Control system and control method for loading and unloading machine of pressurized water reactor nuclear power plant

Abstract

The invention provides a control system and a control method for a material loading and unloading machine of a pressurized water reactor nuclear power plant, relates to the technical field of material loading and changing of nuclear power plants, and aims to solve the problems that when an existing control system encounters a single-point fault, the system is paralyzed or the performance is obviously reduced, and normal operation of material loading and changing operation is influenced. The accurate, reliable and stable control requirements of the nuclear power plant refueling process cannot be met; a communication ring network in the system is used for transmitting an operation instruction and a feedback signal, and when the communication ring network breaks down, the network can be automatically reconstructed; the main controller is used for sending an operation instruction to the loading and unloading machine through the communication ring network and receiving feedback information; and the standby controller is used for switching the standby controller into a main control mode when detecting that the main controller has a fault. The reliability, the real-time performance and the flexibility of the system are remarkably improved, meanwhile, the fault resistance of the system is improved, and it is ensured that when the main controller breaks down, the system can be seamlessly switched to the standby controller to continue running.

Description

Technical Field

[0001] The invention belongs to the technical field of nuclear power plant loading and unloading, and in particular relates to a control system and a control method for a loading and unloading machine of a pressurized water reactor nuclear power plant. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] During the operation of a nuclear power plant, loading and refueling operations are a crucial link, including ① core unloading, ② spent fuel assembly transfer, ③ loading spent fuel assemblies into spent fuel pool storage racks, ④ receiving new assemblies, ⑤ transporting new assemblies to the core area, and ⑥ loading new assemblies into the core.

[0004] Existing loading and unloading machine control systems usually adopt a single controller design. When encountering a single point failure, the control system often fails, affecting the normal loading and unloading operations and threatening the safety of fuel assembly operations. The loading and unloading machines in pressurized water reactor nuclear power plants have concentrated functions and complex operating processes, which puts forward high requirements on the reliability and stability of the loading and unloading machine control system. Summary of the invention

[0005] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a control system and control method for a pressurized water reactor nuclear power plant loading and unloading machine. By combining dual controller redundancy with an EtherCAT ring network, the reliability, real-time and flexibility of the system are improved. At the same time, when the main controller fails, the system can seamlessly switch to the backup controller for control, and when a communication network node fails, the communication can be restored by quickly reconstructing the network, thereby enhancing the scalability and maintainability of the system and providing more accurate and reliable control support for loading and unloading operations.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0007] In a first aspect, a control system for a loader and unloader of a pressurized water reactor nuclear power plant is disclosed, comprising:

[0008] Main controller, backup controller and communication ring network;

[0009] The main controller and the standby controller are connected via a communication ring network for synchronous data communication;

[0010] The communication ring network includes a communication network and multiple communication modules, which connect the loader and unloader actuators and sensors to transmit operation instructions and feedback signals. When the communication ring network fails, it can automatically reconstruct the network and maintain the communication connection.

[0011] The main controller is used to obtain operation instructions, send the operation instructions to the loader through the communication ring network, and receive feedback information from the execution components of the loader;

[0012] The standby controller is used to detect the operating status of the main controller. When a failure of the main controller is detected, the standby controller switches to the main control mode and continues to send control instructions to the loader and unloader execution components through the communication ring network. The loader and unloader execution components continue to execute the operating instructions until the switch is completed.

[0013] As a further technical solution, it also includes an underwater observation device server and a host computer, which are respectively connected to the main controller and the backup controller through a switch.

[0014] As a further technical solution, the main controller and the standby controller maintain synchronous communication through a heartbeat detection mechanism.

[0015] As a further technical solution, the main controller and the standby controller send synchronization signals by broadcasting.

[0016] As a further technical solution, the communication ring network adopts full-duplex communication mode for data transmission and real-time synchronization.

[0017] As a further technical solution, the loader and unloader execution components at least include a trolley motor drive, a small trolley motor drive, and a lifting mechanism drive.

[0018] As a further technical solution, the communication module includes a first communication module, a second communication module and a third communication module; the first communication module is connected to the trolley motor drive, used to control the trolley motor drive to execute operation instructions; the second communication module is connected to the trolley motor drive, used to control the trolley motor drive to execute operation instructions; the third communication module is connected to the lifting mechanism drive, used to control the lifting mechanism drive to execute operation instructions.

[0019] As a further technical solution, the loader is provided with a loader sensor, a brake and a solenoid valve.

[0020] As a further technical solution, a control panel is also included, which is connected to the main controller and the communication module through the IO module, and is used to initiate operation instructions. The operation instructions at least include start, stop, mode switching and the running direction and speed of the execution component.

[0021] In a second aspect, a method for controlling a loading and unloading machine of a pressurized water reactor nuclear power plant is disclosed, comprising:

[0022] Obtain the operation instructions, and send the operation instructions to the loading and unloading machine execution component through the communication ring network, and the loading and unloading execution component executes the operation command;

[0023] During the execution of the operation command, the main controller is tested for faults. When the main controller fails, the standby controller switches to the main control mode and continues to send control commands to the communication module through the communication ring network. The loader and unloader execution components continue to execute the operation commands until the switch is completed.

[0024] When the main controller is not faulty, perform communication ring network fault detection to determine whether it is a communication ring network node fault. If so, perform network reconstruction and continue to execute operation instructions. If not, determine whether it is other faults. If so, perform equipment maintenance. If not, execute operation instructions until the operation is completed.

[0025] One or more of the above technical solutions have the following beneficial effects:

[0026] In this embodiment, through the application of controller redundancy design and EtherCAT communication ring network, the impact of single point failure on the system is effectively avoided, the reliability of the loader control system is greatly improved, and the safety and stability of the nuclear power plant loading and replacement operations are ensured.

[0027] In this embodiment, the high-speed communication capability of the EtherCAT communication ring network enables control instructions to be quickly issued to the execution components, and sensor feedback information can also be received and processed by the controller in a timely manner, ensuring the loader and unloader's rapid response to various operating instructions and improving operating efficiency and accuracy.

[0028] In this embodiment, the control system architecture facilitates system expansion and maintenance, and the functional modules and equipment of the loader and unloader can be easily added or replaced according to actual needs. The system function can be upgraded and optimized through network configuration and controller program update to meet the ever-changing needs of loader and unloader machines in pressurized water reactor nuclear power plants.

[0029] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0031] Figure 1 This is a framework diagram of a control system for a loading and unloading machine of a pressurized water reactor nuclear power plant in the first embodiment;

[0032] Figure 2 This is a flow chart of a control method for a loading and unloading machine of a pressurized water reactor nuclear power plant in the second embodiment. DETAILED DESCRIPTION

[0033] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0034] It should be noted that the terms used herein are for describing specific embodiments only and are not intended to be limiting of exemplary embodiments according to the present invention.

[0035] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0036] Embodiment 1

[0037] This embodiment discloses a control system for a loading and unloading machine of a pressurized water reactor nuclear power plant.

[0038] In order to more clearly illustrate this embodiment, a control implementation process of a loading and unloading machine of a pressurized water reactor nuclear power plant can be specifically described as follows:

[0039] like Figure 1 As shown, a control system for a loading and unloading machine of a pressurized water reactor nuclear power plant includes:

[0040] Main controller, backup controller and communication ring network;

[0041] The main controller and the standby controller are connected via a communication ring network for synchronous data communication;

[0042] The communication ring network includes a communication network and multiple communication modules, which connect the loader and unloader actuators and sensors to transmit operation instructions and feedback signals. When the communication ring network fails, it can automatically reconstruct the network and maintain the communication connection.

[0043] The main controller is used to obtain operation instructions, send the operation instructions to the loader through the communication ring network, and receive feedback information from the execution components of the loader;

[0044] The standby controller is used to detect the operating status of the main controller. When a failure of the main controller is detected, the standby controller switches to the main control mode and continues to send control instructions to the loader and unloader execution components through the communication ring network. The loader and unloader execution components continue to execute the operating instructions until the switch is completed.

[0045] The control system of this embodiment is used in the actual application of a loading and unloading machine in a pressurized water reactor nuclear power plant. The main controller and the backup controller are selected from industrial controllers with high reliability and high performance, installed in independent control cabinets, and have good heat dissipation and anti-interference performance. The EtherCAT ring network uses shielded twisted pair cables for connection, including motor drivers, sensors, modules, etc. are equipped with EtherCAT interfaces to ensure the stability and anti-interference of communication.

[0046] like Figure 1 As shown, the active controller and the standby controller maintain synchronous communication through a heartbeat detection mechanism.

[0047] In this embodiment, a dual-controller redundant design is adopted, including a main controller and a backup controller. Both controllers have the same control functions and performance parameters, and synchronize operating status information in real time to ensure that when the main controller fails, the backup controller can quickly and seamlessly switch to take over the control tasks of the loader and unloader, thereby ensuring the continuous and stable operation of the system.

[0048] The main controller and the standby controller monitor each other's operating status and make judgments through heartbeat signals, status words, etc. This effectively reduces the risk of single point failures and improves the reliability and stability of the system.

[0049] like Figure 1 As shown, the communication ring network adopts full-duplex communication mode, and the communication ring network adopts EtherCAT communication protocol for data transmission and real-time synchronization.

[0050] The use of EtherCAT real-time industrial Ethernet technology achieves high-speed data transmission and real-time synchronization, improving the communication rate and response speed of the system. At the same time, the EtherCAT ring network supports multiple slave station connections, facilitating system expansion and upgrades.

[0051] The EtherCAT ring network builds a communication network to connect the various actuators, sensors and controllers of the loading and unloading machine. It has high-speed communication capabilities and strong anti-interference capabilities, and can quickly and accurately transmit control instructions and feedback signals to achieve precise coordinated actions of the various components of the loading and unloading machine. At the same time, when a network node fails, the EtherCAT ring network can quickly and automatically reconstruct the network, restore communication connections, and maintain normal operation of the system.

[0052] like Figure 1 As shown, the communication ring network includes multiple communication modules, each of which has an independent clock source and synchronization mechanism to ensure the accuracy of data transmission and the synchronization signal sent by the master station of the communication ring network (i.e., the main controller or the backup controller) through broadcasting. The slave station adjusts its own clock according to the synchronization signal to achieve global time synchronization.

[0053] The global time synchronization mechanism ensures the time synchronization accuracy between loaders and unloaders, improving the overall performance of the system.

[0054] like Figure 1As shown, in this embodiment, the communication module includes a first communication module, a second communication module and a third communication module; the first communication module is connected to the trolley drive, and is used to control the trolley drive to execute operation instructions; the second communication module is connected to the trolley drive, and is used to control the trolley drive to execute operation instructions; the third communication module is connected to the lifting mechanism drive, and is used to control the lifting mechanism to execute operation instructions.

[0055] like Figure 1 As shown, in this embodiment, the loader and unloader execution components include a trolley motor drive, a small trolley motor drive, and a lifting mechanism drive.

[0056] In this embodiment, the loader is provided with sensors, brakes and solenoid valves.

[0057] like Figure 1 As shown, the control system in this embodiment also includes an underwater observation device server and a host computer, which are connected to the main controller and the backup controller respectively through a switch. The host computer is provided with a database for storing data of the main controller and the backup controller.

[0058] Among them, the underwater observation device server is used to process the image information collected by the camera system to achieve the following functions:

[0059] (1) Identification number of the fuel assembly or insert.

[0060] The underwater observation device server identifies the number of the fuel assembly or the inserter and compares it with the information in the database. When the comparison is consistent, it means that the fuel assembly or the inserter is the object of this operation, and the next step of the operation is allowed to proceed.

[0061] (2) Identify the status of the lifting mechanism gripper.

[0062] When the gripper moves, the underwater observation device server obtains the gripper image, identifies the gripper status and makes a judgment. Only when the gripper status meets expectations, the next operation is allowed.

[0063] (3) Determine the spatial relationship between the operation object and adjacent objects.

[0064] When operating fuel assemblies or inserters, the underwater observation device server continuously identifies the spatial relationship between the operating object and adjacent objects. When interference or collision occurs, a protection signal is triggered to stop the action to prevent damage to the operating object.

[0065] In this embodiment, the main controller and the backup controller communicate synchronously and are connected to each communication module through a communication ring network. The communication module is an optional component and serves as a communication gateway for adapting the communication ring network protocol and the drive communication protocol. If the drive supports the communication ring network protocol, the drive can be directly connected to the communication ring network.

[0066] In this embodiment, after receiving the operation instruction, the execution component of the loader and unloader executes the operation instruction to complete the operation.

[0067] In this embodiment, a control panel is also included, which is connected to the main controller and the communication module respectively through the IO module. The operator can initiate operation instructions through the control panel, including start, stop, and mode switching instructions, as well as the running direction and speed of the actuator sent through the joystick on the control panel. At the same time, the equipment operation status is displayed on the control panel.

[0068] The control panel is connected to the input end of the IO module, the first output end of the IO module is connected to the main controller through the communication ring network, the second output end is connected to each communication module through the communication ring network, and the third output end is connected to the loader sensor, brake and solenoid valve circuit.

[0069] In this embodiment, the fuel operator can switch the control mode by operating the switch on the control panel, and switch the control mode to manual operation or automatic operation.

[0070] In manual mode, the operator controls the operating lever to send the running direction and speed signal of the actuator, controls the operation of the loader and unloader, and operates the gripper through the switch.

[0071] In automatic mode, the controller generates operation steps according to the fuel operation plan set in the database, and controls the loader to execute each operation step to complete the fuel operation.

[0072] In this embodiment, after the loader and unloader executive component completes the operation, the position, speed, force and other information of the loader and unloader executive component are fed back to the main controller through the sensor for real-time monitoring and adjustment. The opening or closing of the unloading door is controlled by the solenoid valve, and the movement of the loader and unloader executive component can be quickly stopped by the brake.

[0073] In this embodiment, during the operation of the loader, the main controller normally receives and executes operating instructions to unload the spent fuel assemblies from the core and transfer them to the spent fuel pool storage grids. The main controller needs to accurately control the motor driver to drive the various loader and unloader execution components of the loader, that is, control the trolley motor drive, the car motor drive and the lifting mechanism drive.

[0074] The operation instructions are transmitted to the loader and unloader execution components through the EtherCAT communication ring network, and the loader and unloader execution components implement the operation instructions.

[0075] Taking the lifting mechanism driving the execution of the operation instruction "lift the spent fuel assembly at a specific speed and torque" as an example, when it is necessary to complete precise grasping, lifting, translation and other operation commands.

[0076] Specifically, the main controller receives operating instructions for controlling the lifting mechanism drive, and the instructions are transmitted to the third communication module through the communication ring network at an extremely high speed (cycle time in microseconds), and then transmitted to the lifting mechanism drive through the third communication module. The lifting mechanism drive can receive the instructions in a very short time and execute them immediately, accurately controlling the operation of the motor, so that the lifting mechanism lifts the fuel assembly according to the preset trajectory and speed, that is, realizing operations such as grabbing, lifting, and translation. The whole process responds quickly and accurately, fully reflecting the real-time communication between the EtherCAT communication ring network and the motor driver.

[0077] In this embodiment, similarly, when the received operating instruction is "the trolley runs smoothly at a preset speed within a preset track range", the main controller transmits the operating instruction to the trolley motor drive through the communication ring network, executes the operating command, and drives the trolley to move smoothly and accurately on the preset track, thereby realizing the loading and unloading operations of the materials.

[0078] When the received operation instruction is "the trolley moves back and forth on the guide rail at a preset speed", the main controller transmits the operation instruction to the trolley motor drive through the communication ring network, executes the operation command, and drives the trolley to transport the materials to the designated unloading point for unloading.

[0079] In this embodiment, different material loading and unloading execution components execute corresponding operation instructions according to the above process.

[0080] The system of this embodiment has a complete fault detection and recovery mechanism, which can monitor the status of the EtherCAT ring network, controller and loader in real time. Once a fault is found, the system can automatically perform fault isolation and recovery operations to ensure stable operation of the system.

[0081] In this embodiment, when a hardware failure occurs in the main controller, the standby controller immediately detects the abnormality, quickly switches to the main control mode, seamlessly takes over the remaining operation tasks, and continues to complete the transfer and storage of the spent fuel assemblies. At the same time, through the reconstruction function of the EtherCAT communication ring network, stable communication with each device is maintained to ensure that the entire loading and replacement operation is completed smoothly, and no interruption or abnormal situation occurs due to the failure of the main controller, which fully verifies the effectiveness and reliability of the control system and control method of the present invention.

[0082] In this embodiment, when the network node device connected to the lifting mechanism of the loader fails due to interference, the communication of the node is interrupted. At this time, the network management mechanism of the EtherCAT ring network quickly detects this fault and immediately starts the network reconstruction program. It automatically reconfigures the network topology, adjusts the communication path that originally passes through the faulty node, bypasses the faulty node, and reestablishes the communication connection from the controller to the grabbing mechanism and other related equipment. The whole process is completed in a very short time, and has almost no effect on the continuity of the loading and unloading operation. During this period, the standby controller continuously monitors the main controller and the network status to ensure the stability and reliability of the system. After the network reconstruction, the main controller continues to accurately control the loader to complete the remaining operation tasks of transferring the spent fuel assembly to the spent pool storage grid, and then smoothly carries out a series of subsequent loading and replacement operation steps such as receiving new assemblies, transporting and loading to the core, without interruption or abnormality due to network node failure, which fully verifies the effectiveness and reliability of the control system and control method of the present invention in dealing with network failures, and ensures the safe, stable and efficient loading and replacement operations of nuclear power plants.

[0083] In an accidental external electromagnetic interference event, some network lines were affected to a certain extent. However, the strong anti-interference ability of the EtherCAT ring network and the self-diagnosis and self-adaptation capabilities of the node devices ensured that the communication was not interrupted or erroneous. Even in such a harsh environment, the motor driver can still stably receive control instructions from the main controller and drive the motor correctly, ensuring the continuity and stability of the loading and unloading operations, which strongly proves the reliability of the communication between the EtherCAT ring network and the motor driver.

[0084] In the subsequent loading and refueling operations, whether executing a series of complex operations such as transporting new components to the core area or loading new components into the core, the EtherCAT ring network and the motor driver always maintain stable and efficient communication, so that each action of the loader and unloader can be completed accurately and smoothly, providing a solid and reliable technical guarantee for the loading and refueling operations of the nuclear power plant, and further verifying the significant advantages and value of the control system and control method of the present invention in practical applications.

[0085] In this embodiment, the nuclear power plant loading and unloading machine control system based on controller redundancy and communication ring network significantly improves the reliability, real-time and flexibility of the system by introducing redundant controller architecture and communication ring network communication technology. At the same time, it improves the system's fault resistance and ensures that when the main controller fails, the system can seamlessly switch to the backup controller to continue operating; improves the real-time and accuracy of data transmission, and provides more precise and reliable control support for loading and replacement operations; enhances the scalability and maintainability of the system, and facilitates the subsequent upgrade and expansion of functions.

[0086] Embodiment 2

[0087] The purpose of this embodiment is to provide a method for controlling a loading and unloading machine of a pressurized water reactor nuclear power plant, including:

[0088] S1. Obtain the operation instruction and send the operation instruction to the loader and unloader execution component through the communication ring network, and the loader and unloader execution component executes the operation command;

[0089] S2. During the execution of the operation command, the main controller is tested for faults. When the main controller fails, the standby controller switches to the main control mode and continues to send control commands to the communication module through the communication ring network. The loader and unloader execution components continue to execute the operation commands until the switch is completed.

[0090] S3. When the main controller is not faulty, perform communication ring network fault detection to determine whether it is a communication ring network node fault. If so, perform network reconstruction and continue to execute operation instructions; if not, determine whether it is other faults. If so, perform equipment maintenance. If not, execute operation instructions until the operation is completed.

[0091] like Figure 2 As shown, before step S1, the main controller and the standby controller are initialized.

[0092] In this embodiment, in the system initialization step, when the loader is started, the main controller and the backup controller perform initialization operations at the same time, load the preset control program and parameters, perform status detection and identification on each device connected to the EtherCAT ring network, and ensure that each component of the system is in a normal and ready state.

[0093] like Figure 2 As shown, based on the detection status and identification information of each device, it is determined whether each device is ready. If not, a fault alarm is issued for each device and repair is carried out. If each device is ready, if the main controller does not receive an operation instruction, the operation is terminated. If the main controller receives an operation instruction, subsequent operations are continued.

[0094] like Figure 2 As shown, in step S1, an operation instruction is obtained, and the operation instruction is sent to the loader and unloader execution component through the communication ring network, and the loader and unloader execution component executes the operation command.

[0095] In this embodiment, the operation instruction is obtained, and the main controller receives the operation instruction input by the operator or the task instruction from the nuclear power plant control system.

[0096] The control instructions are sent to the various actuators of the loading and unloading machine through the EtherCAT ring network, such as the trolley motor drive, the trolley motor drive and the lifting mechanism drive, so that it can execute the operation command according to the predetermined operation requirements, and receive the position, speed, force and other information fed back by each sensor, and conduct real-time monitoring and adjustment to ensure the accuracy and stability of the loading and unloading operation. In this process, the main controller continuously synchronizes its own operating status information to the backup controller, and the backup controller monitors the status of the main controller in real time and is in hot backup status.

[0097] Taking the lifting mechanism driving the execution of the operation instruction "lift the spent fuel assembly at a specific speed and torque" as an example, when it is necessary to complete precise grasping, lifting, translation and other operation commands.

[0098] Specifically, the main controller receives operating instructions for controlling the lifting mechanism drive, and the instructions are transmitted to the third communication module through the communication ring network at an extremely high speed (cycle time in microseconds), and then transmitted to the lifting mechanism drive through the third communication module. The lifting mechanism drive can receive the instructions in a very short time and execute them immediately, accurately controlling the operation of the motor, so that the lifting mechanism lifts the fuel assembly according to the preset trajectory and speed, that is, realizing operations such as grabbing, lifting, and translation. The whole process responds quickly and accurately, fully reflecting the real-time communication between the EtherCAT communication ring network and the motor driver.

[0099] like Figure 2 As shown, in step S2, during the execution of the operation command, the main controller is detected for faults. When the main controller fails, the standby controller switches to the main control mode and continues to send control instructions to the communication module through the communication ring network. The loader and unloader execution components continue to execute the operation instructions until the switch is completed.

[0100] In this embodiment, the main controller and the standby controller monitor each other's operating status and make judgments through heartbeat signals, status words, etc. Once the main controller fails, such as hardware failure, software crash, etc., the standby controller can detect the abnormality of the main controller in a very short time (milliseconds), and immediately switch to the main control mode, take over the system control, and continue to perform loading and unloading tasks to ensure uninterrupted operation of the system.

[0101] That is, if a hardware failure occurs suddenly in the main controller, the standby controller immediately detects the abnormality, quickly switches to the main control mode, seamlessly takes over the remaining operating tasks, and continues to complete the transfer and storage of the spent fuel assemblies. At the same time, through the reconstruction function of the EtherCAT ring network, stable communication with each device is maintained to ensure the smooth completion of the entire loading and replacement operation. No interruption or abnormal situation occurs due to the failure of the main controller, which fully verifies the effectiveness and reliability of the control system and control method of the present invention.

[0102] like Figure 2 As shown, in step S3, when the main controller has not failed, a communication ring network fault detection is performed to determine whether the communication ring network node fails. If so, the network is reconstructed and the operation instructions are continued to be executed; if not, it is determined whether it is another fault. If so, equipment maintenance is performed. If not, the operation instructions are executed until the operation is completed.

[0103] In this embodiment, each node device in the EtherCAT ring network has self-diagnosis capability and can monitor the communication status of itself and adjacent nodes in real time. When a network node failure is detected, such as a network cable break or node device damage, the network management mechanism of the EtherCAT ring network is quickly activated, automatically reconstructing the communication path, bypassing the faulty node, and re-establishing the communication connection between the devices to ensure the stable transmission of control instructions and feedback information, so that the operation of the loader and unloader is not affected and the normal operation of the system is maintained.

[0104] Specifically, the network management mechanism of the EtherCAT ring network quickly detected the fault and immediately started the network reconstruction procedure. It automatically reconfigured the network topology, adjusted the communication path that originally passed through the faulty node, bypassed the faulty node, and reestablished the communication connection from the controller to the gripping mechanism and other related equipment. The whole process was completed in a very short time and had almost no impact on the continuity of the loading and unloading operations.

[0105] During this period, the standby controller continuously monitors the status of the main controller and the network to ensure the stability and reliability of the system. After the network is reconfigured, the main controller continues to accurately control the loader to complete the remaining operation tasks of transferring the spent fuel assemblies to the spent fuel pool storage grids, and then smoothly carries out a series of subsequent loading and replacement operation steps such as receiving new assemblies, transporting and loading them into the core. There is no interruption or abnormality due to network node failure, which fully verifies the effectiveness and reliability of the control system and control method of the present invention in dealing with network failures, ensuring the safe, stable and efficient loading and replacement operations of nuclear power plants.

[0106] At the same time, in an accidental external electromagnetic interference event, some network lines were affected to a certain extent. However, the strong anti-interference ability of the EtherCAT ring network and the self-diagnosis and self-adaptation ability of the node equipment ensured that the communication was not interrupted or wrong. Even in such a harsh environment, the motor driver can still stably receive the control instructions from the main controller and drive the motor correctly, ensuring the continuity and stability of the loading and unloading operations, which strongly proves the reliability of the communication between the EtherCAT ring network and the motor driver.

[0107] In this embodiment, if no other faults are detected, the operation instruction continues to be executed to complete the operation.

[0108] In the subsequent loading and refueling operations, whether executing a series of complex operations such as transporting new components to the core area or loading new components into the core, the EtherCAT ring network and the motor driver always maintain stable and efficient communication, so that each action of the loader and unloader can be completed accurately and smoothly, providing a solid and reliable technical guarantee for the loading and refueling operations of the nuclear power plant, and further verifying the significant advantages and value of the control system and control method of the present invention in practical applications.

[0109] The steps involved in the apparatus of the above embodiment correspond to the method embodiment 1, and the specific implementation method can refer to the relevant description part of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0110] Those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computer device, or alternatively, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0111] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A control system for a loading and unloading machine of a pressurized water reactor nuclear power plant, characterized in that: include: Main controller, backup controller and communication ring network; The main controller and the standby controller are connected via a communication ring network for synchronous data communication; The communication ring network includes a communication network and multiple communication modules, which connect the loader and unloader actuators and sensors to transmit operation instructions and feedback signals. When the communication ring network fails, it can automatically reconstruct the network and maintain the communication connection. The main controller is used to obtain operation instructions, send the operation instructions to the loader through the communication ring network, and receive feedback information from the execution components of the loader; The standby controller is used to detect the operating status of the main controller. When a failure of the main controller is detected, the standby controller switches to the main control mode and continues to send control instructions to the loader and unloader execution components through the communication ring network. The loader and unloader execution components continue to execute the operating instructions until the switch is completed.

2. A control system for a loading and unloading machine of a pressurized water reactor nuclear power plant according to claim 1, characterized in that: It also includes an underwater observation device server and a host computer, which are respectively connected to the main controller and the backup controller through a switch.

3. A control system for a loading and unloading machine of a pressurized water reactor nuclear power plant according to claim 1, characterized in that: The main controller and the standby controller maintain synchronous communication through a heartbeat detection mechanism.

4. A control system for a loading and unloading machine of a pressurized water reactor nuclear power plant according to claim 1, characterized in that: The main controller and the standby controller send synchronization signals in a broadcasting manner.

5. A control system for a loading and unloading machine of a pressurized water reactor nuclear power plant according to claim 1, characterized in that: The communication ring network adopts full-duplex communication mode for data transmission and real-time synchronization.

6. A control system for a loading and unloading machine of a pressurized water reactor nuclear power plant according to claim 1, characterized in that: The execution components of the loader and unloader at least include a trolley motor drive, a small trolley motor drive, and a lifting mechanism drive.

7. A control system for a loading and unloading machine of a pressurized water reactor nuclear power plant according to claim 1, characterized in that: The communication module includes a first communication module, a second communication module and a third communication module; the first communication module is connected to the trolley motor drive to control the trolley motor drive to execute the operation instruction; the second communication module is connected to the trolley motor drive to control the trolley motor drive to execute the operation instruction; The third communication module is connected to the lifting mechanism drive and is used to control the lifting mechanism drive to execute the operation instruction.

8. A control system for a loading and unloading machine of a pressurized water reactor nuclear power plant according to claim 1, characterized in that: The loader and unloader are provided with loader and unloader sensors, brakes and solenoid valves.

9. A control system for a loading and unloading machine of a pressurized water reactor nuclear power plant according to claim 1, characterized in that: It also includes a control panel, which is connected to the main controller and the communication module through the IO module and is used to initiate operation instructions. The operation instructions at least include start, stop, mode switching and the running direction and speed of the execution component.

10. A method for controlling a loading and unloading machine of a pressurized water reactor nuclear power plant, characterized in that: include: Obtain the operation instructions, and send the operation instructions to the loading and unloading machine execution component through the communication ring network, and the loading and unloading execution component executes the operation command; During the execution of the operation command, the main controller is tested for faults. When the main controller fails, the standby controller switches to the main control mode and continues to send control commands to the communication module through the communication ring network. The loader and unloader execution components continue to execute the operation commands until the switch is completed. When the main controller is not faulty, perform communication ring network fault detection to determine whether it is a communication ring network node fault. If so, perform network reconstruction and continue to execute operation instructions. If not, determine whether it is other faults. If so, perform equipment maintenance. If not, execute operation instructions until the operation is completed.

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