Multi-disciplinary simulation adjustment system and method for control rod driving mechanism

Abstract

The invention provides a multidisciplinary simulation adjustment system and method for a control rod driving mechanism, and relates to the field of reactor system control. According to the system, a data acquisition module is used for acquiring a first motion state and a first driving current signal of a control rod at a previous sampling moment for any sampling period, and the first motion state and the first driving current signal serve as a target motion state and a target current signal. And the data processing module determines a second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal. Judging the fault state of the control rod driving mechanism according to the second motion state, correspondingly adjusting the numerical value of the target current signal according to the type of the fault state to serve as a new target current signal, and iteratively calculating the motion state at the next sampling moment by taking the second motion state as a new target motion state to obtain the fault state of the control rod driving mechanism. And the cut-off time of the current sampling period is reached. The invention can improve the accuracy of the control rod driving mechanism to control the start and stop of the reactor and the reaction power adjustment.

Description

Technical Field

[0001] The present invention relates to the field of pressurized water reactor system control, and in particular to a multidisciplinary simulation adjustment system and method for a control rod drive mechanism. Background Art

[0002] The control rod drive mechanism is an important component of the control and safety protection of the pressurized water reactor system. It can control the start and stop of the reactor and adjust the reaction power by driving the control rods to lift, lower, hold or quickly insert.

[0003] However, the operation of the control rod drive mechanism is often affected by multiple loads such as electromagnetic force and fluid resistance. And as the timing current continues to change, when the control rod drive mechanism lifts the armature, the electromagnetic force it receives will gradually increase or even be greater than the resistance, causing the control rod to gradually accelerate from static, and the corresponding fluid resistance will also increase, and even produce a large impact force. In the prior art, the multidisciplinary loads on the drive mechanism during movement are coupled and influence each other, and there will be problems of unequal parameter states and inconsistent dimensions in the process of executing multidisciplinary related sampling. And for traditional single-discipline sampling and analysis methods, the sampling methods between each single-discipline sampling and analysis method are independent of each other, and it is impossible to achieve precise adjustment of the multidisciplinary system movement, resulting in the control rod drive mechanism being unable to accurately control the start and stop of the reactor, thereby being unable to ensure precise adjustment of the reaction power.

[0004] Based on this, there is an urgent need for an adjustment scheme based on a control rod drive mechanism that can improve the accuracy of the control rod drive mechanism in controlling the start and stop of the reactor and the reaction power adjustment. Summary of the invention

[0005] In view of this, an object of the present invention is to provide an adjustment scheme based on a control rod drive mechanism to achieve accurate calculation and adjustment of the motion of the multidisciplinary system, thereby improving the accuracy of the control rod drive mechanism in controlling the start and stop of the reactor and adjusting the reaction power.

[0006] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0007] In a first aspect, the present invention provides a multidisciplinary simulation adjustment system for a control rod drive mechanism, comprising: a data acquisition module and a data processing module connected in sequence;

[0008] A data acquisition module is used to obtain the first motion state and the first drive current signal of the lower control rod at the last sampling moment for any sampling period, and use the first motion state as the target motion state; use the first drive current signal as the target current signal; wherein the sampling period includes a plurality of sampling moments;

[0009] A data processing module, used for determining a second motion state of the control rod at a current sampling moment according to the target motion state and the target current signal; wherein the time interval between the current sampling moment and the previous sampling moment is determined by a differential element method;

[0010] The data processing module is also used to determine the fault state type of the control rod drive mechanism according to each motion parameter in the second motion state, and adjust the value of the target current signal according to the fault state type, update the target current signal, update the target motion state with the second motion state, and return to execute the step of determining the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal until the end time of the current sampling cycle is reached, thereby obtaining the motion state of the control rod at the current sampling cycle.

[0011] Optionally, the data processing module includes an electromagnetic calculation unit, a fluid calculation unit, and a dynamics calculation unit, the output end of the electromagnetic calculation unit is connected to the input end of the fluid calculation unit and the input end of the dynamics calculation unit, and the output end of the fluid calculation unit is also connected to the input end of the dynamics calculation unit;

[0012] An electromagnetic calculation unit, used to determine the electromagnetic force of the control rod at the current sampling moment according to the driving current signal and the target motion state at the previous sampling moment;

[0013] A fluid calculation unit, used to determine the fluid resistance of the control rod at the current sampling moment according to the target motion state;

[0014] The dynamics calculation unit is used to determine the second motion state of the control rod at the current sampling moment according to the fluid resistance, the electromagnetic force and the target motion state, wherein the second motion state includes a second displacement, a second velocity and a second acceleration.

[0015] Optionally, when the target motion state includes a first velocity, a first displacement and a first acceleration, the electromagnetic calculation unit is used to determine the electromagnetic force of the control rod at a current sampling moment according to the drive current signal, the first displacement and the first velocity at a previous sampling moment;

[0016] a fluid calculation unit, used to determine the fluid resistance of the control rod at a current sampling moment according to the first displacement, the first velocity and the first acceleration;

[0017] The dynamics calculation unit is used to determine the second motion state of the control rod at the current sampling moment according to the fluid resistance, the electromagnetic force, the first displacement, the first velocity and the first acceleration.

[0018] Optionally, the data processing module further comprises a judgment unit, the input end of the judgment unit is connected to the output end of the dynamics calculation unit;

[0019] The judgment unit is used to judge whether the value of the second displacement is equal to the first preset threshold value. If it is equal, it is judged whether the value of the second speed is greater than the second preset threshold value. If it is greater, it is judged that the moving rod impact is overloaded at the current sampling moment, and the value of the first drive current signal is reduced to update the target current signal; if it is less than, it is judged whether the value corresponding to the current sampling moment is greater than the third preset threshold value. If it is greater, it is judged that the lifting time of the moving rod at the current sampling moment is excessive, and the value of the drive current signal is increased to update the target current signal.

[0020] Optionally, the judging unit is further used to judge whether the value of the second speed is equal to the fourth preset threshold value when the value of the second displacement is not equal to the first preset threshold value, and whether the value corresponding to the current sampling moment is greater than the fifth preset threshold value. If the above conditions are met, it is judged that the moving rod is locked at the current sampling moment, and the value of the driving current signal is increased to update the target current signal; if the above conditions are not met, it is judged whether the value of the second speed is less than the fourth preset threshold value. If so, it is judged that the moving rod is slipping at the current sampling moment, and the value of the driving current signal is increased to update the target current signal.

[0021] The fourth preset threshold is smaller than the second preset threshold.

[0022] Optionally, the calculation equation of the dynamics calculation unit is expressed as:

[0023]

[0024] F(t+Δt)=F e (t+Δt)-F f (t+Δt)-GF d (t+Δt)

[0025] Among them, U(t+Δt), and are the displacement, velocity and acceleration at the current sampling time t+Δt, respectively; F(t+Δt) is the load vector of the control rod drive system at the current sampling time t+Δt; [M], [C] and [K] are the mass matrix, damping matrix and stiffness matrix of the control rod drive system, respectively; F f (t+Δt) is the fluid resistance of the control rod at the current sampling time t+Δt; G is the gravity of the control rod; F d (t+Δt) is the spring force of the control rod at the current sampling time t+Δt; F e (t+Δt) is the electromagnetic force of the control rod at the current sampling time t+Δt.

[0026] Optionally, the step of determining the time interval between the current sampling moment and the previous sampling moment by using a differential element method includes:

[0027] Taking a single step motion process of the control rod drive mechanism as the sampling period, the sampling period is divided into multiple time elements with the same time interval based on the microelement method to obtain the time interval between the current sampling moment and the previous sampling moment;

[0028] Among them, the expression of the time differential element satisfies:

[0029] U = T / Δt;

[0030] Where U is the total number of time elements; T is the sampling period; Δt is the value of the time element.

[0031] In a second aspect, the present invention provides a multidisciplinary simulation adjustment method for a control rod drive mechanism, the multidisciplinary simulation adjustment method for a control rod drive mechanism comprising the following steps:

[0032] For any sampling period, a first motion state and a first drive current signal of the lower control rod at a previous sampling moment are obtained; and the first motion state is used as a target motion state, and the first drive current signal is used as a target current signal; wherein the sampling period includes a plurality of sampling moments;

[0033] Determine the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal; wherein the time interval between the current sampling moment and the previous sampling moment is determined by a differential element method;

[0034] The fault state type of the control rod drive mechanism is determined according to each motion parameter in the second motion state, and the value of the target current signal is correspondingly adjusted according to the fault state type, the target current signal is updated, the target motion state is updated with the second motion state, and the step of determining the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal is returned to be executed until the end time of the current sampling cycle is reached, and the motion state of the control rod at the current sampling cycle is obtained.

[0035] Preferably, when the target motion state includes a first velocity, a first displacement, and a first acceleration, the step of determining the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal includes:

[0036] Determine the electromagnetic force of the control rod at the current sampling moment according to the driving current signal, the first displacement, and the first speed at the previous sampling moment;

[0037] determining the fluid resistance of the control rod at the current sampling moment according to the first displacement, the first velocity and the first acceleration;

[0038] The second motion state of the control rod at the current sampling moment is determined according to the fluid resistance, the electromagnetic force, the first displacement, the first velocity and the first acceleration.

[0039] Optionally, the step of determining the time interval between the current sampling moment and the previous sampling moment by using a differential element method includes:

[0040] Taking a single step motion process of the control rod drive mechanism as the sampling period, the sampling period is divided into multiple time elements with the same time interval based on the microelement method to obtain the time interval between the current sampling moment and the previous sampling moment;

[0041] Among them, the expression of the time differential element satisfies:

[0042] U = T / Δt;

[0043] In the figure, U is the total number of time elements; T is the sampling period; Δt is the value of the time element.

[0044] A multidisciplinary simulation adjustment system and method for a control rod drive mechanism provided by an embodiment of the present invention has the following beneficial effects:

[0045] The multidisciplinary simulation adjustment system of the control rod drive mechanism in the present invention comprises a data acquisition module and a data processing module connected in sequence. The data acquisition module is used to obtain the first motion state and the first drive current signal of the control rod at the previous sampling moment for any sampling period, and take the first motion state as the target motion state; and take the first drive current signal as the target current signal. The data processing module is used to determine the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal. The data processing module is also used to determine the fault state of the control rod drive mechanism according to each motion parameter in the second motion state, and adjust the value of the target current signal according to the type of the fault state when the fault occurs, obtain a new target current signal, and take the second motion state as the new target motion state, return to execute the step of determining the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal, until the end time of the current sampling period is reached, and the motion state of the control rod at the current sampling period is obtained. The present invention can realize the accurate calculation and adjustment of the motion of the multidisciplinary system, thereby improving the accuracy of the control rod drive mechanism in controlling the start and stop of the reactor and the reaction power adjustment.

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 It shows a schematic structural diagram of a multidisciplinary simulation adjustment system for a control rod drive mechanism according to an embodiment of the present invention;

[0049] Figure 2 One of the structural schematic diagrams of the data processing module in an embodiment of the present invention is shown;

[0050] Figure 3 A schematic diagram of data processing between a data processing module and a data acquisition module in an embodiment of the present invention is shown;

[0051] Figure 4 The second structural diagram of the data processing module in the embodiment of the present invention is shown;

[0052] Figure 5 A schematic diagram of a flow chart of a data processing module in an embodiment of the present invention is shown;

[0053] Figure 6 A flowchart showing the steps of a multidisciplinary simulation adjustment method for a control rod drive mechanism according to an embodiment of the present invention is shown;

[0054] Figure 7 A step-by-step flow chart of S2 in an embodiment of the present invention is shown.

[0055] Icons: 100 - multidisciplinary simulation adjustment system of control rod drive mechanism; 101 - data acquisition module; 102 - data processing module; 201 - electromagnetic calculation unit; 202 - fluid calculation unit; 203 - dynamic calculation unit; 204 - judgment unit. DETAILED DESCRIPTION

[0056] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0057] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0058] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0059] As described in the background technology, in the prior art, the multidisciplinary loads on the driving mechanism during the movement process are coupled and affect each other, and there will be problems such as unequal parameter states and inconsistent dimensions in the process of executing multidisciplinary related sampling. In addition, for the traditional single-discipline sampling and analysis method, the sampling methods between the single-discipline sampling and analysis methods are independent of each other, and it is impossible to achieve accurate adjustment of the multidisciplinary system movement, resulting in the control rod drive mechanism being unable to accurately control the start and stop of the reactor, thereby being unable to ensure accurate adjustment of the reaction power.

[0060] Based on this, the present invention provides an adjustment scheme based on a control rod drive mechanism to improve the accuracy of the control rod drive mechanism in controlling the start and stop of the reactor and adjusting the reaction power.

[0061] The above adjustment scheme will be described in detail below.

[0062] First embodiment

[0063] Please refer to Figure 1 , Figure 1 A structural schematic diagram of a multidisciplinary simulation and adjustment system for a control rod drive mechanism is shown. In the present invention, the multidisciplinary simulation and adjustment system 100 for a control rod drive mechanism includes a data acquisition module 101 and a data processing module 102 which are connected in sequence.

[0064] The data acquisition module 101 is used to obtain the first motion state and the first drive current signal of the lower control rod at the previous sampling moment for any sampling period, and use the first motion state as the target motion state; use the first drive current signal as the target current signal; wherein the sampling period includes multiple sampling moments.

[0065] The data processing module 102 is used to determine the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal; wherein the time interval between the current sampling moment and the previous sampling moment is determined by the differential element method.

[0066] The data processing module 102 is further used to determine the fault state type of the control rod drive mechanism according to each motion parameter in the second motion state, and adjust the value of the target current signal according to the fault state type, update the target current signal, update the target motion state with the second motion state, and return to execute the step of determining the second motion state of the control rod at the current sampling time according to the target motion state and the target current signal until the end time of the current sampling period is reached, thereby obtaining the motion state of the control rod at the current sampling period.

[0067] Based on this, the present embodiment uses the data acquisition module to obtain the first motion state and the first drive current signal corresponding to the moving rod at the previous sampling moment, and then uses the data processing module to determine the second motion state and the second drive current signal corresponding to the moving rod at the current sampling moment according to the first motion state and the first drive current signal. Subsequently, the data processing module will also determine whether the rod driving mechanism has a fault according to the second motion state and the second drive current signal. If a fault occurs, the value of the target current signal is adjusted according to the type of fault state determined by the module as the updated target current signal, and the second motion state obtained by the above calculation is used as the updated target motion state, and then the motion state and the drive current signal corresponding to the next sampling moment are calculated cyclically and iteratively until the end time of the current sampling cycle is reached, and the motion state of the control rod in the current sampling cycle is obtained.

[0068] Based on this, this embodiment can realize the accurate calculation and adjustment of the multidisciplinary system movement, thereby improving the accuracy of the control rod drive mechanism in controlling the start and stop of the reactor and the reaction power adjustment.

[0069] In this embodiment, there are many ways to implement the data acquisition module, as long as the first motion state and the first driving current signal of the lower control rod at the last sampling moment in any sampling period can be obtained.

[0070] It should be noted that in this embodiment, the time interval between the last sampling moment and the current sampling moment is determined by the differential element method. In a possible implementation, the above determination method is:

[0071] Taking the single step motion process of the control rod drive mechanism as the sampling period, the sampling period is divided into multiple time elements with the same time interval based on the element method to obtain the time interval between the current sampling moment and the previous sampling moment. Among them, the expression of the time element satisfies:

[0072] U = T / Δt;

[0073] Where U is the total number of time elements; T is the sampling period; Δt is the value of the time element.

[0074] Specifically, the single step motion process of the control rod drive mechanism is divided into several time micro-elements, wherein the division of each time micro-element can make the fluctuation between the load values ​​of each subject not exceed 5%. When the single step motion process satisfies [0,T], the above step motion process can be divided into U time intervals Δt based on the micro-element method. Taking the time interval (t,t+Δt) as an example, the loads and motion parameters of each subject of the drive mechanism within this time interval can be regarded as constants.

[0075] In this embodiment, there are many ways to implement the data processing module. In one possible implementation, please refer to Figure 2 and Figure 3 , Figure 2 A structural schematic diagram of the data processing module in this embodiment is shown; Figure 3 The data processing flow between the data acquisition module and the data processing module in the multidisciplinary simulation adjustment system of the control rod drive mechanism in this embodiment is shown.

[0076] Among them, the data processing module 102 includes an electromagnetic calculation unit 201, a fluid calculation unit 202, and a dynamic calculation unit 203. The output end of the electromagnetic calculation unit 201 is connected to the input end of the fluid calculation unit 202 and the input end of the dynamic calculation unit 203, and the output end of the fluid calculation unit 202 is also connected to the input end of the dynamic calculation unit 203.

[0077] In this embodiment, the electromagnetic calculation unit 201 is used to determine the electromagnetic force of the control rod at the current sampling moment according to the driving current signal and the target motion state at the previous sampling moment.

[0078] In this embodiment, if the electromagnetic force is calculated from the start-up moment, the state parameters corresponding to the start-up moment are used as the driving current signal and the target motion state at the last sampling moment described in this article, wherein the state parameters corresponding to the start-up moment include the current at the start-up moment and the displacement, velocity and acceleration at the initial moment.

[0079] Similarly, if the electromagnetic force is not calculated from the start time, the corresponding state parameters corresponding to the current time can be directly obtained as the driving current signal and the target motion state at the last sampling time described in this article.

[0080] In this embodiment, the fluid calculation unit 202 is used to determine the fluid resistance of the control rod at the current sampling moment according to the target motion state.

[0081] The specific calculation processes of the above-mentioned dynamics calculation unit, fluid calculation unit and electromagnetic calculation unit can be directly solved by modeling with simulation software.

[0082] Please continue to refer to Figure 3In one possible implementation, when the target motion state includes a first velocity U(t), a first displacement And the first acceleration When the electromagnetic calculation unit is used to calculate the first speed U(t) and the first displacement And the first acceleration etc. to determine the electromagnetic force of the control rod at the current sampling moment; wherein the calculation equation of the electromagnetic calculation unit is expressed as:

[0083]

[0084] In the display, F e (t+Δt) is the electromagnetic force of the control rod at the current sampling time t+Δt, is the magnetic permeability; S1 is the magnetic circuit area at the working gap; N is the number of turns of the lifting coil; I is the current of the lifting coil; r is the fixed magnetic resistance in the magnetic circuit; l1 is the length of the working gap. Among them, the magnetic permeability μ0, the magnetic circuit area S1 at the working gap, the number of turns N of the lifting coil, the current I of the lifting coil, the fixed magnetic resistance r in the magnetic circuit, and the length of the working gap l1 can all be obtained from the control rod drive mechanism (CRDM).

[0085] Please continue to refer to Figure 3 In this embodiment, the fluid calculation unit can determine the fluid resistance of the control rod at the current sampling moment according to the first displacement, the first velocity and the first acceleration.

[0086] Among them, the calculation equation of the fluid calculation unit is expressed as:

[0087]

[0088] Among them, F f (t+Δt) is the fluid resistance of the control rod at the current sampling time t+Δt; U(t) is the displacement at time t; is the velocity at time t; ∑ represents the sum of the parameters of the inner wall and the outer wall; S2 is the cross-sectional area of ​​the lifting armature; S3 is the cross-sectional area of ​​the flow channel; c and ζ are the wall resistance coefficient and the local resistance coefficient respectively; ρ is the fluid density; v0 is the fluid flow rate; is the speed of the driving mechanism; Q is the wetted perimeter of the wall; L is the length of the wall; a is the fluid acceleration.

[0089] Please continue to refer to Figure 3 In this embodiment, the dynamic calculation unit 203 is used to determine the second motion state of the control rod at the current sampling moment according to the fluid resistance, the electromagnetic force and the target motion state, wherein the second motion state includes a second displacement, a second velocity and a second acceleration.

[0090] Among them, the calculation equation of the dynamics calculation unit is expressed as:

[0091]

[0092] F(t+Δt)=F e (t+Δt)-F f (t+Δt)-GF d (t+Δt)

[0093] Among them, U(t+Δt), and are the displacement, velocity and acceleration at the current sampling time t+Δt, respectively; F(t+Δt) is the load vector of the control rod drive system at the current sampling time t+Δt; [M], [C] and [K] are the mass matrix, damping matrix and stiffness matrix of the control rod drive system, respectively; F f (t+Δt) is the fluid resistance of the control rod at the current sampling time t+Δt; G is the gravity of the control rod; F d (t+Δt) is the spring force of the control rod at the current sampling time t+Δt; F e (t+Δt) is the electromagnetic force of the control rod at the current sampling time t+Δt. Among them, the spring force F d The calculation formula for (t+Δt) is: d (t+Δt)=k*{U(t)}; The calculation formula of gravity G is: G=mg.

[0094] In this embodiment, the electromagnetic calculation unit, the fluid calculation unit and the dynamics calculation unit can be developed mathematical models or professional commercial simulation software, including but not limited to: the electromagnetic module is calculated using Maxwell software, the fluid module is calculated using Fluent and CFD software, and the dynamics module is calculated using Adams software.

[0095] When the electromagnetic calculation unit, the fluid calculation unit and the dynamic calculation unit can be agent models and other machine learning models constructed using various methods, the model construction methods include but are not limited to: polynomial response surface method, Kriging method, gradient enhanced Kriging method (GEK), support vector basis and artificial neural network, etc.

[0096] Please refer to Figure 4 , Figure 4 Another structural schematic diagram of the data processing module in this embodiment is shown. The data processing module 102 further includes a judgment unit 204 , and the input end of the judgment unit 204 is connected to the output end of the dynamics calculation unit 203 .

[0097] In this embodiment, the judgment unit 204 is used to judge whether the value of the second displacement is equal to the first preset threshold value. If it is equal, it is judged whether the value of the second speed is greater than the second preset threshold value. If it is greater than, it is judged that the moving rod impact is overloaded at the current sampling moment, and the value of the first drive current signal is reduced to update the target current signal; if it is less than, it is judged whether the value corresponding to the current sampling moment is greater than the third preset threshold value. If it is greater than, it is judged that the moving rod lifting time at the current sampling moment is excessive, and the value of the drive current signal is increased to update the target current signal.

[0098] The judgment unit 204 is also used to judge whether the value of the second speed is equal to the fourth preset threshold when the value of the second displacement is not equal to the first preset threshold, and at the same time judge whether the value corresponding to the current sampling moment is greater than the fifth preset threshold. If the above conditions are met, it is judged that the moving rod is locked at the current sampling moment, and the value of the driving current signal is increased to update the target current signal; if the above conditions are not met, it is judged whether the value of the second speed is less than the fourth preset threshold. If so, it is judged that the moving rod is slipping at the current sampling moment, and the value of the driving current signal is increased to update the target current signal. Among them, the fourth preset threshold is less than the second preset threshold.

[0099] In one possible implementation, please refer to Figure 5 , Figure 5 In one possible implementation, it is possible to determine whether the value of the second displacement obtained by the solution satisfies the first preset threshold, such as 15.875 mm. If so, it is then determined whether the second speed is greater than the maximum allowable impact speed V max If it is greater than, it is determined that the moving rod is overloaded at the current sampling moment, and the value of the driving current signal needs to be reduced.

[0100] If the second speed is less than or equal to the maximum allowed impact speed V max , it is necessary to further determine the value corresponding to the current sampling time, that is, whether the current operation time of the control rod drive mechanism is greater than the maximum allowable lifting time t max If it is greater than, it is determined that the moving rod is overloaded at the current sampling moment, and the value of the first drive current signal needs to be reduced to obtain the updated target current signal. If the current operation time of the control rod drive mechanism is less than or equal to the maximum allowable lifting time t max , then the target current signal is maintained, the target motion state is updated with the second motion state, the loop is iterated, and the second motion state of the control rod at the next sampling moment is calculated to reach the end time of the current sampling cycle.

[0101] Please continue to refer to Figure 5In this embodiment, if the value of the second displacement obtained by solving is not equal to the first preset threshold, it is further determined whether the value of the second speed is equal to the fourth preset threshold, for example, whether the value of the second speed is equal to zero. At the same time, it is also necessary to determine whether the value corresponding to the current sampling time is greater than the fifth preset threshold. The fifth preset threshold can be the maximum allowed startup time t L , if the above two conditions are met, it can be determined that the moving rod is in a locked state at the current sampling moment, and the value of the drive current signal needs to be increased to obtain an updated target current signal. If the above two conditions are not met, it is necessary to further determine whether the value of the second speed is less than the fourth preset threshold, wherein the fourth preset threshold is less than the second preset threshold, and the fourth preset threshold is zero. When the value of the second speed is less than zero, it is determined that the moving rod is slipping at the current sampling moment, and the value of the drive current signal needs to be increased to obtain an updated target current signal; if the value of the second speed is greater than or equal to zero, the target current signal is maintained, the target motion state is updated with the second motion state, and the loop is iterated to calculate the second motion state of the control rod at the next sampling moment, and the end time of the current sampling cycle is reached.

[0102] In another possible implementation, when the driving rod corresponds to an initial driving current signal at each sampling moment in this embodiment, the driving current signal corresponding to each sampling moment can be set based on experience, and this embodiment does not limit the above determination method and / or determined value.

[0103] When it is determined that a fault occurs in the moving rod driving mechanism at the current sampling moment, the initial value of the driving current signal corresponding to the next sampling moment can be modified according to the fault type to update the current signal at the next sampling moment.

[0104] For example, similar to the previous embodiment, it can be determined whether the value of the second displacement obtained by solving satisfies the first preset threshold, such as 15.875 mm. If so, it is then determined whether the second speed is greater than the maximum allowable impact speed V max If it is greater than, it is determined that the moving rod is overloaded at the current sampling moment, and the initial value of the driving current signal at the next sampling moment needs to be reduced.

[0105] If the second speed is less than or equal to the maximum allowed impact speed V max , it is necessary to further determine the value corresponding to the current sampling time, that is, whether the current operation time of the control rod drive mechanism is greater than the maximum allowable lifting time t max If it is greater than, it is determined that the moving rod is overloaded at the current sampling moment, and the initial value of the driving current signal at the next sampling moment needs to be reduced.

[0106] Similarly, in this embodiment, if the value of the second displacement obtained by solving is not equal to the first preset threshold, it is further determined whether the value of the second speed is equal to the fourth preset threshold, for example, whether the value of the second speed is equal to zero. At the same time, it is also necessary to determine whether the value corresponding to the current sampling time is greater than the fifth preset threshold. The fifth preset threshold can be the maximum allowed startup time t L If the above two conditions are met, it can be determined that the moving rod is in a locked state at the current sampling moment, and the initial value of the driving current signal at the next sampling moment needs to be increased. If the above two conditions are not met, it is necessary to further determine whether the value of the second speed is less than a fourth preset threshold, wherein the fourth preset threshold is less than the second preset threshold, and the fourth preset threshold is zero. When the value of the second speed is less than zero, it is determined that the moving rod is slipping at the current sampling moment, and the initial value of the driving current signal at the next sampling moment needs to be increased.

[0107] In summary, the multidisciplinary simulation adjustment system of the control rod drive mechanism in the present invention includes a data acquisition module and a data processing module connected in sequence. The data acquisition module is used to obtain the first motion state and the first drive current signal of the control rod at the previous sampling moment for any sampling period, and use the first motion state as the target motion state; and use the first drive current signal as the target current signal. The data processing module is used to determine the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal. The data processing module is also used to determine the fault state of the control rod drive mechanism according to each motion parameter in the second motion state, and adjust the value of the target current signal according to the type of the fault state when the fault occurs, obtain a new target current signal, and use the second motion state as the new target motion state, return to execute the step of determining the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal, until the end time of the current sampling period is reached, and the motion state of the control rod at the current sampling period is obtained. The present invention can realize the accurate calculation and adjustment of the motion of the multidisciplinary system, thereby improving the accuracy of the control rod drive mechanism in controlling the start and stop of the reactor and the reaction power adjustment.

[0108] Second embodiment

[0109] The same idea as the previous embodiment, please refer to Figure 6 , Figure 6 The flowchart of the steps of the multidisciplinary simulation adjustment method for the control rod drive mechanism in this embodiment is shown. The multidisciplinary simulation adjustment method for the control rod drive mechanism includes S1 to S4.

[0110] S1. For any sampling period, obtain the first motion state and the first drive current signal of the control rod at the last sampling moment; and use the first motion state as the target motion state and the first drive current signal as the target current signal.

[0111] Wherein, the sampling period includes a plurality of sampling moments;

[0112] S2. Determine the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal.

[0113] The time interval between the current sampling moment and the previous sampling moment is determined by the differential element method.

[0114] S3. Determine the fault state type of the control rod drive mechanism according to each motion parameter in the second motion state, and adjust the value of the target current signal according to the fault state type, update the target current signal, update the target motion state with the second motion state, and return to execute the step of determining the second motion state of the control rod at the current sampling time according to the target motion state and the target current signal until the end time of the current sampling period is reached, and obtain the motion state of the control rod at the current sampling period.

[0115] Please refer to Figure 7 , Figure 7 The step-by-step flow chart of S2 in this embodiment is shown. When the target motion state includes the first velocity, the first displacement and the first acceleration, the step of determining the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal includes S21 to S23.

[0116] S21. Determine the electromagnetic force of the control rod at the current sampling moment according to the driving current signal, the first displacement, and the first speed at the previous sampling moment.

[0117] S22. Determine the fluid resistance of the control rod at the current sampling moment according to the first displacement, the first velocity and the first acceleration.

[0118] S23. Determine a second motion state of the control rod at the current sampling moment according to the fluid resistance, the electromagnetic force, the first displacement, the first velocity, and the first acceleration.

[0119] In this embodiment, a method for determining the time interval between the current sampling moment and the previous sampling moment is also provided. Specifically, the method is as follows: taking a single step motion process of the control rod drive mechanism as a sampling period, dividing the sampling period into multiple time elements with the same time interval based on the element method, and obtaining the time interval between the current sampling moment and the previous sampling moment.

[0120] Among them, the expression of the time differential element satisfies:

[0121] U = T / Δt;

[0122] Where U is the total number of time elements; T is the sampling period; Δt is the value of the time element.

[0123] In summary, the present invention can achieve accurate calculation and adjustment of the motion of a multidisciplinary system, thereby improving the accuracy of the control rod drive mechanism in controlling the start and stop of the reactor and adjusting the reaction power.

[0124] With the same idea as the previous embodiment, the present invention also provides a control device, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the following steps: for any sampling period, obtain the first motion state and the first drive current signal of the control rod at the previous sampling moment; and use the first motion state as the target motion state, and use the first drive current signal as the target current signal. Wherein, the sampling period includes multiple sampling moments. According to the target motion state and the target current signal, determine the second motion state of the control rod at the current sampling moment. Wherein, the time interval between the current sampling moment and the previous sampling moment is determined by the infinitesimal method. According to each motion parameter in the second motion state, determine the fault state type of the control rod drive mechanism, and adjust the value of the target current signal according to the fault state type, update the target current signal, update the target motion state with the second motion state, and return to execute the step of determining the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal, until the end time of the current sampling period is reached, and obtain the motion state of the control rod at the current sampling period.

[0125] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0126] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0127] If the functions are implemented in the form of software function modules and sold or used as independent products, they 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 the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0128] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multidisciplinary simulation adjustment system for a control rod drive mechanism, characterized in that: include: A data acquisition module and a data processing module connected in sequence; The data acquisition module is used to obtain the first motion state and the first driving current signal of the lower control rod at the last sampling moment for any sampling period, and use the first motion state as the target motion state; The first driving current signal is used as a target current signal; wherein the sampling period includes a plurality of sampling moments; The data processing module is used to determine the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal; wherein the time interval between the current sampling moment and the previous sampling moment is determined by a differential element method; The data processing module is further used to determine the fault state type of the control rod drive mechanism according to each motion parameter in the second motion state, and adjust the value of the target current signal according to the fault state type, update the target current signal, update the target motion state with the second motion state, and return to execute the step of determining the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal until the end time of the current sampling cycle is reached, thereby obtaining the motion state of the control rod in the current sampling cycle.

2. The multidisciplinary simulation adjustment system for control rod drive mechanism according to claim 1, characterized in that: The data processing module includes an electromagnetic calculation unit, a fluid calculation unit, and a dynamics calculation unit, wherein the output end of the electromagnetic calculation unit is connected to the input end of the fluid calculation unit and the input end of the dynamics calculation unit, and the output end of the fluid calculation unit is also connected to the input end of the dynamics calculation unit; The electromagnetic calculation unit is used to determine the electromagnetic force of the control rod at the current sampling moment according to the driving current signal at the previous sampling moment and the target motion state; The fluid calculation unit is used to determine the fluid resistance of the control rod at the current sampling moment according to the target motion state; The dynamics calculation unit is used to determine the second motion state of the control rod at the current sampling moment according to the fluid resistance, the electromagnetic force and the target motion state, wherein the second motion state includes a second displacement, a second velocity and a second acceleration.

3. The multidisciplinary simulation adjustment system for the control rod drive mechanism according to claim 2, characterized in that: When the target motion state includes a first velocity, a first displacement, and a first acceleration, The electromagnetic calculation unit is used to determine the electromagnetic force of the control rod at the current sampling moment according to the driving current signal at the previous sampling moment, the first displacement, and the first speed; The fluid calculation unit is used to determine the fluid resistance of the control rod at a current sampling moment according to the first displacement, the first velocity and the first acceleration; The dynamics calculation unit is used to determine the second motion state of the control rod at a current sampling moment according to the fluid resistance, the electromagnetic force, the first displacement, the first velocity, and the first acceleration.

4. The multidisciplinary simulation adjustment system for control rod drive mechanism according to claim 2, characterized in that: The data processing module further comprises a judgment unit, the input end of the judgment unit is connected to the output end of the dynamics calculation unit; The judging unit is used to judge whether the value of the second displacement is equal to a first preset threshold value, and if so, to judge whether the value of the second speed is greater than the second preset threshold value, and if so, to judge that the moving rod is impact overloaded at the current sampling moment, and to reduce the value of the first driving current signal to update the target current signal; If it is less than, determine whether the value corresponding to the current sampling moment is greater than the third preset threshold; if it is greater, determine that the moving rod lifting time at the current sampling moment is excessive, increase the value of the driving current signal to update the target current signal.

5. The multidisciplinary simulation adjustment system for the control rod drive mechanism according to claim 4, characterized in that: The judging unit is further configured to judge whether the value of the second speed is equal to a fourth preset threshold value when the value of the second displacement is not equal to the first preset threshold value, and whether the value corresponding to the current sampling moment is greater than a fifth preset threshold value. If the above conditions are met, it is determined that the moving rod is locked at the current sampling moment, and the value of the driving current signal is increased to update the target current signal; If the above conditions are not met, it is determined whether the value of the second speed is less than a fourth preset threshold value. If so, it is determined that the moving rod has slipped at the current sampling moment, and the value of the driving current signal is increased to update the target current signal. The fourth preset threshold is smaller than the second preset threshold.

6. The multidisciplinary simulation adjustment system for control rod drive mechanism according to claim 3, characterized in that: The calculation equation of the dynamics calculation unit is expressed as: F(t+Δt)=F e (t+Δt)-F f (t+Δt)-G-F d (t+Δt) Among them, U(t+Δt), and are the displacement, velocity and acceleration at the current sampling time t+Δt, respectively; F(t+Δt) is the load vector of the control rod drive system at the current sampling time t+Δt; [M], [C] and [K] are the mass matrix, damping matrix and stiffness matrix of the control rod drive system, respectively; F f (t+Δt) is the fluid resistance of the control rod at the current sampling time t+Δt; G is the gravity of the control rod; F d (t+Δt) is the spring force of the control rod at the current sampling time t+Δt; F e (t+Δt) is the electromagnetic force of the control rod at the current sampling time t+Δt.

7. The multidisciplinary simulation adjustment system for control rod drive mechanism according to claim 1, characterized in that: The step of determining the time interval between the current sampling moment and the previous sampling moment by using the differential element method comprises: Taking a single step motion process of the control rod drive mechanism as a sampling period, dividing the sampling period into a plurality of time elements with the same time interval based on the microelement method, and obtaining the time interval between the current sampling moment and the previous sampling moment; The expression of the time element satisfies: U = T / Δt; In the figure, U is the total number of time elements; T is the sampling period; Δt is the value of the time element.

8. A multidisciplinary simulation adjustment method for a control rod drive mechanism, characterized in that: The control rod drive mechanism multidisciplinary simulation adjustment method comprises the following steps: For any sampling period, a first motion state and a first drive current signal of the lower control rod at a previous sampling moment are obtained; and the first motion state is used as a target motion state, and the first drive current signal is used as a target current signal; wherein the sampling period includes a plurality of sampling moments; Determine the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal; wherein the time interval between the current sampling moment and the previous sampling moment is determined by a differential element method; The fault state type of the control rod drive mechanism is determined according to each motion parameter in the second motion state, and the value of the target current signal is correspondingly adjusted according to the fault state type, the target current signal is updated, and the target motion state is updated with the second motion state, and the step of determining the second motion state of the control rod at the current sampling moment according to the target motion state and the target current signal is returned to be executed until the end time of the current sampling period is reached, and the motion state of the control rod at the current sampling period is obtained.

9. The multidisciplinary simulation adjustment method for a control rod drive mechanism according to claim 8, characterized in that: When the target motion state includes a first velocity, a first displacement, and a first acceleration, the step of determining a second motion state of the control rod at a current sampling moment according to the target motion state and the target current signal includes: determining the electromagnetic force of the control rod at the current sampling moment according to the driving current signal at the previous sampling moment, the first displacement, and the first speed; determining a fluid resistance of a control rod at a current sampling moment according to the first displacement, the first velocity, and the first acceleration; A second motion state of the control rod at a current sampling moment is determined according to the fluid resistance, the electromagnetic force, the first displacement, the first velocity, and the first acceleration.

10. The multidisciplinary simulation adjustment method for a control rod drive mechanism according to claim 8, characterized in that: The step of determining the time interval between the current sampling moment and the previous sampling moment by using the differential element method comprises: Taking a single step motion process of the control rod drive mechanism as a sampling period, dividing the sampling period into a plurality of time elements with the same time interval based on the microelement method, and obtaining the time interval between the current sampling moment and the previous sampling moment; The expression of the time element satisfies: U = T / Δt; In the figure, U is the total number of time elements; T is the sampling period; Δt is the value of the time element.

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