Distributed reactor pressure vessel inspection control system

Abstract

The invention belongs to the technical field of distributed control, and particularly relates to a distributed reactor pressure vessel inspection control system. Comprising a motion controller, a main control computer, sub-control computers and a lower computer, the main control computer is respectively connected with the plurality of sub-control computers to form an upper computer system, the sub-control computers communicate through the main control computer to obtain information and control authority, and the main control computer uniformly communicates with the lower computer to send information. The distributed control system has the beneficial effects that the independence of each manipulator and an inspection tool is ensured by the distributed control system architecture, and meanwhile, the management of control authority and the reading of data of all controllers in the system are realized through the architecture of the master control computer and the sub-control computer.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of distributed control, and particularly relates to a distributed reactor pressure vessel inspection control system. BACKGROUND

[0002] There are multiple independent inspection tools in the reactor pressure vessel inspection system, in order to ensure the independence in control and prevent one from being damaged to affect the whole system, each inspection tool uses a separate controller, and the general control and sub-control computers in the system need to be able to control any inspection tool.

[0003] There are multiple independent manipulators and inspection tools in the reactor pressure vessel inspection system, each manipulator and inspection tool independently implements its own inspection task. Multiple manipulators and inspection tools improve efficiency and shorten working time in a parallel manner. The control system of the manipulator and the inspection tool is usually divided into an upper computer and a lower computer structure, wherein the upper computer is mainly responsible for high-level functions such as human-computer interaction, path planning and task allocation, and the lower computer is mainly responsible for receiving instructions from the upper computer and directly controlling the movement of each axis. In order to ensure the independence of each manipulator and inspection tool and prevent one from being damaged to cause the whole system to be unable to work, each manipulator and inspection tool uses a separate lower computer (controller), and the whole control system needs to read the position information of all manipulators and inspection tools to facilitate different task arrangements by the operator, and there are also multiple operators using different computers to operate. SUMMARY

[0004] The purpose of the application is to provide a distributed reactor pressure vessel inspection control system, which adopts a distributed control architecture, and all controllers, master computers and sub-control computers are connected to form a network through Ethernet, and identity recognition and permission management are performed through IP addresses.

[0005] The technical scheme of the application is as follows: a distributed reactor pressure vessel inspection control system, comprising a motion controller, a master computer, a sub-control computer and a lower computer, the master computer is connected with multiple sub-control computers to form an upper computer system, the sub-control computer communicates with the master computer to obtain information and control permission, and the master computer communicates with and sends information to the lower computer.

[0006] The motion controller receives control commands from the master computer, parses the instructions and sends them to the axis drivers, and receives state feedback from the axes.

[0007] The master computer serves as an intermediary manager between the sub-control computer and the motion controller, and manages the communication between the sub-control computer and the motion controller.

[0008] The sub-control computer inquires whether the main control computer can establish a connection with the motion controller; if the connection can be established, the main control computer allocates a connection right to the sub-control computer; the sub-control computer sends a control command to the motion controller, and the motion controller returns its execution state to the main control computer and the sub-control computer; during system operation, whether the sub-control computer establishes a connection with the motion controller or not, the motion controller is always in a connection state with the main control computer, so as to ensure real-time monitoring of the state of each working robot.

[0009] The sub-control computer sends a request for connecting the motion controller to the main control computer according to actual task requirements, and one sub-control computer can connect one or more motion controllers.

[0010] If the connection is allowed, the sub-control computer can send a control command to the corresponding motion controller, and can disconnect the corresponding motion controller according to requirements after the corresponding task is completed; the sub-control computer receives the state feedback of the motion controller via the main control computer at the same time of sending the command.

[0011] The motion controller, the main control computer, the sub-control computer and the lower computer are hung on the same network bus, are completely same in physical connection and adopt different IP addresses.

[0012] The distributed control system architecture of the application guarantees the independence of each robot and inspection tool, and realizes the management of control rights and the reading of all controller data in the system through the architecture of the main control computer and the sub-control computer. DETAILED DESCRIPTION

[0013] The application will be further described in detail in combination with specific embodiments.

[0014] For the case that the reactor pressure vessel inspection system contains a carrying platform, multiple robots and multiple inspection tools, since the controllers and drivers are connected together in series by an EtherCAT bus, the damage of one component prevents the whole system from working normally, and each carrying platform, robot and inspection tool adopts a separate controller. A single operator cannot operate multiple robots and multiple inspection tools at the same time, so multiple operators and multiple computers are needed to control at the same time, which prevents the operators from competing for the operation right of the same equipment, and enables the state information of all robots and inspection tools to be read on the same computer, so as to facilitate the operators to observe the state of all robots and inspection tools.

[0015] The application discloses a distributed reactor pressure vessel inspection control system which comprises a motion controller, a master computer, a slave computer and a lower computer.

[0016] The motion controller is an intermediate device of the master computer, a manipulator and inspection equipment, is responsible for receiving control commands from the master computer, and sends the parsed instructions to the axis drivers and receives the state feedback (position information, etc.) of the axes.

[0017] The master computer is an intermediate manager between the slave computers and the controller, is responsible for managing the communication between the slave computers and the motion controller, and is inquired by the slave computers whether the motion controller can be connected; if the motion controller can be connected, the master computer allocates the connection permission to the slave computer; the slave computer sends control commands to the motion controller, and the motion controller returns the execution state to the master computer and the slave computer; during the system operation, whether the slave computer is connected with the motion controller or not, the motion controller is always connected with the master computer to ensure the real-time monitoring of the state of each working robot.

[0018] The slave computer sends a request for connecting the motion controller to the master computer according to the actual task requirement, and one slave computer can be connected with one or more motion controllers;

[0019] If the connection is allowed, the control commands can be sent to the corresponding motion controller, the connection of the corresponding motion controller can be disconnected according to the requirement after the corresponding task is completed, and the state feedback of the motion controller via the master computer is received at the same time.

[0020] All the upper and lower computers of the control system are hung on the same network bus, are physically connected completely, and only adopt different IP addresses. The network architecture makes the master computer connect all the lower computers at the same time, read and control the information, and the slave computer does not need to be changed in the switching of the controlled objects and the hardware connection, and only needs to connect the lower computers with different IP addresses.

[0021] The upper computer system adopts the architecture of the master computer and the slave computer, all the slave computers are communicated through the master computer, obtain the information and the control permission, and are communicated by the master computer to send the information. The architecture can prevent the slave computers from competing for the control permission and even sending the control instructions to cause the system confusion.

[0022] Each controlled object has an independent industrial computer and motion control card, which can ensure that each controlled object works independently. If the hardware system of a certain controlled object fails, it does not affect the normal work of other controlled objects in the system.

[0023] In view of the fact that the reactor pressure vessel inspection system includes a carrying platform, multiple manipulators and multiple inspection tools, since the controllers and drivers are connected in series by an EtherCAT bus, if one component is damaged, the entire system cannot work normally. Each carrying platform, manipulator and inspection tool uses a separate controller. A single operator cannot operate multiple manipulators and multiple inspection tools simultaneously, so multiple operators and multiple computers are needed to control simultaneously. This not only prevents operators from competing for operation rights of the same equipment, but also enables the status information of all manipulators and inspection tools to be read on the same computer, facilitating the observation of the status of all manipulators and inspection tools by the operators.

Claims

1. A distributed reactor pressure vessel inspection and control system, characterized in that: It includes a motion controller, a main control computer, sub-control computers, and lower-level computers. The main control computer is connected to multiple sub-control computers to form a host computer system. The sub-control computers communicate with the main control computer to obtain information and control permissions. The main control computer communicates with the lower-level computers and sends information in a unified manner.

2. The distributed reactor pressure vessel inspection and control system as described in claim 1, characterized in that: The motion controller receives control commands from the main control computer, parses the commands, and sends them to each axis driver, while also receiving status feedback from each axis.

3. The distributed reactor pressure vessel inspection and control system as described in claim 1, characterized in that: The main control computer acts as an intermediary manager between the sub-control computers and the motion controller, managing the communication between them.

4. The distributed reactor pressure vessel inspection and control system as described in claim 3, characterized in that: The sub-control computer queries the main control computer to see if it can establish a connection with the motion controller. If a connection is established, the main control computer assigns connection permissions to the sub-control computer. The sub-control computer sends control commands to the motion controller, and the motion controller returns its execution status to both the main control computer and the sub-control computer. During system operation, regardless of whether the sub-control computer establishes a connection with the motion controller, the motion controller and the main computer remain connected to ensure real-time monitoring of the status of each robot.

5. A distributed reactor pressure vessel inspection and control system as described in claim 1, characterized in that: The sub-control computer sends a request to the main control computer to connect to the motion controller according to the actual task requirements. A single sub-control computer can connect to one or more motion controllers.

6. The distributed reactor pressure vessel inspection and control system as described in claim 5, characterized in that: If the sub-control computer allows connection, it can send control commands to the corresponding motion controller. After completing the corresponding task, it can disconnect the connection of the corresponding motion controller as needed. At the same time as sending commands, it can receive the status feedback from the motion controller via the main control computer.

7. The distributed reactor pressure vessel inspection and control system as described in claim 1, characterized in that: The motion controller, main control computer, sub-control computer, and lower-level computer are all connected to the same network bus, have identical physical connections, and use different IP addresses.