A nuclear speed regulator hardware-in-the-loop simulation verification system and its use method

Abstract

The present invention relates to a nuclear speed governor hardware-in-the-loop simulation verification system and a method for using the system, which includes a diesel engine model, a simulation host, a simulation host host computer, an output module, a voltage-to-current module, a speed governor, a speed governor host computer, an actuator, a current-to-voltage module, and an input module; the diesel engine model is loaded into the simulation host, the simulation host is connected to the simulation host host computer, the output module of the diesel engine model is connected to the voltage-to-current module via a hard line, the voltage-to-current module is connected to the speed governor, the speed governor is connected to the actuator, the actuator is connected to the current-to-voltage module via a hard line, the current-to-voltage module is connected to the input module of the diesel engine model, and the obtained voltage signal is transmitted to the diesel engine model to form a closed loop. The present invention replaces the emergency diesel engine in connecting to the electronic speed governor, verifies the basic functions of the speed governor and the grid-connected function, does not damage the emergency diesel engine, and is convenient to verify.

Description

Technical Field

[0001] The present invention relates to the field of nuclear safety technology, and in particular to a nuclear speed regulator hardware-in-the-loop simulation verification system and a method for using the system. Background Art

[0002] Nuclear power plant emergency diesel generator sets serve as emergency power systems. Their role is to provide emergency power to the emergency busbar in the event of a loss of normal power supply, ensuring continuous power to critical equipment. The governor, the core of the emergency diesel engine speed control system, controls fuel injection to achieve a specific power output at a given speed and ensures stable and responsive operation of the entire diesel engine system. Therefore, ensuring stable and reliable governor operation is crucial.

[0003] The functionality of the electronic speed governor requires experimental verification. However, since emergency diesel engines are in a constant standby start state most of the time, a direct connection between the electronic speed governor and the emergency diesel engine is not possible. Semi-physical simulation, however, closely resembles the actual operating environment. Using this technology to verify the functionality of the speed governor ensures the safety of personnel and equipment while also saving costs. Numerous such semi-physical simulation platforms are available on the market, but their simulation of the speed governor's operating environment is incomplete. For example, they lack simulation of the diesel engine's grid connection, and the semi-physical simulation platforms are designed only to test the paired speed governor. Furthermore, nuclear power ultimately generates electricity for the grid, so a corresponding model should be built to verify its grid-connected functionality, as well as its basic functionality. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned shortcomings and provide a nuclear speed governor hardware-in-the-loop simulation verification system and its use method to verify all functions of the speed governor and its ability to perform its safety functions under normal, abnormal, design basis accident and post-design basis accident conditions of a nuclear power plant.

[0005] The object of the present invention is achieved like this:

[0006] A nuclear speed regulator hardware-in-the-loop simulation verification system comprises a diesel engine model, a simulation host, a simulation host host computer, an output module, a voltage-to-current module, a speed regulator, a speed regulator host computer, an actuator, a current-to-voltage module and an input module; the diesel engine model is loaded into the simulation host, the simulation host is connected to the simulation host host computer, the output module and input module corresponding to the diesel engine model are configured in the simulation host host computer, and the output module and input module are mapped to the 0-10V voltage range; the output module of the diesel engine model of the simulation host is connected to the voltage-to-current module via a hard wire, the voltage-to-current module is connected to the speed regulator, the speed regulator is connected to the actuator, the actuator is connected to the current-to-voltage module via a hard wire, the current-to-voltage module is connected to the input module of the diesel engine model, and the obtained voltage signal is transmitted to the diesel engine model to form a closed loop; the speed regulator is also connected to the speed regulator host computer.

[0007] Furthermore, the diesel engine model includes a control system sub-model, a fuel system sub-model, an intake and exhaust system sub-model, a cylinder system sub-model, a dynamic system sub-model, a simple power grid sub-model and an auxiliary system sub-model.

[0008] Furthermore, the simulation host is configured with 12 NI PXle-8840 real-time controllers and 11 NI PXle-1088 chassis.

[0009] A method for using a nuclear speed regulator hardware-in-the-loop simulation verification system includes the following contents:

[0010] The hardware-in-the-loop simulation verification system for the nuclear speed governor is configured, including a simulation host, a simulation host host computer, a diesel engine model operation signal transceiver board, a voltage-to-current module, a speed governor, a speed governor host computer, an actuator, a current-to-voltage module, and a DC24V power supply. The diesel engine model is embedded in the simulation host, and is used to simulate the emergency diesel engine's starting, stopping, idling, and load-adding and unloading conditions.

[0011] Start the speed governor, press the idle / rated speed and open / close external switches respectively to adjust the speed governor to the desired state, press the diesel engine start button on the simulation host host computer, record the output speed frequency after stabilization and compare it with the expected speed frequency to check whether the speed governor starting function is normal; after the idle start is successful, press the external speed increase button of the speed governor to gradually increase the diesel engine speed from idle speed to rated speed, record the steady-state fluctuation rate to check whether the speed controller speed increase function and speed control are normal;

[0012] By simulating the host computer to add or subtract the speed of the two signals input to the speed sensor, the host computer software can check: whether the speed value is normal, the speed changes of the two sensors, whether the main sensor selection changes, and whether the speed regulator alarms when the difference is too large;

[0013] Start the diesel engine and let it run stably at the rated speed. Remove the No. 1 diesel engine speed sensor. The host computer should display a sensor fault alarm. Continue to remove the No. 2 diesel engine speed sensor. The generator set enters the speed control of the model's internal virtual controller. The diesel engine speed should rise to the target speed value set by the internal speed governor. Reinstall the No. 2 speed sensor. The speed should return to the target value set by the electronic speed governor. The generator set enters the electronic control mode. Reinstall the No. 1 speed sensor and press the reset button. The speed sensor fault alarm signal should disappear. This checks whether the speed controller sensor fault handling function is normal.

[0014] Simulate the power-off process of the electronic speed governor to observe whether the speed governor switches to the internal speed governor of the diesel engine model after the speed governor is powered off. After power is restored, the electronic speed governor operates normally. This will check whether the speed governor operates normally after power is restored.

[0015] When the diesel engine model is started and running at rated speed, it is loaded according to a certain ratio. After each loading, it runs stably for a period of time and the steady-state fluctuation rate is recorded to check the load stability of the speed controller.

[0016] When the diesel engine model is started and running at rated speed, the load is suddenly added or removed. After each action, it runs steadily for a period of time, and the steady-state fluctuation rate is recorded to check the dynamic performance of the speed controller under sudden addition or removal of load.

[0017] The speed regulator is operated in island / droop mode. The model is loaded. When the load exceeds 110%, the output current change of the speed regulator is recorded to verify the throttle limit test of the speed regulator.

[0018] After the diesel engine model starts at rated speed, keep running stably for a period of time and record the speed fluctuation rate to check the speed stability of the diesel engine model when the speed controller controls the rated speed and no-load;

[0019] Press the grid-connection button on the simulation host computer and input the closing signal to the speed regulator at the same time, set the grid speed, and force the diesel engine model output speed to be consistent with the set grid speed, thereby checking the controller output current; press the speed-up button to check the controller output current to verify the controller's grid-connection function;

[0020] Press the grid connection button on the simulation host computer and input the closing signal to the speed regulator at the same time, set the grid speed, force the diesel engine model output speed to be consistent with the set grid speed, and after confirming that the grid connection is successful, switch the speed regulator from speed reduction mode to island mode, and then from island mode to speed reduction mode, check the stability of the speed regulator output current, and test the operating status of the diesel engine in the case of speed reduction and island mode in the grid connection mode.

[0021] Furthermore, the power supply of the simulation host is provided by AC220V, and the power supply of the electronic speed regulator is provided by DC24V.

[0022] Furthermore, the simulation host is configured with 12 NI PXle-8840 real-time controllers and 11 NI PXle-1088 chassis.

[0023] Furthermore, the diesel engine model is constructed according to functional modules, including but not limited to one or more of a control system sub-model, a fuel system sub-model, an intake and exhaust system sub-model, a cylinder system sub-model, a dynamic system sub-model, an auxiliary system sub-model, a power grid sub-model and an I / O port sub-model.

[0024] Furthermore, the simulation host outputs the frequency module to the speed regulator through the conversion of the FPGA module, in which the number of gears can be changed, and the corresponding number of teeth can be input through the simulation host host computer, and there are four output speeds. The first two have the same size but different phases, and the last two can add or subtract the output speed from the first two through the simulation host computer to make the speed different.

[0025] Furthermore, the speed regulator status is controlled by the speed regulator host computer. The speed regulator is connected to 8 external switches, which correspond to the speed regulator's closing / opening, start / stop, normal / emergency, speed reduction, speed increase, reset, rated / idle, and speed reduction.

[0026] Furthermore, the speed regulator host computer also sets eight switch outputs to display the speed regulator status, which are eight solenoid valves, namely: start solenoid valve, stop solenoid valve, alarm, enable start, starting, running timing, watchdog and reserved relay.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The functions that can be achieved by the present invention are as follows:

[0029] (1) The present invention verifies the idle speed, speed increase and rated speed starting functions of the nuclear power speed governor with the help of the nuclear speed governor hardware-in-the-loop simulation verification system.

[0030] (2) The present invention injects a speed fault into the diesel engine model to simulate a speed controller sensor fault and check whether the speed controller sensor fault processing function and the host computer display function are normal.

[0031] (3) The speed regulator of the present invention is operated in the island / speed reduction mode. The model is loaded. When the load exceeds 110%, the output current change of the speed regulator is recorded to verify the throttle limit test of the speed regulator.

[0032] (4) After the rated speed is started, the speed fluctuation rate is recorded after a period of stable operation to check the speed stability of the diesel engine model when the speed controller controls the rated speed and no-load.

[0033] (5) After the diesel engine model of the present invention runs at no load, it is loaded in a certain order, and the steady-state fluctuation rate of each loading is recorded to check the stability of the speed controller under different loads.

[0034] (6) After the diesel engine model of the present invention is run at no-load, the load is suddenly added and unloaded. The instantaneous minimum speed and speed recovery time when the load is suddenly added are recorded, the instantaneous speed regulation rate is calculated, and the dynamic performance of the speed governor when the load is suddenly added is checked.

[0035] (7) The present invention presses the grid connection button on the simulation host computer and inputs the closing signal to the speed regulator at the same time, sets the grid speed, and forces the diesel engine model output speed to be consistent with the set grid speed; checks the controller output current; presses the speed increase button and checks the controller output current to verify the controller's grid connection function.

[0036] (8) The present invention presses the grid connection button on the simulation host computer and inputs the closing signal to the speed regulator at the same time, sets the grid speed, and forces the diesel engine model output speed to be consistent with the set grid speed; after confirming that the grid connection is successful, the speed regulator is switched from the speed reduction mode to the island mode, and then from the island mode to the speed reduction mode, and the speed regulator output current stability is checked. In the grid connection mode, if the speed reduction mode to the island mode occurs, the diesel engine operating status is tested.

[0037] To sum up, the essence of the electronic speed governor verification system for nuclear power of the present invention is a real-time model of a diesel engine that is controlled by an electronic speed governor and can replace the emergency diesel engine to verify the function of the electronic speed governor. The electronic speed governor verification system for nuclear power can replace the emergency diesel engine to be connected to the electronic speed governor to verify the basic functions of the speed governor and the grid-connected function; therefore, when verifying the function of the electronic speed governor with the help of this verification system, it will not cause damage to the emergency diesel engine, and the verification is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of the present invention.

[0039] Figure 2 It is a structural diagram of the simulation host of the present invention.

[0040] Figure 3 Schematic diagram of the functional modules of the diesel engine model of the present invention.

[0041] Figure 4 This is an interface diagram of the simulation host computer of the present invention.

[0042] Figure 5This is an interface diagram of the speed regulator host computer of the present invention.

[0043] in:

[0044] Diesel engine model 1, simulation host 2, simulation host host computer 3, output module 4, voltage-to-current module 5, speed regulator 6, speed regulator 7, actuator 8, current-to-voltage module 9, input module 10. Implementation Method

[0045] To better understand the technical solution of the present invention, the following detailed description is provided with reference to the relevant illustrations. It should be understood that the following specific embodiments are not intended to limit the specific implementation of the technical solution of the present invention; they are merely examples of possible implementations of the technical solution of the present invention. It should be noted that references herein to the positional relationships of various components, such as component A being located above component B, are based on the relative positions of the components in the illustrations and are not intended to limit the actual positional relationships of the components. Example

[0046] See also Figure 1-Figure 5 , Figure 1 A schematic diagram of a nuclear speed governor hardware-in-the-loop simulation and verification system and its use method is provided. As shown in the figure, the nuclear speed governor hardware-in-the-loop simulation and verification system includes a diesel engine model 1, a simulation host 2, a simulation host host computer 3, an output module 4, a voltage-to-current module 5, a speed governor 6, a speed governor host computer 7, an actuator 8, a current-to-voltage module 9, and an input module 10.

[0047] The diesel engine model 1 is loaded into the simulation host 2, and the simulation host 2 is connected to the simulation host host computer 3. The output module 4 and input module 10 corresponding to the diesel engine model 1 are configured in the simulation host host computer 3, and the output module 4 and the input module 10 are corresponded to the 0-10V voltage range; the output module 4 of the diesel engine model 1 of the simulation host 2 is connected to the voltage-to-current module 5 through a hard wire, and the voltage-to-current module 5 is connected to the speed regulator 6, and the speed regulator 6 is connected to the actuator 8, and the actuator 8 is connected to the current-to-voltage module 9 through a hard wire, and the current-to-voltage module 9 is connected to the input module 10 of the diesel engine model 1, and the obtained voltage signal is transmitted to the diesel engine model 1 to form a closed loop.

[0048] The speed regulator 6 is also connected to a speed regulator host computer 7 .

[0049] The diesel engine model 1 includes a control system submodel, a fuel system submodel, an intake and exhaust system submodel, a cylinder system submodel, a dynamic system submodel, a simple power grid submodel and an auxiliary system submodel; the control system submodel is used to simulate the control system of the generator set, the fuel system submodel is used to simulate the fuel situation of the generator set, the intake and exhaust system submodel is used to simulate the intake and exhaust situation of the generator set, the cylinder system submodel is used to simulate the operation of the cylinder, and the dynamic system submodel is used to simulate the dynamics of the generator set (supplementing a brief description of the simple power grid submodel and the auxiliary system submodel).

[0050] The simulation host 2 includes a PXle-1088 simulation chassis and a PXle-8840 real-time controller, that is, a configuration of 12 NI PXle-8840 real-time controllers and 11 NI PXle-1088 chassis; the PXle-8840 real-time controller is configured with a PXle-6363 board, a PXle-7846R board, and a PXle-6528 board.

[0051] The actuator 8 can be a physical object or a simulated model. Actuator 8 is used to convert the control signal into throttle opening data, causing the diesel engine model 1 to initiate simulated operation based on the throttle opening data. It is understood that actuator 8 can be provided as a separate hardware component, or it can be integrated into the functions of the diesel engine model 1 as a software component. In the absence of a separate actuator 8, the main functions are not affected.

[0052] When the actuator 8 is provided separately as a hardware part, the actuator 8 in some embodiments includes one or a combination of a frequency converter, a variable frequency motor, a speed measuring flywheel, a speed sensor, a right-angle gearbox, an encoder, a speed regulator, and a hydraulic actuator.

[0053] See also Figure 1-Figure 5 The present invention relates to a method for using a nuclear speed regulator hardware-in-the-loop simulation verification system, comprising the following contents:

[0054] (1) Configure the above-mentioned nuclear speed governor hardware-in-the-loop simulation verification system, including the diesel engine real-time simulation host, the diesel engine real-time simulation host host computer, the diesel engine model operation signal transceiver board, the voltage-to-current module, the electronic speed governor, the speed governor host computer, the actuator, the current-to-voltage module and the DC24V power supply; the power supply of the simulation host relies on AC220V, and the power supply of the electronic speed governor relies on DC24V; the simulation host adopts 12 NI PXle-8840 real-time controllers with 11 NIPXle-1088 chassis configuration.

[0055] (2) The diesel engine model is embedded in the simulation host. The diesel engine model is built according to functional modules, including but not limited to one or more of the control system sub-model, fuel system sub-model, intake and exhaust system sub-model, cylinder system sub-model, dynamic system sub-model, auxiliary system sub-model, power grid sub-model and I / O port sub-model; the diesel engine real-time model can simulate the emergency diesel engine's starting, stopping, idling, load addition and reduction and other working conditions.

[0056] (3) The simulation host outputs the frequency module converted by the FPGA module to the speed regulator. The number of gears in the module can be changed. The corresponding number of teeth can be input through the simulation host host computer. There are four output speeds. The first two have the same size but different phases. The last two can add or subtract the output speed from the first two through the simulation host computer to make the speed different.

[0057] (4) The speed regulator status is controlled by the speed regulator host computer. This system has 8 switches connected to the speed regulator, which correspond to the closing / opening, starting / stopping, normal / emergency, speed reduction, speed increase, reset, rated / idling, and speed reduction of the speed regulator; at the same time, the speed regulator host computer also has eight switch outputs to display the speed regulator status, which are eight solenoid valves, namely: start solenoid valve, stop solenoid valve, alarm, enable start, starting, running timer, watchdog and reserved relay.

[0058] Start the speed governor, press the idle / rated speed and open / close external switches respectively to adjust the speed governor to the required state, press the diesel engine start button on the simulation host host computer, record the output speed frequency after stabilization and compare it with the expected speed frequency to check whether the speed governor starting function is normal; after the idle start is successful, press the external speed increase button of the speed governor to gradually increase the diesel engine speed from idle speed to rated speed, record the steady-state fluctuation rate to check whether the speed controller speed increase function and speed control are normal.

[0059] (5) By simulating the upper computer to add or subtract the speed of the two signals input to the speed sensor, check on the upper computer software: whether the speed value is normal, the speed changes of the two sensors, whether the main sensor selection will change, and whether the speed regulator alarms when the difference is too large.

[0060] (6) Start the diesel engine and let it run stably at the rated speed. Remove the No. 1 diesel engine speed sensor. The host computer should display a sensor fault alarm. Continue to remove the No. 2 diesel engine speed sensor. The generator set enters the speed control of the model's internal virtual controller. The diesel engine speed should rise to the target speed value set by the internal speed governor. Reinstall the No. 2 speed sensor. The speed should return to the target value set by the electronic speed governor. The generator set enters the electronic control mode. Reinstall the No. 1 speed sensor and press the reset button. The speed sensor fault alarm signal should disappear. This checks whether the speed controller sensor fault handling function is normal.

[0061] (7) Simulate the power-off process of the electronic speed governor and observe whether the speed governor will switch to the internal speed governor of the diesel engine model after the speed governor is powered off. After power is turned on, the electronic speed governor will operate normally. In this way, check whether the speed controller can operate normally after power is turned on again after power is turned off.

[0062] (8) When the diesel engine model starts and runs at rated speed, it is loaded according to a certain ratio. After each loading, it runs stably for a period of time and the steady-state fluctuation rate is recorded to check the stability of the speed controller under load.

[0063] (9) When the diesel engine model starts and runs at rated speed, the load is suddenly added or unloaded. After each action, it runs steadily for a period of time and the steady-state fluctuation rate is recorded to check the dynamic performance of the speed controller under sudden addition or unloading of load.

[0064] (10) The speed regulator is operated in the island / speed reduction mode. The load is added through the model. When the load exceeds 110%, the change in the output current of the speed controller is recorded to verify the speed regulator throttle limit test.

[0065] (11) After the diesel engine model is started at rated speed, it is kept running stably for a period of time and the speed fluctuation rate is recorded to check the speed stability of the diesel engine model when it is running at rated speed and no-load under the speed control controller.

[0066] (12) Press the grid-connected button on the simulation host computer and input the closing signal to the speed regulator at the same time, set the grid speed, and force the diesel engine model output speed to be consistent with the set grid speed, thereby checking the controller output current; press the speed-up button to check the controller output current to verify the controller's grid-connected function.

[0067] (13) Press the grid connection button on the simulation host computer and input the closing signal to the speed regulator at the same time, set the grid speed, force the diesel engine model output speed to be consistent with the set grid speed, and after confirming that the grid connection is successful, switch the speed regulator from speed reduction mode to island mode, and then from island mode to speed reduction mode, check the stability of the speed regulator output current, and test the operating status of the diesel engine in the case of speed reduction to island mode in the grid connection mode.

[0068] Working principle:

[0069] After configuring the simulation host 2 environment and the simulation host host computer 3 environment, load the diesel engine model 1 into the simulation host 2, and configure the output and input ports corresponding to the model in the simulation host host computer 3, and calibrate them to correspond the input and output ports of the model to the 0-10V voltage range.

[0070] Power the speed regulator, connect the output port of the diesel engine model in the simulation host to the voltage-to-current module 5 through a hard wire, and then send the obtained current signal to the speed regulator 6. The signal of the speed regulator 6 is sent to the actuator 8. The actuator 8 is connected to the current-to-voltage module 9 through a hard wire, and then the obtained voltage signal is sent to the input port of the diesel engine model.

[0071] The diesel engine model 1 is operated accordingly by pressing the start, stop, load, grid connection and other buttons through the diesel engine model simulation host computer. The monitoring data of the simulation host host computer 3 and the speed governor host computer 7 are compared with the expected data to verify whether each function of the speed governor is normal.

[0072] The above are only specific application examples of the present invention and do not constitute any limitation on the scope of protection of the present invention. Any technical solutions formed by equivalent transformation or equivalent replacement shall fall within the scope of protection of the present invention.

Claims

1. A nuclear speed governor hardware-in-the-loop simulation verification system, characterized by: It includes a diesel engine model, a simulation host, a simulation host host computer, an output module, a voltage-to-current module, a speed governor, a speed governor host computer, an actuator, a current-to-voltage module and an input module; the diesel engine model is loaded into the simulation host, the simulation host is connected to the simulation host host computer, the output module and input module corresponding to the diesel engine model are configured in the simulation host host computer, and the output module and input module are mapped to the 0-10V voltage range; the output module of the diesel engine model of the simulation host is connected to the voltage-to-current module through a hard wire, the voltage-to-current module is connected to the speed governor, the speed governor is connected to the actuator, the actuator is connected to the current-to-voltage module through a hard wire, the current-to-voltage module is connected to the input module of the diesel engine model, and the obtained voltage signal is transmitted to the diesel engine model to form a closed loop; the speed governor is also connected to the speed governor host computer; The diesel engine model includes a control system submodel, a fuel system submodel, an intake and exhaust system submodel, a cylinder system submodel, a dynamic system submodel, a simple power grid submodel and an auxiliary system submodel; The above-mentioned nuclear speed governor hardware-in-the-loop simulation verification system is based on the following usage methods: The hardware-in-the-loop simulation verification system for the nuclear speed governor is configured, including a simulation host, a simulation host host computer, a diesel engine model operation signal transceiver board, a voltage-to-current module, a speed governor, a speed governor host computer, an actuator, a current-to-voltage module, and a DC24V power supply. The diesel engine model is embedded in the simulation host, and is used to simulate the emergency diesel engine's starting, stopping, idling, and load-adding and unloading conditions. Start the speed governor, press the idle / rated speed and open / close external switches respectively to adjust the speed governor to the desired state, press the diesel engine start button on the simulation host host computer, record the output speed frequency after stabilization and compare it with the expected speed frequency to check whether the speed governor starting function is normal; after the idle start is successful, press the external speed increase button of the speed governor to gradually increase the diesel engine speed from idle speed to rated speed, record the steady-state fluctuation rate to check whether the speed controller speed increase function and speed control are normal; By simulating the host computer to add or subtract the speed of the two signals input to the speed sensor, the host computer software can check: whether the speed value is normal, the speed changes of the two sensors, whether the main sensor selection changes, and whether the speed regulator alarms when the difference is too large; Start the diesel engine and let it run stably at the rated speed. Remove the No. 1 diesel engine speed sensor. The host computer should display a sensor fault alarm. Continue to remove the No. 2 diesel engine speed sensor. The generator set enters the speed control of the model's internal virtual controller. The diesel engine speed should rise to the target speed value set by the internal speed governor. Reinstall the No. 2 speed sensor. The speed should return to the target value set by the electronic speed governor. The generator set enters the electronic control mode. Reinstall the No. 1 speed sensor and press the reset button. The speed sensor fault alarm signal should disappear. This checks whether the speed controller sensor fault handling function is normal. Simulate the power-off process of the electronic speed governor to observe whether the speed governor switches to the internal speed governor of the diesel engine model after the speed governor is powered off. After power is restored, the electronic speed governor operates normally. This will check whether the speed governor operates normally after power is restored. When the diesel engine model is started and running at rated speed, it is loaded according to a certain ratio. After each loading, it runs stably for a period of time and the steady-state fluctuation rate is recorded to check the load stability of the speed controller. When the diesel engine model is started and running at rated speed, the load is suddenly added or removed. After each action, it runs steadily for a period of time, and the steady-state fluctuation rate is recorded to check the dynamic performance of the speed controller under sudden addition or removal of load. The speed regulator is operated in island / droop mode. The model is loaded. When the load exceeds 110%, the output current change of the speed regulator is recorded to verify the throttle limit test of the speed regulator. After the diesel engine model starts at rated speed, keep running stably for a period of time and record the speed fluctuation rate to check the speed stability of the diesel engine model when the speed controller controls the rated speed and no-load; Press the grid-connected button on the simulation host computer and input the closing signal to the speed regulator at the same time, set the grid speed, and force the diesel engine model output speed to be consistent with the set grid speed, thereby checking the controller output current; Press the speed-up button to check the controller output current to verify the controller's grid-connected function; Press the grid connection button on the simulation host computer and input the closing signal to the speed regulator at the same time, set the grid speed, force the diesel engine model output speed to be consistent with the set grid speed, and after confirming that the grid connection is successful, switch the speed regulator from speed reduction mode to island mode, and then from island mode to speed reduction mode, check the stability of the speed regulator output current, and test the operating status of the diesel engine in the case of speed reduction and island mode in the grid connection mode.

2. The nuclear speed governor hardware-in-the-loop simulation verification system according to claim 1, characterized in that: The simulation host is configured with 12 NI PXle-8840 real-time controllers and 11 NI PXle-1088 chassis.

3. The nuclear speed governor hardware-in-the-loop simulation verification system according to claim 1, characterized in that: The power supply of the simulation host is provided by AC220V, and the power supply of the electronic speed controller is provided by DC24V.

4. The nuclear speed governor hardware-in-the-loop simulation verification system according to claim 1, characterized in that: The simulation host is configured with 12 NI PXle-8840 real-time controllers and 11 NI PXle-1088 chassis.

5. The nuclear speed governor hardware-in-the-loop simulation verification system according to claim 1, characterized in that: The diesel engine model is built according to functional modules, including but not limited to one or more of the control system sub-model, fuel system sub-model, intake and exhaust system sub-model, cylinder system sub-model, dynamic system sub-model, auxiliary system sub-model, power grid sub-model and I / O port sub-model.

6. The nuclear speed governor hardware-in-the-loop simulation verification system according to claim 1, characterized in that: The simulation host outputs the frequency module to the speed regulator through the conversion of the FPGA module. The number of gears in it can be changed. The corresponding number of teeth can be input through the simulation host host computer. There are four output speeds. The first two have the same size but different phases. The last two can add or subtract the output speed from the first two through the simulation host computer to make the speed different.

7. The nuclear speed governor hardware-in-the-loop simulation verification system according to claim 1, characterized in that: The speed regulator status is controlled by the speed regulator host computer. The speed regulator is connected to 8 external switches, which correspond to the speed regulator's closing / opening, start / stop, normal / emergency, speed reduction, speed increase, reset, rated / idling, and speed reduction.

8. The nuclear speed governor hardware-in-the-loop simulation verification system according to claim 7, characterized in that: The speed regulator host computer is equipped with eight switch outputs to display the speed regulator status. They are eight solenoid valves, namely: start solenoid valve, stop solenoid valve, alarm, enable start, starting, running timing, watchdog and reserved relay.

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