Nuclear island new fuel container automatic hoisting control system

Abstract

The invention discloses an automatic hoisting control system for a nuclear island new fuel container and belongs to the technical field of hoisting equipment. The device comprises a hoisting device, a bracket and a control system; the hoisting device comprises a translation mechanism and a lifting mechanism; in the hoisting process, one end of the nuclear island new fuel container is fixed to the support, and the other end is connected to the hoisting device through a hoisting rope. The hoisting weight, the displacement distance in the vertical direction, the displacement distance in the horizontal direction and the length of the hoisting rope are acquired and transmitted to a control system through a bus; and the translation speed of the translation mechanism and the lifting speed of the lifting mechanism are adjusted based on the hoisting angle, the inclination angle deflection and the hoisting weight, and the inclination angle deflection of the nuclear island new fuel container is controlled within the safety range. Under the construction conditions that the space in the nuclear island is limited and no signal exists, automatic hoisting of the new fuel container of the nuclear island is achieved, and the safety and precision requirements are met; therefore, the problem that in the prior art, a nuclear island new fuel container hoisting method depending on manual command is insufficient in nuclear island new fuel container hoisting safety and precision is solved.

Description

Technical Field

[0001] The invention relates to the technical field of hoisting equipment and nuclear power building construction, in particular to an automatic hoisting control system for a new fuel container of a nuclear island. Background Art

[0002] During the construction of a nuclear power plant, new fuel rods need to be transported into the nuclear island fuel storage area. The transportation and hoisting tasks of the new fuel container of the nuclear island need to be completed with the help of the 550t lifting mechanism and translation mechanism of the ring crane. Moreover, this hoisting task is not a simple vertical hoisting, and the whole process is a curved hoisting. In the past, the hoisting of the new fuel container of the nuclear island required close cooperation between the operator, the hoisting commander, and the monitoring personnel at each position to complete this work. This method has human factors (skill level of the participants, psychological factors, degree of tacit cooperation, risk analysis and control ability, emergency response ability, physical condition, etc.), which will directly affect the hoisting safety and hoisting accuracy of the new fuel container of the nuclear island, and is inefficient. Therefore, it is proposed to carry out hoisting through an automatic hoisting control method.

[0003] The patent CN214298950U automatic lifting control device and automatic self-weight device in the prior art use simple circuit control to reduce manual operation to complete simple vertical lifting and hoisting conditions; they cannot meet the actual needs of curved transportation and dual-mechanism automatic lifting conditions. Patent CN118561170B is a crane lifting angle detection device, which is used for angle detection through a mechanical structure in vertical lifting. A single angle detection cannot meet the actual working conditions required by the lifting process. Curved transportation conditions, and this device cannot be installed on the lifting nuclear island new fuel container. Patent CN108249307B is a mobile measurement and feedback control system and method for a large crane, which requires the use of a movable external scanning analyzer and a networked GPS-assisted nuclear island new fuel container. It cannot meet the working conditions of a closed space without a signal in the nuclear island and a small space where other mobile nuclear island new fuel containers cannot be added.

[0004] Therefore, there is a need for a hoisting control system that is suitable for the curved transfer and automatic hoisting of new fuel containers in the nuclear island and meets the high safety factor and high precision requirements in high radiation environments. Summary of the invention

[0005] In view of this, the present invention provides an automatic lifting control system for a new fuel container for a nuclear island, which solves the problems of limited lifting space for the new fuel container for the nuclear island, high risk of human error and long lifting time; under the premise of ensuring the original appearance of the new fuel container for the nuclear island, the curve operation and automatic lifting of the new fuel container for the nuclear island are completed through the logical operation of the lifting mechanism.

[0006] To this end, the present invention provides the following technical solutions: A nuclear island new fuel container automatic hoisting control system, comprising: A hoisting device, a bracket and a control system; the hoisting device includes: a translation mechanism and a lifting mechanism; During the hoisting process, one end of the new fuel container of the nuclear island is fixed on the bracket, and the other end is connected to the hoisting device through a hoisting rope; The hoisting weight of the new fuel container of the nuclear island is obtained through the weighing system of the hoisting device; the horizontal displacement distance of the translation mechanism is obtained through the horizontal position encoder of the hoisting device; the vertical displacement distance of the lifting mechanism is obtained through the lifting position encoder; and the length of the hoisting rope is obtained through the drum encoder; The hoisting weight, vertical displacement distance, horizontal displacement distance and hoisting rope length are transmitted to the control system via a bus; The control system uses the hoisting weight, vertical displacement distance, horizontal displacement distance and hoisting rope length to obtain the hoisting angle and inclination deviation; and adjusts the translation speed of the translation mechanism and the lifting speed of the lifting mechanism based on the hoisting angle, inclination deviation and hoisting weight to control the inclination deviation of the new fuel container of the nuclear island within a safe range.

[0007] Further, the weighing system is installed at the lower end of the fixed pulley balance arm of the lifting device; The translation mechanism is a trolley; The horizontal position encoder is installed at the coaxial position of the wheel of the trolley; The lifting position encoder is installed at the coaxial position of the lifting drum.

[0008] Furthermore, the control system uses the hoisting weight, vertical displacement distance, horizontal displacement distance and hoisting rope length to obtain the hoisting angle and inclination deviation, including: Construct the trajectory equation for the new fuel container hoisting in the nuclear island: =R-Rcosθ Y=Rsinθ In the formula, represents the displacement of the translation mechanism from the initial position to the final position; Y represents the displacement of the lifting mechanism from the initial position to the final position; R represents the radius of the new fuel container of the nuclear island; θ represents the lifting angle; The trolley following speed is obtained based on the trajectory equation of the new fuel container hoisting in the nuclear island: =0.5·tan(sin -1 ( ) In the formula, is the operating speed of the lifting mechanism during hoisting, and t is the operating time.

[0009] The lifting and following speed is obtained based on the trajectory equation of the new fuel container hoisting in the nuclear island: =

[0010] In the formula, is the operating speed of the translation mechanism during lifting, and t is the operating time.

[0011] The hoisting angle is obtained based on the hoisting trajectory equation of the new fuel container of the nuclear island: θ =

[0012] Based on the real-time length of the lifting rope And the translation mechanism is vertical to the running track length The inclination angle deviation includes a positive inclination angle deviation and a negative inclination angle deviation; when , is the positive dip angle deflection; when , is a negative dip deflection; The translation mechanism is located vertically to the length of the running track. :

[0013] Wherein, H represents the maximum stroke of the lifting mechanism.

[0014] Further, the adjusting the translation speed of the translation mechanism and the lifting speed of the lifting mechanism based on the hoisting angle, the inclination deviation and the hoisting weight to control the inclination deviation of the new fuel container of the nuclear island within a safe range includes: During the hoisting process, first determine whether the hoisting angle is within the safe range. If so, then determine whether the hoisting weight is within the weight safety range; If the lifting weight is within the weight safety range, the lifting of the new fuel container of the nuclear island is completed; If the hoisting weight is not within the weight safety range, the lifting mechanism runs at the lifting follow speed and the translation mechanism runs at the trolley follow speed; and it is judged again whether the hoisting weight is within the weight safety range.

[0015] Furthermore, the determining whether the hoisting angle is within the safety range further includes: If not, the lifting mechanism runs at the maximum operating speed of the lifting mechanism, and the translation mechanism runs at the trolley following speed; and the operating speeds of the lifting mechanism and the translation mechanism are adjusted according to the inclination deviation, and the inclination deviation is controlled to always be smaller than the maximum allowable angle of the lifting rope deviation in the vertical direction until the lifting of the new fuel container of the nuclear island is completed.

[0016] Furthermore, the step of adjusting the operating speed of the lifting mechanism and the operating speed of the translation mechanism according to the inclination angle deflection includes: When the inclination angle is within the normal range, the lifting mechanism runs at the lifting follow speed, and the translation mechanism runs at the trolley follow speed; and judge again whether the lifting angle is within the safe range; When the tilt angle is within the fault range, the lifting of the new fuel container of the nuclear island is stopped; When the inclination angle deviation is within the positive abnormal range, the lifting mechanism runs at the lifting follow speed after positive compensation, and the translation mechanism runs at the trolley follow speed after negative compensation; and it is judged again whether the inclination angle deviation is within the normal range; When the inclination angle deviation is within the negative abnormal range, the lifting mechanism runs at the lifting follow speed after negative compensation, and the translation mechanism runs at the trolley follow speed after positive compensation; and it is judged again whether the inclination angle deviation is within the normal range.

[0017] Advantages and positive effects of the present invention: The present invention constructs a trajectory equation for hoisting a new fuel container for a nuclear island; calculates a trolley following speed, a lifting following speed, a hoisting angle, and an inclination deviation; and adjusts the operating speeds of a translation mechanism and a lifting mechanism in real time during the hoisting process based on the installation angle, the hoisting weight, and the inclination deviation, thereby realizing automatic adjustment of the hoisting of the new fuel container for the nuclear island, eliminating the swing of the new fuel container for the nuclear island during the hoisting process, and ensuring the safety and accuracy requirements of the hoisting of the new fuel container for the nuclear island.

[0018] The method of the present invention reduces the potential safety hazards caused by human risk factors and improves work efficiency; and no secondary processing or modification is performed on the new fuel container of the nuclear island, so that the new fuel container of the nuclear island can be hoisted in a limited space; thus solving the problem that the prior art is limited to vertical hoisting and cannot realize special model curved motion hoisting. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 This is a control logic diagram for hoisting a new fuel container of a nuclear island in an embodiment of the present invention; Figure 2 This is a structural diagram of a new fuel container hoisting system for a nuclear island in an embodiment of the present invention; Figure 3 It is a control system configuration diagram in an embodiment of the present invention; Figure 4 In the embodiment of the present invention, Schematic diagram of positive dip deflection in the case; Figure 5 In the embodiment of the present invention, Schematic diagram of negative dip angle deflection in the case of DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or new fuel container for a nuclear island that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or new fuel containers for a nuclear island.

[0023] The present invention provides a control system for automatic hoisting of a new fuel container of a nuclear island. The control system collects the parameters of the new fuel container of the nuclear island, including the height of the new fuel container of the nuclear island, the rated weight of the new fuel container of the nuclear island, the allowable safe speed of hoisting operation, and the limit of the vertical hoisting rope offset angle; and inputs the parameters of the new fuel container of the nuclear island into a PLC. After receiving the data of the new fuel container of the nuclear island, the PLC calculates the trolley following speed, the lifting following speed, the hoisting angle, and the vertical hoisting rope offset angle as the inclination deviation during continuous curve hoisting on the established mathematical model of the curve motion of the new fuel container of the nuclear island. After starting the hoisting of the new fuel container of the nuclear island, the new fuel container of the nuclear island enters the automatic hoisting working state. The PLC adjusts the real-time operating speed of the translation mechanism and the lifting mechanism according to the real-time values ​​of the hoisting angle, the inclination deviation, and the hoisting weight to ensure that the inclination deviation meets the stability condition until the hoisting task of the new fuel container of the nuclear island is completed.

[0024] The system of the present invention comprises: a hoisting device, a bracket and a control system; the hoisting device comprises: a translation mechanism and a lifting mechanism; During the hoisting process, one end of the new fuel container of the nuclear island is fixed to the bracket, and the other end is connected to the hoisting device through the hoisting rope; The hoisting weight of the new fuel container of the nuclear island is obtained through the weighing system of the hoisting device; the horizontal displacement distance of the translation mechanism is obtained through the horizontal position encoder of the hoisting device; the vertical displacement distance of the hoisting mechanism is obtained through the lifting position encoder; the length of the hoisting rope is obtained through the drum encoder; The hoisting weight, vertical displacement distance, horizontal displacement distance and hoisting rope length are transmitted to the control system through the bus; The control system uses the lifting weight, vertical displacement distance, horizontal displacement distance and the length of the lifting rope to obtain the lifting angle and inclination deviation; and adjusts the translation speed of the translation mechanism and the lifting speed of the lifting mechanism based on the lifting angle, inclination deviation and lifting weight to control the inclination deviation of the new fuel container of the nuclear island within a safe range.

[0025] The weighing system is installed at the lower end of the fixed pulley balance arm of the lifting device; the translation mechanism is a trolley; the horizontal position encoder is installed at the coaxial position of the trolley wheel; and the lifting position encoder is installed at the coaxial position of the lifting drum.

[0026] Specifically, combined Figure 2 and Figure 3 Further explanation: S1. Collect the parameters of the new fuel container of the nuclear island, including: The radius of the new fuel container of the nuclear island is R = 17163mm; The maximum travel of the lifting mechanism is H=20000mm; The maximum allowable deviation angle of the lifting rope in the vertical direction is ±1.5°; Maximum permissible speed of lifting mechanism = 8.33 mm / s (0.5 m / min); Maximum permissible speed of translation mechanism = 33.3 mm / s (2 m / min); The rated weight of the new fuel container of the nuclear island is G1=480t.

[0027] S2. Enter product information through the HMI human-machine interface. The HMI communicates to the PLC through Profibus-DP, and the PLC stores and calculates the data.

[0028] After receiving the input of the parameters of the new fuel container of the nuclear island, S3 and PLC calculate the trolley following speed and lifting following speed, lifting angle and inclination deviation during continuous curve hoisting based on the established mathematical model of the curved motion of the new fuel container of the nuclear island and the running trajectory.

[0029] 1) Trajectory equation for hoisting new fuel container of nuclear island: =R-Rcosθ Y=Rsinθ In the formula, represents the displacement of the translation mechanism from the initial position to the final position; Y represents the displacement of the lifting mechanism from the initial position to the final position; R represents the radius of the new fuel container of the nuclear island; θ represents the lifting angle.

[0030] 2) Calculate the coordinated value of the horizontal running speed of the translation mechanism and the vertical lifting speed during continuous curve hoisting; in this embodiment, the translation mechanism is a trolley. Therefore, the coordinated value of the horizontal running speed of the translation mechanism and the vertical lifting speed is expressed as the trolley following speed and the lifting following speed.

[0031] By making the area of ​​the figure enclosed by the integral of the trolley's theoretical speed equal to the acceleration or deceleration curve of the trolley, we can find the maximum allowable deflection angle that is smaller than the safe angle of the lifting rope deviation in the vertical direction.

[0032] Calculate the following speed value of the trolley that meets the conditions for the translation mechanism to follow the lifting speed: =0.5·tan(sin -1 ( ) In the formula, To increase the speed of the mechanism during hoisting. For the running time.

[0033] And the lifting mechanism that meets the conditions follows the lifting speed value of the trolley speed: =

[0034] in, is the operating speed of the translation mechanism during hoisting, For the running time.

[0035] 3) Calculate the lifting angle by trajectory: θ =

[0036] 4) Calculate the inclination angle. There are two cases of inclination angle deviation, such as Figure 4 The first case shown is , is the positive tilt angle, and its calculation formula is:

[0037]

[0038] =A-A2 In the formula, Indicates positive tilt deflection, The real-time length of the hoisting rope is transmitted to the PLC via Profibus DP communication using the encoder installed on the drum position; is the displacement of the car from the initial position to the final position in this embodiment; A is For auxiliary lines The angle between and auxiliary lines Angle between The position of the translation mechanism is perpendicular to the running track length:

[0039] like Figure 5 In the second case shown, when , is a negative dip:

[0040]

[0041] =A2-A In the formula, Indicates negative dip deflection. S4. The operator selects the automatic lifting operation function of the new fuel container of the nuclear island on the operating handle and presses the automatic lifting start button to enter the automatic lifting state of the new fuel container of the nuclear island.

[0042] At this time, the PLC is used to determine the hoisting angle θ and the hoisting weight G2 at all times; wherein, the hoisting weight G2 is transmitted to the PLC via the Profibus DP communication using a weighing device installed on the hook.

[0043] In this embodiment, the safety range of the hoisting angle is 89°<θ<91°; the safety range of the hoisting weight G2 is (G1-0.5t)<G2<(G1+0.5t); The normal range of inclination angle is ; The fault interval of inclination angle is and ; The positive anomaly range of the dip angle is 0.5° ; The negative anomaly range of dip angle is -1.5 .

[0044] In this embodiment, the operation speed of the translation mechanism and the operation speed of the lifting mechanism in the lifting process are adjusted in real time according to the lifting angle, lifting weight and inclination deflection, including: Step 1) When the lifting angle θ is in the safety range of 89°<θ<91° and the lifting weight G2 is in the weight safety range of (G1-0.5t)<G2<(G1+0.5t), it is determined that the lifting is in place, the lifting is successfully completed, and the shutdown is completed.

[0045] Step 2) When the lifting angle θ is not within the safe range of 89°<θ<91°, the maximum operating speed of the lifting mechanism is used. Start running, the translation mechanism follows the trolley speed Run and determine the inclination angle β value in real time during operation.

[0046] Step 3) Determine whether the inclination angle β value is within the normal range during operation If yes, then the mechanism is raised to increase the following speed Run, the translation mechanism follows the trolley speed Run and jump to step 1) for judgment.

[0047] Step 4) If the inclination skew β value is not within the normal range , then determine whether If yes, the hoisting stops immediately and a deviation fault occurs; if not, continue to determine whether If yes, the hoisting will stop immediately and a deviation fault will occur; If not, continue to determine whether it is in the positive abnormal interval If yes, the lifting mechanism will compensate +3% of the lifting speed (i.e. 103%). ) operation, the translation mechanism is adjusted to compensate for -3% of the trolley following speed (i.e. 97% ) Run and jump to step 3) to continue verification; If not, continue to determine whether it is in the negative abnormal interval If the lifting mechanism is to compensate -3% of the lifting speed (i.e. 97%) ) operation, the translation mechanism is to compensate for +3% of the trolley following speed (i.e. 103% ) to run and jump to step 3) to continue verification.

[0048] Step 5) In step 1), when the hoisting angle θ is within the safety range of 89°<θ<91°, but the hoisting weight G2 is not within the weight safety range of (G1-0.5t)<G2<(G1+0.5t), the lifting mechanism is raised to follow the speed Run, the translation mechanism follows the trolley speed Run, then skip to step 1) to continue verification.

[0049] The above system can fully automatically lift the new fuel container of the nuclear island without human intervention. The lifting mechanism automatically runs to complete the entire working condition, reducing the potential safety hazards caused by human risk factors, reducing labor costs, reducing personnel investigation, coordination and command time, and improving work efficiency. There is no need to perform secondary processing and modification on the lifting of the new fuel container of the nuclear island (such as adding lifting auxiliary lifting equipment, adding special lifting cages, adding lifting rings and lifting points, changing the external dimensions of the new fuel container of the nuclear island, etc.), adapting to the limited space in the nuclear island of the nuclear power plant, the small space, and the large volume of the new fuel container of the nuclear island, thereby improving the space utilization rate of the lifting environment; The fully automatic lifting of the new fuel container for the nuclear island adopts a curved lifting method. Under the monitoring of mathematical models and weight-assisted multiple data, the swing of the new fuel container for the nuclear island during the lifting process is eliminated, thereby improving safety and operating accuracy. In addition, the lifting mode is operated simultaneously with the cooperation of multiple mechanisms, which solves the problem that traditional lifting is limited to vertical lifting and cannot realize special model curved motion lifting.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control system for automatic lifting of new fuel containers in a nuclear island, characterized in that: include: Lifting devices, brackets and control systems; The hoisting device comprises: a translation mechanism and a lifting mechanism; During the hoisting process, one end of the new fuel container of the nuclear island is fixed on the bracket, and the other end is connected to the hoisting device through a hoisting rope; The hoisting weight of the new fuel container of the nuclear island is obtained through the weighing system of the hoisting device; the horizontal displacement distance of the translation mechanism is obtained through the horizontal position encoder of the hoisting device; the vertical displacement distance of the lifting mechanism is obtained through the lifting position encoder; and the length of the hoisting rope is obtained through the drum encoder; The hoisting weight, vertical displacement distance, horizontal displacement distance and hoisting rope length are transmitted to the control system via a bus; The control system uses the hoisting weight, vertical displacement distance, horizontal displacement distance and hoisting rope length to obtain the hoisting angle and inclination deviation; and adjusts the translation speed of the translation mechanism and the lifting speed of the lifting mechanism based on the hoisting angle, inclination deviation and hoisting weight to control the inclination deviation of the new fuel container of the nuclear island within a safe range.

2. According to claim 1, a nuclear island new fuel container automatic lifting control system is characterized in that: The weighing system is installed at the lower end of the fixed pulley balance arm of the lifting device; The translation mechanism is a trolley; The horizontal position encoder is installed at the coaxial position of the wheel of the trolley; The lifting position encoder is installed at the coaxial position of the lifting drum.

3. According to claim 1, a nuclear island new fuel container automatic lifting control system is characterized in that: The control system uses the hoisting weight, vertical displacement distance, horizontal displacement distance and hoisting rope length to obtain the hoisting angle and inclination deviation, including: Construct the trajectory equation for the new fuel container hoisting in the nuclear island: =R-Rcosθ Y=Rsinθ In the formula, represents the displacement of the translation mechanism from the initial position to the final position; Y represents the displacement of the lifting mechanism from the initial position to the final position; R represents the radius of the new fuel container of the nuclear island; θ represents the lifting angle; The trolley following speed is obtained based on the trajectory equation of the new fuel container hoisting in the nuclear island: =0.5·tan(sin -1 ( )) In the formula, is the operating speed of the lifting mechanism during hoisting, and t is the operating time. The lifting and following speed is obtained based on the trajectory equation of the new fuel container hoisting in the nuclear island: = In the formula, is the operating speed of the translation mechanism during lifting, and t is the operating time. The hoisting angle is obtained based on the hoisting trajectory equation of the new fuel container of the nuclear island: θ= Based on the real-time length of the lifting rope And the translation mechanism is vertical to the running track length The inclination angle deviation includes a positive inclination angle deviation and a negative inclination angle deviation; when , is the positive dip angle deflection; when , is a negative dip deflection; The translation mechanism is located vertically to the length of the running track. : Wherein, H represents the maximum stroke of the lifting mechanism.

4. According to claim 3, a nuclear island new fuel container automatic lifting control system is characterized in that: The method of adjusting the translation speed of the translation mechanism and the lifting speed of the lifting mechanism based on the hoisting angle, the inclination deviation and the hoisting weight to control the inclination deviation of the new fuel container of the nuclear island within a safe range includes: During the hoisting process, first determine whether the hoisting angle is within the safe range. If so, then determine whether the hoisting weight is within the weight safety range; If the lifting weight is within the weight safety range, the lifting of the new fuel container of the nuclear island is completed; If the hoisting weight is not within the weight safety range, the lifting mechanism runs at the lifting follow speed and the translation mechanism runs at the trolley follow speed; and it is judged again whether the hoisting weight is within the weight safety range.

5. According to claim 4, a control system for automatically lifting and installing a new fuel container in a nuclear island is characterized in that: The step of determining whether the hoisting angle is within a safe range also includes: If not, the lifting mechanism runs at the maximum operating speed of the lifting mechanism, and the translation mechanism runs at the trolley following speed; and the operating speeds of the lifting mechanism and the translation mechanism are adjusted according to the inclination deviation, and the inclination deviation is controlled to always be smaller than the maximum allowable angle of the lifting rope deviation in the vertical direction until the lifting of the new fuel container of the nuclear island is completed.

6. According to claim 5, a control system for automatically lifting and installing a new fuel container in a nuclear island, characterized in that: The method of adjusting the operating speed of the lifting mechanism and the operating speed of the translation mechanism according to the inclination angle deflection includes: When the inclination angle is within the normal range, the lifting mechanism runs at the lifting follow speed, and the translation mechanism runs at the trolley follow speed; and judge again whether the lifting angle is within the safe range; When the tilt angle is within the fault range, the lifting of the new fuel container of the nuclear island is stopped; When the inclination angle deviation is within the positive abnormal range, the lifting mechanism runs at the lifting follow speed after positive compensation, and the translation mechanism runs at the trolley follow speed after negative compensation; and it is judged again whether the inclination angle deviation is within the normal range; When the inclination angle deviation is within the negative abnormal range, the lifting mechanism runs at the lifting follow speed after negative compensation, and the translation mechanism runs at the trolley follow speed after positive compensation; and it is judged again whether the inclination angle deviation is within the normal range.

Images