1 / 2*sina)*v v2=(1 / 2-1 / 2*cosb)*v v3=(1 / 2+1 / 2*sind)*v v4=(1 / 2+1 / 2*sinc)*v Where v1 is the speed of the first motor, v2 is the speed of the second motor, v3 is the speed of the third motor, v4 is the speed of the fourth motor, and v is the speed of point X+; a, b, c, and d are the angles between the lifting points of the first, second, third, and fourth motors and the XY coordinate system, respectively; this ensures that the projections of the running speed relationships X-, v1, v2, v3, v4, and X+ on the Y-axis are on a straight line X-”, 1#”, 2#”, 3#”, 4#”, and X+”.

3. The control method for the nuclear power plant trolley lifting mechanism as described in claim 1, characterized in that, In the initial alignment stage, during the step of controlling the three motors to quickly and synchronously lift according to the angle position setting, when it is necessary to use any point located in the XY coordinate system as a fixed point for lifting, the circular dot is used as the coordinate 0 point, and the fixed point is used as X- or Y+. The angles a, b, c, and d between the lifting point of each motor and the XY coordinate system are calculated respectively. Through the above derivation, the speeds v1 of the first motor, v2 of the second motor, v3 of the third motor, and v4 of the fourth motor are calculated respectively.

4. A control device for a nuclear power plant trolley lifting mechanism, characterized in that, For using lifting bodies to lift the main pump, each of the lifting bodies is divided into a rapid lifting stage, an initial alignment stage, and a precise alignment stage in the lifting process control. The nuclear power trolley lifting mechanism control device includes: A rapid lifting module (10) is used to control the four motors to rapidly and synchronously lift during the rapid lifting phase. The initial alignment module (20) is used to control the three motors to quickly and synchronously lift according to the angle position setting during the initial alignment stage. The precision alignment module (30) is used to control the slow fine adjustment of three motors, four motors or a single motor according to the angle deviation during the precision alignment stage, so as to finally achieve motor lifting and positioning. The rapid lifting module (10) includes: The calculation unit (11) is used to calculate zt1 and zt2 based on the heights z1, z2, z3, and z4 of the four motors at each point, where zt1 = (z3-z1) / A*A1+z1; zt2 = (z4-z2) / B*B1+z2; A is the distance between z1 and z3 of the four motors in the same horizontal plane; A1 is the distance between the intersection of the line connecting z1 to z1z3 and the line connecting z2z4 of the four motors in the same horizontal plane; B is the distance between z2 and z4 of the four motors in the same horizontal plane; B1 is the distance between the intersection of the line connecting z2 to z1z3 and the line connecting z2z4 of the four motors in the same horizontal plane. The identification unit (12) is used to perform a shutdown alarm if it identifies that |zt1-zt2| is greater than a preset first threshold; to perform speed adjustment if it identifies that |zt1-zt2| is greater than a preset second threshold and less than the first threshold; and to operate normally if it identifies that |zt1-zt2| is less than or equal to a third threshold. In the initial alignment module (20), the stationary point among the three moving motors is used as the base point. The moving points of each motor are calculated by using trigonometric function formulas to ensure that each moving point runs at the required speed so that the position of each moving point is always in a plane during the movement.

5. The nuclear power plant trolley lifting mechanism control device as described in claim 4, characterized in that, In the initial alignment module (20), when the elevator Y+ is fixed and the speed at point Y- is v, the speeds of the four motors are as follows: v1=(1 / 2-1 / 2*cosa)*v v2=(1 / 2+1 / 2*sinb)*v v3=(1 / 2+1 / 2*cosd)*v v4=(1 / 2+1 / 2*cosc)*v Where v1 is the speed of the first motor, v2 is the speed of the second motor, v3 is the speed of the third motor, v4 is the speed of the fourth motor, and v is the speed of the Y-point; a, b, c, and d are the angles between the lifting points of the first, second, third, and fourth motors and the XY coordinate system, respectively; this ensures that the projections of the running speed relationships Y+, v1, v2, v3, v4, and Y- on the Y-axis, Y+', 1#', 2#', 3#', 4#', and Y-', are on a straight line; When the elevator X- is fixed, and the speed at point X+ is v, the speeds of the four motors are as follows: v1=(1 / 2-1 / 2*sina)*v v2=(1 / 2-1 / 2*cosb)*v v3=(1 / 2+1 / 2*sind)*v v4=(1 / 2+1 / 2*sinc)*v Where v1 is the speed of the first motor, v2 is the speed of the second motor, v3 is the speed of the third motor, v4 is the speed of the fourth motor, and v is the speed of point X+; a, b, c, and d are the angles between the lifting points of the first, second, third, and fourth motors and the XY coordinate system, respectively; this ensures that the projections of the running speed relationships X-, v1, v2, v3, v4, and X+ on the Y-axis are on a straight line X-”, 1#”, 2#”, 3#”, 4#”, and X+”.

6. The nuclear power plant trolley lifting mechanism control device as described in claim 5, characterized in that, In the initial alignment module (20), when it is necessary to use any point located in the XY coordinate system as a fixed point for lifting, the circular dot is used as the coordinate 0 point, and the fixed point is used as X- or Y+. The angles a, b, c, and d between the lifting point of each motor and the XY coordinate system are calculated respectively. Through the above derivation, the speeds v1 of the first motor, v2 of the second motor, v3 of the third motor, and v4 of the fourth motor are calculated respectively.

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