JPS5819238B2 - Traversal control method for reactor fuel exchange trolley - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic control method for a refueling trolley in a nuclear power plant, and in a system that simultaneously controls traveling and traversing, the current position is The present invention relates to a control method that automatically calculates a control route from a point to a target position and calculates speed command signals for running and traversing.

Conventional refueling trolleys are operated manually from the control box on the trolley, and the running and traversing of the trolleys are controlled independently.

Recently, AEG of West Germany has developed an automation system, but this is partially automated by operation from an operator console on the trolley, and a simultaneous control method for traveling and traversing has not yet been adopted.

Refueling trolleys have traditionally been operated manually from the control panel on the trolley, but automation has recently been requested in order to reduce the radiation exposure of operators and to increase the time required for refueling operations. .

In conventional manual operation, running and traversing of the trolley are operated separately, and simultaneous operation has been considered taboo.

Since refueling carts handle nuclear fuel, their safety is particularly important, but when automating them, we strengthened safety methods that were not available before, making it possible to simultaneously control traveling and traversing, which is directly related to reducing work time. It became.

Refueling work involves transferring fuel between the reactor core and fuel storage racks, and the spent fuel storage pool where the fuel storage racks are located has a cask storage area, work benches, etc. installed underwater.

Therefore, the range in which the fuel exchange cart can hang fuel and move has a complicated shape.

The present invention provides an efficient automatic route calculation method under such movement restriction conditions.

The present invention relates to a method for controlling the running and traversing of a refueling truck that transfers fuel across a core pool and a fuel storage pool.

In an automatic control method in which the operator automatically positions from the current position to the target cell by setting the number of the target cell into which fuel is to be inserted or lifted, it is necessary to set the number of the target cell to which the operator is attempting to insert or remove fuel. This is a method of automatically determining an efficient and general control route as follows.

(b) Set one reference point at the entrance of the gate connecting the core pool and fuel storage pool, and set the travel speed and traverse speed so that all cells in each pool have a straight route. Calculate.

(b) (In (a), for cells where there is a movement prohibited area between the reference point and the cell, the restriction loop (structures and
A loop set along the structure and the pool side wall to prevent the fuel grasping machine and fuel from colliding with the 0 wall) An inner loop set so as not to overlap 1. Set one fixed point on the tangent to the loop (set along the inside), memorize the cell number in the area surrounded by the tangent and the limit loop, and move the cell and route reference point using this point. The traveling speed and traversing speed are calculated so that the route is on a straight line through the fixed points.

Note that the above-mentioned tangent to the inner loop means a straight line set to touch the inner loop from the route reference point B at the bending point of the inner loop, as shown in FIG.

As shown in Fig. 1, the fuel exchange truck is a traveling truck 1 that runs (X) on a traveling rail 5 laid on the floor of the fifth floor of the reactor building, and a traveling truck 1 that runs on a traversing rail 6 on the traveling truck. It consists of a traversing truck 2 that moves traversing (y), a fuel grasping device 3 attached to the traversing truck 2, and the like.

In this method, periodic inspections are carried out over the core pool 7 and spent fuel storage pool 8 shown in FIG. The fuel is transferred between each cell of the storage rack 10.

In the spent fuel storage pool 8, in addition to the fuel storage rack 10, a cask storage area 23, a work table 24, etc. are arranged, and when the fuel grasping device is lowered, the fuel grasping device is installed on the structure or the side wall of the pool. In order to prevent the aircraft and fuel from colliding, a fuel grasping aircraft movement restriction loop 12 must be considered.

The present invention relates to a control method for performing simultaneous XY control under such movement restriction conditions of the fuel grasping machine.

The traveling truck and the traversing truck of the fuel exchange truck are each driven by a DC motor.

FIG. 3 is a block diagram of the regular inspection hitting section of the apparatus to which the present control method is applied.

In FIG. 3, 16 is a traveling truck drive motor, 17 is a traversing truck drive motor, 15 is a thyristor Leonard speed control device, and 14 is an arithmetic processing device (control computer or equivalent control device).

The operator inputs the target cell number into the processing unit 14 as request number 19.

The arithmetic processing unit 14 takes in the current position X of the running bogie and the current position Y of the traversing bogie (position signal 20), and generates a speed command signal 21 for the running bogie and the traversing bogie based on the relationship between the current position and the target position.
is calculated and this speed command signal 21 is input to the speed control device 15.

The speed control device 15 compares the speed command signal 21 and the speed feedback signal 22, creates a control signal based on this difference signal, controls the circuit voltage of the DC motor to be controlled,
The speed of the cart follows the command signal and positioning is performed.

The present invention relates to a method for automatically determining an XY control route when a simultaneous XY control method is adopted, with the purpose of reducing the time required from a current position to a target position in a device to which the above control method is applied. It is.

The arithmetic processing unit 14 stores the entrance points A and B of the gate section 110 shown in FIG. 2 as intermediate target positions.

Furthermore, due to the movement restriction loop 12, an area where a straight route cannot be taken from point B (the shaded area is defined as a dark area).

), one target position Ci is determined for each.

This position C1 is located inside the corner point Di of the movement restriction loop and is determined in consideration of running errors.

When the arithmetic unit 14 receives the target cell request signal 19,
By executing the embedding calculation shown in the flowchart of FIG. (including) automatically.

Based on this information, the arithmetic processing unit 14 calculates the speed commands for the traveling truck and the traversing truck so that the movement route between each point becomes a straight line (the maximum speeds of the traveling truck and the traversing truck are both set as Vmax). In this case, the calculator calculates the deviation △X in the X direction and the deviation △Y in the Y direction between each point, and calculates △
If X≧△Y, the velocity in the X direction is vX ”” Vmax,
It outputs to the Y thyristor Leonard speed control device 15.

According to the present invention, there are the following effects.

1. Simultaneous running and traversing control allows the machine to move in a straight line, allowing you to measure the amount of cotton feeding during work time.

-2.Since nuclear fuel is handled, the performance of the control device must be monitored in particular, and the operators feel very anxious about this point.

Since fixed points are provided on the route of the device to which the method of the present invention is applied, and the moving route is simplified, it is easy to determine whether or not the device is operating normally.

3. Even if the arrangement and shape of racks in pools and other structures differ depending on the plant, it can be applied generally, and standard computer programs can be created.

[Brief explanation of the drawing]

FIG. 1 shows the configuration of the main body of a fuel exchange trolley for a boiling water nuclear power plant. Figure 2 is a plan view looking at the pool from above the fifth floor of the reactor building, and illustrates the fuel transfer route between the fuel storage rack and the reactor core. FIG. 3 explains the configuration and functions of a device to which a control method for simultaneous running and traversing control is applied. FIG. 4 shows the flow of the φ calculation process of the automatic travel route determining device of the present invention. Explanation of symbols, 1... Traveling trolley, 2... -...
Traversing trolley, meter...Fuel gripping device, 4...Gripping device, 5...Running rail, 6...Gate...
Traverse rail, 7... Core pool, 8...
... Spent fuel storage pool, 9 ... Core, 10
...=...Fuel storage rack, 11...Gate section, 12...Movement restriction loop, 13...-°-
・Dark area (i), 14... Arithmetic device, 15...
... Thyristor, Leonard speed control device, 16.
... Traveling cart drive motor, 17... Traversing cart drive motor, 18... Speed detector, 19.
...Target cell request signal, 20...Position signal, 21...Speed command signal, 22...
Speed signal, 23... Cask storage area, 24...
...Workbench, 25... Loop within movement limits.

Claims (1)

[Claims] 1. By setting the target cell number, automatically
A method for automatically controlling a reactor refueling cart that transfers fuel between a reactor core pool and a fuel storage pool, which is characterized by the following features: (b) One route reference point is established at each entrance point of the gate that connects the fuel storage pool and the core pool, and when transferring between pools, a route is established that connects the cell position in the pool with the corresponding route reference point in a straight line. Calculate the traveling speed and traversing speed so that (b) In (b), if the cell position and the route reference point are connected with a straight line, for a cell located at a position that intersects with the travel/traverse restriction loop, the restriction loop will not be engaged during travel/traverse control from the route reference point. Set one fixed point on the tangent to the inner loop, which is determined so that there will be no movement, and memorize the cell number in the area surrounded by the tangent and the limit loop, and move between the cell and the route reference point using this point. Calculate the traveling speed and traversing speed of a straight line route through fixed points.