A method, apparatus, and system for measuring the position of a nuclear reactor control rod

Abstract

The application discloses a kind of nuclear reactor control rod position measurement method, device and system, method includes: obtaining acceleration signal and first speed signal in the movement process of control rod;Acceleration signal and first speed signal are complementarily filtered to obtain second speed signal;The movement direction and movement step number of control rod are obtained based on acceleration signal and second speed signal;The rod position of control rod is obtained based on movement direction and movement step number.The measurement precision of the present application can reach ±1 step, reduces relevant electrical load and system complexity, improves the economy of control rod position measurement system equipment.

Description

Technical Field

[0001] This invention relates to the field of nuclear reactor control rod position measurement, and more specifically to a method, apparatus, and system for measuring the position of nuclear reactor control rods. Background Technology

[0002] Accurate measurement of the position of reactor control rods is crucial for the safe operation of nuclear power plants. Currently, the mainstream control rod position measurement technology is mainly based on the principle of electromagnetic induction, which utilizes the change in the electromagnetic characteristics of the surrounding coil caused by the movement of the control rod drive rod (made of magnetic material), thereby affecting the change in the coil voltage to detect the position of the control rod.

[0003] Patent document CN119324080B discloses a method for measuring the position of control rods in a nuclear power plant reactor. The method includes setting at least one set of threshold groups for each coil group, with the number of threshold groups in each coil group being the same as the number of change bands corresponding to the coil group's location. Each threshold group includes multiple threshold points, and the threshold point values ​​are different for each coil group. Rod position detection is performed based on an coded rod position detector and the threshold groups. This method relies on a large number of coils arranged along the direction of control rod movement and their specific coded layout. It fails to overcome the dependence on complex coil structures, dedicated power supply cabinets, and signal processing cabinets. The coil series connection method poses a single-point failure risk, and the problems of high system complexity and high equipment cost remain unresolved.

[0004] Patent document CN118231004A discloses a method, device, and equipment for measuring the position of reactor control rods in a nuclear power plant. The method includes: dividing the travel range corresponding to the reactor control rods according to a preset mechanical step length to obtain the position corresponding to each step; calibrating the position corresponding to each step using a rod position measuring device composed of multiple sets of measuring coils to determine the calibration interval corresponding to each position; acquiring real-time measurement values ​​corresponding to each set of measuring coils in real time using the rod position measuring device, and determining the position of the reactor control rods based on the calibration interval corresponding to each position and the real-time measurement values ​​corresponding to each set of measuring coils. This method relies on the existing multi-coil structure of the rod position detector, which cannot overcome the limitations of the physical arrangement of the coils and the complex electromagnetic signal processing requirements. The system still requires a dedicated power supply cabinet and signal processing cabinet, and the problems of numerous devices and high electrical load remain.

[0005] In summary, both of the aforementioned existing patents rely on a series of coils arranged along the direction of the control rod's movement, and their arrangement limits the rod position measurement resolution due to the physical spacing of the coils. Furthermore, the series connection of the coils poses a risk of single-point failure. In addition, they require specialized power supply cabinets and complex signal processing cabinets, resulting in high costs and technical requirements. Summary of the Invention

[0006] Based on the above-mentioned technical problems, this invention proposes a method, device and system for measuring the position of control rods in a nuclear reactor, which solves the problems of current methods relying on a series of coils and their arrangement along the direction of control rod movement, as well as the large number of devices and the large electrical load.

[0007] To achieve the above objectives, this invention proposes a method for measuring the position of control rods in a nuclear reactor.

[0008] A method for measuring the position of a control rod in a nuclear reactor includes: acquiring an acceleration signal and a first velocity signal during the movement of the control rod; performing complementary filtering on the acceleration signal and the first velocity signal to obtain a second velocity signal; obtaining the direction of movement and the number of steps of the control rod based on the acceleration signal and the second velocity signal; and obtaining the position of the control rod based on the direction of movement and the number of steps.

[0009] Furthermore, the process of obtaining the second velocity signal by performing complementary filtering on the acceleration signal and the first velocity signal includes: obtaining acceleration confidence and velocity confidence based on the acceleration signal and the first velocity signal; adjusting the cross frequency of the complementary filter based on the acceleration confidence and velocity confidence; and performing complementary filtering on the acceleration signal and the first velocity signal based on the adjusted cross frequency to obtain the second velocity signal.

[0010] Furthermore, the process of obtaining acceleration confidence and velocity confidence based on acceleration signal and first velocity signal includes: performing outlier judgment on acceleration signal and first velocity signal within a data window of preset duration; if an outlier exists within the data window, the corresponding confidence is set to 0; otherwise, acceleration confidence and velocity confidence are calculated respectively based on the negative exponential mapping function of variance of acceleration signal and variance of first velocity signal.

[0011] Furthermore, the adjusted crossover frequency is:

[0012] in, The adjusted crossover frequency; The reference cutoff frequency; This is the gain coefficient. ; For acceleration confidence; For speed confidence.

[0013] Furthermore, the process of obtaining the movement direction and number of steps of the control rod based on the acceleration signal and the second velocity signal includes: determining whether the acceleration signal exceeds a threshold; if so, triggering step event detection and caching a data window containing the acceleration signal and the second velocity signal; comparing the signal in the data window with the reference feature template according to the sign of the acceleration signal; if the comparison result meets the matching condition, confirming it as a valid step event and recording the movement direction and number of steps of the control rod.

[0014] Furthermore, the comparison between the signal in the data window and the reference feature template based on the sign of the acceleration signal includes: calculating a first similarity metric between the acceleration signal in the data window and the acceleration shape sequence in the reference feature template using a dynamic time warping algorithm; calculating a second similarity metric between the second velocity signal in the data window and the velocity shape sequence in the reference feature template using a dynamic time warping algorithm; and determining whether the shape similarity between the signal waveform and the reference feature template meets the conditions based on the first similarity metric, the second similarity metric, and the corresponding similarity threshold.

[0015] Furthermore, the process of comparing the signal in the data window with the reference feature template based on the sign of the acceleration signal also includes: using a dynamic time warping algorithm to align the second velocity signal in the data window with the velocity shape sequence in the reference feature template to obtain the optimal alignment path; obtaining the theoretical displacement of the control rod based on the optimal alignment path and the second velocity signal; and determining whether the deviation between the theoretical displacement and the theoretical step size is less than the displacement deviation threshold.

[0016] Furthermore, the comparison of the signal in the data window with the reference feature template based on the sign of the acceleration signal also includes: numerically integrating the second velocity signal in the data window to obtain the integrated displacement; and determining whether the deviation between the integrated displacement and the theoretical displacement is less than a threshold.

[0017] Furthermore, the position of the control rod, obtained based on the direction of motion and the number of steps, includes: setting an up counter and a down counter for the up step and the down step, respectively; accumulating the up counter or the down counter according to the direction of motion and the number of steps; and the position of the control rod being the difference between the accumulated values ​​of the up counter and the down counter.

[0018] To achieve the above objectives, the present invention also proposes a nuclear reactor control rod position measuring device.

[0019] A nuclear reactor control rod position measuring device includes: The acquisition module is used to acquire the acceleration signal and the first velocity signal during the movement of the control rod; The processing module is used to perform complementary filtering on the acceleration signal and the first velocity signal to obtain the second velocity signal; The motion determination module is used to determine the direction of motion and number of steps of the control rod based on the acceleration signal and the second velocity signal. The rod position calculation module is used to obtain the position of the control rod based on the direction of movement and the number of steps.

[0020] To achieve the above objectives, the present invention also proposes a nuclear reactor control rod position measurement system.

[0021] A nuclear reactor control rod position measurement system includes: An inertial measurement unit is mounted on the top of the control rod drive lever; Limit detection elements are installed on the inner wall of the guide cylinder; The nuclear reactor control rod position measurement device is communicatively connected to the inertial measurement unit and the limit detection unit.

[0022] To achieve the above objectives, the present invention also proposes a computer-readable storage medium comprising a stored computer program, wherein the computer program is executed by an electronic device to perform a method for measuring the position of a nuclear reactor control rod.

[0023] To achieve the above objectives, the present invention also proposes a computer program product, including a computer program that, when executed by a processor, implements the steps of a method for measuring the position of a nuclear reactor control rod.

[0024] To achieve the above objectives, the present invention also proposes an electronic device, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to execute a method for measuring the position of a nuclear reactor control rod through the computer program.

[0025] Based on the above technical solution, the present invention has at least the following beneficial effects: 1. This invention proposes a method, device, and system for measuring the position of control rods in a nuclear reactor. By measuring the acceleration and velocity changes during the periodic movement of the control rods, the direction of movement of the control rods and the number of movement steps can be identified. The system has a simple and reliable structure, and the measurement accuracy can reach ±1 step. It reduces the related electrical load and system complexity, and improves the economy of the control rod position measurement system equipment. 2. By adjusting the parameters of the complementary filtering algorithm, this invention improves the signal-to-noise ratio and accuracy of the fused second velocity signal, effectively suppresses the cumulative error caused by sensor integral drift, and ensures the accuracy of subsequent step recognition. 3. By preprocessing the acceleration and velocity signals, this invention enables the system to accurately assess signal reliability even under harsh operating conditions, significantly improving the robustness and anti-interference capability of the measurement system. 4. By comparing the signal in the cached data window with the reference feature template and setting multiple decision conditions, this invention achieves robust identification of actual step waveforms with normal fluctuation range, significantly improving the accuracy and anti-interference capability of step event discrimination. Attached Figure Description

[0026] The accompanying drawings, which form part of this specification, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 A flowchart of a method for measuring the position of a nuclear reactor control rod according to one embodiment is shown; Figure 2 A timing diagram of the acceleration signal in the uplink step phase model is shown in one embodiment; Figure 3 A timing diagram of the velocity signal in the uplink step phase model is shown in one embodiment; Figure 4 A schematic diagram of the acceleration signal timing in a downlink step phase model is shown in one embodiment; Figure 5 A schematic diagram of the velocity signal timing in a downlink step phase model is shown in one embodiment; Figure 6 A schematic diagram of the installation location of the inertial measurement unit in one embodiment is shown; Figure 7 A schematic diagram of a nuclear reactor control rod position measurement system according to one embodiment is shown; Figure 8 A schematic diagram of a nuclear reactor control rod position measuring device according to one embodiment is shown; Figure 9 A schematic diagram of the structure of a nuclear reactor control rod position measurement product according to one embodiment is shown; Figure 10 A schematic diagram of the structure of an electronic device according to an embodiment is shown.

[0027] Reference numerals in the attached figures: 1. Inertial measurement element; 2. Guide cylinder; 3. Limit detection element; 4. Control rod drive rod; 5. Control rod. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] The present invention will be further described in detail below with reference to specific embodiments, which should not be construed as limiting the scope of protection claimed by the present invention.

[0030] Example

[0031] To address the problems of current methods that rely on a series of coils arranged along the direction of control rod movement and their layout, as well as the large number of devices and heavy electrical loads.

[0032] This invention proposes a method, apparatus, and storage medium for measuring the position of control rods in a nuclear reactor.

[0033] The embodiments of this application will be described in detail below with reference to the accompanying drawings and examples.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0035] To achieve the above objectives, this invention proposes a method for measuring the position of control rods in a nuclear reactor.

[0036] like Figure 1 The figure illustrates a method for measuring the position of control rods in a nuclear reactor according to an embodiment of the present invention. The process mainly includes the following steps: S101: Acquire the acceleration signal and the first velocity signal during the movement of the control rod.

[0037] Specifically, in this embodiment, an inertial measurement unit (IMU) that moves with the control rod drive lever is used to collect acceleration signals and a first velocity signal during its up-and-down movement. The IMU is located at the top of the control rod drive lever and moves with it. The IMU contains a velocity sensor and an acceleration sensor.

[0038] S102: Perform complementary filtering on the acceleration signal and the first velocity signal to obtain the second velocity signal.

[0039] Further, acceleration confidence and velocity confidence are obtained based on the acceleration signal and the first velocity signal; the cross frequency of the complementary filter is adjusted based on the acceleration confidence and velocity confidence; and the second velocity signal is obtained by performing complementary filtering on the acceleration signal and the first velocity signal based on the adjusted cross frequency.

[0040] It is important to note that complementary filtering is a sensor data fusion algorithm that fuses data from two or more sensors with complementary frequency characteristics, so that the fused output maintains high accuracy across the entire frequency range.

[0041] Furthermore, outlier judgment is performed on the acceleration signal and the first velocity signal within the data window of the preset duration; if an outlier exists within the data window, the corresponding confidence level is set to 0; otherwise, the acceleration confidence level and velocity confidence level are calculated respectively based on the negative exponential mapping function of the variance of the acceleration signal and the variance of the first velocity signal.

[0042] It is important to note that outliers, also known as outliers, refer to a small subset of data points in a set that deviate significantly from the trend presented by the majority of the data.

[0043] Specifically, in this embodiment, the system acquires acceleration signals in real time. and the first speed signal The preset duration is used. A sliding data window (preferably 0.1s to 0.5s) is used, with a sampling period of... Update the data. For the current data window, perform outlier detection on the acceleration signal and the first velocity signal based on the physical limit threshold to obtain the confidence mapping function:

[0044] in, For acceleration confidence; For speed confidence; The variance of the acceleration signal; The variance of the velocity signal; and The variance thresholds for acceleration and velocity signals are used, respectively, and calibration is performed with the goal of minimizing the root mean square error between the fused output and the high-precision reference value. The confidence level is calculated using a negative exponential mapping function to ensure that the confidence level is continuous and distributed between 0 and 1.

[0045] The calculated acceleration and velocity confidence scores are used to dynamically adjust the crossover frequency of the complementary filter, thereby modulating the discretized filter coefficients.

[0046] Furthermore, the adjusted crossover frequency is:

[0047] in, The adjusted crossover frequency; The reference cutoff frequency; This is the gain coefficient, and its value range is... To ensure that the crossover frequency does not reverse; For acceleration confidence; For speed confidence; This is to maintain the stability of the digital filter.

[0048] The frequency domain transfer function is discretized using the backward difference method, and the filter coefficients are defined. With cross frequency The relationship is:

[0049] From the above formula, it can be seen that when the acceleration confidence level When it increases, Enlargement, leading to Increasing the weight of the high-pass filter channel makes the system more confident in the high-frequency dynamics of the acceleration integral; when the velocity confidence level... When it increases, Reduced, leading to By reducing the weight of the low-pass filter channel and increasing its weight, the system trusts the low-frequency trend of speed more and effectively suppresses integral drift.

[0050] Based on the complementary amplitude-frequency characteristics of complementary filters (high-pass + low-pass = 1), the final discrete recursive fusion formula used is:

[0051] Where k is the current discrete time index, and k-1 is the previous time; The fusion speed output at time k is... To eliminate the initial bias caused when the filter is set up; The original velocity collected at time k; The original acceleration was collected at time k.

[0052] Finally, the optimized fused second velocity signal is obtained. This signal is compared to the first velocity signal. It has a higher signal-to-noise ratio and lower drift.

[0053] S103: The direction of motion and number of steps of the control rod are obtained based on the acceleration signal and the second velocity signal.

[0054] Further, it is determined whether the acceleration signal exceeds the threshold. If so, a step event detection is triggered, and a data window containing the acceleration signal and the second velocity signal is cached. The signal in the data window is compared with the reference feature template according to the sign of the acceleration signal. If the comparison result meets the matching condition, it is confirmed as a valid step event, and the movement direction and number of steps of the control rod are recorded.

[0055] Specifically, in this embodiment, real-time monitoring The amplitude of the acceleration signal is the most direct and rapid indicator of the initial motion response. To avoid interference from false signals, a certain threshold judgment logic is set for the acceleration signal. When a preset positive or negative threshold is exceeded, the system anticipates the start of a potential uplink or downlink step event. The specific threshold value is determined experimentally based on the specific drive mechanism. Once the event is triggered, the system immediately caches a data window from a certain period before the trigger point to a certain period after the trigger point. This data window contains three sets of key data: acceleration signal... Data segment; first velocity signal Data segment; second speed signal The data segment.

[0056] Once acceleration exceeding a threshold is detected and data is cached, a corresponding uplink or downlink reference feature template is selected from the template library based on the sign (positive / negative) of the triggered acceleration. This template is a statistical average of the actual healthy step waveform obtained through "template learning mode," representing the characteristic pattern of the step signal and its normal fluctuation range under specific mechanical conditions.

[0057] The velocity and acceleration along the control rod drive lever are defined as positive when moving vertically upwards and negative when moving vertically downwards. Each step of the control rod (one step up or down) is a typical "start-accelerate-decelerate-lock" process, and its acceleration and velocity signals exhibit regular phase changes. Reference feature templates are established for the upward and downward stepping motions, with opposite signs for their signal characteristics.

[0058] Each benchmark feature template contains the following components: Acceleration shape sequence: The acceleration time series data of each effective step event in the learning sample are normalized in length, and then the average of each normalized sequence is calculated point by point to obtain the standard acceleration shape template. Velocity shape sequence: The fused velocity time series data of each effective step event in the learning sample is length normalized and then averaged point by point to obtain the standard velocity shape template. Scalar characteristic benchmark values ​​include, but are not limited to, the statistical mean and permissible fluctuation range of the following parameters: total event duration, positive acceleration peak value and its occurrence time, negative acceleration peak value and its occurrence time, velocity peak value and its occurrence time, acceleration segment duration, deceleration segment duration, and net integral value of velocity signal within the entire event window (corresponding to single-step displacement).

[0059] The uplink step phase model is as follows: Start-up phase: The drive mechanism is energized, and the mechanical lock is released. The signal characteristic is that acceleration generates a positive value, and the velocity increases positively from zero. Acceleration phase: The drive rod accelerates upward under the control of the drive mechanism. The acceleration signal generally remains in the positive range, but its specific value will fluctuate due to changes in driving force, mechanical transmission characteristics, and damping. Correspondingly, the velocity signal shows an upward trend starting from zero, and its rising curve corresponds to the integral of the acceleration. Deceleration phase: The drive mechanism begins braking and prepares to lock. Acceleration undergoes a significant shift from positive to negative and remains generally negative; however, due to variations in driving force, mechanical transmission characteristics, and damping, its specific value will fluctuate. Correspondingly, the velocity signal exhibits a decreasing trend, and its decreasing curve corresponds to the integral of the acceleration. Locking phase: Mechanical pawl engagement, rod position fixed. Acceleration and velocity return to zero.

[0060] Downlink stepped phase model: Initiation phase: Acceleration produces a negative value, and velocity increases negatively from zero; Acceleration phase: The acceleration signal generally remains in the negative range and fluctuates, while the velocity signal shows a decreasing (negative increasing) trend; Deceleration phase: The acceleration shows a significant positive value, and the absolute value of the velocity decreases (approaching zero); Locked phase: Acceleration and velocity return to zero.

[0061] A complete upward step event involves an acceleration signal that starts from zero, initially dominated by positive values, then by negative values, and finally returns to zero. The velocity signal, correspondingly, starts from zero, increases in one direction to a peak value, and then decays back to zero. The signs of the upward and downward signals are opposite. Figures 2 to 5 The idealized schematic waveform of the process is shown; the actual waveform will fluctuate within a normal range around this typical characteristic.

[0062] Specifically, such as Figure 2 and Figure 3 As shown, when the control rod drives the lever upwards by one mechanical step from a stationary state, the speed change process of the control rod is: stationary 0 speed → upward speed increases → upward speed decreases → stationary 0 speed. The corresponding acceleration change process is: stationary 0 acceleration → upward positive acceleration → downward negative acceleration → stationary 0 acceleration. In one mechanical step cycle of the control rod, the speed of the control rod undergoes a process of changing from 0 to positive and then back to 0, and the acceleration undergoes a process of changing from 0 to positive, then negative, and then back to 0.

[0063] Specifically, such as Figure 4 and Figure 5As shown, when the control rod drives the lever downwards by one mechanical step from a stationary state, the speed change process of the control rod is: stationary 0 speed → downward speed increases → downward speed decreases → stationary 0 speed. The corresponding acceleration change process is: stationary 0 acceleration → downward negative acceleration → upward positive acceleration → stationary 0 acceleration. In one mechanical step cycle of the control rod, the speed of the control rod undergoes a process of changing from 0 to negative and then back to 0, and the acceleration undergoes a process of changing from 0, then negative, then positive, and then back to 0.

[0064] Furthermore, the first similarity metric between the acceleration signal in the data window and the acceleration shape sequence in the reference feature template is calculated using the dynamic time warping algorithm, and the second similarity metric between the second velocity signal in the data window and the velocity shape sequence in the reference feature template is calculated using the dynamic time warping algorithm. Based on the first similarity metric, the second similarity metric, and the corresponding similarity threshold, it is determined whether the shape similarity between the signal waveform and the reference feature template meets the conditions.

[0065] The similarity metric is the DTW distance.

[0066] Furthermore, the dynamic time warping algorithm is used to align the second velocity signal in the data window with the velocity shape sequence in the reference feature template to obtain the optimal alignment path; the theoretical displacement of the control rod is obtained based on the optimal alignment path and the second velocity signal; and it is determined whether the deviation between the theoretical displacement and the theoretical step size is less than the displacement deviation threshold.

[0067] Furthermore, the second velocity signal in the data window is numerically integrated to obtain the integrated displacement; it is then determined whether the deviation between the integrated displacement and the theoretical displacement is less than a threshold.

[0068] Specifically, in this embodiment, the Dynamic Time Warping (DTW) algorithm is used to measure the shape similarity between the real-time acquired waveform sequence and the reference feature template. The core of the DTW algorithm lies in finding an optimal alignment path through dynamic programming. This path establishes the optimal correspondence between the sampling points of the two time series, allowing non-linear scaling of the time axis to eliminate time axis misalignment caused by step speed fluctuations. The DTW distance between the real-time acceleration sequence and the template acceleration shape sequence is calculated using the DTW algorithm. And the DTW distance between the real-time fused velocity sequence and the template velocity shape sequence. .

[0069] The optimal alignment path obtained through the dynamic time warping algorithm is used not only to measure shape similarity but also to calculate the actual displacement of this step event. Specifically, the optimal alignment path records the correspondence between the indices of the real-time sequence and the indices of the template sequence. Based on this correspondence, each point in the real-time fused second velocity sequence is mapped onto the time axis of the template according to the alignment method determined by the path. Then, integration is performed on the template time axis to obtain the theoretical displacement of this step. Because the dynamic time warping algorithm achieves optimal alignment between the real-time sequence and the template sequence through time axis bending, the theoretical displacement... This reflects the displacement estimate after eliminating the effects of time axis scaling, and this value is robust to fluctuations in step speed.

[0070] Then, based on the above calculation results, the signals in the cached data window are judged in the following multiple dimensions. Only when all judgment conditions are met can it be confirmed as a valid step event: (1) Shape similarity: judgment and Whether it is valid, among which and These are the DTW distance thresholds for acceleration and velocity, respectively. The specific values ​​are determined through statistical analysis of the DTW distances of historical valid step events, and can be set to 2-3 times the average DTW distance of historical valid events. This decision condition ensures that the waveform shape of the real-time signal is highly similar to the healthy template, excluding signal segments with severe waveform distortion. (2) Displacement consistency: judgment Whether it is valid, among which The theoretical single-step displacement (determined by the mechanical design parameters of the control rod drive mechanism; the value varies for different stack types). The preset displacement deviation threshold should be set to take into account the step size fluctuations caused by mechanical manufacturing tolerances and operational wear. 5%~10%. A valid mechanical step must correspond to a fixed physical displacement. If the displacement calculated by the dynamic time warping algorithm deviates too much from the theoretical step size, it indicates that the signal segment is not a complete mechanical step. (3) Path rationality: the second speed signal after fusion of the same cache segment Direct numerical integration (using the trapezoidal or rectangular integration method) is performed on the original time axis to obtain the integrated displacement. . judge Whether it is valid, among which The preset scaling factor ranges from 0.05 to 0.2, with 0.1 being preferred. In the process of seeking the minimum cumulative distance, the dynamic time warping algorithm may generate an excessively distorted optimal alignment path if the real-time signal contains atypical distortions or abnormal noise. This means that a local peak in the real-time signal is unreasonably stretched into the entire acceleration or deceleration segment of the template. Although the shape similarity judgment may pass in this case, the excessively distorted curved path will lead to… With real physical integrals Significant deviations occurred between them. This decision condition ensures that the time axis scaling is within physically acceptable limits by constraining the degree of distortion of the alignment path, thus excluding non-physical alignment caused by signal distortion; (4) Scalar feature range judgment: Determine whether the scalar features extracted from the real-time signal (including but not limited to total event duration, positive acceleration peak value, negative acceleration peak value, velocity peak value, acceleration period time, deceleration period time, etc.) all fall within the preset allowable range of the corresponding feature values ​​of the template. If any feature exceeds the allowable range, the event is judged as invalid.

[0071] S104: The position of the control rod is obtained based on the direction of motion and the number of steps.

[0072] Furthermore, an upward counter and a downward counter are set for the upward step and the downward step, respectively; the upward counter or the downward counter is accumulated according to the direction of movement and the number of steps; the position of the control bar is the difference between the accumulated values ​​of the upward counter and the downward counter.

[0073] Specifically, in this embodiment, after the signal in the cached data window passes all four of the above-mentioned judgments in sequence, the system confirms a valid step event. The step direction is determined according to the sign of the acceleration signal at the trigger time: if the trigger acceleration is positive, it is determined to be an up step, and the up counter is incremented by 1; if the trigger acceleration is negative, it is determined to be a down step, and the down counter is incremented by 1. At the same time, the DTW distance of this event is recorded as a health indicator for subsequent template updates and system status monitoring. If any judgment condition is not met, the data window is discarded and no step counting is performed.

[0074] The final control bar position is calculated as: Upper counter accumulated value - Lower counter accumulated value.

[0075] When the control rod moves to the top absolute position correction point, the control rod position limit detection element is triggered, and the system obtains the current absolute rod position information. At this time, the system traces all the step events that have been confirmed as "valid" from the previous correction point to the current correction point. Since the current position has been verified as correct by the absolute position signal, these consecutive step events can be reverse-verified as a series of correct steps.

[0076] The template is updated using data from these validated step events. For scalar features (such as total event duration, peak value, etc.), a first-order infinite impulse response (IIR) filter is used for smoothing the update: new feature value = α Old eigenvalue + (1-α) The new feature value, where α is the forgetting factor (ranging from 0.8 to 0.95, preferably 0.9), is used to control the weight distribution between the historical template and the new sample. For shape sequences (acceleration shape sequences and velocity shape sequences), the same smoothing operation is performed independently on each data point in the sequence. After the template is updated, the new template will be used for the identification and decision of subsequent step events.

[0077] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0078] Based on another aspect of the embodiments of this application, the present invention also provides a nuclear reactor control rod position measuring device. For example... Figure 8 As shown, the device includes: The acquisition module 801 is used to acquire the acceleration signal and the first velocity signal during the movement of the control rod; Processing module 802 is used to perform complementary filtering on the acceleration signal and the first velocity signal to obtain the second velocity signal; The motion determination module 803 is used to determine the motion direction and number of steps of the control rod based on the acceleration signal and the second velocity signal. The rod position calculation module 804 is used to obtain the position of the control rod based on the direction of motion and the number of steps.

[0079] As an optional embodiment, the above-mentioned apparatus is further used to: obtain a second velocity signal by performing complementary filtering on the acceleration signal and the first velocity signal, including: obtaining acceleration confidence and velocity confidence based on the acceleration signal and the first velocity signal; adjusting the cross frequency of the complementary filter based on the acceleration confidence and velocity confidence; and performing complementary filtering on the acceleration signal and the first velocity signal based on the adjusted cross frequency to obtain the second velocity signal.

[0080] As an optional solution, the above-mentioned device is further used to: obtain acceleration confidence and velocity confidence based on acceleration signal and first velocity signal, including: performing outlier judgment on acceleration signal and first velocity signal within a data window of preset duration; if an outlier exists within the data window, the corresponding confidence is set to 0; otherwise, acceleration confidence and velocity confidence are calculated respectively according to the negative exponential mapping function of variance of acceleration signal and variance of first velocity signal.

[0081] As an optional solution, the above-mentioned device is also used to: adjust the crossover frequency to:

[0082] in, The adjusted crossover frequency; The reference cutoff frequency; This is the gain coefficient. ; For acceleration confidence; For speed confidence.

[0083] As an optional solution, the above-mentioned device is also used to: obtain the movement direction and number of steps of the control rod based on the acceleration signal and the second velocity signal, including: determining whether the acceleration signal exceeds a threshold; if so, triggering step event detection and caching a data window containing the acceleration signal and the second velocity signal; comparing the signal in the data window with the reference feature template according to the sign of the acceleration signal; if the comparison result meets the matching condition, confirming it as a valid step event and recording the movement direction and number of steps of the control rod.

[0084] As an optional solution, the above-mentioned device is further used to: compare the signal in the data window with the reference feature template according to the sign of the acceleration signal, including: calculating a first similarity metric between the acceleration signal in the data window and the acceleration shape sequence in the reference feature template using a dynamic time warping algorithm; calculating a second similarity metric between the second velocity signal in the data window and the velocity shape sequence in the reference feature template using a dynamic time warping algorithm; and determining whether the shape similarity between the signal waveform and the reference feature template meets the conditions based on the first similarity metric, the second similarity metric, and the corresponding similarity threshold.

[0085] As an optional solution, the above-mentioned device is also used to: compare the signal in the data window with the reference feature template according to the sign of the acceleration signal, and further includes: using a dynamic time warping algorithm to align the second velocity signal in the data window with the velocity shape sequence in the reference feature template to obtain the optimal alignment path; obtaining the theoretical displacement of the control rod based on the optimal alignment path and the second velocity signal; and determining whether the deviation between the theoretical displacement and the theoretical step size is less than the displacement deviation threshold.

[0086] As an optional solution, the above-mentioned device is also used to: compare the signal in the data window with the reference feature template according to the sign of the acceleration signal, and further includes: performing numerical integration on the second velocity signal in the data window to obtain the integral displacement; and determining whether the deviation between the integral displacement and the theoretical displacement is less than a threshold.

[0087] As an optional solution, the above-mentioned device is also used to: obtain the position of the control rod based on the direction of movement and the number of steps, including: setting an upward counter and a downward counter for the upward step and the downward step respectively; accumulating the upward counter or the downward counter according to the direction of movement and the number of steps; the position of the control rod is the difference between the accumulated values ​​of the upward counter and the downward counter.

[0088] In this application embodiment, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0089] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0090] According to one aspect of this application, a nuclear reactor control rod position measurement system is provided, comprising: an inertial measurement element 1 disposed on the top of a control rod drive rod 4; a limit detection element 3 disposed on the inner wall of a guide cylinder; and a nuclear reactor control rod position measurement device communicatively connected to the inertial measurement element 1 and the limit detection element 3.

[0091] Specifically, in this embodiment, such as Figure 6As shown, control rod 5 is located below control rod drive rod 4; control rod drive rod 4 is a mechanical component in a nuclear reactor used to drive the control rod up and down, and control rod drive rod 4 is provided with annular protrusions at certain intervals; limit detection element 3 is located on the inner wall of guide cylinder 2, and when control rod 5 moves to the top, the annular protrusion at the top of control rod drive rod 4 corresponds to the position of limit detection element 3; inertial measurement element 1 is located at the top of control rod drive rod 4.

[0092] like Figure 7 As shown, the nuclear reactor control rod position measurement system mainly includes the following parts: Inertial measurement element 1: It is equipped with an accelerometer and a velocity sensor. Limit detection element 3: This is a non-contact sensor. When the control rod moves to its highest limit position, this element is triggered, generating a signal to interlock and stop the drive mechanism, and providing an absolute position correction reference for the nuclear reactor control rod position measurement device; Information and communication unit: responsible for transmitting the calculated real-time rod position, system status (normal, early warning, fault) and other information to the power plant distributed control system (DCS) or reactor protection system through standard industrial communication protocols (such as Profibus, Modbus, etc.).

[0093] Nuclear reactor control rod position measurement device: includes an acquisition module, a processing module, a motion judgment module and a rod position calculation module. This device is communicatively connected to inertial measurement element 1, limit detection element 3 and information communication unit.

[0094] According to one aspect of this application, a computer program product is provided, which includes a computer program that, when run by an electronic device, executes a method for measuring the position of a nuclear reactor control rod.

[0095] Figure 9 A schematic block diagram of a computer system architecture for implementing an electronic device according to embodiments of the present application is shown.

[0096] It should be noted that, Figure 9 The computer system 900 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0097] like Figure 9As shown, the computer system 900 includes a central processing unit (CPU) 901, which is coupled to a read-only memory (ROM) 902. The CPU 901 can perform various appropriate actions and processes based on programs stored in the ROM or loaded from storage section 908 into random access memory (RAM). The RAM 903 also stores various programs and data required for system operation. The CPU 901, ROM 902, and RAM 903 are interconnected via a bus 904. An input / output interface 905 (I / O interface) is also connected to the bus 904.

[0098] The following components are connected to the input / output interface 905: Input section 906, including but not limited to one or more of the following: keyboard, mouse, touch screen, touchpad, buttons, microphone, camera, biometric device, and various sensors; Output section 907, including but not limited to one or more of the following: display (e.g., liquid crystal display (LCD), organic light-emitting diode display (OLED), mini-LED display, micro-LED display, e-ink screen, head-up display (HUD), etc.), speaker, buzzer, indicator light, vibration device, etc.); Storage section 908, including but not limited to hard disk, solid-state drive, flash memory, etc. (the specific types can be found in the relevant description of memory in this application); and Communication section 909, including one or more of the following: wired communication modules (e.g., local area network (LAN) card, modem, Ethernet interface, CAN bus interface, USB interface, serial interface, etc.) and / or wireless communication modules (e.g., Wi-Fi module, Bluetooth module, Zigbee module, LoRa module, 4G / 5G communication module, NB-IoT module, etc.). The communication unit 909 performs communication processing via networks such as the Internet, local area network, wide area network, and vehicle networks (such as CAN bus, vehicle Ethernet). The driver 910 can also be connected to the input / output interface 905 as needed. Removable media 911, such as disks, optical disks, magneto-optical disks, semiconductor memories, USB flash drives, memory cards (such as SD cards, TF cards), etc., can be installed on the driver 910 as needed so that computer programs read from them can be installed into the storage unit 908 as required.

[0099] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 909, and / or installed from removable medium 911. When the computer program is executed by central processing unit 901, it performs various functions defined in the system of this application.

[0100] According to another aspect of the embodiments of this application, an electronic device for a method of measuring the position of control rods in a nuclear reactor is also provided. This embodiment uses this electronic device as an example of a terminal device. Figure 10 As shown, the electronic device includes a memory 1002 and a processor 1004. The memory 1002 stores a computer program, and the processor 1004 is configured to execute the steps of any of the above method embodiments via the computer program.

[0101] Optionally, in this embodiment, the aforementioned electronic device may be located in at least one of a plurality of network devices in a computer network.

[0102] Optionally, in this embodiment, the processor may be configured to execute the methods in the embodiments of this application via a computer program.

[0103] Alternatively, as those skilled in the art will understand, Figure 10 The structure shown is for illustrative purposes only. Figure 10 This does not limit the structure of the aforementioned electronic devices. For example, the electronic device may also include components that are more... Figure 10 The more or fewer components shown (such as network interfaces, etc.), or having the same Figure 10 The different configurations shown.

[0104] The memory 1002 can be used to store software programs and modules, such as the program instructions / modules corresponding to the nuclear reactor control rod position measurement method and apparatus in this embodiment. The processor 1004 is coupled to the memory 1002. By running the software programs and modules stored in the memory 1002, various functional applications and data processing are executed, thereby realizing the aforementioned nuclear reactor control rod position measurement method. In some instances, the memory 1002 may further include a memory remotely located relative to the processor 1004. These remote memories can be connected to a terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Specifically, the memory 1002 may be used, but is not limited to, to store acquired acceleration and velocity signals. As an example, such as... Figure 10 As shown, the memory 1002 may include, but is not limited to, the acquisition module 801, processing module 802, motion judgment module 803, and rod position calculation module 804 from the aforementioned nuclear reactor control rod position measurement device. Furthermore, it may include, but is not limited to, other module units from the aforementioned device, which will not be elaborated upon in this example.

[0105] Optionally, the transmission device 1006 described above is used to receive or send data via a network. Specific examples of the network described above may include wired networks and wireless networks. In one example, the transmission device 1006 includes a Network Interface Controller (NIC), which can be connected to other network devices and a router via a network cable to communicate with the Internet or a local area network. In another example, the transmission device 1006 is a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0106] In addition, the aforementioned electronic device also includes: a display 1008 for displaying the position of the control bar; and a connection bus 1010 for connecting the various module components in the aforementioned electronic device.

[0107] In the embodiments of this application, the processor can be any hardware unit with data processing and instruction execution capabilities, including but not limited to a central processing unit (CPU), microprocessor, microcontroller unit (MCU), digital signal processor (DSP), graphics processing unit (GPU), neural processing unit (NPU), tensor processing unit (TPU), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), complex programmable logic device (CPLD), system-on-chip (SoC), microcontroller, or any combination of the above devices. The processor can be a single-core processor or a multi-core processor; it can be integrated into a single chip or distributed across multiple chips or multiple physical devices.

[0108] In embodiments of this application, the memory may include random access memory (RAM), such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc. The memory may also include non-volatile memory, such as read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory (including but not limited to NAND Flash, NOR Flash), solid-state drive (SSD), embedded multimedia card (eMMC), universal flash storage (UFS), magnetic storage devices (such as hard disks), ferroelectric memory (FRAM), magnetoresistive memory (MRAM), phase-change memory (PCM), resistive random access memory (ReRAM), or one or more other non-volatile solid-state storage media.

[0109] In this application, "memory," "computer-readable storage medium," and "computer-readable medium" refer to the same or related concepts and can be used interchangeably. Specifically, when the aforementioned types of memory are used to store computer program instructions and / or data, they constitute the computer-readable storage medium as referred to in this application; conversely, the physical implementation of the computer-readable storage medium as referred to in this application can be any one or more of the aforementioned types of memory. Those skilled in the art should understand that the computer-readable storage medium can be a single medium or a distributed medium (e.g., a combination of storage media distributed across multiple physical devices or multiple chips).

[0110] In this application, the computer-readable storage medium is a non-transitory computer-readable storage medium, which refers to a physical storage device capable of storing information in a non-transitory manner. This includes, but is not limited to, various types of random access memory, read-only memory, flash memory, solid-state drives, magnetic storage devices, and other storage media with physical form, but excludes transiently propagating signals themselves (such as electromagnetic carrier waves, modulation signals, etc.). Those skilled in the art should understand that "non-transitory" here means that the storage medium has a persistent physical form relative to transiently propagating signals, and does not limit the storage medium to be non-volatile memory; although the aforementioned types of random access memory are volatile memories, they still fall under the category of non-transitory computer-readable storage media as defined in this application.

[0111] According to one aspect of this application, a computer-readable storage medium is provided, wherein a processor of an electronic device reads computer instructions from the computer-readable storage medium, and executes the computer instructions, causing the electronic device to perform a nuclear reactor control rod position measurement method provided in various alternative implementations of the above-described method.

[0112] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a method for measuring the position of a nuclear reactor control rod in various embodiments of this application.

[0113] Optionally, in this embodiment, those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device, and the program can be stored in a computer-readable storage medium.

[0114] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0115] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more electronic devices to execute all or part of the steps of the methods described in the various embodiments of this application.

[0116] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0117] In the several embodiments provided in this application, it should be understood that the disclosed application can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0118] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0119] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0120] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0121] In summary, as can be seen from the above description, the embodiments of the present invention achieve the following technical effects: 1. This invention proposes a method, device, and storage medium for measuring the position of control rods in a nuclear reactor. By measuring the acceleration and velocity changes during the periodic movement of the control rods, the direction of movement of the control rods and the number of movement steps can be identified. The system has a simple and reliable structure, and the measurement accuracy can reach ±1 step. It reduces the related electrical load and system complexity, and improves the economy of the control rod position measurement system equipment. 2. By adjusting the parameters of the complementary filtering algorithm, this invention improves the signal-to-noise ratio and accuracy of the fused second velocity signal, effectively suppresses the cumulative error caused by sensor integral drift, and ensures the accuracy of subsequent step recognition. 3. By preprocessing the acceleration and velocity signals, this invention enables the system to accurately assess signal reliability even under harsh operating conditions, significantly improving the robustness and anti-interference capability of the measurement system. 4. By comparing the signal in the cached data window with the reference feature template and setting multiple decision conditions, this invention achieves robust identification of actual step waveforms with normal fluctuation range, significantly improving the accuracy and anti-interference capability of step event discrimination.

[0122] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0123] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0124] It should be noted that, in the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. A method for measuring the position of control rods in a nuclear reactor, characterized in that, include: Acquire the acceleration signal and the first velocity signal during the movement of the control rod; The second velocity signal is obtained by performing complementary filtering on the acceleration signal and the first velocity signal. The direction of motion and number of steps of the control rod are obtained based on the acceleration signal and the second velocity signal; The position of the control rod is obtained based on the direction of motion and the number of steps.

2. The method according to claim 1, characterized in that, The process of performing complementary filtering on the acceleration signal and the first velocity signal to obtain the second velocity signal includes: Acceleration confidence and velocity confidence are obtained based on the acceleration signal and the first velocity signal; The crossover frequency of the complementary filter is adjusted based on the acceleration confidence and the velocity confidence. The second velocity signal is obtained by performing complementary filtering on the acceleration signal and the first velocity signal based on the adjusted cross frequency.

3. The method according to claim 2, characterized in that, The process of obtaining acceleration confidence and velocity confidence based on the acceleration signal and the first velocity signal includes: Perform outlier determination on the acceleration signal and the first velocity signal within a data window of a preset duration; If a wild value exists within the data window, the corresponding confidence level is set to 0; Otherwise, the acceleration confidence and velocity confidence are calculated respectively based on the negative exponential mapping function of the variance of the acceleration signal and the variance of the first velocity signal.

4. The method according to claim 2, characterized in that, The adjusted crossover frequency is: in, The adjusted crossover frequency; The reference cutoff frequency; This is the gain coefficient. ; For acceleration confidence; For speed confidence.

5. The method according to claim 1, characterized in that, The process of obtaining the direction of motion and number of steps of the control rod based on the acceleration signal and the second velocity signal includes: Determine whether the acceleration signal exceeds a threshold. If so, trigger step event detection and cache a data window containing the acceleration signal and the second velocity signal. The signal in the data window is compared with the reference feature template based on the sign of the acceleration signal; If the comparison result meets the matching conditions, it is confirmed as a valid step event, and the movement direction and number of steps of the control rod are recorded.

6. The method according to claim 5, characterized in that, The step of comparing the signal in the data window with the reference feature template based on the sign of the acceleration signal includes: The first similarity metric between the acceleration signal in the data window and the acceleration shape sequence in the reference feature template is calculated using the dynamic time warping algorithm. The second similarity metric between the second velocity signal in the data window and the velocity shape sequence in the reference feature template is calculated using the dynamic time warping algorithm. Based on the first similarity metric, the second similarity metric, and the corresponding similarity threshold, determine whether the shape similarity between the signal waveform and the reference feature template meets the conditions.

7. The method according to claim 6, characterized in that, The step of comparing the signal in the data window with the reference feature template based on the sign of the acceleration signal also includes: The optimal alignment path is obtained by aligning the second velocity signal in the data window with the velocity shape sequence in the reference feature template using a dynamic time warping algorithm. The theoretical displacement of the control rod is obtained based on the optimal alignment path and the second velocity signal; Determine whether the deviation between the theoretical displacement and the theoretical step size is less than the displacement deviation threshold.

8. The method according to claim 7, characterized in that, The step of comparing the signal in the data window with the reference feature template based on the sign of the acceleration signal also includes: The integral displacement is obtained by numerically integrating the second velocity signal in the data window. Determine whether the deviation between the integral displacement and the theoretical displacement is less than a threshold.

9. The method according to claim 1, characterized in that, The method of obtaining the position of the control rod based on the direction of motion and the number of steps includes: Set up an up counter and a down counter for the up step and the down step, respectively; The up-counter or the down-counter is incremented according to the direction of movement and the number of steps; The position of the control rod is the difference between the cumulative values ​​of the up-counter and the down-counter.

10. A device for measuring the position of control rods in a nuclear reactor, characterized in that, include: The acquisition module is used to acquire the acceleration signal and the first velocity signal during the movement of the control rod; The processing module is used to perform complementary filtering on the acceleration signal and the first velocity signal to obtain a second velocity signal; The motion determination module is used to determine the direction of motion and the number of steps of the control rod based on the acceleration signal and the second velocity signal. The rod position calculation module is used to obtain the position of the control rod based on the direction of movement and the number of movement steps.

11. A nuclear reactor control rod position measurement system, characterized in that, include: An inertial measurement element (1) is disposed on the top of the control rod drive rod (4); Limit detection element (3) is disposed on the inner wall of the guide cylinder; The nuclear reactor control rod position measuring device as described in claim 10 is communicatively connected to the inertial measurement element (1) and the limit detection element (3).

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein the computer program, when executed by an electronic device, performs the method according to any one of claims 1 to 9.

13. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 9.

14. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method according to any one of claims 1 to 9 through the computer program.

Images