Simulation model establishment method and system for nuclear polar crane steam generator system

Abstract

Disclosed in the present invention are a simulation model establishment method and system for a nuclear polar crane steam generator system. The simulation model establishment method comprises: performing dynamic modeling on a nuclear polar crane steam generator system, wherein the system comprises a horizontal trolley system and a lifting and lowering system, the horizontal trolley system comprises a trolley travelling electric motor system and a wheel-rail system that are connected in sequence, and the lifting and lowering system comprises, connected in sequence, a lifting electric motor system, a drum system, a first load system consisting of a hook and a lifting beam, and a second load system consisting of a steam generator; using mechanical simulation software to build a simulation physical model of the nuclear polar crane steam generator system; and importing into the mechanical simulation software a control algorithm for performing motion control on the automatic flipping of the nuclear polar crane steam generator system, so as to obtain a simulation model of the nuclear polar crane steam generator system. Compared with the prior art, by using the simulation model establishment method and system for a nuclear polar crane steam generator system in the present invention, multiple repeated physical experiments can be performed, such that the reliance on operators can be reduced, thereby improving the safety of a polar-crane operation process.

Description

Methods and Systems for Establishing Simulation Models of Nuclear Ring Suspended Steam Generator Systems Technical Field

[0001] This invention relates to the field of nuclear ring crane construction technology, and more specifically, to a method and system for establishing a simulation model of a nuclear ring crane steam generator system. Background Technology

[0002] When the nuclear ring crane uses a new steam generator, it needs to be flipped from a horizontal position to a vertical position. The flipping method is to lift one end of the steam generator by a trolley, so that the new steam generator rotates about 90° from horizontal to vertical with the U-shaped base of the flipping support as the center. When the nuclear ring crane uses an old steam generator, it needs to be flipped from a vertical position to a horizontal position. The flipping method is to lift one end of the steam generator by a trolley and slowly lower it, so that the steam generator rotates about 90° from vertical to horizontal with the U-shaped base of the flipping support as the center.

[0003] Currently, the main method for replacing the steam generator on nuclear ring cranes involves operators in the driver's cab separately controlling the horizontal trolley (installation trolley and working trolley) and the vertical lifting hook in a step-by-step manner to complete the replacement. This method requires specialized training for personnel beforehand, incurring significant training costs and time. Furthermore, the entire replacement process is time-consuming, requiring visual judgment to ensure the horizontal trolley and vertical lifting hook are in synchronized motion. This process is prone to worker fatigue, compromising safety. In actual operation, the movement of its various components (installation trolley, working trolley, ropes) is highly complex. In particular, issues such as excessively fast trolley movement and uncoordinated lifting reduce control precision, causing friction and vibration on the track, resulting in significant equipment swaying and severely impacting the safety of the ring crane operation. As a large, specialized crane, the nuclear ring crane's unique working environment prevents repeated physical experiments to understand its overall operating characteristics and parameter variations. Therefore, a combination of theoretical calculations and simulations is necessary to obtain its operating parameters.

[0004] In view of this, in order to address the various problems that may arise during the operation of the automated flipping system and to verify the effectiveness of the automated flipping system control algorithm, it is urgent to develop a method and system for establishing a simulation model of a nuclear ring crane steam generator system. Summary of the Invention

[0005] In view of the above problems, the purpose of this invention is to provide a method and system for establishing a simulation model of a nuclear ring crane steam generator system.

[0006] To achieve the above-mentioned objectives, in a first aspect, the present invention provides a method for establishing a simulation model of a nuclear ring crane steam generator system, which includes the following steps:

[0007] S1. Perform dynamic modeling of the nuclear ring crane steam generator system, which includes a horizontal trolley system and a lifting and lowering system; the horizontal trolley system includes a trolley travel motor system and a wheel-rail system connected in sequence; the lifting and lowering system includes a lifting motor system, a drum system, a first load system consisting of a hook and a lifting beam, and a second load system consisting of a steam generator connected in sequence.

[0008] S2. Use mechanical simulation software to build a simulation physical model of the nuclear ring crane steam generator system;

[0009] S3. The control algorithm used for the automatic rotation of the nuclear ring crane steam generator system is imported into the mechanical simulation software to obtain the simulation model of the nuclear ring crane steam generator system.

[0010] In a preferred embodiment of the simulation model establishment method for the nuclear ring crane steam generator system of the present invention, step S1 specifically includes: using the angular momentum theorem, gear transmission theory, Newton's theorem and adhesion theory, constructing the first Lagrange equation for the torque of the working trolley's traveling motor and the position, velocity and acceleration of the working trolley, and constructing the second Lagrange equation for the torque of the installation trolley's traveling motor and the position, velocity and acceleration of the installation trolley;

[0011] A dynamic model of the lifting motor system is constructed to describe the relationship between the electrical torque input and the angular velocity output of the lifting reducer; then, the relationship between the tension change function of the wire rope when it winds into and out of the drum system is analyzed; and dynamic models of the first load system and the second load system are established.

[0012] During the rotation of the steam generator, the rope length L3 between the lifting beam hook and the steam generator lug remains fixed, and the total acceleration of the steam generator's lifting, lowering and traveling during the rotation does not exceed 0.2g, where g is the acceleration due to gravity, thus obtaining the dynamic model of the nuclear ring crane steam generator system.

[0013] Secondly, this invention provides a simulation model establishment system for a nuclear ring crane steam generator system, comprising:

[0014] The dynamic modeling module is used to perform dynamic modeling of the nuclear ring crane steam generator system, which includes a horizontal trolley system and a lifting and lowering system. The horizontal trolley system includes a trolley travel motor system and a wheel-rail system connected in sequence. The lifting and lowering system includes a lifting motor system, a drum system, a first load system consisting of a hook and a lifting beam, and a second load system consisting of a steam generator connected in sequence.

[0015] The mechanical simulation module contains mechanical simulation software, which is used to build a simulation physical model of the nuclear ring crane steam generator system.

[0016] The control algorithm module is used to obtain the control algorithm for the automatic tilting of the nuclear ring crane steam generator system and transmit it to the mechanical simulation module.

[0017] The simulation physical model with control algorithm is a simulation model of a nuclear ring crane steam generator system.

[0018] Thirdly, the present invention provides a simulation model of a nuclear ring crane steam generator system, wherein the simulation model is established by the method for establishing a nuclear ring crane steam generator system simulation model as described in the first aspect.

[0019] Fourthly, the present invention provides a computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the steps of the method for establishing a simulation model of a nuclear ring crane steam generator system as described in the first aspect.

[0020] Compared to existing technologies, this invention first models the nuclear ring crane steam generator system using a dynamic model, and then specifically analyzes the system from the perspectives of the horizontal trolley system and the lifting and lowering system. The horizontal trolley system includes a trolley travel motor system and a wheel-rail system connected in sequence. The lifting and lowering system includes a lifting motor system, a drum system, a first load system consisting of a hook and a lifting beam, and a second load system consisting of the steam generator, all connected in sequence. Based on this division, a dynamic model of the nuclear ring crane steam generator system is obtained. Then, a simulation physical model is determined based on the dynamic model. The control algorithm used for the automatic rotation and motion control of the nuclear ring crane steam generator system is applied to the simulation physical model to obtain a simulation model of the nuclear ring crane steam generator system. Using the simulation model of the nuclear ring crane steam generator system of this invention, there is no need for special training of personnel in advance. The simulation model can be used to conduct specific simulations, and then the personnel can perform the replacement of the steam generator of the nuclear ring crane according to the specific simulation conditions. There is no need for the personnel to rely on the naked eye to judge whether the horizontal trolley and the vertical lifting hook are in the synchronous movement stage. Moreover, through this simulation model, repeated physical experiments can be conducted to understand the operating characteristics of the whole machine and the changes in operating parameters. Practical operation based on simulation can avoid the personnel's over-reliance and can also prevent problems such as the trolley moving too fast and the lifting being uncoordinated, so that the equipment will not shake significantly and the safety of the ring crane process can be improved. Attached Figure Description

[0021] The following detailed description, with reference to the accompanying drawings and specific embodiments, illustrates the method and system for establishing a simulation model of the nuclear ring crane steam generator system of the present invention, wherein:

[0022] Figure 1 is a flowchart of the method for establishing a simulation model of the nuclear ring crane steam generator system of the present invention.

[0023] Figure 2 is a simplified diagram of the physical structure of the nuclear ring-lift steam generator system.

[0024] Figure 3 is a simplified diagram of the forces and system division of the nuclear ring crane steam generator system.

[0025] Figure 4 is a schematic diagram of the dynamic modeling scheme for the nuclear ring crane steam generator system.

[0026] Figure 5 shows the modeling and simulation scheme of the horizontal vehicle system.

[0027] Figure 6 shows the modeling and simulation scheme of the lifting and lowering system.

[0028] Figure 7 is a flowchart of step S3 in the method for establishing a simulation model of the nuclear ring crane steam generator system of the present invention.

[0029] Figure 8 is a structural block diagram of the simulation model of the nuclear ring crane steam generator system of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described in this specification are merely for explaining the invention and are not intended to limit the invention.

[0031] Currently, the main method for replacing the steam generator 6 on the nuclear ring crane is for the operator in the driver's cab to perform step-by-step control of the horizontal trolley and the vertical lifting hook to complete the replacement of the steam generator 6. However, this method has the following drawbacks:

[0032] 1) Special training for staff is required in advance, which requires high training costs and time. The entire replacement process is also time-consuming. During the replacement process, it is necessary to visually determine whether the horizontal trolley and the vertical lifting hook are in the synchronous movement stage. However, staff are prone to fatigue, and safety cannot be guaranteed.

[0033] 2) Due to the excessive speed of the trolley and the lack of coordination in lifting, the control precision is reduced, causing the trolley to rub and vibrate on the track, resulting in significant shaking of the equipment, which seriously affects the safety of the hoisting process.

[0034] 3) As a large special crane, the nuclear ring crane cannot be subjected to repeated physical experiments to understand the overall operating characteristics and changes in operating parameters due to its special working environment.

[0035] Therefore, this application provides a method for establishing a simulation model of a nuclear ring crane steam generator system. Referring to Figure 1, the method for establishing a simulation model of a nuclear ring crane steam generator system includes the following steps:

[0036] S1. Perform dynamic modeling of the nuclear ring crane steam generator system. The dynamic model of the nuclear ring crane steam generator system includes a horizontal trolley system and a lifting and lowering system. The horizontal trolley system includes a trolley travel motor system and a wheel-rail system connected in sequence. The lifting and lowering system includes a lifting motor system, a drum system, a first load system consisting of a hook and a lifting beam, and a second load system consisting of the steam generator 6 connected in sequence.

[0037] S2. Use mechanical simulation software to build a simulation physical model of the nuclear ring crane steam generator system;

[0038] S3. Import the control algorithm used for the automatic rotation of the nuclear ring crane steam generator system into the mechanical simulation software to obtain the simulation model of the nuclear ring crane steam generator system.

[0039] Based on the above steps, the control algorithm used for motion control of the automatic flipping of the nuclear ring crane steam generator system is applied to the simulation physical model of the nuclear ring crane steam generator system, thus realizing the simulation of the automatic flipping of the nuclear ring crane steam generator 6.

[0040] This embodiment first models the dynamics of the nuclear ring crane steam generator system, and then analyzes the system in detail from the perspectives of the horizontal trolley system and the lifting and lowering system. The horizontal trolley system includes a trolley travel motor system and a wheel-rail system connected in sequence. The lifting and lowering system includes a lifting motor system, a drum system, a first load system consisting of a hook and a lifting beam, and a second load system consisting of the steam generator connected in sequence. Based on this division, the dynamics model of the nuclear ring crane steam generator system is obtained. Then, based on the dynamics model, the simulation physical model is determined. The control algorithm used to control the automatic flipping motion of the nuclear ring crane steam generator system is applied to the simulation physical model to obtain the simulation model of the nuclear ring crane steam generator system. Using the simulation model of the nuclear ring crane steam generator system of this invention, there is no need for special training of personnel in advance. The simulation model can be used for simulation, and then the personnel can carry out the replacement of the steam generator of the nuclear ring crane by following the simulation. There is no need for the personnel to judge whether the horizontal trolley and the vertical lifting hook are in the synchronous movement stage by visual inspection. Moreover, this simulation model can be used to conduct repeated physical experiments to understand the operating characteristics of the whole machine and the changes in operating parameters. Based on the optimal simulation results of multiple tests, control algorithms can also be used to achieve precise control of trolley movement and lifting, so as to avoid problems such as trolley movement too fast and uncoordinated lifting, thus improving the safety of the ring crane process.

[0041] The following section details the entire method for establishing the simulation model of the nuclear ring crane steam generator system.

[0042] First, we analyze the physical structure and working principle of the nuclear ring crane steam generator system that can realize the automatic rotation of steam generator 6. Based on the form of input driving torque, the nuclear ring crane steam generator system (hereinafter referred to as the ring crane system) is decoupled into a horizontal trolley system and a lifting and lowering system.

[0043] The physical structure of the existing nuclear ring crane steam generator system is shown in Figure 2, including but not limited to: a steel rail beam, a working trolley (217t working trolley 10), an installation trolley (190t installation trolley 30), a lifting mechanism corresponding to the working trolley (217t lifting mechanism 20), a lifting mechanism corresponding to the installation trolley (190t lifting mechanism 40), an auxiliary lifting mechanism (10t auxiliary lifting mechanism), a lifting beam (396t lifting beam 50), and a load steam generator 6. The lifting beam is referred to here as the combined lifting beam, which connects the lifting mechanisms corresponding to the working trolley and the installation trolley. A hook is provided under the lifting beam, and the hook lifts the steam generator 6 via a wire rope. Both the 217t and 190t lifting mechanisms include pulley blocks.

[0044] Please refer to Figures 3 and 4. Based on the mutual motion relationships and actuators, the entire nuclear ring crane steam generator system is divided into a horizontal trolley system and a lifting and lowering system. The working trolley and installation trolley in the horizontal system are respectively driven by torque... The crane moves horizontally along the ring-shaped steel rail (rail beam). Simultaneously, in the hoisting and lowering system, the drum mounted on the dual trolley system generates tension under the action of the motor subsystem. This causes a steel wire rope of length H in the vertical direction (the total length of the steel wire rope projected in the vertical direction, i.e., the vertical length of the steel wire rope from the hoisting mechanism to the steam generator 6) to move upward. The load system suspended by the steel wire rope under the drum includes a first load system connected by a hook and a combined lifting beam, and a second load system for the steam generator 6. Under the tension of the steel wire rope, the entire system completes the automatic rotation of the steam generator 6.

[0045] The horizontal trolley system receives the driving torque of the trolley's travel motor as input and outputs the speed and position information (x) of the horizontal system's working trolley and installation trolley. The hoisting and lowering system receives the driving torque of the winch motor as input and outputs the height change (y) of the six lifting lugs of the steam generator. 2 +y 2 =R 2 R is the distance between the trunnion of the steam generator 6 tilting support and the lifting lug of the steam generator 6. The overall dynamic modeling scheme is shown in Figure 4. Based on the driving torque of the motor and the position information of the trolley in the horizontal trolley system, and the dynamic modeling scheme of the driving torque of the motor and the lifting height of the lifting lug of the steam generator 6 in the lifting and lowering system, the horizontal trolley system and the lifting and lowering system are coupled according to the angle change of the wire rope.

[0046] The trolley travel motor system includes a rotor system, coupling, travel-corresponding reducer, and gear system. The wheel-rail system includes a working trolley, an installation trolley, a rail beam, and a steam generator 6. The specific process of obtaining the position x is as follows: the horizontal trolley system input is the driving torque of the horizontal system motor (the driving torque of the trolley travel motor). After passing through the trolley travel motor system, its angular velocity after passing through the travel-corresponding reducer (also referred to as the reduction mechanism in this article) is input to the wheel-rail system, and finally outputs the position information x of the working trolley and the installation trolley.

[0047] When the main equipment (steam generator 6) is tilted using the ring crane, the main crane trolley remains stationary, while the 217T working trolley 10 and the 190T installation trolley 30 move horizontally on the main beam. The 217T lifting mechanism 20 and the 190T lifting mechanism 40 move vertically upwards. Taking the main equipment as the research object, during tilting, the main equipment moves in a circle with the tilting support trunnion o as the center and the distance R between the tilting support trunnion and the lifting lug as the radius. The tilting angle of the main equipment is α. At the same time, due to the movement of the trolley, the wire rope will deflect at an angle θ.

[0048] Therefore, the nuclear ring crane steam generator system includes a horizontal trolley system and a lifting and lowering system. The horizontal trolley system includes a trolley travel motor system and a wheel-rail system, with the trolley travel motor system connected to the wheel-rail system. The lifting and lowering system includes a lifting motor system, a drum system, a first load system consisting of a hook and a lifting beam, and a second load system consisting of the steam generator 6. The lifting motor system, drum system, first load system, and second load system are connected sequentially. The dynamic modeling of the nuclear ring crane steam generator system includes: performing dynamic modeling of the trolley travel motor system, wheel-rail system, lifting motor system, drum system, first load system, and second load system respectively; and then performing dynamic modeling of the entire nuclear ring crane steam generator system.

[0049] The following are some assumptions and simplifications involved in the theoretical modeling of the nuclear ring crane steam generator system:

[0050] There is no resistance in the stator and rotor;

[0051] Ignore gear transmission faults;

[0052] The magnetic circuit is unsaturated, and eddy current and hysteresis losses are neglected.

[0053] The 217T working trolley 10 and the 190T installation trolley 30 are rigidly connected;

[0054] The deflection angle of the wire rope changes consistently during the motion;

[0055] If there is no relative slippage between the wire rope and the drum, it can be ensured that the material velocity at the contact points between the wire rope and the drum is the same.

[0056] If there is no relative slippage between the wire rope and the pulley, it can be ensured that the wire rope and the pulley hook assembly have the same speed at the contact point;

[0057] Since the mass of the wire rope is relatively small compared to the mass of the main equipment and the combined lifting beam, the mass of the wire rope is ignored during the modeling process;

[0058] The wire rope does not undergo elastic deformation during the turning process;

[0059] During the automatic flipping process, air resistance and wind force are ignored;

[0060] The hook of the lifting and lowering system (located on the underside of the lifting beam) and the lifting beam are treated as a whole during the movement of the lifting beam, and its mass is m3;

[0061] Ignoring the flexibility of the wire rope, the wire rope at the lifting lug of the lifting beam and the lifting lug of the steam generator 6 remains vertical, and its length L3 does not change during the entire automatic flipping process.

[0062] The steam generator 6 has a uniformly distributed mass, and its center of mass and center of gravity are the same, located at the geometric center of the equipment.

[0063] In the dynamic modeling of the horizontal trolley system, the relationship between the motor's output torque and various torques is constructed using the angular momentum theorem. Furthermore, the relationship between the trolley's motor system and the wheels is analyzed using gear transmission theory. For the wheel-rail system, not only is Newton's laws applied to analyze the forces acting on the trolley system, but the interaction between the trolley wheels and the rail beam also needs to be considered. Finally, the state equations for the trolley's motor system and the wheel-rail system are established. The modeling and simulation design scheme is shown in Figure 5.

[0064] The horizontal trolley system is decoupled into a sequentially connected trolley travel motor system and wheel-rail system. Using the angular momentum theorem, gear transmission theory, Newton's theorem, adhesion theory, and d'Alembert's principle, state equations are constructed for the output shaft end and wheel-rail end of the trolley travel motor system. With the aid of Lagrange's equations, dynamic equations for the trolley travel motor torque and the trolley's position, velocity, and acceleration are constructed. Therefore, the first Lagrange equation for the working trolley is:

[0065] Similarly, the second Lagrange equation for the installation trolley can be obtained as follows:

[0066] Where m1 represents the mass of the working trolley, m2 represents the mass of the installation trolley, m3 represents the mass of the lifting beam and hook, m4 represents the mass of the steam generator 6, L1 represents the length of the wire rope between the working trolley and the lifting beam, L2 represents the length of the wire rope between the installation trolley and the lifting beam, and θ represents the deflection angle of the wire rope (between the trolley and the lifting beam) about the vertical direction. In this embodiment, it is assumed that the lifting speeds of the two lifting mechanisms are the same, therefore the lifting beam remains horizontal, and the angle between the wire ropes of the two lifting mechanisms and the vertical direction is the same, which is θ; L 蒸 α represents the length of steam generator 6, and α represents the tilting angle of steam generator 6. This represents the driving torque of the work trolley in the x-direction. This represents the driving torque of the installation trolley in the x-direction, where x1 represents ( The change in the x-axis coordinate of the work trolley caused by the action, x2 represents ( The change in the x-axis coordinate of the installation trolley caused by the action; the direction of motion of the lifting hook is not perpendicular to the initial travel direction of the trolley; the x-axis is parallel to the horizontal plane; μ represents the friction coefficient, that is, the horizontal friction coefficient between the working trolley and the installation trolley and the horizontal rail when they travel.

[0067] The theoretical modeling of the horizontal trolley system takes into account the minute relative sliding and rolling friction between the contact surfaces of the wheels and the rail beams, which can more accurately represent the dynamic characteristics of the real system. By combining the drive systems of the working trolley and the installation trolley with the kinematic equations of the system, the Lagrange equations of the horizontal trolley system can be constructed, which can accurately describe the working state of the system and control the motion process of the system.

[0068] By analyzing the physical structure of the lifting and lowering system and combining the system's drive transmission form, the system is divided into four subsystems. Using the principle of angular momentum, Newton's theorem, and Lagrange's equation, a mathematical model of the lifting and lowering system of the nuclear ring crane is established, including: the lifting motor system model, the drum system model, the first load system model, and the second load system model.

[0069] According to the transmission sequence of the drive input of the lifting and lowering system, the input of the system is the driving torque of the lifting and lowering system motor. After passing through the lifting motor system model, its angular velocity after the reducer is converted into the tension of the wire rope and transmitted to the first load system model. In the second load system model connected by the first load system model, mathematical models are established for each subsystem to obtain the mathematical model of the entire lifting and lowering system. Specifically, the dynamic model of the wire rope model is obtained by using the principle of angular momentum, gear transmission theory, force analysis, Newton's laws, Lagrange's equation, lever principle, etc. The modeling and simulation design scheme is shown in Figure 6.

[0070] Starting with the lifting motor system model, a lifting motor system model was constructed, describing the relationship between the electrical torque input and the angular velocity output of the reducer. Then, the tension variation function of the wire rope when it enters and exits the drum system was analyzed. Finally, using the Lagrange equation, dynamic models of the first load system model and the second load system model were established from the perspective of the total system energy. The established theoretical model of the lifting and lowering system is as follows:

[0071] The third Lagrange equation for the first load system is:

[0072] The fourth Lagrange equation for the first load system is:

[0073] For the drum system, the tension change function of the wire rope when it enters and exits the drum is calculated, and the fifth Lagrange equation of the wire rope is obtained as follows:

[0074] The sixth Lagrange equation for the second load system is:

[0075] Among them, L 初 This indicates the initial length of the wire rope connecting the installation trolley, the working trolley, and the lifting beam. This indicates the force on the hook of the hoisting mechanism corresponding to the working trolley. L3 indicates the force on the hook of the hoisting mechanism corresponding to the installation trolley, L3 indicates the length of the wire rope between the hook of the hoisting beam and the lifting lug of the steam generator 6, and g indicates the acceleration due to gravity.

[0076] This embodiment starts with the lifting motor system of the hoisting mechanism, constructs a model of the lifting motor system, describes the driving torque input of the lifting motor and the drum angular velocity and torque output through the reducer, and provides a refined description for controlling the uniform speed and acceleration of the hoisting mechanism. For the drum system, the tension change function relationship of the wire rope when winding into and out of the drum is given. Using the Lagrange equation, the first load system and the second load system are constructed. By analyzing the kinetic energy and potential energy, the motion equation of the lifting motor system is established.

[0077] For ease of analysis, during the tilting process of steam generator 6, the rope length L3 between the lifting beam hook and the lifting lug of steam generator 6 is fixed, i.e. Furthermore, the total acceleration of the steam generator 6 during lifting / lowering and traveling should not exceed 0.2g at any given moment during the overturning process. Therefore, the swing angle of the wire rope is very small, allowing for approximate transformation. Thus, the simplified dynamic model of the nuclear ring crane steam generator system can be obtained as follows:

[0078] in, This represents the positive pressure exerted when the trolley operates on the horizontal steel rail. This indicates the positive pressure when the installation trolley is operating on the horizontal steel rail.

[0079] Let q = [x1 x2 L1 L2 θ α] T Then the dynamic equation (7) of the entire ring crane system can be rewritten as:

[0080] Where, q∈R 6 'b' represents the state variable of the nuclear ring crane steam generator system, and 'b' represents the control variable gain of the nuclear ring crane steam generator system. F∈R 6M(q) is the inertia matrix. The centripetal-Coriolis force matrix, Let G(q) be the gravitational factor, G(q) be the friction matrix, and F be the gravitational factor. d Let M(q) be the uncertain disturbance experienced by the nuclear ring crane steam generator system, i.e., the frictional force experienced by the system, and F be the control variable experienced by the nuclear ring crane steam generator system. G(q), F and F d The specific form is:

[0081] The above model was used to establish the entire dynamic model of the nuclear ring crane steam generator system.

[0082] Based on the established dynamic model of the nuclear ring crane steam generator system, a simulation physical model of the nuclear ring crane steam generator system was built using mechanical simulation software.

[0083] Specifically, the Simscape Multibody software was used to perform dynamic simulations, simulating the operation of the nuclear ring crane steam generator system under actual working conditions. A simulation physical model was built based on the Simscape Multibody software platform to verify the effectiveness of the established dynamic model.

[0084] Simscape Multibody has certain 3D modeling capabilities, but it is difficult to use Simscape Multibody to model large lifting machinery with complex shapes and structures, such as nuclear ring cranes. Therefore, we use the specialized 3D modeling software SolidWorks to build a 3D model of the nuclear ring crane steam generator system and then transfer it back to Simscape Multibody.

[0085] To facilitate the subsequent analysis, the following principles should be followed when modeling in SolidWorks:

[0086] The established model is the main structure of the nuclear ring crane steam generator system, such as the bridge and trolley. Components that do not affect the overall kinematic characteristics are simplified, such as the main and auxiliary lifting mechanisms.

[0087] Components with relative motion should be modeled separately, such as the car's running wheels and horizontal guide wheels;

[0088] For structures that do not affect the dynamic simulation analysis, such as guardrails and lugs, the principle of omission is adopted.

[0089] Based on the above principles, the constructed structural model was finally imported into Simscape Multibody for simulation using the data sharing interface between SolidWorks and Simscape Multibody, resulting in a simulation model of the nuclear ring crane steam generator system.

[0090] The components, constraints, contact forces, and friction involved in building the model in Simscape Multibody are shown in Tables 1 to 3 below.

[0091] Table 1 Components in the Simscape Multibody Model

[0092] Table 2. Constraints defined in the simulation model of the nuclear ring crane steam generator system.

[0093] Table 3 Contact force and friction force parameters

[0094] Please refer to Figures 5 and 6. During the model building process, the constraints of the horizontal trolley system include the trolley synchronization and balance equations; the boundary conditions of the lifting and lowering system include: the rated conditions of the lifting motor parameters, the drum motion, and the various equations of the lifting and lowering system.

[0095] In addition, since the ring lifting system also involves many flexible parts, it is necessary to establish relevant flexible parts, such as flexible beams and flexible steel cables, on the simulation platform.

[0096] After building a simulation physical model of the nuclear ring crane steam generator system using Simscape, a co-simulation of MATLAB, Simulink, and Simscape was performed. Simulink is a visualization simulation tool within MATLAB, and Simscape has a bidirectional interface with CAD and MATLAB Simulink, thus enabling effective simulation verification of the control algorithm. This is highly beneficial for adjusting control algorithm parameters and validating the model.

[0097] Using Matlab Simulink Simscape software, the system parameters of the simulation model were designed based on the actual nuclear ring crane mechanism. Corresponding constraints, component connection methods, and relative motion modes of each structure were defined. Finally, through the interface between the dynamic simulation software Simscape and MATLAB, the control algorithm was imported into the MATLAB interface, completing the establishment of the simulation model of the nuclear ring crane steam generator system. This enables motion control of the virtual model of the nuclear ring crane steam generator system's automatic flipping state space. By adjusting parameters and control strategies, effective control of the simulation model is achieved, providing an effective solution for the automated control of physical models.

[0098] Understandably, the control algorithm includes the step of searching for initial values ​​for the nuclear ring crane steam generator system.

[0099] In this embodiment, step three also includes a model verification step, specifically including:

[0100] Simulation analysis was conducted using a simulation model of a nuclear ring crane steam generator system. The simulation results were then compared with the actual operational results of the system. If the comparison results met the preset requirements, the simulation model of the nuclear ring crane steam generator system passed verification and could be put into use; otherwise, the simulation model was optimized.

[0101] In this embodiment, step three also includes optimizing the simulation model of the nuclear ring crane steam generator system. This optimization step can be done before, during, or after the model verification step, and is not limited here.

[0102] The steps to optimize the simulation model of the nuclear ring crane steam generator system are as follows: conduct simulation analysis to obtain simulation analysis results, compare the simulation analysis results with the actual operation results of the nuclear ring crane steam generator system, and optimize the simulation model of the nuclear ring crane steam generator system based on the comparison results.

[0103] Understandably, the optimization process can involve first performing coarse optimization, then component optimization, and finally fine optimization.

[0104] In a preferred embodiment, as shown in Figure 7, the flow of step S3 is as follows:

[0105] S301. Import the control algorithm used for motion control of the automatic tilting of the nuclear ring crane steam generator system into the mechanical simulation software;

[0106] S302. Apply kinematic pairs, operational constraints, and motion loads to the simulation physical model;

[0107] S303. Set the output data of the simulation physical model;

[0108] S304. Perform simulation analysis, that is, input experimental data, add experimental data curves, and obtain experimental results through simulation analysis using control algorithms;

[0109] S305. If the experimental results are consistent with the theoretical results, proceed to S306.

[0110] If the experimental results are inconsistent with the theoretical results, check the parameters of the simulation physical model, improve the load parameters, modify the control parameters, and return to S304;

[0111] S306. Set variable parameter points and define variables to obtain a preliminary simulation model of the nuclear ring crane steam generator system;

[0112] S307. Obtain the final simulation model of the nuclear ring crane steam generator system: Conduct research on the main influencing factors, conduct experimental design research, conduct simulation model optimization research, and obtain the final simulation model of the nuclear ring crane steam generator system.

[0113] This invention provides a method for establishing a simulation model of a nuclear ring crane steam generator system. It considers the minute relative sliding and rolling friction between the contact surfaces of the wheels and the rail beam, enabling a more refined representation of the dynamic characteristics of the real system. By combining the drive systems of the working trolley and the installation trolley with the system's kinematic equations, a Lagrange equation for the horizontal motion system is constructed, which can accurately describe the system's working state and control the system's motion process. Starting with the motor of the hoisting mechanism, this invention constructs a model of the hoisting motor system, describing the mathematical models of the motor's driving torque input and the drum's angular velocity and torque output through the hoisting reducer. This provides a refined description for controlling the hoisting mechanism's uniform speed and acceleration. For the drum system, the tension change function relationship of the wire rope when winding into and out of the drum is given. Using the Lagrange equations, the first load system and the second load system are constructed, and their kinetic and potential energy is analyzed. Based on this, the motion equations of the entire nuclear ring crane steam generator system are established. A simulation physical model is built based on the dynamic model, and then combined with the control algorithm, a simulation model of the nuclear ring crane steam generator system is obtained.

[0114] Please refer to Figure 8. This invention provides a simulation model establishment system for a nuclear ring crane steam generator system, which includes a dynamic modeling module, a mechanical simulation module, and a control algorithm module, wherein:

[0115] The dynamic modeling module is used to model the dynamic model of the nuclear ring crane steam generator system. The nuclear ring crane steam generator system includes a horizontal trolley system and a lifting and lowering system. The horizontal trolley system includes a trolley travel motor system and a wheel-rail system connected in sequence. The lifting and lowering system includes a lifting motor system, a drum system, a first load system consisting of a hook and a lifting beam, and a second load system consisting of a steam generator connected in sequence.

[0116] The mechanical simulation module contains mechanical simulation software, which is used to build a simulation physical model of the nuclear ring crane steam generator system.

[0117] The control algorithm module is used to obtain the control algorithm for the automatic rotation of the nuclear ring crane steam generator system and transmit it to the mechanical simulation module.

[0118] The simulation physical model with control algorithm is the simulation model of the nuclear ring crane steam generator system.

[0119] The present invention also provides a simulation model of a nuclear ring crane steam generator system, wherein the simulation model is a simulation model of a nuclear ring crane steam generator system established by the simulation model establishment method of any of the above embodiments.

[0120] The present invention also provides a computer-readable storage medium including instructions that, when executed on a computer, cause the computer to perform the various steps of the method for establishing a simulation model of a nuclear ring crane steam generator system in any of the above embodiments.

[0121] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0122] Based on the above principles, the present invention can also make appropriate changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. A method for establishing a simulation model of a nuclear ring-shaped suspended steam generator system, characterized in that, The method comprises the following steps: S1, a dynamic model of a nuclear loop lifting steam generator system is modeled, the nuclear loop lifting steam generator system comprising a horizontal trolley system and a lifting and lowering system; the horizontal trolley system comprising a trolley running motor system and a wheel rail system connected in sequence; the lifting and lowering system comprising a lifting motor system, a drum system, a lifting hook and a lifting beam constituting a first load system, and a steam generator constituting a second load system; S2, a simulation physical model of the nuclear loop lifting steam generator system is built by using a mechanical simulation software; S3, a control algorithm for motion control of automatic overturning of the nuclear loop lifting steam generator system is imported into the mechanical simulation software to obtain a simulation model of the nuclear loop lifting steam generator system.

2. The method of claim 1, wherein the method further comprises: The step S1 specifically comprises: A first Lagrange equation of a working trolley running motor torque and working trolley position, speed and acceleration is constructed by using a moment of momentum theorem, a gear transmission theory, a Newton theorem and a sticking theory, and a second Lagrange equation of an installation trolley running motor torque and installation trolley position, speed and acceleration is constructed; A lifting motor system dynamics model capable of describing the relationship between electric power torque input and lifting reducer angular velocity output is constructed, then a function relationship of a tension change of a steel wire rope when winding in and out of the drum in the drum system is analyzed, and dynamics models of the first load system and the second load system are established; The length L3 of the rope between the lifting hook of the lifting beam and the lifting lug of the steam generator is fixed during the overturning process of the steam generator, and the total acceleration of the steam generator during the overturning process does not exceed 0.2g, wherein g is the acceleration of gravity, to obtain a dynamics model of the nuclear loop lifting steam generator system.

3. The method of claim 2, wherein the method further comprises: The first Lagrange equation of the working trolley is: The second Lagrange equation of the mounting trolley is: wherein m1 represents the mass of the working trolley, m2 represents the mass of the mounting trolley, m3 represents the mass of the hoisting beam and the hook, m4 represents the mass of the steam generator, L1 represents the length of the steel wire rope between the working trolley and the hoisting beam, θ represents the deflection angle of the steel wire rope with respect to the vertical direction, L 蒸 represents the length of the steam generator, and a represents the overturning angle of the steam generator, represents the driving torque of the working trolley in the x direction, The driving torque of the installation trolley in the x direction is represented, x1 represents the x-axis coordinate change value of the working trolley, x2 represents the x-axis coordinate change value of the installation trolley, the motion direction of the lifting hook is not perpendicular to the initial running direction of the trolley, the x-axis is parallel to the horizontal plane, and μ represents the friction coefficient.

4. The method of claim 3, wherein the method further comprises: The dynamics model of the first load system and the second load system comprises a third Lagrange equation of the first load system, a fourth Lagrange equation of the first load system and a sixth Lagrange equation of the second load system; A third Lagrange equation of the first load system is: The fourth Lagrange equation of the first load system is: The function relationship of the tension change of the steel wire rope when winding into and out of the reel is the fifth Lagrange equation of the steel wire rope, specifically: The sixth Lagrange equation of the second load system is: wherein m1 represents the mass of the working trolley, m2 represents the mass of the mounting trolley, m3 represents the mass of the hoisting beam and the hook, m4 represents the mass of the steam generator, L1 represents the length of the steel wire rope between the working trolley and the hoisting beam, θ represents the deflection angle of the steel wire rope with respect to the vertical direction, L 蒸 represents the length of the steam generator, and a represents the overturning angle of the steam generator, represents the driving torque of the working trolley in the x direction, denotes the driving torque of the mounting trolley in the x direction, x1 denotes the x-axis coordinate change value of the working trolley, x2 denotes the x-axis coordinate change value of the mounting trolley, the movement direction of the lifting hook is not perpendicular to the initial running direction of the trolley, the x-axis is parallel to the horizontal plane, μ denotes the friction coefficient, L 初 denotes the initial length of the steel wire rope between the mounting trolley, the working trolley and the lifting beam, indicates the force on the hook of the lifting mechanism corresponding to the working trolley, The force on the hook of the lifting mechanism corresponding to the installation trolley is represented, and g represents the acceleration of gravity.

5. The method of claim 2, wherein the method further comprises: The kinetic model of the nuclear-circulating-loop-steam-generator system obtained by the step S1 is: where q = [x1 x2 L1 L2 θ α] T ∈ R 6 denotes the state quantity of the nuclear loop steam generator system, b denotes the control quantity gain suffered by the nuclear loop steam generator system, M(q), G(q), F d ∈ R 6 , F ∈ R 6 M(q) is an inertia matrix, for the centripetal-coriolis force matrix, G(q) is the friction matrix, F d F is the control quantity of the nuclear loop hanging steam generator system, M(q), G(q), F and F d In particular, the application relates to a compound of formula (I): wherein m1 represents the mass of the working trolley, m2 represents the mass of the mounting trolley, m3 represents the mass of the hoisting beam and the hook, m4 represents the mass of the steam generator, L1 represents the length of the steel wire rope between the working trolley and the hoisting beam, θ represents the deflection angle of the steel wire rope with respect to the vertical direction, L 蒸 represents the length of the steam generator, and a represents the overturning angle of the steam generator, represents the driving torque of the working trolley in the x direction, denotes the drive torque of the mounting trolley in the x direction, x1 denotes the x-axis coordinate change value of the working trolley, x2 denotes the x-axis coordinate change value of the mounting trolley, the movement direction of the lifting hook is not perpendicular to the initial running direction of the trolley, the x-axis is parallel to the horizontal plane, μ denotes the friction coefficient, g denotes the acceleration of gravity, L 初 denotes the initial length of the steel wire rope between the mounting trolley, the working trolley and the lifting beam, indicates the force on the hook of the lifting mechanism corresponding to the working trolley, L2 represents the force of the hook of the lifting mechanism corresponding to the installation trolley, L3 represents the length of the wire rope between the hook of the lifting beam and the lifting lug of the steam generator, and g represents the acceleration of gravity, positive pressure when the trolley is operating on a horizontal rail, The normal pressure of the installation trolley operating on the horizontal steel rail is represented.

6. The method of claim 1, wherein the method further comprises: The mechanical simulation software adopts Simscape Multibody, and the step S2 specifically comprises: structure modeling is performed by using SoildWorks, simulation is performed by importing Simscape Multibody, and the simulation physical model of the nuclear loop lifting steam generator system is obtained.

7. The method of claim 1, wherein the method further comprises: The method further comprises a step of verifying the model: Simulation analysis is performed by using the simulation model of the nuclear loop lifting steam generator system to obtain simulation analysis results, the simulation analysis results are compared with actual operation results of the nuclear loop lifting steam generator system, and the simulation model of the nuclear loop lifting steam generator system is verified and / or optimized according to the comparison results.

8. The method of claim 7, wherein the method further comprises: The method further comprises a step of optimizing the simulation model of the nuclear loop crane steam generator system, and the optimization step is before, during or after the verification model step.

9. The method of claim 8, wherein the method further comprises: The step of optimizing the simulation model of the nuclear loop crane steam generator system comprises: performing simulation analysis to obtain simulation analysis results, comparing the simulation analysis results with actual operation results of the nuclear loop crane steam generator system, and optimizing the simulation model of the nuclear loop crane steam generator system according to the comparison results.

10. The method of claim 1, wherein the method further comprises: The step S2 specifically comprises: S301, importing a control algorithm for motion control of automatic overturning of the nuclear loop crane steam generator system into the mechanical simulation software; S302, applying a motion pair, a running constraint and a motion load on the simulation physical model; S303, setting output data of the simulation physical model; S304, inputting experimental data, adding an experimental data curve, and performing simulation analysis to obtain experimental results through the control algorithm; S305, if the experimental results are consistent with the theoretical results, performing S306; If the experimental results are not consistent with the theoretical results, detecting simulation physical model parameters, improving load parameters, modifying control parameters, and returning to S304; S306, setting variable parameter points and defining variables; S307, obtaining a final simulation model of the nuclear loop crane steam generator system.

11. A system for establishing a simulation model of a nuclear loop-once-through steam generator system, characterized in that, The method comprises: a dynamic model modeling module for dynamic model modeling of a nuclear loop crane steam generator system, the nuclear loop crane steam generator system comprising a horizontal trolley system and a lifting and lowering system; the horizontal trolley system comprising a trolley running motor system and a wheel rail system connected in sequence; the lifting and lowering system comprising a lifting motor system, a drum system, a hook and a lifting beam constituting a first load system, and a steam generator constituting a second load system connected in sequence; a mechanical simulation module loaded with mechanical simulation software, for building a simulation physical model of the nuclear loop crane steam generator system by using the mechanical simulation software; a control algorithm module for obtaining a control algorithm for motion control of automatic overturning of the nuclear loop crane steam generator system and transmitting the control algorithm to the mechanical simulation module; the simulation physical model with the control algorithm is a simulation model of the nuclear loop crane steam generator system.

12. A simulation model of a nuclear loop-on-ceiling steam generator system, characterized in that, The simulation model is a simulation model of the nuclear loop crane steam generator system established by the method for establishing a simulation model of a nuclear loop crane steam generator system according to any one of claims 1 to 10. The simulation model is a simulation model of the nuclear loop crane steam generator system established by the method for establishing a simulation model of a nuclear loop crane steam generator system according to any one of claims 1 to 10.

Images