Ultrasonic detection control system applied to primary component of nuclear power plant

Abstract

The invention relates to an ultrasonic detection control system applied to primary components of a nuclear power plant. The ultrasonic detection control system comprises a power supply module, a motion control system, a motor driver, a motor start-stop logic control module, an ultrasonic instrument, a main bolt ultrasonic scanner, a main pipeline ultrasonic scanner, a main steam pipeline ultrasonic scanner and a PC (Personal Computer) control computer, the PC control computer is used for setting parameters and data output display of the three ultrasonic scanners; the motion control system sends a motion control instruction, receives an emergency stop input signal and generates an emergency stop instruction; the motor driver motion control instruction controls double motors to move; the motor start-stop logic control module controls enabling closing and sudden stop of each shaft according to the enabling signal and the sudden stop input signal; the ultrasonic instrument is used for feeding back signals of three ultrasonic scanners; and the three ultrasonic scanners respectively execute ultrasonic detection according to the motor driving signals. The control and ultrasonic acquisition requirements of three ultrasonic scanners are met, the manufacturing cost is remarkably reduced, and the economical efficiency and the reliability are higher.

Description

Technical Field

[0001] The present invention relates to the technical field of nondestructive testing, and more specifically, to an ultrasonic testing control system applied to primary components of a nuclear power plant. Background Art

[0002] The main bolts, main pipelines and main steam pipelines of nuclear reactor pressure vessels are important components in nuclear power plants. These components work in harsh environments such as high strength, high impact, high stress and high radiation for a long time, requiring forgings to have high comprehensive mechanical properties and high-quality material structure. Currently, sensitive ultrasonic scanners are used to conduct regular comprehensive inspections.

[0003] At present, the ultrasonic scanners for the main bolts, main pipes, and main steam pipelines use two-axis scanners, which are composed of a circumferential rotation module and an axial stepping module. Therefore, if these three ultrasonic scanners need to be controlled, three corresponding control systems need to be set up, which will inevitably increase the number of control systems, increase manufacturing costs, and make the entire system more complicated. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an ultrasonic detection control system applied to the primary components of a nuclear power plant in view of the problems existing in the prior art.

[0005] The technical solution adopted by the present invention to solve the technical problem is: construct an ultrasonic detection control system applied to the primary components of a nuclear power plant, including: a power module, a motion control system, a motor driver, a motor start-stop logic control module, an ultrasonic instrument, a main bolt ultrasonic scanner, a main pipeline ultrasonic scanner, a main steam pipeline ultrasonic scanner and a PC control computer;

[0006] The PC control computer is used to set parameters of the main bolt ultrasonic scanner, the main pipeline ultrasonic scanner, and the main steam pipeline ultrasonic scanner, and to output and display ultrasonic detection data;

[0007] The power module is used to provide electrical energy;

[0008] The motion control system is used to send motion control instructions to the motor driver and receive an emergency stop input signal and generate an emergency stop instruction according to the emergency stop input signal;

[0009] The motor driver is used to output corresponding drive signals according to the motion control instructions sent by the motion control system to control the movement of the dual motors;

[0010] The motor start-stop logic control module is used to control the enable closing and emergency stop of each axis according to the enable signal sent by the motion control system and the emergency stop input signal;

[0011] The ultrasonic instrument is used to receive feedback signals from the main bolt ultrasonic scanner, the main pipeline ultrasonic scanner, and the main steam pipeline ultrasonic scanner;

[0012] The main bolt ultrasonic scanner, the main pipeline ultrasonic scanner and the main steam line ultrasonic scanner are used to perform ultrasonic detection according to the motor drive signal.

[0013] In the ultrasonic detection control system applied to the primary components of a nuclear power plant described in the present invention, the motion control system includes: a motion controller, a controller digital quantity interface, an axis control interface and a controller analog quantity interface;

[0014] The motion controller is used to perform system control;

[0015] The controller digital quantity interface is used to perform input / output of digital quantity signals;

[0016] The controller analog quantity interface is used to input analog quantity signals.

[0017] The ultrasonic detection control system for primary components of a nuclear power plant according to the present invention also includes: a differential-to-single-ended chip and a single-ended-to-differential chip;

[0018] The differential-to-single-ended chip is used to convert the differential signals output by the main pipeline ultrasonic scanner and the main steam pipeline ultrasonic scanner into single-ended signals, and transmit them to the ultrasonic instrument;

[0019] The single-ended to differential chip is used to convert the single-ended signal output by the main bolt ultrasonic scanner into a differential signal and transmit it to the axis control interface.

[0020] In the ultrasonic detection control system applied to the primary components of a nuclear power plant of the present invention, it also includes: a control cable interface;

[0021] The control cable interface is used to receive feedback signals from the main bolt ultrasonic scanner, the main pipeline ultrasonic scanner, and the main steam pipeline ultrasonic scanner, and transmit the feedback signals to the motion control system and the ultrasonic instrument respectively.

[0022] In the ultrasonic detection control system applied to the primary components of a nuclear power plant described in the present invention, it also includes: a communication interface;

[0023] The communication interface is arranged between the motion control system and the PC control computer, and is used for executing communication between the motion control system and the PC control computer.

[0024] In the ultrasonic detection control system applied to the primary components of a nuclear power plant described in the present invention, it also includes: a motor filter unit arranged between the output end of the dual motor and the control cable interface;

[0025] The motor filter unit is used to suppress motor noise and high-frequency electromagnetic interference.

[0026] The ultrasonic detection control system for the primary components of a nuclear power plant according to the present invention also includes: an optical coupling isolation module;

[0027] The optical coupling isolation module is used to perform optical isolation on the limit switch feedback signal and the enable signal of the motor driver.

[0028] In the ultrasonic detection control system applied to the primary components of a nuclear power plant described in the present invention, the controller digital quantity interface includes: limit switch signal input, emergency stop signal input, general signal input and emergency stop signal output;

[0029] The axis control interface includes: an A-axis control interface and a B-axis control interface; the A-axis control interface and the B-axis control interface respectively send an enable control signal to the motor driver according to the control of the motion controller;

[0030] The controller analog quantity interface is used to receive the output voltage of the motor driver and convert the output voltage into current.

[0031] The ultrasonic detection control system for the primary components of a nuclear power plant according to the present invention also includes: an emergency stop switch, a heat dissipation system and a power switch;

[0032] The emergency stop switch is connected to the motor start-stop logic control module and the motion control system respectively, and is used to generate the emergency stop input signal;

[0033] The heat dissipation system is used to perform heat dissipation operations;

[0034] The power switch is used to control the on / off of the heat dissipation system.

[0035] In the ultrasonic detection control system applied to the primary components of a nuclear power plant described in the present invention, the power supply module is a power supply with three voltage levels.

[0036] The ultrasonic detection control system applied to the primary components of a nuclear power plant according to the present invention has the following beneficial effects: including: power module, motion control system, motor driver, motor start-stop logic control module, ultrasonic instrument, main bolt ultrasonic scanner, main pipeline ultrasonic scanner, main steam pipeline ultrasonic scanner and PC control computer; PC control computer sets the parameters and data output display of three ultrasonic scanners; motion control system sends motion control instructions, receives emergency stop input signal and generates emergency stop instructions; motor driver motion control instructions control dual motor movement; motor start-stop logic control module controls each axis enable closing and emergency stop according to enable signal and emergency stop input signal; ultrasonic instrument three ultrasonic scanners feedback signals; three ultrasonic scanners perform ultrasonic detection according to motor drive signals respectively. The present invention meets the control and ultrasonic acquisition requirements of three ultrasonic scanners, significantly reduces manufacturing costs, and has higher economy and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0038] Figure 1 It is a schematic diagram of the appearance of an ultrasonic detection control system applied to a primary component of a nuclear power plant provided by the present invention;

[0039] Figure 2 The present invention provides an internal control circuit schematic diagram of an ultrasonic detection control system applied to a primary component of a nuclear power plant. DETAILED DESCRIPTION

[0040] The following will be combined with the 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In order to meet the ultrasonic inspection requirements of different inspection components, the present invention provides a universal two-axis ultrasonic inspection control system, which can be used to perform ultrasonic inspection on important components (i.e., primary components) such as main bolts, main pipelines, and main steam pipelines of nuclear reactor pressure vessels. Figure 1 FIG. 2 shows the appearance of an ultrasonic detection control system for a primary component of a nuclear power plant provided by the present invention. Figure 1 As shown, the ultrasonic detection control system for the primary components of a nuclear power plant provided by the present invention can be set as a control box structure of a portable box, with an overall specification of 380×340×200mm and a weight of 10kg. The use of a portable box structure can improve the portability of the control system.

[0042] refer to Figure 2, Figure 2 This is an internal circuit diagram of an ultrasonic detection control system applied to primary components of a nuclear power plant provided by the present invention.

[0043] Specifically, Figure 2 As shown, the ultrasonic detection control system applied to the primary components of a nuclear power plant includes: a power module 1, a motion control system 2, a motor driver 3, a motor start-stop logic control module 8, an ultrasonic instrument 9, a main bolt ultrasonic scanner 14, a main pipeline ultrasonic scanner 15, a main steam pipeline ultrasonic scanner 16 and a PC control computer 18.

[0044] The PC control computer 18 is used to set parameters of the main bolt ultrasonic scanner 14, the main pipeline ultrasonic scanner 15, and the main steam pipeline ultrasonic scanner 16, as well as to output and display ultrasonic detection data; the power supply module 1 is used to provide electrical energy; the motion control system 2 is used to send motion control instructions to the motor driver 3 and receive emergency stop input signals and generate emergency stop instructions according to the emergency stop input signals; the motor driver 3 is used to output corresponding drive signals according to the motion control instructions sent by the motion control system 2 to control the movement of the dual motors; the motor start-stop logic control module 8 is used to control the enable closing and emergency stop of each axis according to the enable signal and emergency stop input signal sent by the motion control system 2; the ultrasonic instrument 9 is used to receive feedback signals from the main bolt ultrasonic scanner 14, the main pipeline ultrasonic scanner 15, and the main steam pipeline ultrasonic scanner 16; the main bolt ultrasonic scanner 14, the main pipeline ultrasonic scanner 15, and the main steam pipeline ultrasonic scanner 16 are used to perform ultrasonic detection according to the motor drive signal.

[0045] In the embodiment of the present invention, the power module 1 is a power supply with three voltage levels. That is, the power module 1 is a power supply with three voltage levels, which can output voltages of 12V, 24V, and 30V respectively, and respectively supply power to the encoder, the motion control system 2, the cooling system 12 (cooling fan), the motor driver 3, and the motor.

[0046] Optionally, in an embodiment of the present invention, the motion control system 2 includes: a motion controller, a controller digital interface, an axis control interface, and a controller analog interface. The motion controller is used to perform system control; the controller digital interface is used to perform input / output of digital signals; and the controller analog interface is used to perform input of analog signals.

[0047] Specifically, the controller digital interface includes: limit switch signal input, emergency stop signal input, general signal input and emergency stop signal output. That is, the main functions of the controller digital interface are: (1) limit switch signal input. When the travel limit is reached, the motion controller will generate a limit deceleration setting instruction, and the motor movement will be controlled to decelerate and stop through the limit deceleration setting instruction; when the user needs to cross the limit operation, the limit reverse valid instruction can be used to set the limit signal reverse valid. (2) Emergency stop input signal. Specifically, when the user presses the emergency stop switch 13, the emergency stop switch 13 generates an emergency stop input signal, which will be transmitted to the motion controller, and the motion controller will issue an immediate stop instruction. At the same time, the emergency stop state will be transmitted to the PC control computer 18, and the PC control computer 18 will output and display the emergency stop state. (3) General input and output signals. Specifically, the general input signal can be used as a status display of the control system software, emergency stop, etc., and the output signal can be used for software emergency stop signal output.

[0048] Optionally, in an embodiment of the present invention, the axis control interface includes: an A-axis control interface and a B-axis control interface; the A-axis control interface and the B-axis control interface respectively send an enable control signal to the motor driver 3 according to the control of the motion controller. Specifically, the A-axis control interface and the B-axis control interface can receive feedback signals from the rotary encoders of the mechanical equipment motor A and the motor B, and can provide the motor driver 3 with the enable control signals of the A-axis motor (i.e., motor A) and the B-axis motor (i.e., motor B) for controlling the operating state of the dual motors. When the motion controller controls the power-on of the dual motors, the controller digital interface is connected to the analog interface of the motor driver 3, and the enable is activated by the enable opening instruction, or the enable is turned off by the enable closing instruction.

[0049] Optionally, in the embodiment of the present invention, the controller analog interface is used to receive the output voltage of the motor driver 3 and convert the output voltage into current. Specifically, the controller analog interface mainly receives the output voltage of the motor driver 3, converts the output voltage into current, and then outputs and displays it through the PC control computer 18. When the current is overcurrent, the motion controller outputs a control signal to the motor driver 3, and the motor driver 3 controls the dual motors to stop moving. Figure 2 The motor A and the motor B in the figure are dual motors.

[0050] In an embodiment of the present invention, the motor driver 3 can adopt an ESCON50 / 5 driver, which mainly receives enable instructions and speed mode working instructions issued by the A-axis control interface and the B-axis control interface, and can also control the movement of motor A and motor B according to the motor movement speed set by the user on the PC control computer 18.

[0051] In the embodiment of the present invention, Figure 2As shown, the ultrasonic detection control system applied to the primary components of a nuclear power plant further includes: a differential to single-ended chip 4 and a single-ended to differential chip 5 .

[0052] The differential-to-single-ended chip 4 is used to convert the differential signals output by the main pipeline ultrasonic scanner 15 and the main steam pipeline ultrasonic scanner 16 into single-ended signals, and transmit them to the ultrasonic instrument 9. The single-ended-to-differential chip 5 is used to convert the single-ended signals output by the main bolt ultrasonic scanner 14 into differential signals and transmit them to the axis control interface.

[0053] Specifically, the A-axis control interface and the B-axis control interface of the motion control system 2 receive differential signals. Among the three ultrasonic scanners, the feedback signal of the main bolt ultrasonic scanner 14 is a single-ended signal, which can be directly transmitted to the ultrasonic instrument 9 without signal conversion. However, since the A-axis control interface and the B-axis control interface receive differential signals, it is necessary to convert the signal through the single-ended to differential chip 5 to convert the single-ended feedback signal of the main bolt ultrasonic scanner 14 into a differential signal. The feedback signals of the main pipeline ultrasonic scanner 15 and the main steam pipeline ultrasonic scanner 16 are differential signals, which do not need to be converted when transmitted to the A-axis control interface and the B-axis control interface. However, since the ultrasonic instrument 9 receives single-ended signals, it is necessary to convert the feedback signals of the main pipeline ultrasonic scanner 15 and the main steam pipeline ultrasonic scanner 16 into single-ended signals through the differential to single-ended chip 4.

[0054] like Figure 2 As shown, the ultrasonic detection control system applied to the primary components of a nuclear power plant further includes: a control cable interface 10; the control cable interface 10 is used to receive feedback signals from the main bolt ultrasonic scanner 14, the main pipeline ultrasonic scanner 15, and the main steam pipeline ultrasonic scanner 16, and transmit the feedback signals to the motion control system 2 and the ultrasonic instrument 9 respectively. Specifically, through the control cable interface 10, after the three ultrasonic scanners are placed at the inspected part, the control cable interface 10 can be connected to the main bolt ultrasonic scanner 14, the main pipeline ultrasonic scanner 15, and the main steam pipeline ultrasonic scanner 16.

[0055] like Figure 2 As shown, the ultrasonic detection control system applied to the primary components of a nuclear power plant also includes: an optical coupling isolation module 6; the optical coupling isolation module 6 is used to perform optical isolation on the limit switch feedback signal and the enable signal of the motor driver 3. The optical coupling isolation module 6 includes three photoelectric couplers, which are mainly used to perform optical isolation on the limit switch feedback signal and the enable signal of the motor driver 3, thereby reducing signal interference and improving signal reliability.

[0056] like Figure 2As shown, the motor start-stop logic control module 8 is respectively connected to the axis control interface, the emergency stop switch 13 and the motor driver 3, and is mainly used to receive the emergency stop input signal generated by the emergency stop switch 13, the axis enable signal transmitted by the motion control system 2, the soft emergency stop signal, etc., so as to realize the enabling and emergency stop of each axis.

[0057] Furthermore, if Figure 2 As shown, the ultrasonic detection control system applied to the primary components of a nuclear power plant further includes: a motor filter unit 7 arranged between the output end of the dual motor and the control cable interface 10; the motor filter unit 7 is used to suppress the motor noise and high-frequency electromagnetic interference. By setting the motor filter unit 7, the motor noise interference and the high-frequency electromagnetic interference in the motor cable can be suppressed, ensuring that the servo motor operates normally according to the motion instruction.

[0058] Furthermore, the ultrasonic detection control system applied to the primary components of a nuclear power plant also includes: a communication interface 17; the communication interface 17 is arranged between the motion control system 2 and the PC control computer 18, and is used to execute communication between the motion control system 2 and the PC control computer 18.

[0059] Furthermore, the ultrasonic detection control system applied to the primary components of a nuclear power plant also includes: an emergency stop switch 13, a heat dissipation system 12 and a power switch 11. The emergency stop switch 13 is connected to the motor start-stop logic control module 8 and the motion control system 2 respectively, and is used to generate an emergency stop input signal; the heat dissipation system 12 is used to perform heat dissipation operations; and the power switch 11 is used to control the on / off of the heat dissipation system 12.

[0060] Specifically, Figure 2 As shown, the main bolt ultrasonic scanner 14, the main pipeline ultrasonic scanner 15, and the main steam pipeline ultrasonic scanner 16 are placed on the corresponding inspected parts respectively, and then the control cable interface 10 is connected to the main bolt ultrasonic scanner 14, the main pipeline ultrasonic scanner 15, and the main steam pipeline ultrasonic scanner 16, the 220V power interface is connected to the power module 1, the communication interface 17 is connected to the PC control computer 18, the motion control system 2 is connected to the ultrasonic instrument 9 through the ultrasonic encoder line, the power switch 11 is turned on, the cooling system 12 starts working, the motion control system 2 is powered on, and the control system is connected through the PC control computer 18 PING (PING is an instruction for the PC control computer 18 to determine whether the motion control system 2 is connected to the PC control computer 18 network cable), the control software on the PC control computer 18 is opened, and the connection is completed.

[0061] After the connection between the PC control computer 18 and the motion control system 2 is completed, the ultrasonic scanner is initialized. Specifically, the PC control computer 18 configures the corresponding PID control parameters, pulse conversion factor K value, limit value, movement speed, range and other parameters for the main bolt ultrasonic scanner 14, the main pipeline ultrasonic scanner 15, and the main steam pipeline ultrasonic scanner 16. At the same time, the user can load it in the control software. After loading, the corresponding inching control, absolute position, relative position movement, and movement speed setting can be completed. The ultrasonic acquisition software is connected to the ultrasonic instrument 9 and completes the loading of ultrasonic acquisition parameters.

[0062] When the control software completes the initialization settings of the ultrasonic scanner and corresponds to the coordinates and acquisition plan of the ultrasonic acquisition software, ultrasonic testing can be performed according to the acquisition plan.

[0063] The present invention only requires one motion control system 2 to realize the control of three ultrasonic scanners, meeting the control and ultrasonic acquisition requirements of the main bolt ultrasonic scanner 14, the main pipeline ultrasonic scanner 15, and the main steam pipeline scanner. The present invention can reduce the number of control systems, save equipment remanufacturing costs, and significantly improve the economy and reliability of the system.

[0064] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0065] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0066] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0067] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot limit the scope of protection of the present invention. All equivalent changes and modifications made to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. An ultrasonic detection control system applied to primary components of a nuclear power plant, characterized in that: include: Power module, motion control system, motor driver, motor start-stop logic control module, ultrasonic instrument, main bolt ultrasonic scanner, main pipeline ultrasonic scanner, main steam pipeline ultrasonic scanner and PC control computer; The PC control computer is used to set parameters of the main bolt ultrasonic scanner, the main pipeline ultrasonic scanner, and the main steam pipeline ultrasonic scanner, and to output and display ultrasonic detection data; The power module is used to provide electrical energy; The motion control system is used to send motion control instructions to the motor driver and receive an emergency stop input signal and generate an emergency stop instruction according to the emergency stop input signal; The motor driver is used to output corresponding drive signals according to the motion control instructions sent by the motion control system to control the movement of the dual motors; The motor start-stop logic control module is used to control the enable closing and emergency stop of each axis according to the enable signal sent by the motion control system and the emergency stop input signal; The ultrasonic instrument is used to receive feedback signals from the main bolt ultrasonic scanner, the main pipeline ultrasonic scanner, and the main steam pipeline ultrasonic scanner; The main bolt ultrasonic scanner, the main pipeline ultrasonic scanner and the main steam line ultrasonic scanner are used to perform ultrasonic detection according to the motor drive signal.

2. The ultrasonic detection control system for primary components of a nuclear power plant according to claim 1, characterized in that: The motion control system comprises: a motion controller, a controller digital quantity interface, an axis control interface and a controller analog quantity interface; The motion controller is used to perform system control; The controller digital quantity interface is used to perform input / output of digital quantity signals; The controller analog quantity interface is used to input analog quantity signals.

3. The ultrasonic detection control system for primary components of a nuclear power plant according to claim 2, characterized in that: Also includes: Differential to single-ended chips and single-ended to differential chips; The differential-to-single-ended chip is used to convert the differential signals output by the main pipeline ultrasonic scanner and the main steam pipeline ultrasonic scanner into single-ended signals, and transmit them to the ultrasonic instrument; The single-ended to differential chip is used to convert the single-ended signal output by the main bolt ultrasonic scanner into a differential signal and transmit it to the axis control interface.

4. The ultrasonic detection control system for primary components of a nuclear power plant according to claim 1, characterized in that: Also includes: Control cable interface; The control cable interface is used to receive feedback signals from the main bolt ultrasonic scanner, the main pipeline ultrasonic scanner, and the main steam pipeline ultrasonic scanner, and transmit the feedback signals to the motion control system and the ultrasonic instrument respectively.

5. The ultrasonic detection control system for primary components of a nuclear power plant according to claim 1, characterized in that: Also includes: Communication interface; The communication interface is arranged between the motion control system and the PC control computer, and is used for executing communication between the motion control system and the PC control computer.

6. The ultrasonic detection control system for primary components of a nuclear power plant according to claim 4, characterized in that: Also includes: A motor filter unit disposed between the output end of the dual motor and the control cable interface; The motor filter unit is used to suppress motor noise and high-frequency electromagnetic interference.

7. The ultrasonic detection control system for primary components of a nuclear power plant according to claim 1, characterized in that: Also includes: Optocoupler isolation module; The optical coupling isolation module is used to perform optical isolation on the limit switch feedback signal and the enable signal of the motor driver.

8. The ultrasonic detection control system for primary components of a nuclear power plant according to claim 2, characterized in that: The controller digital interface includes: limit switch signal input, emergency stop signal input, general signal input and emergency stop signal output; The axis control interface includes: an A-axis control interface and a B-axis control interface; the A-axis control interface and the B-axis control interface respectively send an enable control signal to the motor driver according to the control of the motion controller; The controller analog quantity interface is used to receive the output voltage of the motor driver and convert the output voltage into current.

9. The ultrasonic detection control system for primary components of a nuclear power plant according to claim 1, characterized in that: Also includes: Emergency stop switch, cooling system and power switch; The emergency stop switch is connected to the motor start-stop logic control module and the motion control system respectively, and is used to generate the emergency stop input signal; The heat dissipation system is used to perform heat dissipation operations; The power switch is used to control the on / off of the heat dissipation system.

10. The ultrasonic detection control system for primary components of a nuclear power plant according to claim 1, characterized in that: The power supply module is a power supply with three voltage levels.

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