Control method and device for reactor control rod and medium

Abstract

The invention discloses a control method and device for a reactor control rod and a medium. The control method is applied to the control system, the control system at least comprises a driving circuit and a control rod driving mechanism which are electrically connected in sequence, and the control method comprises the steps that a current pulse signal input into the driving circuit and a current current of a controlled object in the control rod driving mechanism are collected in real time; determining current actual characteristic parameters of the controlled object in the current environment based on the current pulse signal, the current current, the theoretical characteristic parameters of the controlled object and the expected current preset at the current moment; determining a target pulse signal input into the driving circuit based on the actual characteristic parameter and the expected current; and adjusting the current pulse signal based on the target pulse signal to enable the controlled object to output expected current so as to control the control rod based on the expected current. According to the invention, the target pulse signal can be timely and accurately determined, so that the self-adaptive control of the control rod driving system / control system is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear power plants, and in particular to a control method, device and medium for reactor control rods. Background Art

[0002] The reactivity of the reactor in a nuclear power plant is mainly adjusted by the movement of the control rods driven by the control rod drive mechanism. This is to achieve the functions of reactor startup, power regulation, normal shutdown and emergency shutdown. The existing control rod drive mechanism is usually driven by an insulated gate bipolar transistor IGBT drive circuit, that is, the IGBT drive circuit outputs current to the controlled object in the control rod drive mechanism, so that the controlled object generates the corresponding predetermined timing current according to the functional requirements of lifting and lowering. The IGBT drive circuit can be controlled by a controller. As the working environment temperature of the control rod drive mechanism changes, the parameters of the controlled object will change. Therefore, it is necessary to adjust the pulse signal of the drive circuit or the control parameters of the controller so that the current output by the controlled object meets the requirements, that is, meets the predetermined timing current requirements, thereby achieving precise control of the control rod.

[0003] However, the existing control method is to manually control multiple times through manual judgment, so that the current output by the controlled object meets the predetermined time sequence current. This method of manually adjusting the control signal has the problems of low control accuracy and lack of timeliness. Summary of the invention

[0004] In view of this, the present invention provides a control method, device and medium for reactor control rods, the main purpose of which is to solve the problems of low control accuracy and lack of timeliness in the current method of manually adjusting the control signal.

[0005] In order to solve the above problems, the present application provides a control method for a reactor control rod, the control method is applied to a control system, the control system at least includes a drive circuit and a control rod drive mechanism electrically connected in sequence, the control method includes:

[0006] Real-time acquisition of the current pulse signal of the input drive circuit and the current current of the controlled object in the control rod drive mechanism;

[0007] Determine the actual characteristic parameters of the controlled object under the current environment based on the current pulse signal, the current current, the theoretical characteristic parameters of the controlled object and the expected current predetermined at the current moment;

[0008] Based on the actual characteristic parameter and the expected current, determining a target pulse signal input to the drive circuit;

[0009] The current pulse signal is adjusted based on the target pulse signal so that the controlled object outputs the desired current, so as to control the control rod based on the desired current.

[0010] Optionally, determining the actual characteristic parameters of the controlled object under the current environment based on the current pulse signal, the current current, the theoretical characteristic parameters of the controlled object and the expected current predetermined at the current moment specifically includes:

[0011] Obtaining a theoretical resistance value and a theoretical inductance value of the controlled object to obtain the theoretical characteristic parameters;

[0012] Based on the current pulse signal, the current current, the theoretical resistance value, the theoretical inductance value and the expected current, a predetermined parameter estimation method is used to estimate the characteristic parameters of the controlled object to determine the actual resistance value and the actual inductance value of the controlled object under the current environment to obtain the actual characteristic parameters.

[0013] Optionally, the predetermined parameter estimation method includes any one or more of the following: forgetting factor recursive least squares method, step response method, impulse response method, least squares method and maximum likelihood method.

[0014] Optionally, determining a target pulse signal input to the driving circuit based on the actual characteristic parameter and the expected current specifically includes:

[0015] Determining a driving circuit mathematical model based on the circuit structure of the driving circuit;

[0016] Based on the actual characteristic parameters, the expected current and the circuit mathematical model, a target pulse signal of the driving circuit is determined.

[0017] Optionally, before real-time acquisition of the current pulse signal output by the drive circuit and the current current of the controlled object in the control rod drive mechanism, the method further includes:

[0018] The command current of the controlled object at each moment is determined in advance according to the lifting command, the inserting command and the holding command of the control rod at each moment, so as to obtain the expected current at each moment.

[0019] Optionally, the control system further comprises a controller for outputting a pulse signal to the drive circuit, and an output terminal of the controller is electrically connected to a signal input terminal of the drive circuit;

[0020] When collecting the current pulse signal, the method further includes: collecting the current control parameters input by the controller;

[0021] Based on the target pulse signal, the current pulse signal and the current control parameter, the target control parameter of the controller is determined, so as to adjust the current control parameter of the controller based on the target control parameter so that the target controller outputs the target pulse signal to the drive circuit.

[0022] Optionally, the controller is a proportional controller;

[0023] The determining the target control parameter of the controller based on the target pulse signal, the current pulse signal and the current control parameter specifically includes:

[0024] Determining a controller mathematical model corresponding to the proportional controller;

[0025] Based on the target pulse parameter, the current pulse parameter and the current control parameter, the proportional parameter and the integral parameter corresponding to the proportional controller are determined using the controller mathematical model to obtain the target control parameter.

[0026] Optionally, the method further includes: determining the operating status of the drive circuit and the controlled object based on the current pulse signal and the current circuit.

[0027] In order to solve the above problems, the present application provides a control device for a reactor control rod, the control device is applied to a control system, the control system at least includes a drive circuit and a control rod drive mechanism electrically connected in sequence, the control device includes:

[0028] An acquisition module is used to acquire the current pulse signal of the input drive circuit and the current current of the controlled object in the control rod drive mechanism in real time;

[0029] A first determination module is used to determine the actual characteristic parameters of the controlled object under the current environment based on the current pulse signal, the current current, the theoretical characteristic parameters of the controlled object and the expected current predetermined at the current moment;

[0030] A second determination module, configured to determine a target pulse signal input to the drive circuit based on the actual characteristic parameter and the expected current;

[0031] A control module is used to adjust the current pulse signal based on the target pulse signal so that the controlled object outputs the desired current, so as to control the control rod based on the desired current.

[0032] In order to solve the above problems, the present application provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any of the above-mentioned methods for controlling reactor control rods are implemented.

[0033] The control method, device and medium for reactor control rods in the present application can realize real-time estimation / estimation of the characteristic parameters of the controlled object by collecting the input quantity (pulse signal) and output quantity (i.e., the current of the controlled object) of the driving circuit, so that the target pulse signal can be accurately and quickly determined based on the estimated actual characteristic parameters and the expected current, and the target pulse signal can be applied to the driving circuit, thereby realizing adaptive control of the control system based on the target pulse signal.

[0034] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0036] Figure 1 This is a flow chart of a control method for a reactor control rod according to an embodiment of the present application;

[0037] Figure 2 (a) is a real resistance diagram of a controlled object in another embodiment of the present application;

[0038] Figure 2 (b) is an actual resistance diagram estimated and obtained for a controlled object in another embodiment of the present application;

[0039] Figure 3 (a) is a real inductance diagram of a controlled object in another embodiment of the present application;

[0040] Figure 3 (b) is an actual inductance diagram estimated and obtained for a controlled object in another embodiment of the present application;

[0041] Figure 4 : is a circuit structure diagram of an IGBT driving circuit in an embodiment of the present application;

[0042] Figure 5 (a) is the pulse signal of S2 when the control rod implements the lifting command;

[0043] Figure 5 (b) is the pulse signal of S1 when the control rod implements the lifting command;

[0044] Figure 5(c) is a graph showing the relationship between the actual current of the controlled object and the command current when the control rod implements the lifting command;

[0045] FIG6( a ) is an equivalent circuit diagram of the IGBT drive circuit when S2 is turned on and S1 is turned on;

[0046] FIG6( b ) is an equivalent circuit diagram of the IGBT drive circuit when S2 is turned on and S1 is turned off;

[0047] Figure 7 A schematic diagram of the duty cycle of the S1 target pulse signal in another embodiment of the present application;

[0048] FIG8( a) is a schematic diagram of a P parameter in a target control parameter in an embodiment of the present application;

[0049] FIG8( b ) is a schematic diagram of the I parameter in the target control parameter in an embodiment of the present application;

[0050] Fig. 9 A comparison diagram of the adjusted response current and the reference current (expected current) in the embodiment of the present application;

[0051] Fig.10 This is a flow chart of a control method for a reactor control rod in another embodiment of the present application;

[0052] Fig.11 This is a structural block diagram of a control device for reactor control rods in another embodiment of the present application. DETAILED DESCRIPTION

[0053] Various aspects and features of the present application are described herein with reference to the accompanying drawings.

[0054] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present application will occur to those skilled in the art.

[0055] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.

[0056] These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0057] It should also be understood that although the present application has been described with reference to some specific examples, those skilled in the art will be able to readily implement many other equivalent forms of the present application.

[0058] The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

[0059] Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments applied for are merely examples of the present application, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that obscure the present application. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.

[0060] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.

[0061] The present application provides a control method for a reactor control rod, the control method is applied to a control system / control rod drive system, the control system at least includes a drive circuit and a control rod drive mechanism CRDM which are electrically connected in sequence, such as Figure 1 As shown, the control method in this embodiment includes the following steps:

[0062] Step S101, real-time acquisition of the current pulse signal of the input drive circuit and the current current of the controlled object in the control rod drive mechanism;

[0063] In this embodiment, the controlled object specifically refers to the coil in the control rod drive mechanism. The drive circuit can specifically be an IGBT drive circuit. The control rod drive mechanism CRMD and the output end of the IGBT form a series loop, so the current current of the controlled object / coil of the CRMD can also be understood as the current output current output by the drive circuit.

[0064] Step S102, determining the actual characteristic parameters of the controlled object under the current environment based on the current pulse signal, the current current, the theoretical characteristic parameters of the controlled object and the expected current predetermined at the current moment;

[0065] In this step, the characteristic parameters specifically refer to the resistance and inductance of the controlled object / coil. Since the resistance and inductance of the controlled object / coil will change with the change of ambient temperature, the actual resistance and inductance of the controlled object / coil are estimated in real time under the current environment, which lays the foundation for the subsequent determination of the target pulse signal based on the actual characteristic parameters estimated / estimated.

[0066] In the specific implementation process of this embodiment, before estimating the characteristic parameters of the controlled object / coil, the expected current at each moment can be determined in advance. The specific determination process is: according to the control rod lifting command, inserting command and holding command at each moment, the command current of the controlled object at each moment is determined in advance to obtain the expected current at each moment.

[0067] Step S103, determining a target pulse signal input to the driving circuit based on the actual characteristic parameter and the expected current;

[0068] In this step, after the actual characteristic parameters of the controlled object / coil are determined, the target pulse signal of the drive circuit can be reversely calculated according to the expected current, that is, the pulse signal of the switch S1 in the drive circuit can be determined.

[0069] Step S104: adjusting the current pulse signal based on the target pulse signal so that the controlled object outputs the desired current, so as to control the control rod based on the desired current.

[0070] In this step, after determining the target pulse signal, the current pulse signal can be adjusted so that the controlled object outputs the desired current, and then the control rod can perform corresponding lifting, lowering or maintaining work / instructions under the action of the desired current, thereby achieving precise control of the control rod.

[0071] The control method for reactor control rods in the present application can realize real-time estimation / estimation of the characteristic parameters of the controlled object by collecting the input quantity (current pulse signal) and output quantity (i.e., the current of the controlled object) of the driving circuit, so that the target pulse signal can be accurately and quickly determined based on the estimated actual characteristic parameters and the expected current, and the target pulse signal can be applied to the driving circuit, thereby realizing adaptive control of the control system based on the target pulse signal.

[0072] On the basis of the above-mentioned embodiments, another embodiment of the present application provides a control method for a reactor control rod. In this embodiment, when executing step S102, that is, when determining the actual characteristic parameters of the controlled object under the current environment based on the current pulse signal, the current current, the theoretical characteristic parameters of the controlled object and the expected current predetermined at the current moment, the specific process is as follows: obtaining the theoretical resistance value and the theoretical inductance value of the controlled object to obtain the theoretical characteristic parameters; based on the current pulse signal, the current current, the theoretical resistance value, the theoretical inductance value and the expected current, using a predetermined parameter estimation method to estimate the characteristic parameters of the controlled object to determine the actual resistance value and the actual inductance value of the controlled object under the current environment to obtain the actual characteristic parameters.

[0073] In this embodiment, parameter estimation is a method of determining a model equivalent to the measured system from a set of given model classes based on input and output data, which can also be called system identification. The research on parameter estimation methods has been relatively mature. Therefore, the predetermined parameter estimation methods in this embodiment include any one or more of the following: forgetting factor recursive least squares method, step response method, impulse response method, least squares method and maximum likelihood method.

[0074] In this embodiment, the forgetting factor recursive least square method can be used to estimate the characteristic parameters of the controlled object. Figure 2 (a), 2(b), 3(a), and 3(b) show the comparison between the real resistance and the real inductance and the estimated actual resistance and the estimated actual inductance when the control rod drive mechanism controlled object is estimated in real time using the forgetting factor recursive least squares method. In this embodiment, parameter estimation is only performed when the expected current / command current is not zero, and the estimation interval of parameter estimation is the stage where there is a current response. It can be seen from the figure that the resistance and inductance of the controlled object are estimated using the method in the present application, and the estimated actual value is very close to the real value, and the estimated actual value can also follow the real value in real time.

[0075] Based on the above embodiments, another embodiment of the present application provides a control method for a reactor control rod. In this embodiment, when executing step S103, that is, when determining the target pulse signal input to the drive circuit based on the actual characteristic parameters and the expected current, it specifically includes: determining a mathematical model of the drive circuit based on the circuit structure of the drive circuit; determining the target pulse signal of the drive circuit based on the actual characteristic parameters and the expected current according to the circuit mathematical model.

[0076] Specifically, the structure of the IGBT driving circuit in this embodiment can be as follows: Figure 3 As shown, the IGBT drive circuit includes: a three-phase filter, a three-phase half-wave rectifier circuit, a three-phase AC power supply, a capacitor, etc. Among them, the three-phase AC power supply is used as the input of the three-phase half-wave rectifier circuit after passing through the three-phase filter, and the rectified voltage is filtered by the capacitor to obtain a DC voltage used to drive the controlled object to generate current.

[0077] In this embodiment, the target pulse specifically refers to the pulse signal corresponding to the insulated gate bipolar transistor S1 and the pulse signal corresponding to the insulated gate bipolar transistor S2. Among them, the pulse signal of S1 needs to be adjusted and determined in real time using the method in this application, and the pulse signal of S2 can be determined according to the command switching information of the three commands of control rod lifting, lowering and maintaining.

[0078] Specifically, by Figure 4 From the IGBT drive circuit shown, we can see that:

[0079] When the current of the controlled object / coil needs to rise rapidly (i.e., executing the control rod lifting command), S1 and S2 are both kept turned on, and the voltage across the controlled object is kept at the DC voltage across the capacitor.

[0080] During high current, S2 remains on, and S1 is turned on and off at a certain frequency with a large duty cycle.

[0081] When the current of the controlled object needs to drop rapidly, S2 and S1 are turned off at the same time, and the current of the controlled object flows through two diodes. At this time, the voltage across the controlled object is the negative DC voltage across the capacitor.

[0082] During low current, S2 remains on, and S1 is turned on and off at a certain frequency with a small duty cycle.

[0083] During the zero current period, S2 and S1 are turned off simultaneously.

[0084] Specifically, taking the control rod to implement the lifting command as an example, the pulse signals of the IGBT drive circuits S1 and S2 corresponding to the lifting command can be as follows: Figure 5 (a) and Figure 5 (b) As shown. Under this pulse signal, the relationship between the measured current (actual current) and the target current (command current) of the controlled object / coil can be expressed as follows: Figure 5 (c) as shown.

[0085] Therefore, through the above analysis of the control rod function instructions, combined with the switching time of the control rod function instructions, the target pulse signal corresponding to S2 can be directly determined. At the same time, it can be seen that during the high current period and the low current period, S1 needs to be turned on and off with a certain frequency of duty cycle. Therefore, when the control rod needs to execute the holding instruction, the above method in this application can be used to determine the target pulse signal of S1.

[0086] Furthermore, since the pulse signal of S1 needs to be determined and adjusted in real time, when collecting the current pulse signal, this embodiment may only collect the pulse signal of S1 without collecting the pulse signal of S2.

[0087] That is to say, in this embodiment, the mathematical model of the driving circuit is determined based on the circuit structure of the driving circuit; based on the actual characteristic parameters and the expected current, the target pulse signal of S1 is determined according to the mathematical model of the circuit. Figure 6(a) and 6(b) shown.

[0088] Figure 6(a) and Figure 6(b) are equivalent circuit diagrams of the IGBT drive circuit when S2 is turned on and S1 is turned on and off. The controlled object / coil of the control rod drive mechanism is equivalent to a series inductor and resistor. According to the equivalent circuit diagram, using the small signal method, the mathematical model expression of the IGBT drive circuit with S1 duty cycle as input and the controlled object current (desired current / command) as output is obtained as follows:

[0089]

[0090] In the above formula, i L represents the CRDM current, d represents the S1 duty cycle, V g represents the input voltage of the IGBT drive circuit, L represents the inductance of the CRDM coil, and R represents the resistance of the CRDM coil.

[0091] The first-order forward difference method is used for discretization to obtain the mathematical model expression of the IGBT drive circuit in the discrete domain as follows:

[0092]

[0093] In the above formula, T represents the discrete sampling time, and other parameters are the same as formula (1).

[0094] By using the above formula (2), combined with the expected current, the estimated actual resistance and the estimated actual inductance, we can determine Figure 7 The duty cycle of S1 is adjusted to obtain the target pulse signal of S1.

[0095] In this embodiment, the mathematical model of the driving circuit is determined according to the IGBT driving circuit, and then the corresponding pulse signal calculation formula (i.e., formula (2)) is determined according to the mathematical model of the driving circuit. Thus, based on the expected current, the estimated actual resistance, and the estimated actual inductance, the pulse signal calculation formula can be used to accurately and quickly determine the target pulse signal of S1, thereby providing a guarantee for realizing automatic control of the control rod.

[0096] Another embodiment of the present application provides a control method for a reactor control rod. In this embodiment, the control system may further include a controller for outputting a pulse signal to the drive circuit, and the output end of the controller is electrically connected to the signal input end of the drive circuit. The controller may be a proportional PI controller. Therefore, after determining the target pulse signal, the target proportional parameter of the PI controller, i.e., the target PI parameter, may be further determined based on the target pulse signal. The process of determining the target PI parameter is as follows:

[0097] When collecting the current pulse signal, the current control parameters input by the controller are collected, that is, the current PI parameters are collected; then, based on the target pulse signal, the current pulse signal and the current control parameters, the target control parameters of the controller are determined, so as to adjust the current control parameters of the controller based on the target control parameters, so that the target controller outputs the target pulse signal to the drive circuit.

[0098] That is, the controller mathematical model corresponding to the proportional controller can be determined first; then based on the target pulse parameter, the current pulse parameter and the current control parameter, the proportional parameter (P parameter) and the integral parameter (I parameter) corresponding to the proportional controller can be determined by using the controller mathematical model, that is, the target control parameter can be obtained. Specifically, the obtained P parameter can be shown in Figure 8 (a), and the obtained I parameter can be shown in Figure 8 (b).

[0099] By using the above method of the present application to perform real-time and automatic adaptive adjustment of the PI control parameters, the comparison between the adjusted response current and the reference current (expected current) can be shown as follows: Fig. 9 As shown. Fig. 9 It can be seen that by adopting the method in the present application, the response current / adjusted current can be kept consistent with the reference current / response current, and the method in the present application has excellent adaptability.

[0100] Another embodiment of the present application provides a control method for a reactor control rod, and the method in this embodiment further includes: determining the operating state of the drive circuit and the controlled object based on the current pulse signal and the current circuit. That is, the method in this embodiment can perform status detection on the IGBT device and the controlled object, manage the health status of the device, issue a safety warning in the case of aging or damage, ensure system stability, and improve system safety. At the same time, the intelligent system of the present invention intelligently selects an adaptive control algorithm and adjusts the adaptive control algorithm parameters in real time based on the status monitoring results of the IGBT device and the controlled object.

[0101] Based on the above embodiments, another embodiment of the present application provides a control method for a reactor control rod, such as Fig.10 As shown, the control method in this embodiment includes the following steps:

[0102] ① Monitor and record the current pulse signal input to the IGBT drive circuit, detect the current current of the controlled object and save it at the same time, use the input of the IGBT drive circuit (current pulse signal) and the output data of the IGBT drive circuit (i.e. the current current of the controlled object), and adopt the parameter estimation method to calculate and estimate the characteristic parameters of the controlled object in real time, so as to obtain the actual characteristic parameters (actual resistance and actual inductance) of the controlled object in the current environment, so as to reconstruct the parameters of the controlled object as the basis for constructing the mathematical model of the IGBT drive circuit.

[0103] ② Combined with the parameter estimation results of the controlled object in process ①, the mathematical model of the IGBT drive circuit is constructed, and the mathematical model of the controller is determined at the same time. Then, the overall mathematical model of the control system can be obtained based on the mathematical model of the IGBT drive circuit and the mathematical model of the controller.

[0104] ③ Convert the control instructions of lifting, lowering and holding the control rod into corresponding current instructions (expected current), and determine the target pulse signal of the drive circuit based on the response of the current of the controlled object of the control rod drive mechanism to the command current / expected current obtained by monitoring, combined with the drive circuit model in the system mathematical model in process ②; then, the optimal PI control parameters / target control parameters can be obtained based on the target pulse signal combined with the controller model.

[0105] ④ The optimal control parameters obtained by the adaptive control algorithm are applied to the controller, so that the control can output the target pulse signal to the drive circuit, so that the drive circuit can output the actual circuit consistent with the expected circuit to the controlled object, and then the controlled object can control the control rod so that the control rod executes the control instruction corresponding to the expected current.

[0106] ⑤ After acquiring the current pulse signal and the current circuit, the current pulse signal and the current current can also be used to detect the state of the IGBT device and the controlled object, manage the health status of the device, issue a safety warning in the case of aging or damage, ensure system stability, and improve system safety. At the same time, the intelligent system of the present invention intelligently selects the adaptive control algorithm and adjusts the adaptive control algorithm parameters in real time according to the state monitoring results of the IGBT device and the controlled object.

[0107] In this embodiment, the estimation process of the actual characteristic parameters of the controlled object is the same as the estimation process in the above embodiment, and will not be repeated here.

[0108] In this embodiment, the specific determination process of the target pulse signal is the same as that in the above embodiment, and will not be repeated here.

[0109] In this embodiment, the specific determination process of the target control parameter / target PI parameter is the same as the determination process in the above embodiment, and will not be repeated here.

[0110] The method in this application has solved the problem that the IGBT drive circuit controller of the existing nuclear power plant control rod drive system needs to manually adjust the control parameters many times. The characteristics of the drive system in different states are analyzed theoretically; and based on this characteristic, a more advanced and efficient control strategy is designed to achieve dynamic control of the drive system operation and adaptive adjustment of control parameters. The present invention can further improve the automation and intelligence level of system operation, testing and maintenance, and has the advantages of strong real-time performance, high reliability, good scalability, etc. At the same time, it reduces the impact of design modifications, solves the problem of manually adjusting control parameters many times, and thus reduces the burden on operators and maintenance personnel.

[0111] Another embodiment of the present application provides a control device for a reactor control rod, the control device is applied to a control system, characterized in that the control system at least includes a drive circuit and a control rod drive mechanism electrically connected in sequence, such as Fig.11 As shown, the control device includes:

[0112] The acquisition module 11 is used to acquire the current pulse signal of the input drive circuit and the current current of the controlled object in the control rod drive mechanism in real time;

[0113] A first determination module 12 is used to determine the actual characteristic parameters of the controlled object under the current environment based on the current pulse signal, the current current, the theoretical characteristic parameters of the controlled object and the expected current predetermined at the current moment;

[0114] A second determination module 13, configured to determine a target pulse signal input to the drive circuit based on the actual characteristic parameter and the expected current;

[0115] The control module 14 is used to adjust the current pulse signal based on the target pulse signal so that the controlled object outputs the desired current, so as to control the control rod based on the desired current.

[0116] In the specific implementation process of this embodiment, the first determination module is specifically used to: obtain the theoretical resistance value and the theoretical inductance value of the controlled object to obtain the theoretical characteristic parameters; based on the current pulse signal, the current current, the theoretical resistance value, the theoretical inductance value and the expected current, use a predetermined parameter estimation method to estimate the characteristic parameters of the controlled object to determine the actual resistance value and the actual inductance value of the controlled object under the current environment to obtain the actual characteristic parameters.

[0117] In the specific implementation process of this embodiment, the predetermined parameter estimation method includes any one or more of the following: forgetting factor recursive least squares method, step response method, impulse response method, least squares method and maximum likelihood method.

[0118] In the specific implementation process of this embodiment, the second determination module is specifically used to: determine the mathematical model of the driving circuit based on the circuit structure of the driving circuit; based on the actual characteristic parameters and the expected current, determine the target pulse signal of the driving circuit according to the circuit mathematical model.

[0119] In the specific implementation process of this embodiment, the control device for reactor control rods also includes an expected current acquisition module, which is used to: determine the command current of the controlled object at each moment in advance based on the control rod lifting command, insertion command and holding command at each moment, so as to obtain the expected current at each moment.

[0120] In the specific implementation process of this embodiment, the control system further includes a controller for outputting a pulse signal to the drive circuit, and the output end of the controller is electrically connected to the signal input end of the drive circuit;

[0121] The acquisition module is also used to: acquire current control parameters input by the controller;

[0122] The control device for reactor control rods also includes a third determination module, which is used to determine the target control parameters of the controller based on the target pulse signal, the current pulse signal and the current control parameters, so that the control module adjusts the current control parameters of the controller based on the target control parameters, so that the target controller outputs the target pulse signal to the drive circuit.

[0123] In the specific implementation process of this embodiment, the controller is a proportional controller; the third determination module is specifically used to: determine the controller mathematical model corresponding to the proportional controller; based on the target pulse parameters, current pulse parameters and current control parameters, using the controller mathematical model, determine the proportional parameters and integral parameters corresponding to the proportional controller to obtain the target control parameters.

[0124] In the specific implementation of this embodiment, the control device for reactor control rods also includes an operation status detection module, and the operation status detection module is used to determine the operation status of the drive circuit and the controlled object based on the current pulse signal and the current circuit.

[0125] The control device for reactor control rods in this embodiment can realize real-time estimation of the characteristic parameters of the controlled object by collecting the input quantity (current pulse signal) and output quantity (i.e., the current of the controlled object) of the driving circuit, so that the target pulse signal can be accurately and quickly determined based on the estimated actual characteristic parameters and the expected current, and the target pulse signal can be applied to the driving circuit, thereby realizing adaptive control of the control system based on the target pulse signal.

[0126] Another embodiment of the present application provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the following method steps are implemented:

[0127] Step 1: real-time acquisition of the current pulse signal of the input drive circuit and the current current of the controlled object in the control rod drive mechanism;

[0128] Step 2: determining the actual characteristic parameters of the controlled object under the current environment based on the current pulse signal, the current current, the theoretical characteristic parameters of the controlled object and the expected current predetermined at the current moment;

[0129] Step 3: determining a target pulse signal input to the driving circuit based on the actual characteristic parameter and the expected current;

[0130] Step 4: adjusting the current pulse signal based on the target pulse signal so that the controlled object outputs the desired current, so as to control the control rod based on the desired current.

[0131] The specific implementation process of the above method steps can be found in the above-mentioned embodiment of the control method for reactor control rods, and this embodiment will not be repeated here.

[0132] The storage medium in the present application can realize real-time estimation of the characteristic parameters of the controlled object by collecting the input quantity (current pulse signal) and output quantity (i.e., the current of the controlled object) of the driving circuit, so that the target pulse signal can be accurately and quickly determined based on the estimated actual characteristic parameters and the expected current, and the target pulse signal can be applied to the driving circuit, thereby realizing adaptive control of the control system based on the target pulse signal.

[0133] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A control method for a reactor control rod, the control method being applied to a control system, characterized in that: The control system at least comprises a drive circuit and a control rod drive mechanism electrically connected in sequence, and the control method comprises: Real-time acquisition of the current pulse signal of the input drive circuit and the current current of the controlled object in the control rod drive mechanism; Determine the actual characteristic parameters of the controlled object under the current environment based on the current pulse signal, the current current, the theoretical characteristic parameters of the controlled object and the expected current predetermined at the current moment; Based on the actual characteristic parameter and the expected current, determining a target pulse signal input to the drive circuit; The current pulse signal is adjusted based on the target pulse signal so that the controlled object outputs the desired current, so as to control the control rod based on the desired current.

2. The method according to claim 1, characterized in that The determining of the actual characteristic parameters of the controlled object under the current environment based on the current pulse signal, the current current, the theoretical characteristic parameters of the controlled object and the expected current predetermined at the current moment specifically includes: Obtaining a theoretical resistance value and a theoretical inductance value of the controlled object to obtain the theoretical characteristic parameters; Based on the current pulse signal, the current current, the theoretical resistance value, the theoretical inductance value and the expected current, a predetermined parameter estimation method is used to estimate the characteristic parameters of the controlled object to determine the actual resistance value and the actual inductance value of the controlled object under the current environment to obtain the actual characteristic parameters.

3. The method according to claim 2, characterized in that The predetermined parameter estimation method includes any one or more of the following: forgetting factor recursive least squares method, step response method, impulse response method, least squares method and maximum likelihood method.

4. The method according to claim 1, characterized in that The determining, based on the actual characteristic parameter and the expected current, a target pulse signal input to the driving circuit specifically includes: Determining a driving circuit mathematical model based on the circuit structure of the driving circuit; Based on the actual characteristic parameters, the expected current and the circuit mathematical model, a target pulse signal of the driving circuit is determined.

5. The method according to any one of claims 1 to 4, characterized in that: Before real-time acquisition of the current pulse signal output by the drive circuit and the current current of the controlled object in the control rod drive mechanism, the method further includes: The command current of the controlled object at each moment is determined in advance according to the lifting command, the inserting command and the holding command of the control rod at each moment, so as to obtain the expected current at each moment.

6. The method according to claim 1, characterized in that The control system further comprises a controller for outputting a pulse signal to the drive circuit, wherein an output terminal of the controller is electrically connected to a signal input terminal of the drive circuit; When collecting the current pulse signal, the method further includes: collecting the current control parameters input by the controller; Based on the target pulse signal, the current pulse signal and the current control parameter, the target control parameter of the controller is determined, so as to adjust the current control parameter of the controller based on the target control parameter so that the target controller outputs the target pulse signal to the drive circuit.

7. The method according to claim 6, characterized in that The controller is a proportional controller; The determining the target control parameter of the controller based on the target pulse signal, the current pulse signal and the current control parameter specifically includes: Determining a controller mathematical model corresponding to the proportional controller; Based on the target pulse parameter, the current pulse parameter and the current control parameter, the proportional parameter and the integral parameter corresponding to the proportional controller are determined using the controller mathematical model to obtain the target control parameter.

8. The method according to claim 1, characterized in that The method further includes: determining the operating states of the drive circuit and the controlled object based on the current pulse signal and the current circuit.

9. A control device for a reactor control rod, the control device being applied to a control system, characterized in that: The control system at least comprises a drive circuit and a control rod drive mechanism electrically connected in sequence, and the control device comprises: An acquisition module is used to acquire the current pulse signal of the input drive circuit and the current current of the controlled object in the control rod drive mechanism in real time; A first determination module is used to determine the actual characteristic parameters of the controlled object under the current environment based on the current pulse signal, the current current, the theoretical characteristic parameters of the controlled object and the expected current predetermined at the current moment; A second determination module, configured to determine a target pulse signal input to the drive circuit based on the actual characteristic parameter and the expected current; A control module is used to adjust the current pulse signal based on the target pulse signal so that the controlled object outputs the desired current, so as to control the control rod based on the desired current.

10. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method for a reactor control rod according to any one of claims 1 to 8 are implemented.

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