Driving mechanism control method of reactor shutdown system, reactor shutdown system and medium

Abstract

The embodiment of the invention provides a driving mechanism control method of a reactor shutdown system, the reactor shutdown system and a medium, the method is applied to the reactor shutdown system, and a control mode of a driving mechanism is divided into a remote control mode and a field control mode; and field control equipment and a remote DCS (Distributed Control System) are respectively configured to trigger corresponding driving instructions, so that physical isolation formed based on a hardware circuit between remote control and field control is formed, and the reliability of the shutdown system when the driving mechanism is controlled is improved. Furthermore, the ascending operation or the downward insertion operation of the preset stepping motor on the ball falling pipe is divided into different driving functions, and the specific running direction of the preset stepping motor is associated with ascending and downward insertion of the ball falling pipe, so that logic isolation and direction interlocking of different driving functions are realized; the problem of misoperation possibly occurring in the open-loop control process is solved, so that the effects of simplifying the control logic of the driving mechanism and reducing the control difficulty of the driving mechanism are achieved.

Description

Technical Field

[0001] The present application relates to the field of drive control technology, and in particular to a drive mechanism control method of a shutdown system, a shutdown system, and a medium. Background Art

[0002] The absorbing ball shutdown system is an emergency shutdown device based on passive safety principles, primarily used in specific reactor types such as high-temperature gas-cooled reactors (HTGRs) and pebble-bed reactors. Its core principle is to rapidly absorb neutrons within the reactor core by releasing spheres containing neutron-absorbing material, thereby terminating the nuclear fission chain reaction. However, current absorbing ball shutdown systems often utilize open-loop control, which can easily lead to malfunctioning of the drive mechanism. Consequently, control of the drive mechanism presents complex control logic and significant control difficulties. Summary of the Invention

[0003] Based on this, in order to simplify the control logic of the drive mechanism in the absorption ball shutdown system and improve the control difficulty of the drive mechanism, the embodiment of the present application provides a:

[0004] The embodiments of this application disclose the following technical solutions:

[0005] In a first aspect, embodiments of the present application provide a method for controlling a drive mechanism of a shutdown system, which is applied to the shutdown system. The shutdown system includes: an on-site control device, a remote DCS control system, and a drive mechanism. The drive mechanism is configured to control the dropping or blowing of an absorption ball via a built-in ball drop tube and a preset stepper motor. The method includes:

[0006] In response to a driving instruction for the driving mechanism, determining a target control mode for the driving mechanism and a target driving function to be performed by the driving mechanism; the target control mode includes a remote control mode and an on-site control mode;

[0007] The preset stepping motor is driven according to the target driving function to control the ascent or descent of the ball drop tube to perform the target driving function; the ascent of the ball drop tube is achieved by the forward rotation of the preset stepping motor, and the descent of the ball drop tube is achieved by the reverse rotation of the preset stepping motor;

[0008] Wherein, when the target control mode is the remote control mode, the driving instruction for the driving mechanism is triggered by the remote DCS control system;

[0009] When the target control mode is the field control mode, the driving instruction for the driving mechanism is triggered by the field control device.

[0010] In one possible implementation, the target driving function includes: a ball dropping function;

[0011] According to the target control mode and the target driving function, driving the preset stepping motor to control the rise or drop of the ball drop tube to perform the target driving function includes:

[0012] When the target driving function is the ball-dropping function, the ball-dropping tube is driven to ascend by the preset stepping motor, and the ascending position of the ball-dropping tube is acquired in real time;

[0013] When the rising position of the ball-dropping tube reaches a preset upper limit position, the preset stepping motor is controlled to stop and maintain the current torque output to perform the ball-dropping function.

[0014] In a possible implementation, the target driving function includes: a ball blowing function;

[0015] According to the target control mode and the target driving function, driving the preset stepping motor to control the rise or drop of the ball drop tube to perform the target driving function includes:

[0016] When the target driving function is the ball blowing function, the ball drop tube is driven to be inserted downward by the preset stepping motor, and the insertion position of the ball drop tube is obtained in real time;

[0017] When the lower insertion position of the ball drop tube reaches a preset lower limit position, the preset stepping motor is controlled to stop and maintain the current torque output to perform the ball blowing function.

[0018] In one possible implementation, the target-driven function includes: a periodic test function;

[0019] According to the target control mode and the target driving function, driving the preset stepping motor to control the rise or drop of the ball drop tube to perform the target driving function includes:

[0020] When the target driving function is the periodic test function, controlling the preset stepping motor to drive the ball drop tube to rise or fall based on a preset time length, so as to obtain the rising distance or the falling distance of the ball drop tube within the preset time length;

[0021] If the rising distance or the falling distance of the ball drop tube within the preset time period does not match the preset distance interval, it is determined that there is an abnormality in the driving mechanism.

[0022] In one possible implementation, the target driving function includes: a debugging function;

[0023] According to the target control mode and the target driving function, driving the preset stepping motor to control the rise or drop of the ball drop tube to perform the target driving function includes:

[0024] In a case where the target driving function is the debugging function, determining a target upper limit position and a target lower limit position according to the driving instruction;

[0025] Controlling the preset stepping motor to drive the ball drop tube to rise or fall, and obtaining the real-time rising position or real-time falling position of the ball drop tube;

[0026] When the real-time ascending position meets the target upper limit position, or the real-time descending position meets the target lower limit position, the operation of the preset stepper motor is terminated, and the performance data of the drop tube and the preset stepper motor during the execution of the debugging function are obtained.

[0027] In a possible implementation, after determining the target driving function to be performed by the driving mechanism, the method further includes:

[0028] Acquiring a driving function supported by the target control mode to determine whether the target control mode matches the target driving function;

[0029] If the driving function supported by the target control mode does not match the target driving function, the step of driving the preset stepping motor according to the target driving function to control the ascent or descent of the ball drop tube is not performed;

[0030] Wherein, when the target control mode is the field control mode, determining that the driving functions supported by the field control mode are a ball drop function, a ball blow function, a periodic test function, and a debugging function;

[0031] When the target control mode is the remote control mode, the driving functions supported by the remote control mode are determined to be the ball blowing function and the periodic test function.

[0032] In a possible implementation, the preset stepping motor is a three-phase hybrid stepping motor, and the driving mode of the preset stepping motor for the ball dropping tube is a subdivision drive.

[0033] In a second aspect, an embodiment of the present application provides a shutdown system, comprising: an on-site control device, a remote DCS control system, a drive mechanism, a determination module, and a drive control module; the drive mechanism is configured to control the dropping or blowing of an absorption ball through a built-in ball drop tube and a preset stepper motor;

[0034] The determining module is configured to determine, in response to a driving instruction for the driving mechanism, a target control mode for the driving mechanism and a target driving function to be performed by the driving mechanism; the target control mode includes a remote control mode and an on-site control mode;

[0035] The driving control module is used to drive the preset stepping motor according to the target driving function to control the rise or drop of the ball drop tube to perform the target driving function;

[0036] Wherein, when the target control mode is the remote control mode, the driving instruction for the driving mechanism is triggered by the remote DCS control system;

[0037] When the target control mode is the field control mode, the driving instruction for the driving mechanism is triggered by the field control device.

[0038] In one possible implementation, the target driving function includes: a ball dropping function;

[0039] The drive control module is specifically used to:

[0040] When the target driving function is the ball-dropping function, the ball-dropping tube is driven to ascend by the preset stepping motor, and the ascending position of the ball-dropping tube is acquired in real time;

[0041] When the rising position of the ball-dropping tube reaches a preset upper limit position, the preset stepping motor is controlled to stop and maintain the current torque output to perform the ball-dropping function.

[0042] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any possible method for controlling a driving mechanism of a shutdown system in the first aspect.

[0043] Compared with the prior art, the present application has the following advantageous effects: an embodiment of the present application provides a method for controlling a driving mechanism of a shutdown system, a shutdown system, and a medium, wherein the method is applied to a shutdown system, wherein the shutdown system comprises: an on-site control device, a remote DCS control system, and a driving mechanism, wherein the driving mechanism is used to control the dropping or blowing of an absorption ball through a built-in ball-dropping tube and a preset stepping motor; the method comprises: determining a target control mode for the driving mechanism and a target driving function to be performed by the driving mechanism in response to a driving instruction for the driving mechanism; the target control mode comprises a remote control mode and an on-site control mode; driving the preset stepping motor according to the target driving function to control the ascent or descent of the ball-dropping tube to perform the target driving function; wherein, when the target control mode is the remote control mode, the driving instruction for the driving mechanism is triggered by the remote DCS control system; and when the target control mode is the on-site control mode, the driving instruction for the driving mechanism is triggered by the on-site control device. This application divides the control mode of the drive mechanism into a remote control mode and an on-site control mode, and configures on-site control equipment and a remote DCS control system to trigger the corresponding drive instructions, thereby forming a physical isolation between remote control and on-site control based on hardware circuits, thereby improving the overall reliability of the shutdown system when controlling the drive mechanism. Furthermore, the preset stepper motor for the rise or fall of the ball drop tube is divided into different drive functions, and the specific running direction of the stepper motor is preset for the rise and fall of the ball drop tube, thereby achieving logical isolation and direction interlocking of different drive functions, solving the problem of misoperation that may occur during the open-loop control process, and achieving the effect of simplifying the control logic of the drive mechanism and reducing the difficulty of controlling the drive mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 A schematic structural diagram of a shutdown system provided in an embodiment of the present application;

[0046] Figure 2 A schematic flow chart of a method for controlling a driving mechanism of a shutdown system provided in an embodiment of the present application;

[0047] Figure 3A schematic diagram of the control terminal operation area for the shutdown system provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of an execution flow for a ball drop function provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of a design for a ball-dropping function provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of an execution flow for a ball blowing function provided in an embodiment of the present application;

[0051] Figure 7 A schematic diagram of a design for a ball-blowing function provided in an embodiment of the present application;

[0052] Figure 8 A schematic diagram of an execution flow for a periodic test function provided in an embodiment of the present application;

[0053] Figure 9 A design principle diagram for a periodic test function provided in an embodiment of the present application;

[0054] Figure 10 A schematic diagram of an execution flow for a debugging function provided in an embodiment of the present application;

[0055] Figure 11 A schematic diagram of a design for a debugging function provided in an embodiment of the present application;

[0056] Figure 12 A schematic structural diagram of a shutdown system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] To make the objectives, technical solutions, and advantages of this application more clearly understood, the application is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be noted that the embodiments described in the embodiments of this application are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0058] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by people with ordinary skills in the field to which this application belongs. The words "first", "second" and similar terms used in the embodiments of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, but do not exclude other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0059] As previously described, the sphere-absorbing shutdown system is an emergency shutdown device based on passive safety principles, primarily used in specific reactor types such as high-temperature gas-cooled reactors (HTGRs) and pebble-bed reactors. Its core principle is to rapidly absorb neutrons within the reactor core by releasing spheres containing neutron-absorbing material, thereby terminating the nuclear fission chain reaction within the reactor. However, because current sphere-absorbing shutdown systems are mostly open-loop controlled, this open-loop control is prone to malfunctioning the drive mechanism, resulting in complex control logic and significant control difficulties.

[0060] To address the above-mentioned problems, embodiments of the present application provide a method for controlling a drive mechanism of a shutdown system, a shutdown system, and a medium. The method is applied to the shutdown system, wherein the shutdown system includes: an on-site control device, a remote DCS control system, and a drive mechanism, wherein the drive mechanism is used to control the dropping or blowing of an absorption ball through a built-in drop tube and a preset stepper motor. The method includes: determining a target control mode for the drive mechanism and a target drive function to be performed by the drive mechanism in response to a drive instruction for the drive mechanism; the target control mode includes a remote control mode and an on-site control mode; and driving the preset stepper motor according to the target drive function to control the ascent or descent of the drop tube to perform the target drive function. Wherein, when the target control mode is the remote control mode, the drive instruction for the drive mechanism is triggered by the remote DCS control system; and when the target control mode is the on-site control mode, the drive instruction for the drive mechanism is triggered by the on-site control device. This application divides the control mode of the drive mechanism into a remote control mode and an on-site control mode, and configures on-site control equipment and a remote DCS control system to trigger the corresponding drive instructions, thereby forming a physical isolation between remote control and on-site control based on hardware circuits, thereby improving the overall reliability of the shutdown system when controlling the drive mechanism. Furthermore, the preset stepper motor for the rise or fall of the ball drop tube is divided into different drive functions, and the specific running direction of the stepper motor is preset for the rise and fall of the ball drop tube, thereby achieving logical isolation and direction interlocking of different drive functions, solving the problem of misoperation that may occur during the open-loop control process, and achieving the effect of simplifying the control logic of the drive mechanism and reducing the difficulty of controlling the drive mechanism.

[0061] In order to help those skilled in the art better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 those skilled in the art without creative work are within the scope of protection of this application.

[0062] Before introducing the driving mechanism control method provided in the embodiment of the present application, the shutdown system to which the method is applied is first introduced. Figure 1, which is a structural diagram of a shutdown system provided by an embodiment of the present application. As shown in the figure, a field control device, a remote DCS control system, and a drive mechanism are provided in the shutdown system of the embodiment of the present application. In the application scenario of the present embodiment, the field control device and the remote DCS control system are used to configure local field control services and remote control services based on network communication, respectively. The field control device and the remote DCS control system are often provided in the main control room and the standby shutdown system of a nuclear power plant. The field control device or the remote DCS control system controls the operation of the drive mechanism by sending a drive instruction to the drive mechanism. One end of the drive mechanism is connected to a preset stepper motor. The drive mechanism controls the preset stepper motor to run in a specific direction to control the ball drop tube in the shutdown system to rise or drop, thereby controlling the drop or blow of the absorption ball, thereby realizing the functions configured by the shutdown system.

[0063] It is understandable that, starting from the field control equipment and remote DCS control system provided in the embodiment of the present application, the field control mode and the remote control mode are also configured in this embodiment. In the remote control mode, the remote DCS control system centrally triggers the drive instructions, which facilitates the main control room to uniformly monitor and operate the shutdown system, thereby improving the centralization and standardization of nuclear power plant operation management. In the field control mode, the field control equipment directly triggers the drive instructions, ensuring that the shutdown function can still be achieved through field operation when the DCS system fails or communication is interrupted, thereby enhancing the redundancy and fault tolerance of the system. This dual-mode control design not only meets the centralized control requirements of the daily operation of the nuclear power plant, but also provides reliable on-site operation guarantees for emergency situations, effectively improving the safety and availability of the system. At the same time, through the precise coordination of the built-in ball drop tube and the stepper motor, the controllable operation of the absorption ball dropping and blowing process is realized, ensuring the accuracy and timeliness of the shutdown action.

[0064] Next, a method for controlling a driving mechanism of a shutdown system provided by an embodiment of the present application will be described in conjunction with the accompanying drawings of a specific process embodiment. Figure 2 , which is a flow chart of a method for controlling a driving mechanism of a shutdown system provided in an embodiment of the present application, specifically comprising the following steps:

[0065] S101 : In response to a driving instruction for the driving mechanism, determining a target control mode for the driving mechanism and a target driving function to be performed by the driving mechanism; the target control mode includes a remote control mode and an on-site control mode.

[0066] As can be seen from the above description of the shutdown system, this embodiment incorporates both on-site control equipment and a remote DCS control system. Both are capable of generating drive commands, with the former corresponding to the on-site control mode and the latter to the remote control mode. However, in this embodiment, even if the drive functions involved are the same, the logic for implementing the unified drive function may differ between different control modes. Therefore, to avoid signal conflicts and control timing anomalies, when responding to drive commands, in addition to determining the target drive function, further analysis of the source of the drive command is required to determine the user's intended control method for the drive mechanism, namely, the target control mode.

[0067] See also Figure 3 This figure is a schematic diagram of the control terminal operation area for the shutdown system provided in an embodiment of the present application. As can be seen from the figure, two modes, remote control mode and on-site control mode, are set in the lower left corner of the operation area. The user can select different control modes by turning the knob, and then select different drive functions through different function option buttons.

[0068] The core of this step is to establish a "mode-function" two-layer control framework for the drive mechanism, which not only meets the diverse operational needs of nuclear power plants under complex working conditions, but also improves the reliability of the system through logical isolation. From the perspective of functional division, the determination of the target control mode realizes the hierarchical management of remote centralized control and on-site independent operation, that is, the remote control mode is suitable for normal operating scenarios, and global monitoring and programmed operations are performed through the remote DCS control system to ensure that the shutdown action is coordinated with the overall safety logic of the nuclear power plant. The on-site control mode serves as a redundant means. In the event of a remote communication failure or emergency (such as the need to immediately drop the ball to stop the reactor), the command is directly triggered by the local equipment to avoid dependence on external systems, which complies with the nuclear safety "single failure criterion".

[0069] S102: Drive the preset stepper motor according to the target driving function to control the ascent or descent of the ball drop tube to perform the target driving function; the ascent of the ball drop tube is achieved by the forward rotation of the preset stepper motor, and the descent of the ball drop tube is achieved by the reverse rotation of the preset stepper motor.

[0070] In this embodiment of the shutdown system, the drop or blow of the absorption ball is achieved by controlling the rise or fall of the ball drop tube using a preset stepper motor. After determining the target actuation function, analysis of the target actuation function determines whether the target actuation function requires controlling the rise or fall of the ball drop tube, and drives the preset stepper motor in the corresponding operating direction to ensure the effective execution of the target actuation function.

[0071] In this embodiment, in order to ensure that the high precision and high reliability requirements of the nuclear power plant are met while ensuring performance improvement, this embodiment adopts a three-phase hybrid stepper motor that operates with a subdivided drive as the drive motor of the drop tube. Unlike conventional reactive stepper motors and permanent magnet stepper motors, the three-phase hybrid stepper motor has both the high stiffness of the reactive motor and the high torque characteristics of the permanent magnet motor. It has a large output torque and excellent dynamic performance. It can stably drive the drop tube load in harsh environments such as high temperature and radiation, ensuring that mechanical friction and gravity loads are overcome when performing the drop tube rising or lowering action, avoiding jamming or position offset due to insufficient torque. Its natural advantage of a small step angle provides a hardware foundation for refined control of the drop tube. The subdivision drive technology can further increase the step angle resolution to several times the original level, making the motor rotation process more delicate. By subdividing the phase current waveform (such as refining the rectangular wave into a step wave), it effectively eliminates the vibration and noise problems of traditional full-step drive at low speeds, ensuring that the drop tube runs at a uniform and stable speed during the ascent or descent process, avoiding false triggering of the limit switch or structural damage due to mechanical impact, and effectively improving the operational accuracy of the drop tube drive control.

[0072] In addition, the driving operation of the ball drop tube is closely related to the running direction of the preset stepper motor. The rising operation of the ball drop tube is achieved by the forward operation of the preset stepper motor, while the lowering operation of the ball drop tube is achieved by the reverse operation of the preset stepper motor. In this way, by directly coupling the forward and reverse rotation of the preset stepper motor with the movement of the ball drop tube, abstract control requirements such as "dropping the ball" and "blowing the ball" are converted into quantifiable mechanical displacements: the rising of the ball drop tube driven by forward rotation corresponds to "opening the ball drop valve" (releasing the absorption ball to stop the pile), and the lowering of the ball drop tube driven by reverse rotation corresponds to "closing the ball drop valve" (sealing the ball drop port or preparing to blow the ball), forming a clear mapping relationship of "command-direction-displacement-function". The application of subdivided drive technology enables the motor to run smoothly at low speed, avoiding the vibration problem of traditional full-step drive, improving the position control accuracy of the ball drop tube, ensuring that the ball drop tube moves at a uniform speed before the limit switch is triggered, and reducing the damage to the mechanical structure caused by impact loads.

[0073] In this embodiment, multiple types of target actuation functions are provided for triggering, including a ball drop function, a ball blow function, a periodic test function, and a debugging function. Each of these actuation functions corresponds to a different processing logic. The following describes how these actuation functions are executed, in conjunction with the accompanying drawings of specific embodiments.

[0074] First, let’s introduce the ball drop function. Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of an execution flow for a ball drop function provided in an embodiment of the present application. Figure 5This is a design principle diagram for the ball dropping function provided in the embodiment of the present application. Figure 4 As shown, the execution process of its ball drop function includes the following steps:

[0075] S201: When the target driving function is the ball-dropping function, driving the ball-dropping tube to ascend by the preset stepping motor, and acquiring the ascending position of the ball-dropping tube in real time;

[0076] S202: When the rising position of the ball-dropping tube reaches a preset upper limit position, the preset stepping motor is controlled to stop and maintain the current torque output to execute the ball-dropping function.

[0077] When the target drive function is set to the ball drop function, a preset stepper motor will drive the ball drop tube to rise to release the absorbed ball. This process is accomplished by precisely controlling the rotation of the stepper motor. First, the stepper motor begins to rotate forward based on the received pulse signal, driving the ball screw to rotate, which in turn pushes the ball drop tube up along the guide rail. During this process, the control system obtains real-time information on the ball drop tube's rising position, usually through an encoder or limit switch installed on the ball drop tube. The encoder can provide continuous position feedback, allowing the control system to accurately determine the current position of the ball drop tube, while the limit switch is used to detect specific position points, such as the preset upper and lower limits.

[0078] To ensure the smooth execution of the ball drop function, the control system must strictly monitor the ball drop tube's ascending position. When the tube reaches the preset upper limit, indicating it has reached the designated height, the control system immediately issues a command to stop the preset stepper motor. This command is implemented by cutting off the stepper motor's pulse signal, causing the motor to stop rotating. However, to prevent the tube from falling back due to gravity or other external forces, the preset stepper motor must also be controlled to maintain its current torque output. This is achieved by maintaining the current in the stepper motor. Even when the motor is no longer rotating, its internal electromagnetic field still generates sufficient holding torque to lock the tube in place. This ensures that the tube remains stably at the upper limit, ensuring that the absorber ball successfully falls into the core-side reflector, completing the shutdown operation. The entire process, achieved through the coordinated operation of hardware and software, achieves high-precision and reliable control.

[0079] Figure 5This is a logical interaction diagram of the ball drop function in an actual application scenario of an embodiment of the present application. The safety signals from the main control room (SA1, SA2) and the backup shutdown points (SB1, SB2) are combined through the OR gate to form a ball drop trigger signal, which together with the status of the mode selection switch S1 (periodic test / operation / debugging) and the switch S2 that allows the ball drop valve to be opened determines whether the ball drop function is started. When S1 is in the "run" state and S2 is in the "allowed to open" state, the trigger signal is transmitted to the stepper motor driver through the AND gate, causing it to drive the ball drop tube to rise in the forward direction. In an emergency, the on-site "emergency ball drop valve opening" button S3 has the highest priority and can directly bypass the conventional verification path to force the ball drop function to start. During the ascent, the dual upper limit switches installed on the top of the ball drop tube (limit 1 and limit 2 correspond to the preset upper limit positions) form position feedback through the OR gate + NOT gate to ensure that when any limit switch is triggered, the pulse output is cut off and the motor torque output is maintained to prevent overtravel. Throughout the logic chain, OR gates are used for signal redundancy, AND gates for conditional constraints, and Not gates for position feedback inversion, ensuring the reliability and safety of the control process. This design not only meets the high-precision and high-reliability requirements of high-temperature gas-cooled reactor nuclear power plants, but also prevents control failures caused by software faults through hardware interlocking mechanisms, providing a solid guarantee for nuclear safety.

[0080] Next, we will introduce the blowing function. Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of an execution flow for the ball blowing function provided in an embodiment of the present application. Figure 7 This is a design principle diagram for the ball blowing function provided in the embodiment of the present application. Figure 6 As shown, the execution process of the ball blowing function includes the following steps:

[0081] S301: When the target driving function is the ball blowing function, driving the ball drop tube to be inserted downward by the preset stepping motor, and obtaining the insertion position of the ball drop tube in real time;

[0082] S302: When the lower insertion position of the ball drop tube reaches a preset lower limit position, the preset stepping motor is controlled to stop and maintain the current torque output to perform the ball blowing function.

[0083] The ball-blowing function executes similarly to the ball-dropping function. When the target drive function is set to the ball-blowing function, a preset stepper motor drives the ball-dropping tube to lower and retrieve the absorber balls. This process requires the preset stepper motor to reverse its rotation to propel the tube downward along the guide rail. Similarly, as the tube descends, an encoder mounted on the tube monitors its position in real time and ensures it has reached the preset lower limit. When the tube reaches the preset lower limit, indicating that it has reached the specified depth, the control system immediately issues a command to stop the stepper motor and maintain the current output torque, thereby locking the tube's position. This ensures that the tube remains stably at the lower limit, ensuring that the absorber balls fall smoothly into the feeder and, after gas-solid mixing, are transported back to the ball storage tank via the riser for storage in preparation for reactor startup.

[0084] Figure 7 This is the logic interaction diagram of the blowing ball function in the actual application scenario of the embodiment of the present application. The execution logic of this function is similar to the dropping ball function, so it will not be described here. However, it should be noted that, compared with Figure 5 and Figure 7 It can be seen that in this embodiment, the driving instructions for the ball-dropping function can only be triggered by control signals sent by on-site equipment, while the driving instructions for the ball-blowing function can support both on-site equipment and remote control signals (i.e., remote DCS control system). In other words, the ball-dropping function can only be triggered when the target control mode is on-site control mode; the ball-dropping function cannot be triggered in remote control mode, while the ball-blowing function is not restricted.

[0085] This design is based on the fact that the ball drop function is a key step in an emergency shutdown. Its purpose is to rapidly release absorber balls into the core in the event of an abnormality, immediately halting the nuclear fission reaction. Because this process is directly related to nuclear reactor safety, its operation must be absolutely reliable and immediate. If remote control is permitted, factors such as communication delays, signal interference, or human error could cause the ball drop to be delayed or fail, increasing the risk of accidents. Therefore, local control minimizes external interference and ensures swift and accurate execution of the ball drop operation in an emergency. The ball blow function, on the other hand, primarily involves recovering and reusing absorber balls, a relatively routine and planned operation. Compared to an emergency shutdown, the ball blow process has less stringent time constraints and allows for a certain delay. Therefore, remote control provides greater operational flexibility, facilitating operator monitoring and operation from different locations, thereby improving work efficiency. Remote control also facilitates routine maintenance and testing, allowing operations to be completed without entering hazardous areas, ensuring personnel safety.

[0086] Next, we will introduce the periodic test function. Figure 8 and Figure 9 , Figure 8 This is a schematic diagram of an execution flow for a periodic test function provided in an embodiment of the present application. Figure 9 This is a design principle diagram for a periodic test function provided in an embodiment of the present application. Figure 8 As shown in the figure, the execution process of the periodic test function includes the following steps:

[0087] S401: When the target driving function is the periodic test function, controlling the preset stepping motor to drive the ball drop tube to rise or fall based on a preset duration, so as to obtain a rising distance or a falling distance of the ball drop tube within the preset duration;

[0088] S402: If the rising distance or the falling distance of the ball drop tube within the preset time period does not match the preset distance interval, it is determined that there is an abnormality in the driving mechanism.

[0089] In the shutdown system, the periodic test function is an important means to ensure the long-term stable operation of the drive mechanism. When the target drive function is set to a periodic test, the control system needs to accurately control the stepper motor based on a preset duration (often set to 3S in actual scenarios) to monitor the motion performance of the ball drop tube. Specifically, at the beginning of the test, the control system sends a corresponding pulse signal to the stepper motor. After receiving the instruction, the stepper motor drives the ball drop tube to perform a timed rise or timed fall based on the preset duration through transmission devices such as ball screws and guide rails. During this process, the control system records the position changes of the ball drop tube in real time, usually with the help of an encoder installed on the ball drop tube to obtain continuous position feedback data. The encoder can measure the displacement of the ball drop tube with high precision to ensure the accuracy and reliability of the position information.

[0090] In order to evaluate the working status of the drive mechanism, the control system will continuously monitor the movement of the ball dropper within a preset time period. The selection of the preset time period needs to take into account the characteristics of the equipment and the test requirements, and is generally set to a time period sufficient to complete a full motion cycle. During this period, the control system will calculate the actual rising or falling distance of the ball dropper and compare it with the preset distance interval. The preset distance interval is a reasonable range determined based on the equipment design parameters and historical operating data, which reflects the movement performance of the drive mechanism under normal working conditions. If the actual displacement of the ball dropper within the preset time period falls within the interval, it indicates that the drive mechanism is operating normally; conversely, if the actual displacement exceeds the preset interval, it may mean that there is an abnormality in the drive mechanism, such as mechanical wear, electrical failure or external interference.

[0091] Figure 9This is a logic interaction diagram of the periodic test function of the embodiment of the present application in an actual application scenario. The diagram consists of multiple input signals and logic gates, which together determine whether the drive is enabled. First, the DCS system issues a "rotate" command, and a time delay module represented by a clock symbol ensures that the signal is stable before being passed to subsequent logic processing. At the same time, the mode selection switch S1 provides three operating modes: periodic test, operation and debugging. Only when S1 is in a valid state can the next operation be performed. In addition, the two lower limit switches (lower limit 1 and lower limit 2) serve as position feedback signals to ensure that the ball drop tube or similar mechanical device does not reach the limit position to avoid overtravel damage.

[0092] These signals undergo a logical operation through an AND gate. Only when all input conditions are met will the AND gate output a high-level signal, thereby enabling the drive. Specifically, the DCS's "rotation" command must be confirmed after a time delay, the effective mode selected by S1 must match the current operating requirements, and the lower limit switch must indicate that the device has not reached the limit position. Once all conditions are met, the AND gate will activate the drive, causing it to operate in the predetermined direction and speed. This design not only improves system safety but also enhances operational flexibility and reliability. It is suitable for industrial automation scenarios that require precise control and multiple verifications, such as the stepper motor drive control in the nuclear reactor's absorber ball shutdown system.

[0093] Finally, the debugging function is introduced. Figure 10 and Figure 11 , Figure 10 This is a schematic diagram of an execution flow for a debugging function provided in an embodiment of the present application. Figure 11 This is a design principle diagram for the debugging function provided in the embodiment of the present application. Figure 10 As shown in the figure, the execution process of its debugging function includes the following steps:

[0094] S501: When the target driving function is the debugging function, determining a target upper limit position and a target lower limit position according to the driving instruction;

[0095] S502: Controlling the preset stepping motor to drive the ball drop tube to rise or fall, and obtaining the real-time rising position or real-time falling position of the ball drop tube;

[0096] S503: When the real-time ascending position meets the target upper limit position, or the real-time descending position meets the target lower limit position, the operation of the preset stepper motor is terminated, and the performance data of the drop tube and the preset stepper motor during the execution of the debugging function are obtained.

[0097] When the target drive function is set to the debugging function, the first task is to accurately determine the target upper and lower limits of the ball dropper according to the drive instructions, that is, the upper and lower limits of movement that need to be debugged and tested. This process is usually completed by advanced algorithms in the control system, which perform comprehensive calculations based on preset mechanical parameters, historical operating data, and current operating requirements. For example, during the debugging process, the operator may need to verify the performance of the stepper motor under specific speed and load conditions. At this time, the corresponding drive instructions will be input through the control panel, including parameters such as the speed of rise or fall, acceleration, and travel distance. After receiving these instructions, the control system combines the physical characteristics of the equipment (such as the step angle of the stepper motor, the lead of the ball screw, etc.) to calculate the target upper and lower limits of the ball dropper under ideal conditions. These two position points serve as key reference points in the debugging process and are used to evaluate the working status of the stepper motor and the ball dropper throughout the entire range of motion.

[0098] After determining the target upper and lower limits, the control system activates the preset stepper motor to drive the ball tube upward or downward, acquiring real-time position information. This process primarily relies on encoders and sensors mounted on the tube. The encoders acquire the tube's real-time position, while the sensors monitor other key parameters during the motion, such as velocity, acceleration, and torque. The control system receives these signals in real time through a high-speed data acquisition module, rapidly processing and analyzing them to determine the tube's real-time upward or downward position.

[0099] When the ball drop tube's real-time ascending position meets the target upper limit, or its real-time descending position meets the target lower limit, the control system immediately halts the preset stepper motor and begins collecting performance data from the debugging process. This data primarily includes the operating status and response characteristics of the stepper motor and ball drop tube at different stages, such as the stepper motor's speed, torque, and energy consumption, as well as the ball drop tube's displacement, velocity, and acceleration. Comprehensive analysis of this data allows for a comprehensive assessment of the stepper motor and ball drop tube's performance, identifying potential issues and areas for improvement.

[0100] Finally, the control system aggregates and organizes all collected data, generating a detailed commissioning report and providing it to operators for further analysis and decision-making. This systematic performance evaluation and data collection not only enables timely identification and resolution of equipment operational issues, but also provides strong support for subsequent optimization and improvement measures, thereby continuously improving the safety and reliability of the nuclear reactor's absorbing ball shutdown system.

[0101] Figure 11This is a logic interaction diagram of the debugging function of the embodiment of the present application in an actual application scenario. As can be seen from the figure, the S5 switch is responsible for opening the ball drop valve, and its signal is input into the first AND gate together with the negation of the upper limit 1 and the upper limit 2 (implemented by the NOT gate). This means that only when S5 is in the open state and the ball drop tube has not reached the upper limit, the AND gate will output a high-level signal, indicating that the rising operation can be performed. Similarly, the S11 switch is used to close the ball drop valve, and its signal is input into the second AND gate together with the negation of the lower limit 1 and the lower limit 2, to ensure that the ball drop tube does not reach the lower limit during the closing process.

[0102] The output signals of the two AND gates, representing the upward and downward control directions, respectively, are combined through an OR gate. The OR gate selects one direction as the final control direction. That is, when any AND gate outputs a high level, the OR gate outputs a high signal, instructing the driver to operate in the selected direction. This design ensures that the ball dropper can move freely within a safe range during debugging. During debugging, operators can simulate various operating conditions and verify the performance of the stepper motor and ball dropper by adjusting the states of switches S5, S11, S19, and S1. Furthermore, by observing the state changes of each limit switch, potential problems can be promptly identified and resolved, optimizing system design and parameter settings. This multi-level logic judgment and signal processing effectively ensures debugging accuracy.

[0103] The above is an introduction to the implementation of the four types of driving functions in the embodiments of the present application. From the above introduction to the differences between the ball dropping function and the ball blowing function, it can be seen that the ball dropping function is one of the key steps in the emergency shutdown. Since this process is directly related to the safety of the nuclear reactor, the absolute reliability and immediacy of its operation must be ensured. If remote control is allowed, the ball dropping action may be delayed or fail due to factors such as communication delays, signal interference or human error, thereby increasing the risk of accidents. The ball blowing function is mainly used to recycle the absorption ball and reuse it, which is a relatively routine and planned operation. Compared with the emergency shutdown, the time requirement of the ball blowing process is relatively loose, and a certain operation delay is allowed. Therefore, the use of remote control can provide greater operational flexibility, facilitate operators to monitor and operate in different locations, and improve work efficiency.

[0104] Based on this, different on-site and remote control modes in this embodiment are configured with different executable drive functions. The on-site control mode, due to its lower risk, supports all of the aforementioned drive functions: the ball drop function, the ball blow function, the periodic test function, and the commissioning function. However, for nuclear power plant safety reasons, and to prevent errors in the execution of drive functions due to communication delays, signal interference, or human error, the remote control mode in this embodiment only supports the ball blow function and the periodic test function, and does not support the ball drop function or the commissioning function.

[0105] Accordingly, for safety reasons, after determining the target drive function and target control mode, this embodiment also needs to determine whether the target control mode can support the target drive function, so as to ensure the safety of the overall drive mechanism control process. This process is achieved through the following two steps:

[0106] Step 1: obtaining the driving function supported by the target control mode to determine whether the target control mode matches the target driving function;

[0107] Step 2: If the driving function supported by the target control mode does not match the target driving function, the step of driving the preset stepping motor according to the target driving function to control the ascent or descent of the ball drop tube is not performed;

[0108] Wherein, when the target control mode is the field control mode, determining that the driving functions supported by the field control mode are a ball drop function, a ball blow function, a periodic test function, and a debugging function;

[0109] Step 3: When the target control mode is the remote control mode, determine that the driving functions supported by the remote control mode are the ball blowing function and the periodic test function.

[0110] First, the system needs to obtain all the driving functions supported by the currently selected target control mode and compare them with the target driving functions to determine whether the two match.

[0111] For example, when the target control mode is field control mode, the system determines that the drive functions supported by this mode include ball drop, ball blow, periodic test, and commissioning. This means that when operators select field control mode, they can execute any of the four functions to meet different operational needs.

[0112] Similarly, in remote control mode, the system determines that only the ball-blowing and periodic testing functions are supported. This means that when the operator controls the machine via a remote terminal, they can only perform these two functions, and cannot perform ball-dropping or debugging. This limitation is primarily for safety and reliability reasons. In a remote control environment, performing complex mechanical actions can pose significant risks due to factors such as signal transmission delays and network stability. Therefore, by limiting the drive functions in remote control mode, the system can effectively reduce the possibility of misoperation and ensure safe operation of the equipment.

[0113] If the system detects a mismatch between the target control mode and the target drive function, it takes appropriate action to prevent inappropriate operation. Specifically, the system skips the step of driving the preset stepper motor to control the rise or fall of the drop tube according to the target drive function and instead prompts the operator to reselect the appropriate control mode or drive function. This mechanism not only prevents equipment damage or operational failures caused by incompatibility but also guides operators in correct system usage, improving overall work efficiency and safety.

[0114] An embodiment of the present application provides a method for controlling a driving mechanism of a shutdown system, a shutdown system, and a medium. The method is applied to the shutdown system, wherein the shutdown system includes: a field control device, a remote DCS control system, and a driving mechanism, wherein the driving mechanism is used to control the dropping or blowing of an absorption ball through a built-in ball-dropping tube and a preset stepping motor; the method includes: determining a target control mode for the driving mechanism and a target driving function to be performed by the driving mechanism in response to a driving instruction for the driving mechanism; the target control mode includes a remote control mode and a field control mode; driving the preset stepping motor according to the target driving function to control the ascent or descent of the ball-dropping tube to perform the target driving function; wherein, when the target control mode is the remote control mode, the driving instruction for the driving mechanism is triggered by the remote DCS control system; and when the target control mode is the field control mode, the driving instruction for the driving mechanism is triggered by the field control device. This application divides the control mode of the drive mechanism into a remote control mode and an on-site control mode, and configures on-site control equipment and a remote DCS control system to trigger the corresponding drive instructions, thereby forming a physical isolation between remote control and on-site control based on hardware circuits, thereby improving the overall reliability of the shutdown system when controlling the drive mechanism. Furthermore, the preset stepper motor for the rise or fall of the ball drop tube is divided into different drive functions, and the specific running direction of the stepper motor is preset for the rise and fall of the ball drop tube, thereby achieving logical isolation and direction interlocking of different drive functions, solving the problem of misoperation that may occur during the open-loop control process, and achieving the effect of simplifying the control logic of the drive mechanism and reducing the difficulty of controlling the drive mechanism.

[0115] A shutdown system provided in an embodiment of the present application is introduced below. The shutdown system described below and the driving mechanism control method of the shutdown system described above can be referred to in correspondence with each other.

[0116] See also Figure 12 , which is a schematic structural diagram of a shutdown system provided in an embodiment of the present application, comprising: an on-site control device, a remote DCS control system, a drive mechanism, a determination module, and a drive control module; the drive mechanism is used to control the dropping or blowing of the absorption ball through a built-in ball-dropping tube and a preset stepper motor;

[0117] The determination module 100 is configured to determine a target control mode for the drive mechanism and a target driving function to be performed by the drive mechanism in response to a driving instruction for the drive mechanism; the target control mode includes a remote control mode and an on-site control mode;

[0118] The driving control module 200 is configured to drive the preset stepping motor according to the target driving function to control the rise or fall of the ball drop tube to perform the target driving function;

[0119] Wherein, when the target control mode is the remote control mode, the driving instruction for the driving mechanism is triggered by the remote DCS control system;

[0120] When the target control mode is the field control mode, the driving instruction for the driving mechanism is triggered by the field control device.

[0121] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the drive mechanism control of the shutdown system as described in any of the above-mentioned embodiments.

[0122] The computer-readable media of the embodiments of the present application include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0123] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the driving mechanism control method of the shutdown system as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0124] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for methods, systems and media, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments. The methods, systems and media described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative work.

[0125] The above is merely one specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for controlling a driving mechanism of a shutdown system, characterized in that: The method is applied to a shutdown system, the shutdown system comprising: an on-site control device, a remote DCS control system, and a drive mechanism, wherein the drive mechanism is used to control the dropping or blowing of an absorption ball through a built-in ball-dropping tube and a preset stepping motor; the method comprises: In response to a driving instruction for the driving mechanism, determining a target control mode for the driving mechanism and a target driving function to be performed by the driving mechanism; the target control mode includes a remote control mode and an on-site control mode; The preset stepping motor is driven according to the target driving function to control the ascent or descent of the ball drop tube to perform the target driving function; the ascent of the ball drop tube is achieved by the forward rotation of the preset stepping motor, and the descent of the ball drop tube is achieved by the reverse rotation of the preset stepping motor; Wherein, when the target control mode is the remote control mode, the driving instruction for the driving mechanism is triggered by the remote DCS control system; When the target control mode is the field control mode, the driving instruction for the driving mechanism is triggered by the field control device.

2. The method according to claim 1, characterized in that The target driving function includes: a ball dropping function; According to the target control mode and the target driving function, driving the preset stepping motor to control the rise or drop of the ball drop tube to perform the target driving function includes: When the target driving function is the ball-dropping function, the ball-dropping tube is driven to ascend by the preset stepping motor, and the ascending position of the ball-dropping tube is acquired in real time; When the rising position of the ball-dropping tube reaches a preset upper limit position, the preset stepping motor is controlled to stop and maintain the current torque output to perform the ball-dropping function.

3. The method according to claim 1, characterized in that The target driving functions include: a ball blowing function; According to the target control mode and the target driving function, driving the preset stepping motor to control the rise or drop of the ball drop tube to perform the target driving function includes: When the target driving function is the ball blowing function, the ball drop tube is driven to be inserted downward by the preset stepping motor, and the insertion position of the ball drop tube is obtained in real time; When the lower insertion position of the ball drop tube reaches a preset lower limit position, the preset stepping motor is controlled to stop and maintain the current torque output to perform the ball blowing function.

4. The method according to claim 1, wherein The target-driven functions include: regular testing functions; According to the target control mode and the target driving function, driving the preset stepping motor to control the rise or drop of the ball drop tube to perform the target driving function includes: When the target driving function is the periodic test function, controlling the preset stepping motor to drive the ball drop tube to rise or fall based on a preset time length, so as to obtain the rising distance or the falling distance of the ball drop tube within the preset time length; If the rising distance or the falling distance of the ball drop tube within the preset time period does not match the preset distance interval, it is determined that there is an abnormality in the driving mechanism.

5. The method according to claim 1, wherein The target driving function includes: debugging function; According to the target control mode and the target driving function, driving the preset stepping motor to control the rise or drop of the ball drop tube to perform the target driving function includes: In a case where the target driving function is the debugging function, determining a target upper limit position and a target lower limit position according to the driving instruction; Controlling the preset stepping motor to drive the ball drop tube to rise or fall, and obtaining the real-time rising position or real-time falling position of the ball drop tube; When the real-time ascending position meets the target upper limit position, or the real-time descending position meets the target lower limit position, the operation of the preset stepper motor is terminated, and the performance data of the drop tube and the preset stepper motor during the execution of the debugging function are obtained.

6. The method according to claim 1, characterized in that After determining the target driving function to be completed by the driving mechanism, the method further includes: Acquiring a driving function supported by the target control mode to determine whether the target control mode matches the target driving function; If the driving function supported by the target control mode does not match the target driving function, the step of driving the preset stepping motor according to the target driving function to control the ascent or descent of the ball drop tube is not performed; Wherein, when the target control mode is the field control mode, determining that the driving functions supported by the field control mode are a ball drop function, a ball blow function, a periodic test function, and a debugging function; When the target control mode is the remote control mode, the driving functions supported by the remote control mode are determined to be the ball blowing function and the periodic test function.

7. The method according to claim 1, characterized in that The preset stepping motor is a three-phase hybrid stepping motor, and the driving mode of the preset stepping motor for the ball drop tube is a subdivision drive.

8. A shutdown system, characterized in that: include: Field control equipment, remote DCS control system, drive mechanism, determination module and drive control module; The driving mechanism is used to control the dropping or blowing of the absorbing ball through a built-in ball dropping tube and a preset stepping motor; The determining module is configured to determine, in response to a driving instruction for the driving mechanism, a target control mode for the driving mechanism and a target driving function to be performed by the driving mechanism; the target control mode includes a remote control mode and an on-site control mode; The driving control module is used to drive the preset stepping motor according to the target driving function to control the rise or drop of the ball drop tube to perform the target driving function; Wherein, when the target control mode is the remote control mode, the driving instruction for the driving mechanism is triggered by the remote DCS control system; When the target control mode is the field control mode, the driving instruction for the driving mechanism is triggered by the field control device.

9. The system according to claim 8, characterized in that The target driving function includes: a ball dropping function; The drive control module is specifically used to: When the target driving function is the ball-dropping function, the ball-dropping tube is driven to ascend by the preset stepping motor, and the ascending position of the ball-dropping tube is acquired in real time; When the rising position of the ball-dropping tube reaches a preset upper limit position, the preset stepping motor is controlled to stop and maintain the current torque output to perform the ball-dropping function.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the driving mechanism control method of the shutdown system according to any one of claims 1 to 7 is implemented.

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