An adaptive control method and platform for a reactor control rod drive system

Abstract

The present invention discloses an adaptive control method and platform for a reactor control rod drive system. The proposed adaptive control method abstracts a digital model of the control rod drive system based on the static and dynamic physical characteristics of the control rod drive system, combines the physical characteristics and historical information of the control rod drive system with the current operating state parameters, predicts the change trend of the future output state response of the control rod drive system, and corrects the target parameters of the controlled object with the predicted future output state response, so as to realize the automatic matching and correction of control parameters, thereby achieving the adaptive adjustment of control parameters, solving the problems of poor control effect of the existing control rod drive system in nuclear power plants and the need for manual tuning of control parameters, and improving the efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of nuclear power, and particularly relates to an adaptive control method and platform for a reactor control rod drive system. Background Art

[0002] The reactivity of a nuclear power plant reactor is mainly adjusted by driving the movement of control rods through a control rod drive system to achieve functions such as reactor startup, power regulation, normal shutdown, and emergency shutdown. The control loop of the control rod drive system is a complex dynamic process that combines an electromagnetic field, a kinematic field, and a flow field, and the three are mutually coupled. This complex dynamic process will bring about dynamic non-linear changes in the electrical performance of the system. Currently, due to the lack of accurate modeling of the dynamic change process of the control rod drive system, the control strategy adopted in the existing nuclear power plant control rod drive system is PID control.

[0003] However, according to the operation experience feedback of nuclear power plants, the existing control strategies and parameter tuning methods for control rod drive systems have the following problems in the actual operation of nuclear power plants: (1) When the reactor is in different operating states, the use of fixed control parameters has poor effects; (2) In order to meet the current transient response time and steady-state current accuracy, multiple manual control parameter tunings need to be performed through manual judgment. Summary of the Invention

[0004] In order to solve the problems such as poor control effect or low efficiency existing in the existing control strategies and parameter tuning methods for control rod drive systems, the present invention provides an adaptive control method and platform for a reactor control rod drive system. The present invention analyzes the characteristics of the control rod drive system in different states through a method combining theory, simulation, and actual operation, and automatically matches and corrects control parameters according to these characteristics to achieve adaptive control of control parameters as the controlled object changes.

[0005] The present invention is realized through the following technical solutions:

[0006] An adaptive control method for a reactor control rod drive system, the adaptive control method comprising:

[0007] According to the structural characteristics and material properties of the control rod drive system, combined with the mutually coupled dynamic process among the electromagnetic field, kinematic field, and flow field in the control loop of the control rod drive system, establish a digital model of the dynamic non-linear change of the system;

[0008] Collect the current operating parameters of the control rod drive system, and combined with the established digital model, predict the change trend of the future output state response of the control rod drive system;

[0009] Use the predicted change trend of the future output state response to dynamically feedback and correct the target parameters of the control object of the control rod drive system;

[0010] Compare the calibrated target parameters with the final control target, and adjust the control parameters of the control rod drive system control loop according to the comparison result.

[0011] The existing control rod drive system requires manual tuning of control parameters multiple times, consuming a large amount of manpower and material resources and having low efficiency. The adaptive control method proposed by the present invention abstracts a digital model of the control rod drive system based on the static and dynamic physical characteristics of the control rod drive system, combines the physical characteristics and historical information of the control rod drive system with the current operating state parameters, predicts the change trend of the future output state response of the control rod drive system, and corrects the target parameters of the controlled object with the predicted future output state response, realizing automatic matching and correction of control parameters, thereby realizing adaptive adjustment of control parameters.

[0012] As a preferred embodiment, the adaptive control method of the present invention further includes:

[0013] Online monitor the operating state of the control rod drive system according to the collected operating parameters of the control rod drive system, and automatically adjust the control parameters and control strategies according to different operating states. The present invention also monitors the operating state of the control rod drive system through the current operating parameters, automatically adjusts the control parameters according to different operating states, and at the same time realizes automatic adjustment of the control strategy through the adjustment of the control parameters, realizing adaptive adjustment of the control strategy and control parameters, and improving the control accuracy and reliability.

[0014] As a preferred embodiment, the adaptive control method of the present invention further includes:

[0015] Visually display the whole-process data of the control process through a human-machine interaction interface.

[0016] As a preferred embodiment, the adaptive control method of the present invention can view the digital model, operating parameters, operating state and control parameters of the control rod drive system in real time through a human-machine interaction interface, and supports users with corresponding permissions to modify the control parameters.

[0017] In a second aspect, the present invention proposes an adaptive control platform for a reactor control rod drive system, and the adaptive control platform includes:

[0018] A feature reconstruction unit, which establishes a digital model of the dynamic nonlinear change of the system according to the structural characteristics and material properties of the control rod drive system, in combination with the mutual coupling dynamic process among the electromagnetic field, the kinematic mechanics field and the flow field in the control loop of the control rod drive system;

[0019] A state prediction unit that collects the current operating parameters of the control rod drive system and combines with the established digital model to predict the changing trend of the future output state response of the control rod drive system;

[0020] A dynamic correction unit that dynamically feedback corrects the target parameters of the control object of the control rod drive system by using the predicted changing trend of the future output state response;

[0021] An adaptive adjustment unit that compares the corrected target parameters with the final control target and adjusts the control parameters of the control loop of the control rod drive system according to the comparison result;

[0022] And an adaptive controller that outputs control instructions to the control loop of the control rod drive system according to the adjusted control parameters.

[0023] As a preferred embodiment, the adaptive control platform of the present invention further includes:

[0024] A state monitoring unit that on-line monitors the operating state of the control rod drive system according to the collected operating parameters of the control rod drive system and automatically adjusts the control parameters and control strategies according to different operating states.

[0025] As a preferred embodiment, the adaptive control platform of the present invention further includes:

[0026] A human-machine interaction interface that visually displays the full-process data of the control process.

[0027] As a preferred embodiment, the human-machine interaction interface of the present invention provides a real-time viewing function of the digital model, operating parameters, operating state and control parameters of the control rod drive system, and supports users with corresponding permissions to modify the control parameters.

[0028] In a third aspect, the present invention proposes a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the steps of the method of the present invention are implemented.

[0029] In a fourth aspect, the present invention proposes a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method of the present invention are implemented.

[0030] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0031] 1. The present invention solves the problems of poor control effect and the need for manual tuning of control parameters in the existing control rod drive system of nuclear power plants. By analyzing the characteristics of the control rod drive system in different states, and then automatically matching the optimal control parameters based on the characteristics of the control rod drive system in different states, the adaptive adjustment of control parameters is achieved, improving the adjustment efficiency. At the same time, the present invention also monitors the operating state of the control rod drive system according to the current operating parameters, and automatically adjusts the control strategy and control parameters according to different operating states, realizing the adaptive adjustment of the control strategy and control parameters, and further ensuring the control accuracy and reliability.

[0032] 2. The present invention can be applied to all operating or under-construction pressurized water reactor nuclear power plants, with a quite wide scope of application. It has the advantages of strong real-time performance, high reliability, good expandability, etc., and can significantly improve the automation and intelligent level of the operation, test and maintenance of the control rod drive system in nuclear power plants, reducing the manpower requirements and time costs for on-site operation and maintenance of nuclear power plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of this application, and do not limit the embodiments of the present invention. In the drawings:

[0034] Figure 1 It is a flowchart of the adaptive control method according to an embodiment of the present invention.

[0035] Figure 2 It is an architecture diagram of the adaptive control platform according to an embodiment of the present invention.

[0036] Figure 3 It is a schematic diagram of the principle of the control drive device according to an embodiment of the present invention.

[0037] Figure 4 It is an example of the control instruction output to the control drive device according to an embodiment of the present invention.

[0038] Figure 5 It is the characteristic parameter of the digital model function reconstruction according to an embodiment of the present invention.

[0039] Figure 6 It is the change trend of the output response state response predicted by the digital model according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the embodiments and the drawings. The illustrative embodiments and descriptions thereof of the present invention are only used to explain the present invention and do not limit the present invention.

[0041] Embodiment 1

[0042] The control strategies and parameter tuning methods adopted by the existing control rod drive systems have poor control effects in different operating states. At the same time, manual tuning of control parameters is required multiple times, resulting in low efficiency and other problems. Based on this, this embodiment proposes an adaptive control method for the reactor control rod drive system. The adaptive control method proposed in this embodiment analyzes the characteristics of the control rod drive system in different operating states through a combination of theory, simulation, and actual operation. Then, based on the characteristics of the control rod drive system in different states, the optimal control parameters are automatically matched to achieve the adaptive adjustment of control parameters, so as to realize the dynamic control of the operation of the control rod drive system, solve the problems of poor control effects and the need for manual tuning of control parameters multiple times in the existing technology, and realize the adaptive adjustment of control strategies and control parameters.

[0043] Specifically, as Figure 1 shown, the adaptive control method proposed in this embodiment specifically includes the following steps:

[0044] Step 1, according to the structural characteristics and material properties of the control rod drive system, combined with the mutual coupling dynamic process among the electromagnetic field, motion mechanics field, and flow field in the control loop of the control rod drive system, establish a digital model of the electrical performance with dynamic non-linear changes of the system. Specifically, different operating conditions are located by electrical parameters, and the operating state parameters are sampled correspondingly to establish a digital model of the electrical performance with dynamic non-linear changes of the system. This step 1 aims to abstract its digital model based on the static and dynamic physical characteristics of the control rod drive system as the basis for subsequent adaptive optimization of control strategies and control parameters.

[0045] Step 2, collect the current operating parameters of the control rod drive system, and combine with the digital model at the current moment to predict the output state of the control rod drive system at the next moment. This step 2 aims to predict the change trend of the future output state response of the control rod drive system based on the physical characteristics, historical information, and current operating state parameters of the control rod drive system.

[0046] Step 3, analyze the current operating state of the control rod drive system and the change trend of the future output state response, and perform dynamic feedback correction on the target parameters of the control object of the control rod drive system. This step 3 aims to correct the target parameters of the control object according to the future output state response predicted by the digital model.

[0047] Step 4, compare the corrected target parameters with the final control target, and adjust the control parameters of the control loop through performance index comparison to achieve the purpose of adaptive control. This step 4 aims to realize the automatic matching and correction of control parameters after dynamically correcting the target parameters to achieve the final expected goal.

[0048] Furthermore, the adaptive control method proposed in this embodiment also includes:

[0049] Step 5: Based on the collected operating parameters of the control rod drive system, conduct online monitoring of the operating status of the entire control rod drive system. When a failure or performance degradation is detected, it can automatically adjust the control parameters and control strategies to prevent the further expansion of the failure, further improve the stability and reliability of the system operation, and ensure the safe operation of the nuclear power plant. This step aims to monitor the operating status of the control rod drive system according to the current operating parameters and automatically adjust the control parameters according to different statuses to achieve the automatic adjustment of the control strategy.

[0050] Furthermore, the adaptive control method proposed in this embodiment further includes:

[0051] Step 6: Through the human-machine interface, display and graphically present the full-process data of the control process. This step 6 aims to, through the set human-machine interface, view in real time the digital model, operating parameters, operating status, and control parameters of the control rod drive system, etc., and support users with corresponding permissions to modify the control parameters.

[0052] The adaptive control method for the control rod drive system proposed in this embodiment abstracts the digital model of the control rod drive system according to the static and dynamic physical characteristics of the control rod drive system, combines the physical characteristics, historical information of the control rod drive system with the current operating status parameters, uses the digital model to predict the change trend of the future output state response of the control rod drive system, and corrects the target parameters of the controlled object with the future output state response predicted by the digital model to achieve the automatic matching and correction of the control parameters, thereby realizing the adaptive adjustment of the control parameters. At the same time, the method proposed in this embodiment also monitors the operating status of the control rod drive system through the current operating parameters and automatically adjusts the control strategy and control parameters according to different statuses, realizing the adaptive adjustment of the control strategy and control parameters, and further ensuring the control accuracy and reliability. In addition, the method proposed in this embodiment also visualizes the control process data, making the control process more intuitive and convenient.

[0053] Based on the same technical concept as above, this embodiment also proposes an adaptive control platform for the reactor control rod drive system, specifically as Figure 2 shown. This adaptive control platform includes:

[0054] A feature reconstruction unit, which, according to the structural features and material properties of the control rod drive system, combines the mutual coupling dynamic process among the electromagnetic field, motion mechanics field, and flow field in the control loop of the control rod drive system to establish a digital model of the electrical performance of the system's dynamic non-linear change.

[0055] A state prediction unit, which collects the current operating parameters of the control rod drive system and predicts the output state of the control rod drive system at the next moment in combination with the established digital model at the current moment.

[0056] A dynamic correction unit, which analyzes the current operating state of the control rod drive system and the changing trend of the response of the future output state, and performs dynamic feedback correction on the target parameters of the controlled object of the control rod drive system.

[0057] An adaptive adjustment unit, which compares the corrected target parameters with the final control target, adaptively adjusts the control parameters according to the comparison result of the performance index and transmits them to the adaptive controller.

[0058] And, an adaptive controller, which receives the adaptively adjusted control parameters and outputs control instructions to the control loop (control drive device) of the control rod drive system according to the control parameters.

[0059] Furthermore, the adaptive control platform proposed in this embodiment further includes:

[0060] A state monitoring unit, which online monitors the operating state of the entire control rod drive system according to the collected operating parameters of the control rod drive system. When it detects a failure or performance degradation, it can automatically adjust the control parameters and control strategies and transmit them to the adaptive controller.

[0061] Furthermore, the adaptive control platform proposed in this embodiment further includes:

[0062] A human-machine interaction interface, which displays and graphically shows the full-process data of the control process.

[0063] Embodiment 2

[0064] In this embodiment, the adaptive control method proposed in the above embodiment is used to control the control drive device instance. There are two common control devices widely used in the existing pressurized water reactor nuclear power plants for the control rod drive system. The adaptive control technology proposed in the above Embodiment 1 can be compatible with the two control devices in adaptive control. This embodiment only takes one control drive device instance, that is, the operation of the DC / DC (direct current - direct current) type control drive device under the control instructions of the adaptive control platform as an example for description. Specifically, as Figure 3 shown, the target of the control drive device inter-control group is converted to generate a target current command. Combining with the actual control current output to the controlled object, after being processed by the adaptive control platform, the control instructions for the switching devices S1 and S2 are output.

[0065] When the control rod is in the lifting operation state, the control instruction output to the control drive device by using the adaptive control technology proposed in the above embodiment is as follows Figure 4 As shown, the control drive device converts the lifting command into the target control current of a certain parameter, and adjusts the control parameters through the adaptive control platform to output the control instructions of the switching devices S1 and S2 to the control drive device, so as to drive it to output the actual control current to the control rod drive system.

[0066] When the control rod is in the lifting operation, according to the mechanism characteristics and material properties of the control rod drive system, combined with the mutual coupling dynamic process among the electromagnetic field, motion mechanics field and flow field in the control loop of the control rod drive system, the change trend of characteristic parameters is reconstructed, that is, the digital model. The characteristic parameters mainly include electromagnetic lifting force, motion displacement, lifting acceleration and lifting speed, specifically as Figure 5 shown.

[0067] When the control rod is in the lifting operation state, the state parameters extracted from the digital model constructed by using the adaptive control technology proposed in the above embodiment, that is, the inductance information, combined with the actual control current, can predict the change trend of the state current of the control rod drive system, as Figure 6 shown.

[0068] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0069] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowcharts and / or block diagrams, and the combination of processes and / or blocks in the flowcharts and / or block diagrams can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0070] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means embodying the functionality specified in one or more of the flow Figure 1 acts or acts and / or blocks Figure 1 specified in one or more of the blocks.

[0071] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functionality specified in one or more of the flow Figure 1 acts or acts and / or blocks Figure 1 specified in one or more of the blocks.

[0072] The specific embodiments described above further elaborate on the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An adaptive control method for a reactor control rod drive system, characterized in that, The adaptive control method includes: Based on the structural characteristics and material properties of the control rod drive system, combined with the mutually coupled dynamic processes among the electromagnetic field, kinematic field, and flow field in the control loop of the control rod drive system, a digital model of the dynamic nonlinear change of the system is established. Specifically, different operating conditions are located by electrical parameters, and the operating state parameters are sampled correspondingly to establish a digital model of the electrical performance of the dynamic nonlinear change of the system; Collect the current operating parameters of the control rod drive system, and combine with the established digital model to predict the change trend of the future output state response of the control rod drive system; Use the predicted change trend of the future output state response to dynamically feedback-correct the target parameters of the control object of the control rod drive system; Compare the corrected target parameters with the final control target, and adjust the control parameters of the control loop of the control rod drive system according to the comparison result.

2. The adaptive control method for a reactor control rod drive system according to claim 1, wherein The adaptive control method further includes: Based on the collected operating parameters of the control rod drive system, on-line monitor the operating state of the control rod drive system, and automatically adjust the control parameters and control strategies according to different operating states.

3. An adaptive control method for a reactor control rod drive system according to claim 1, characterized in that, The adaptive control method further includes: Through the human-machine interaction interface, visually display the whole-process data of the control process.

4. An adaptive control method for a reactor control rod drive system according to claim 3, characterized in that Through the human-machine interaction interface, view the digital model, operating parameters, operating state, and control parameters of the control rod drive system in real time, and support users with corresponding permissions to modify the control parameters.

5. An adaptive control platform for a reactor control rod drive system, characterized in that, The adaptive control platform includes: A feature reconstruction unit, which based on the structural characteristics and material properties of the control rod drive system, combined with the mutually coupled dynamic processes among the electromagnetic field, kinematic field, and flow field in the control loop of the control rod drive system, establishes a digital model of the dynamic nonlinear change of the system. Specifically, different operating conditions are located by electrical parameters, and the operating state parameters are sampled correspondingly to establish a digital model of the electrical performance of the dynamic nonlinear change of the system; A state prediction unit, which collects the current operating parameters of the control rod drive system, and combines with the established digital model to predict the change trend of the future output state response of the control rod drive system; A dynamic correction unit, which uses the predicted change trend of the future output state response to dynamically feedback-correct the target parameters of the control object of the control rod drive system; An adaptive adjustment unit, which compares the corrected target parameters with the final control target, and adjusts the control parameters of the control loop of the control rod drive system according to the comparison result; And an adaptive controller, which outputs a control command to the control loop of the control rod drive system according to the adjusted control parameters.

6. An adaptive control platform for a reactor control rod drive system according to claim 5, characterized in that The adaptive control platform further includes: A state monitoring unit, which based on the collected operating parameters of the control rod drive system, on-line monitors the operating state of the control rod drive system, and automatically adjusts the control parameters and control strategies according to different operating states.

7. An adaptive control platform for a reactor control rod drive system according to claim 5, characterized in that, The adaptive control platform further includes: A human-machine interaction interface, which visually displays the whole-process data of the control process.

8. An adaptive control platform for a reactor control rod drive system according to claim 7, characterized in that The human-computer interaction interface provides a real-time viewing function for the digital model, operating parameters, operating status, and control parameters of the control rod drive system, and supports users with corresponding permissions to modify the control parameters.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1-4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method described in any one of claims 1-4.

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