Method for calibrating measuring equipment of orifice plate valve of pipeline of main feedwater system of nuclear power plant

Abstract

This invention provides a method for calibrating the parameters of a measuring device for an orifice valve in a nuclear power plant's main feedwater system. The method includes: a process for calibrating the straightness of a telescopic rod, including horizontally placing the telescopic rod, installing a reflecting prism at its end, tracking the center of the reflecting prism with a laser tracker, and calculating the straightness of the telescopic rod; a process for calibrating the stepper motor's step distance accuracy, including measuring and statistically analyzing the step distance accuracy with a laser tracker; a process for calibrating the servo motor's rotation accuracy, including mounting a reflecting prism on the servo motor's rotation axis, controlling the prism's rotation, and statistically analyzing the rotation accuracy; a process for calibrating the repeatability accuracy of a distance measuring sensor, including installing a distance measuring sensor at the end of the telescopic rod and statistically analyzing the repeatability accuracy; a process for calibrating the distance measuring sensor's center position compensation parameters, including calibrating the compensation parameters using standard pipe fittings; and a process for calibrating the pipe's inner diameter measurement accuracy, including adding the measured distance value to the compensation parameters for correction, scanning and measuring standard pipe fittings, and statistically analyzing the pipe's inner diameter measurement accuracy.

Description

Technical Field

[0001] This invention belongs to the fields of industrial measurement and precision engineering measurement, and in particular relates to a system parameter verification technology for a measuring device for orifice valves in the main feedwater system of a nuclear power plant. Background Technology

[0002] The main feedwater system of each unit in a nuclear power plant is used to supply high-pressure feedwater heated by a high-pressure heater to the steam generator. Flow rate calculations require consideration of the inner diameter of the orifice valves in the main feedwater system pipes and the flow velocity. Due to the high flow velocity, the inner diameter of the orifice valves in the main feedwater system pipes has a significant impact on the flow rate calculation results. This necessitates high-precision measurement of the inner diameter of the orifice valves in the main feedwater system pipes.

[0003] Under normal circumstances, orifice valves are connected to pipelines by welding, and their inner diameter needs to be measured without damaging the equipment. During nuclear power plant overhauls, when orifice valves in the main feedwater system are being repaired, orifice valve measuring equipment is installed in the gap left on the orifice valve after disassembly to measure a representative pipe section. Because the gap left on the orifice valve is very narrow, conventional measuring instruments cannot directly enter the gap to measure the inner diameter. Therefore, specially developed orifice valve measuring equipment is required. However, this orifice valve measuring equipment is an integrated measuring system. After the components are integrated, the overall system parameters need to be calibrated to ensure the accuracy of the orifice valve inner diameter measurement.

[0004] The main measurement functions of the orifice valve measuring equipment include: stepper motor-controlled servo motor moving in the direction of the pipe axis; servo motor-controlled distance sensor rotating in a plane perpendicular to the stepper motor's direction of movement; distance sensor measuring instantaneous distance; and pipe inner diameter measurement. After the equipment is assembled, the system parameters should be calibrated. The equipment can only be used if all parameters are within the tolerance limits.

[0005] The system parameter verification of orifice valve measuring equipment in the main feedwater system of a nuclear power plant typically includes: straightness of telescopic rods, stepper motor step distance accuracy, servo motor rotation accuracy, repeatability of distance sensors, compensation parameters for distance sensor center position, and accuracy of pipe inner diameter measurement.

[0006] Compared to conventional measuring equipment, the main difficulties and problems in calibrating the system parameters of orifice valve measuring equipment in the main feedwater system of nuclear power plants lie in:

[0007] The orifice valve measuring equipment for the main feedwater system pipeline of a nuclear power plant was developed for specific measurement needs and is not a conventional measuring device. Currently, there are no existing verification operation specifications that stipulate the process and methods for verifying the system parameters. It is necessary to combine actual measurement needs, multiple measurement methods and measuring instruments to verify the system parameters of the orifice valve measuring equipment for the main feedwater system pipeline of a nuclear power plant.

[0008] Patent application 202310035567.1 discloses a measuring device for orifice valves in the main feedwater system of a nuclear power plant. This device is suitable for orifice valves with disassembled orifice plates and includes a main unit and a controller. The main unit comprises an L-shaped upper positioning mechanism and a lower telescopic measuring mechanism. The telescopic measuring mechanism is inserted through the gap in the orifice valve after orifice plate disassembly. After insertion, the positioning mechanism is rotated to make the telescopic measuring mechanism axially parallel to the pipe segment represented by the orifice valve's inner diameter. The positioning mechanism is fixed to the orifice valve. The controller controls the telescopic measuring mechanism to perform a full-circumference axial measurement of the inner diameter of the pipe segment represented by the orifice valve. This device utilizes the gap left on the orifice valve after disassembly for direct installation, solving the problem of measurement limitations imposed by conventional tools. It achieves accurate measurement of the inner diameter of the pipe segment represented by the orifice valve without damaging the on-site equipment, with an accuracy of up to 0.1 mm, ensuring the accuracy of the nuclear power plant's thermal power reference (KME thermal power) and guaranteeing nuclear safety.

[0009] However, the device lacks a system parameter calibration scheme, so it has not yet been widely used. Summary of the Invention

[0010] This invention proposes a system parameter calibration method for orifice valve measuring equipment in the main feedwater system of a nuclear power plant, in order to solve the difficulties and problems existing in the background technology. The system parameter calibration results can be used as a reference for the calibration of various components of the system.

[0011] The present invention provides a method for calibrating the parameters of an orifice valve measuring device in a nuclear power plant's main feedwater system pipeline. The measuring device includes a stepper motor, a telescopic rod, a servo motor, a distance sensor, and a control terminal. The telescopic rod is controlled by the stepper motor, and the following process is performed.

[0012] The process of verifying the straightness of a telescopic rod includes horizontally placing the telescopic rod, installing a reflecting prism at the end of the telescopic rod, continuously tracking the reflecting prism with a laser tracker to obtain the center coordinate sequence of the reflecting prism, and using the center coordinate sequence of the reflecting prism to calculate the straightness of the telescopic rod in the horizontal direction during the extension process.

[0013] The stepper motor step distance accuracy verification process includes horizontally placing a telescopic rod, with a reflecting prism installed at the end of the telescopic rod. The step length of the stepper motor is set at the control terminal. After each step extension is completed, the center coordinate sequence of the reflecting prism is measured using a laser tracker. Based on the center coordinate sequence of the reflecting prism, the step distance accuracy of the stepper motor is statistically analyzed.

[0014] The servo motor rotation accuracy verification process includes: horizontally placing a telescopic rod, installing the servo motor at the end of the telescopic rod, mounting a reflecting prism on the servo motor's rotation axis, setting the servo motor's step rotation angle, using the servo motor to control the reflecting prism to rotate in a plane perpendicular to the telescopic rod at step rotation angles, measuring the center coordinate sequence of the reflecting prism using a laser tracker after each rotation, and calculating the servo motor rotation accuracy based on the center coordinate sequence of the reflecting prism.

[0015] The process of verifying the repeatability of a distance measuring sensor includes: horizontally installing a telescopic rod, installing the distance measuring sensor at the end of the telescopic rod, using the control terminal to control the distance measuring sensor to perform multiple distance measurements, and statistically analyzing the repeatability of the distance measuring sensor.

[0016] The calibration process for the distance measuring sensor's center position compensation parameter includes, after the assembly of the orifice valve measuring equipment in the main feedwater system pipeline of the nuclear power plant is completed, using standard pipe fittings to calibrate the distance measuring sensor's center position compensation parameter.

[0017] The process of verifying the accuracy of pipe inner diameter measurement includes adding the distance measurement center position compensation parameter of the distance sensor to the distance value measured by the distance sensor each time for correction, using the orifice valve measuring equipment of the main feedwater system of the nuclear power plant to scan and measure standard pipe fittings, and statistically obtaining the accuracy of pipe inner diameter measurement.

[0018] Furthermore, during the straightness verification process of the telescopic rod, the telescopic rod controlled by the stepper motor is placed on the horizontal support platform. A laser tracker reflecting prism is installed at the end of the telescopic rod. A laser tracker is set up near the horizontal support platform. The control terminal controls the stepper motor to drive the telescopic rod to extend continuously. During the extension process, the laser tracker continuously tracks the reflecting prism to obtain the center coordinate sequence of the reflecting prism.

[0019] Using the center coordinate sequence of the reflecting prism, the straightness of the telescopic rod in the horizontal direction during the elongation process is calculated by the minimum containment area method or the fitted straight line method.

[0020] Furthermore, during the stepper motor step distance accuracy verification process, the telescopic rod controlled by the stepper motor is placed on a horizontal support platform. A laser tracker reflecting prism is installed at the end of the telescopic rod, and a laser tracker is set up near the horizontal support platform. The step length of the stepper motor is set at the control terminal, and the control terminal controls the stepper motor to drive the telescopic rod to extend with a fixed step value. After each step extension is completed, the center coordinate sequence of the reflecting prism is measured using the laser tracker.

[0021] Based on the center coordinate sequence of the reflecting prism, the actual moving distance of the reflecting prism after two adjacent step extensions is calculated. Then, combined with the set step extension length, the stepping distance accuracy of the stepper motor is statistically analyzed.

[0022] Furthermore, during the servo rotation accuracy verification process, the telescopic rod controlled by the stepper motor is placed on a horizontal support platform, and the servo motor is installed at the end of the telescopic rod. The laser tracker reflecting prism is installed on the servo motor rotation axis through a connecting component, and the laser tracker is set up near the horizontal support platform. The servo motor step rotation angle is set with the minimum rotation angle of the servo motor, and the reflecting prism is controlled by the servo motor to rotate in a plane perpendicular to the telescopic rod with a step rotation angle. After each rotation, the center coordinate sequence of the reflecting prism is measured using the laser tracker.

[0023] Based on the center coordinate sequence of the reflecting prism, a plane perpendicular to the telescopic rod is first fitted, and the center coordinate sequence of the reflecting prism is projected onto this plane to obtain the projected coordinate sequence of the center of the reflecting prism. Then, a circle is fitted on this plane using the projected coordinate sequence to obtain the coordinates of the center of the circle. Using the coordinates of every two adjacent coordinates in the projected coordinate sequence and the coordinates of the center of the circle, the central angle formed by the coordinate points in the projected coordinate sequence and the center of the circle is calculated. Then, combined with the set step rotation angle value, the rotation accuracy of the servo motor is statistically analyzed.

[0024] Furthermore, during the calibration of the repeatability of the distance measuring sensor, the telescopic rod controlled by the stepper motor is installed on the horizontal support platform, and the distance measuring sensor is installed at the end of the telescopic rod. The distance measuring sensor is used to measure the distance between the sensor and the horizontal support platform. The control terminal is used to control the distance measuring sensor to measure distance multiple times, and the repeatability of the distance measuring sensor is statistically analyzed.

[0025] Furthermore, during the calibration of the distance sensor's center position compensation parameters, a standard square cross-section pipe fitting is used as the standard pipe fitting. The orifice valve measuring equipment of the main feedwater system pipeline of the nuclear power plant is used to scan and measure the inside of the pipe fitting. During the measurement process, the rotation angle range of the servo motor is set, and only the coordinate data of the upper and lower surfaces inside the pipe fitting are acquired. The scanning process divides the pipe fitting into multiple segments, and the point cloud coordinates of the upper and lower surfaces of the pipe fitting acquired by the scan are used to fit a plane and calculate the distance between the two planes. Then, combined with the nominal dimensions of the standard square cross-section pipe fitting, the distance sensor's center position compensation parameters are calculated.

[0026] Furthermore, during the pipe inner diameter measurement accuracy verification process, in the control terminal, the distance value measured by the distance sensor each time is corrected by adding the distance sensor's distance center position compensation parameter; the standard pipe fitting adopts a standard cylindrical pipe fitting, and the orifice plate valve scanning measurement device is used to scan and measure the standard cylindrical pipe fitting. During the scanning process, the pipe fitting is divided into multiple segments, and each set of data is used to fit a spatial cylinder, calculate the radius of the spatial cylinder, and perform statistical calculation with the nominal radius dimension of the standard cylindrical pipe fitting to obtain the pipe inner diameter measurement accuracy.

[0027] On the other hand, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the parameter calibration method for orifice valve measuring equipment in the main feedwater system pipeline of a nuclear power plant as described above.

[0028] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-described method for verifying the parameters of the orifice valve measuring equipment in the main feedwater system pipeline of a nuclear power plant.

[0029] On the other hand, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method for verifying the parameters of the orifice valve measuring equipment in the main feedwater system pipeline of a nuclear power plant.

[0030] This invention proposes a parameter calibration scheme for orifice valve measuring equipment in the main feedwater system of nuclear power plants. Its advantages lie in: solving the current problem of lacking standardized procedures for calibrating various system parameters of orifice valve measuring equipment; and designing calibration methods for the accuracy and parameters of each component of the orifice valve measuring equipment in the main feedwater system of nuclear power plants. This invention is applicable to the system parameter calibration of various scanning measuring devices composed of stepper motors, telescopic rods, servo motors, distance sensors, and control terminals, and is particularly suitable for the system parameter calibration of orifice valve measuring equipment used in the inner diameter measurement of orifice valves in the main feedwater system of nuclear power plants. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the orifice valve measuring device for the main feedwater system pipeline of a nuclear power plant, according to an embodiment of the present invention.

[0032] Figure 2 This is a schematic diagram of the installation of the servo rotation accuracy verification equipment according to an embodiment of the present invention.

[0033] Figure 3 This is a schematic diagram illustrating the calculation of the servo motor rotation accuracy verification angle according to an embodiment of the present invention.

[0034] Figure 4This is a schematic diagram of the distance measurement center position compensation parameters of the distance measuring sensor in an embodiment of the present invention.

[0035] Figure 5 This is a schematic diagram illustrating the calibration of the distance measurement center position compensation parameters of the distance measuring sensor according to an embodiment of the present invention.

[0036] Figure 6 This is a schematic diagram illustrating the accuracy verification of pipe inner diameter measurement according to an embodiment of the present invention.

[0037] Figure 7 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0039] This invention provides a method for calibrating the parameters of orifice valve measuring equipment in the main feedwater system pipeline of a nuclear power plant.

[0040] like Figure 1 As shown in the embodiment of the present invention, the orifice valve measuring device for the main feedwater system pipeline of a nuclear power plant includes: a stepper motor, a telescopic rod, a servo motor, a distance sensor, and a control terminal;

[0041] The control terminal is wirelessly connected to the stepper motor, servo motor, and distance sensor in sequence.

[0042] The stepper motor is connected to the servo motor via the telescopic rod;

[0043] The ranging sensor is mounted on the servo motor;

[0044] The servo motor can drive the ranging sensor to rotate 360° in a plane perpendicular to the extension direction of the telescopic rod;

[0045] The ranging sensor measures distance in a direction away from the center of rotation within a plane perpendicular to the extension direction of the telescopic rod.

[0046] The control terminal controls the stepper motor, which in turn drives the telescopic rod to extend or shorten, thereby controlling the servo motor to move step by step in the telescopic rod's extension and retraction direction. The result of the stepping movement is then returned to the controlled terminal.

[0047] The control terminal controls the servo motor to rotate step by step, and the servo motor in turn drives the ranging sensor to rotate step by step. The result of the step rotation is returned to the control terminal.

[0048] The control terminal controls the ranging sensor to measure distance, and the ranging result is returned to the control terminal.

[0049] The control terminal performs spatial cylindrical fitting on the orifice valve (the orifice valve is shaped like a local pipe) on the main feedwater system pipeline of the nuclear power plant based on the returned data, and calculates the pipe diameter.

[0050] The preferred embodiment uses a stepper motor model PSSM005 with a nominal stepping control accuracy of 0.02mm, a preferred servo motor model PSSE030 with a nominal stepping rotation angle accuracy of 0.0125°, and a preferred ranging sensor model OD5-150T40 with a nominal repeatability accuracy of 2μm.

[0051] The present invention provides a method for verifying the parameters of the orifice valve measuring equipment in the main feedwater system of a nuclear power plant, which includes: verification of the straightness of the telescopic rod, verification of the stepping distance accuracy of the stepper motor, verification of the rotation accuracy of the servo motor, verification of the repeatability accuracy of the ranging sensor, verification of the distance measurement center position compensation parameter of the ranging sensor, and verification of the accuracy of the pipe inner diameter measurement.

[0052] The following provides a detailed flowchart of the parameter verification method for orifice valve measuring equipment in the main feedwater system of a nuclear power plant, for implementation reference:

[0053] Step 1: Straightness check of telescopic rods.

[0054] The telescopic rod, controlled by the stepper motor, is mounted on a horizontal platform. A reflecting prism for a laser tracker is installed at the end of the telescopic rod, and the laser tracker is set up near the horizontal platform. The stepper motor, controlled by the control terminal, continuously extends the telescopic rod. During extension, the laser tracker continuously tracks the reflecting prism to obtain its center coordinate sequence. Using the center coordinate sequence of the reflecting prism, the straightness of the telescopic rod in the horizontal direction during extension is calculated using either the minimum containment region method or a fitted straight line method.

[0055] The preferred specific sub-steps used in the embodiment are as follows:

[0056] Step 1.1: Install the telescopic rod controlled by the stepper motor on the horizontal platform. Install the reflecting prism P of the laser tracker at the end of the telescopic rod. Set up the laser tracker near the horizontal platform and use the laser tracker's function of establishing a horizontal plane to establish a spatial rectangular coordinate system O. XYZ .

[0057] Step 1.2: Using the control terminal, control the stepper motor to continuously extend the telescopic rod. During the extension process, use a laser tracker to continuously track the reflecting prism P and obtain the center coordinate sequence of the reflecting prism P. Where i represents the coordinate of the i-th point in the coordinate sequence, i = 1, 2, 3...

[0058] In this embodiment, the telescopic rod extends continuously 100 times, with each extension step being 2mm. During the continuous extension of the telescopic rod, a total of 100 coordinates of the center of the reflecting prism are obtained.

[0059] Step 1.3, using the center coordinate sequence of the reflecting prism P XOY plane coordinate sequence The straightness M1 of the telescopic rod in the horizontal direction during the elongation process is calculated using the fitted straight line method.

[0060] In this embodiment, the straightness M1 is preferably calculated using the fitted line method, as follows:

[0061] Using planar coordinate sequences The least squares criterion is used to fit the plane line S1, and the plane coordinate sequence is calculated respectively. The distance v between the coordinate point above line S1 and line S1 is set to a positive value, and the distance between the coordinate point below line S1 and line S1 is set to a negative value.

[0062] The maximum positive value v was obtained statistically. max and the minimum negative value v min Then, the straightness M1 of the telescopic rod in the horizontal direction during the elongation process is expressed as:

[0063] M1 = v max -v min

[0064] In the embodiment, v max =0.02mm, v min = -0.01mm, M1 = 0.03mm.

[0065] Step 2, stepper motor step distance accuracy verification.

[0066] A telescopic rod controlled by a stepper motor is mounted on a horizontal platform. A laser tracker reflecting prism is installed at the end of the telescopic rod, and a laser tracker is set up near the platform. The step length of the stepper motor is set at a control terminal, which controls the stepper motor to extend the telescopic rod by a fixed step value. After each step extension, the center coordinate sequence of the reflecting prism is measured using the laser tracker. Based on the center coordinate sequence of the reflecting prism, the actual movement distance of the reflecting prism after two adjacent step extensions is calculated. Combined with the set step extension length, the step distance accuracy of the stepper motor is statistically analyzed.

[0067] The preferred specific sub-steps used in the embodiment are as follows:

[0068] Step 2.1: Install the telescopic rod controlled by the stepper motor on the horizontal platform. Install the laser tracker reflecting prism P at the end of the telescopic rod. Set up the laser tracker near the horizontal platform and use the laser tracker's function of establishing a horizontal plane to establish a spatial rectangular coordinate system O. XYZ .

[0069] Step 2.2: Set the step length l1 of the stepper motor on the control terminal. The control terminal controls the stepper motor to drive the telescopic rod to extend in steps l1. After each step extension, use a laser tracker to measure the center coordinate sequence of the reflecting prism P. Where j represents the j-th step extension, and the telescopic rod extends a total of N2 times.

[0070] In the embodiment, the telescopic rod extends in steps of l1 = 1 mm, and extends a total of N2 = 300 times. During the continuous extension of the telescopic rod, a total of 300 coordinates of the center of the reflecting prism are obtained.

[0071] Step 2.3, based on the center coordinate sequence of the reflecting prism P Calculate the actual moving distance D of the reflecting prism P after two consecutive step extensions using the following formula. j , j = 1, 2, 3, ..., N2-1.

[0072]

[0073] Step 2.4, combined with the set step extension length l1 = 1mm, calculate the stepper motor step distance accuracy M2 according to the following formula.

[0074]

[0075] In the example, M2 = ±0.016 mm.

[0076] Step 3: Servo rotation accuracy verification.

[0077] A telescopic rod controlled by a stepper motor is mounted on a horizontal platform. A servo motor is installed at the end of the telescopic rod. A laser tracker reflecting prism is mounted on the servo motor's rotation axis via a connecting component. A laser tracker is set near the horizontal platform. The servo motor's step rotation angle is set to its minimum rotation angle. The servo motor controls the reflecting prism to rotate in a plane perpendicular to the telescopic rod with step rotation angles. After each rotation, the laser tracker measures the center coordinate sequence of the reflecting prism. Based on the center coordinate sequence of the reflecting prism, a plane perpendicular to the telescopic rod is first fitted. The center coordinate sequence of the reflecting prism is projected onto this plane to obtain the projected coordinate sequence of the reflecting prism's center. Then, a circle is fitted on this plane using the projected coordinate sequence to obtain the coordinates of the circle's center. Using every two adjacent coordinates in the projected coordinate sequence and the center's coordinates, the central angle formed by the coordinates in the projected coordinate sequence and the center is calculated. Combined with the set step rotation angle value, the servo motor's rotation accuracy is statistically analyzed.

[0078] The preferred specific sub-steps used in the embodiment are as follows:

[0079] Step 3.1, as follows Figure 2 As shown, the telescopic rod controlled by the stepper motor is placed on the experimental platform, and the servo motor is installed at the end of the telescopic rod. The laser tracker reflecting prism P is installed on the servo motor rotating shaft through the connecting component, and the laser tracker is set up near the experimental platform.

[0080] In practice, the telescopic rod controlled by the stepper motor can be installed on the horizontal support platform, and a laser tracker can be set up near the horizontal support platform to establish a spatial rectangular coordinate system O using the laser tracker's function of establishing a horizontal plane. XYZ .

[0081] Step 3.2, with the minimum rotation angle α of the servo motor min =0.25° The servo motor is set to a step rotation angle. The servo motor controls the reflecting prism P to rotate in a step rotation angle in a plane perpendicular to the telescopic rod, accumulating a rotation of 360°, for a total step rotation N3 = 360° / α. min =1440 times, and after each rotation, the center coordinate sequence of the reflecting prism P is measured using a laser tracker. Where k represents the k-th step rotation, k = 1, 2, 3, ..., N3-1.

[0082] Step 3.3, based on the center coordinate sequence of the reflecting prism P The plane E3, perpendicular to the telescopic member, is fitted using the following formula based on the least squares criterion.

[0083] Ax + By + Cz + D = 0

[0084] Where A, B, C, and D are the coefficients of the plane equation, and C ≠ 0.

[0085] The center coordinate sequence of the reflecting prism P Projected onto plane E3, the projected coordinate sequence of the reflecting prism P is obtained.

[0086] Step 3.4, as follows Figure 3 As shown, using the projected coordinate sequence Fit a circle onto plane E3 to obtain the center C. E3 coordinates (x′) C ,y′ C ), using projected coordinate sequences In the middle, every two adjacent coordinates and the center C of the circle E3 The coordinates of the points in the projected coordinate sequence are calculated, and the coordinates of the points are calculated relative to the center C of the circle. E3 The central angle α formed m , m=1,2,3,N3.

[0087] Step 3.5, combined with the set step rotation angle α min =0.25°, and the rotational accuracy M3 of the servo motor is calculated according to the following formula.

[0088]

[0089] In the embodiment, M3 = ±0.0125°.

[0090] Step 4: Verify the repeatability accuracy of the ranging sensor.

[0091] In practice, the ranging sensor can be installed on the servo motor and then calibrated. However, for simplicity, the ranging sensor can also be pre-installed on the end of the telescopic rod and then calibrated before assembling the orifice valve measuring equipment for the main feedwater system pipeline of the nuclear power plant.

[0092] A telescopic rod controlled by a stepper motor is mounted on a horizontal platform. A distance measuring sensor is installed at the end of the telescopic rod, and the distance measuring sensor is used to measure the distance between the sensor and the horizontal platform. The control terminal controls the distance measuring sensor to perform multiple distance measurements, and the repeatability accuracy of the distance measuring sensor is statistically analyzed.

[0093] Step 4.1: The telescopic rod controlled by the stepper motor is placed on the horizontal support platform, and the distance measuring sensor is installed at the end of the telescopic rod.

[0094] Step 4.2: Measure the distance d between the sensor and the horizontal support using the distance measuring sensor. nThe measurement rounds are marked n = 1, 2, 3, ..., N4, where N4 represents the number of distance measurements controlled by the control terminal using the distance measuring sensor. In this embodiment, N4 = 5000.

[0095] Step 4.3: Calculate the average value of N4 = 5000 measurements. The repeatability accuracy M4 of the ranging sensor is calculated using the following formula.

[0096]

[0097] In the example, M4 = ±0.15 μm.

[0098] Step 5: Verification of the distance measurement center position compensation parameters of the distance measuring sensor.

[0099] After the measurement equipment for the orifice valve of the main feedwater system pipeline of the nuclear power plant is assembled, the starting position of the ranging sensor is unknown. Under normal circumstances, the actual distance value measured by the ranging sensor is smaller than the distance from the center line of the servo motor rotation axis to the surface of the target to be measured. That is, there is a deviation in the ranging center position of the ranging sensor. It is necessary to use a standard-sized square cross-section pipe fitting to calibrate the ranging center position compensation parameter of the ranging sensor.

[0100] In practical implementation, the orifice valve measuring device for the main feedwater system pipeline of the nuclear power plant can be placed on an experimental platform. A standard square cross-section pipe can be placed on the platform, and the orifice valve measuring device can be used to scan and measure the interior of the pipe. During the measurement process, the rotation angle range of the servo motor is set, and only the coordinate data of the upper and lower surfaces inside the pipe are acquired. The scanning process divides the pipe into multiple segments. The point cloud coordinates of the upper and lower surfaces of the pipe acquired by the orifice valve measuring device are used to fit a plane, and the distance between the two planes is calculated. Then, combined with the nominal dimensions of the standard square cross-section pipe, the compensation parameters for the ranging center position of the ranging sensor are calculated.

[0101] like Figure 4 As shown, after the measurement equipment for the orifice valve of the main feedwater system pipeline of the nuclear power plant is assembled, the starting position of the ranging sensor is unknown. Under normal circumstances, the distance value actually measured by the ranging sensor is smaller than the distance value from the center line of the servo motor rotation axis to the surface of the target to be measured, that is, there is a deviation M5 in the ranging center position of the ranging sensor.

[0102] Step 5.1, as follows Figure 5 As shown, the orifice valve measuring device is placed on the experimental platform, and a standard square cross-section pipe with a side length of D5 = 320mm is placed on the experimental platform.

[0103] Step 5.2: Use the orifice valve measuring device to scan and measure the inside of the pipe fitting. During the measurement process, set the rotation angle range of the servo motor to acquire only the coordinate data of the upper and lower surfaces inside the pipe fitting. The scanning process divides the pipe fitting into N5 = 5 segments.

[0104] Step 5.3: Fit a plane using the point cloud coordinates of the upper and lower surfaces of the pipe fitting obtained by the orifice valve measuring device. and The sequence numbers are labeled i = 1, 2, 3, ..., N5, and the distance between the two planes is calculated.

[0105] Step 5.4, then, combining the nominal size D5 = 320mm of the standard square cross-section pipe fitting, calculate the distance measurement center position compensation parameter M5 of the distance measuring sensor according to the following formula.

[0106]

[0107] In the embodiment, M5 = 35.815 mm.

[0108] Step 6: Verification of the accuracy of pipe inner diameter measurement.

[0109] In the control terminal, the distance value measured by the ranging sensor each time is corrected by adding the ranging center position compensation parameter of the ranging sensor. The orifice valve measuring device is used to scan and measure a standard cylindrical pipe fitting. During the scanning process, the pipe fitting is divided into multiple segments. Each set of data is used to fit a spatial cylinder, the radius of the spatial cylinder is calculated, and statistical calculations are performed with the nominal radius of the standard cylindrical pipe fitting to obtain the accuracy of the pipe inner diameter measurement.

[0110] In specific implementation, the distance value d measured by the ranging sensor each time can be stored in the control terminal software. raw If the compensation parameter M5 calculated in step 5 is added to the value for correction, then the distance value d obtained at this time will be... cor =d raw +M5 is the distance from the center line of the servo motor's rotation axis to the surface of the target being measured.

[0111] The orifice valve measuring device is used to scan and measure a standard cylindrical pipe fitting. During the scanning process, the pipe fitting is divided into N6 segments. Each set of data is used to fit a spatial cylinder, the radius of the spatial cylinder is calculated, and statistical calculations are performed with the nominal radius of the standard cylindrical pipe fitting to obtain the pipe inner diameter measurement accuracy M6.

[0112] Step 6.1, as follows Figure 6 As shown, the orifice valve measuring device is placed on the test bench, and a standard cylindrical pipe fitting with a nominal radius of R6 = 310 mm is placed on the test bench.

[0113] Step 6.2: Use the orifice valve measuring device to scan and measure the standard cylindrical pipe fitting. On the control terminal, set the stepper motor's step extension length to L6 = 3mm, and the servo motor's step rotation angle to α6 = 10°. Each step of the stepper motor is T6 = 10 times, constituting one set of data acquisition. A total of N6 = 10 sets of data are collected.

[0114] Step 6.3: Using each set of data, fit the spatial cylinder Y6 according to the following spatial cylinder equation using the least squares criterion to obtain the cylinder radius R. f , where the serial numbers are marked f = 1, 2, 3, ..., N6.

[0115] (x-x0) 2 +(y-y0) 2 +(z-z0) 2 -[a(x-x0)+b(y-y0)+c(z-z0)] 2 =R 2 Where (x0, y0, z0) is a point on the axis of cylinder Y6, (a, b, c) is the axis vector of cylinder Y6, and R is the radius of cylinder Y6.

[0116] Step 6.4, calculate the cylinder radius R. f Statistical calculations were performed using the nominal radius of the standard cylindrical pipe fitting, R6 = 310 mm, to obtain the pipe inner diameter measurement accuracy M6.

[0117]

[0118] In the embodiment, M6 = ±0.18 mm.

[0119] Using the above process, the following accuracy can be obtained for the measurement equipment of the orifice valve in the main feedwater system of a nuclear power plant: straightness of the telescopic rod, accuracy of the stepper motor step distance, accuracy of the servo motor rotation, accuracy of the distance sensor repeatability measurement, accuracy of the distance sensor distance center position compensation parameter, and accuracy of the pipe inner diameter measurement. The measurement results can provide data reference for equipment calibration personnel or equipment users to determine whether the orifice valve measurement equipment in the main feedwater system of a nuclear power plant needs component calibration.

[0120] The following describes the parameter calibration device for orifice plate valve measuring equipment in the main feedwater system pipeline of a nuclear power plant provided by the present invention. The parameter calibration device for orifice plate valve measuring equipment in the main feedwater system pipeline of a nuclear power plant described below can be referred to in correspondence with the parameter calibration method for orifice plate valve measuring equipment in the main feedwater system pipeline of a nuclear power plant described above.

[0121] Figure 7 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 7As shown, the electronic device may include a processor, a communications interface, a memory, and a communication bus, wherein the processor, communications interface, and memory communicate with each other via the communication bus. The processor can call logical instructions in the memory to execute the parameter verification method for orifice valve measuring equipment in the main feedwater system pipeline of a nuclear power plant.

[0122] Furthermore, the logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, and can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0123] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the parameter verification method for orifice valve measuring equipment in the main feedwater system pipeline of a nuclear power plant provided by the above methods.

[0124] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the method for verifying the parameters of the orifice valve measuring equipment in the main feedwater system pipeline of a nuclear power plant provided by the methods described above.

[0125] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0126] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calibrating the parameters of an orifice valve measuring device for a nuclear power plant's main feedwater system pipeline, wherein the orifice valve measuring device comprises a stepper motor, a telescopic rod, a servo motor, a distance sensor, and a control terminal, wherein the telescopic rod is controlled by the stepper motor, characterized in that: Perform the following process, The process of verifying the straightness of a telescopic rod includes horizontally placing the telescopic rod, installing a reflecting prism at the end of the telescopic rod, continuously tracking the reflecting prism with a laser tracker to obtain the center coordinate sequence of the reflecting prism, and using the center coordinate sequence of the reflecting prism to calculate the straightness of the telescopic rod in the horizontal direction during the extension process. The stepper motor step distance accuracy verification process includes horizontally placing a telescopic rod, with a reflecting prism installed at the end of the telescopic rod. The step length of the stepper motor is set at the control terminal. After each step extension is completed, the center coordinate sequence of the reflecting prism is measured using a laser tracker. Based on the center coordinate sequence of the reflecting prism, the step distance accuracy of the stepper motor is statistically analyzed. The servo motor rotation accuracy verification process includes: horizontally placing a telescopic rod, installing the servo motor at the end of the telescopic rod, mounting a reflecting prism on the servo motor's rotation axis, setting the servo motor's step rotation angle, using the servo motor to control the reflecting prism to rotate in a plane perpendicular to the telescopic rod at step rotation angles, measuring the center coordinate sequence of the reflecting prism using a laser tracker after each rotation, and calculating the servo motor rotation accuracy based on the center coordinate sequence of the reflecting prism. The process of verifying the repeatability of a distance measuring sensor includes: horizontally installing a telescopic rod, installing the distance measuring sensor at the end of the telescopic rod, using the control terminal to control the distance measuring sensor to perform multiple distance measurements, and statistically analyzing the repeatability of the distance measuring sensor. The calibration process for the distance measuring sensor's center position compensation parameter includes, after the assembly of the orifice valve measuring equipment in the main feedwater system pipeline of the nuclear power plant is completed, using standard pipe fittings to calibrate the distance measuring sensor's center position compensation parameter. The process of verifying the accuracy of pipe inner diameter measurement includes adding the distance measurement center position compensation parameter of the distance sensor to the distance value measured by the distance sensor each time for correction, using the orifice valve measuring equipment of the main feedwater system of the nuclear power plant to scan and measure standard pipe fittings, and statistically obtaining the accuracy of pipe inner diameter measurement.

2. The method for calibrating the parameters of the orifice valve measuring equipment in the main feedwater system of a nuclear power plant according to claim 1, characterized in that: During the straightness verification process of the telescopic rod, the telescopic rod controlled by the stepper motor is placed on a horizontal support platform. A laser tracker reflecting prism is installed at the end of the telescopic rod. A laser tracker is set up near the horizontal support platform. The control terminal controls the stepper motor to drive the telescopic rod to extend continuously. During the extension process, the laser tracker continuously tracks the reflecting prism to obtain the center coordinate sequence of the reflecting prism. Using the center coordinate sequence of the reflecting prism, the straightness of the telescopic rod in the horizontal direction during the elongation process is calculated by the minimum containment area method or the fitted straight line method.

3. The method for calibrating the parameters of the orifice valve measuring equipment in the main feedwater system of a nuclear power plant according to claim 1, characterized in that: During the stepper motor step distance accuracy verification process, the telescopic rod controlled by the stepper motor is placed on a horizontal support platform. A laser tracker reflecting prism is installed at the end of the telescopic rod, and a laser tracker is set up near the horizontal support platform. The step length of the stepper motor is set at the control terminal, and the control terminal controls the stepper motor to drive the telescopic rod to extend at a fixed step value. After each step extension is completed, the center coordinate sequence of the reflecting prism is measured using the laser tracker. Based on the center coordinate sequence of the reflecting prism, the actual moving distance of the reflecting prism after two adjacent step extensions is calculated. Then, combined with the set step extension length, the stepping distance accuracy of the stepper motor is statistically analyzed.

4. The method for calibrating the parameters of the orifice valve measuring equipment in the main feedwater system of a nuclear power plant according to claim 1, characterized in that: During the servo motor rotation accuracy verification process, the telescopic rod controlled by the stepper motor is placed on a horizontal support platform, and the servo motor is installed at the end of the telescopic rod. The laser tracker reflecting prism is installed on the servo motor rotation axis through a connecting component, and the laser tracker is set up near the horizontal support platform. The servo motor step rotation angle is set with the minimum rotation angle of the servo motor, and the reflecting prism is controlled by the servo motor to rotate in a plane perpendicular to the telescopic rod with a step rotation angle. After each rotation, the center coordinate sequence of the reflecting prism is measured using the laser tracker. Based on the center coordinate sequence of the reflecting prism, a plane perpendicular to the telescopic rod is first fitted, and the center coordinate sequence of the reflecting prism is projected onto this plane to obtain the projected coordinate sequence of the center of the reflecting prism. Then, a circle is fitted on this plane using the projected coordinate sequence to obtain the coordinates of the center of the circle. Using the coordinates of every two adjacent coordinates in the projected coordinate sequence and the coordinates of the center of the circle, the central angle formed by the coordinate points in the projected coordinate sequence and the center of the circle is calculated. Then, combined with the set step rotation angle value, the rotation accuracy of the servo motor is statistically analyzed.

5. The method for calibrating the parameters of the orifice valve measuring equipment in the main feedwater system of a nuclear power plant according to claim 1, characterized in that: During the calibration of the repeatability of the distance measuring sensor, a telescopic rod controlled by the stepper motor is placed on a horizontal platform. The distance measuring sensor is installed at the end of the telescopic rod. The distance measuring sensor is used to measure the distance between the sensor and the horizontal platform. The control terminal is used to control the distance measuring sensor to perform multiple rounds of distance measurement, and the repeatability of the distance measuring sensor is statistically analyzed.

6. The method for calibrating the parameters of the orifice valve measuring equipment in the main feedwater system of a nuclear power plant according to claim 1, characterized in that: During the calibration of the distance sensor's center position compensation parameters, a standard square cross-section pipe fitting is used as the standard pipe fitting. The internal structure of the pipe fitting is scanned and measured using the orifice valve measuring equipment of the main feedwater system of the nuclear power plant. During the measurement process, the rotation angle range of the servo motor is set, and only the coordinate data of the upper and lower surfaces inside the pipe fitting are acquired. The scanning process divides the pipe fitting into multiple segments, and the point cloud coordinates of the upper and lower surfaces of the pipe fitting acquired by the scan are used to fit a plane, and the distance between the two planes is calculated. Then, combined with the nominal dimensions of the standard square cross-section pipe fitting, the distance sensor's center position compensation parameters are calculated.

7. The method for calibrating the parameters of the orifice valve measuring equipment in the main feedwater system of a nuclear power plant according to claim 1, characterized in that: During the pipe inner diameter measurement accuracy verification process, in the control terminal, the distance value measured by the distance sensor each time is corrected by adding the distance sensor's distance center position compensation parameter; the standard pipe fitting adopts a standard cylindrical pipe fitting, and the orifice plate valve scanning measurement device is used to scan and measure the standard cylindrical pipe fitting. During the scanning process, the pipe fitting is divided into multiple segments, and each set of data is used to fit a spatial cylinder, calculate the radius of the spatial cylinder, and perform statistical calculation with the nominal radius dimension of the standard cylindrical pipe fitting to obtain the pipe inner diameter measurement accuracy.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the parameter verification method for orifice valve measuring equipment in the main feedwater system pipeline of a nuclear power plant as described in any one of claims 1 to 7.

9. A non-transitory 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 parameter verification method for the orifice valve measuring equipment of the main feedwater system pipeline of a nuclear power plant as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the parameter verification method for the orifice valve measuring equipment of the main feedwater system pipeline of a nuclear power plant as described in any one of claims 1 to 7.

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