CN102360201B - Nuclear power plant refueling machine control system with adoption of PLC (Programmable Logic Controller) with integral motion control function - Google Patents
Nuclear power plant refueling machine control system with adoption of PLC (Programmable Logic Controller) with integral motion control function Download PDFInfo
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Abstract
The invention belongs to the field of the control of a nuclear power plant refueling machine, in particular to a nuclear power plant refueling machine control system with the adoption of a PLC (Programmable Logic Controller) with an integral motion control function. The control system comprises an operation control station, a touch screen computer with a human-machine interface and a PLC; and the PLC is a dual-PLC system composed of a running PLC and a security PLC, wherein the running PLC is a PLC with the integral motion control function and is in charge of data collection, logic control, interlock protection, movement calculation and servo drive of the refueling machine, and the security PLC is a universal PLC which is in charge of protecting the security of the refueling machine. Through the invention, the technical problems of semi-automatic and full-automatic operations of the refueling machine, synchronous movement of carts, accurate automatic location through the coordination of a cart and a trolley, manual and automatic running of a television camera stem, and the like are completely realized. A comprehensive and reliable interlock protection function is also provided while the precise movement of each part of the refueling machine is fulfilled.
Description
Technical field
The invention belongs to the control field of nuclear power station material-loading/unloading machine, be specially the nuclear power station material-loading/unloading machine control system of a kind of application integration motion control function PLC.
Background technology
Fuel manipulator crane is the key equipment that completes reactor refuling during nuclear power station cold-refueling, and their operand is reactor fuel assemblies.From the operating experience of domestic and international nuclear power station, the security meeting of the economy of the combination property of fuel manipulator crane to nuclear power station and fuel assembly operation has a direct impact.The Full-automatic digital control that realizes fuel manipulator crane can further improve the efficiency of reloading, improve the safety and reliability of fuel handling.Contrast domestic fuel manipulator crane single manually operated present situation is only provided, new automatic digitized fuel manipulator crane optimization improves the travelling speed of Liao Ge mechanism; Semi-automatic and full automatic working pattern is provided, has realized accurately automatically locating of large and small car; And under semi-automatic, full automatic working pattern, can adopt deflection method operation, improve handling material efficiency; Strengthen the interactive function of man-machine interface, alleviated operating personnel's labour intensity.
Realizing the optimization of Full-automatic digital control and operational factor, thereby improve safety and reliability and the economy of fuel manipulator crane, is world today's nuclear power station material-loading/unloading system main development direction.
Shortening fuel manipulator crane refuelling component hour key is:
1) the process operation path of efficient, reliable driving arrangement and optimization;
2) adopt fast speed automatic station-keeping system;
3) nuclear fuel assembly control, detection system are extracted and put down to safety, fast speed;
4) there is outstanding man-machine interface, Error Tolerance Properties Control system;
5) one simplifies the operation, again can automatically remote-controlled operation program and simplification maintenance, repair program.
Summary of the invention
The object of this invention is to provide the technical matters that a set of brand-new control system solves the Full-automatic digital control of fuel manipulator crane, in improving fuel manipulator crane operational efficiency, further strengthen the safe reliability of himself.
For achieving the above object, technical scheme of the present invention is as follows: the nuclear power station material-loading/unloading machine control system of a kind of application integration motion control function PLC, comprise operating console, have touch screen computer and the PLC controller of man-machine interface, described PLC controller is two PLC systems of operation PLC and safety PLC composition.Wherein moving PLC is the PLC controller of integrated motion control function, is responsible for data acquisition, logic control, interlock protection, the motion of fuel manipulator crane and resolves and the function of the aspect such as servo driving; Safety PLC is universal PLC, is responsible for the safety system function of fuel manipulator crane.Each action button, displaing lamp and digital display meter on operator's console is connected with operation PLC controller, and touch screen computer is connected by bus with operation PLC controller; The PLC controller of integrated motion control function is by the information of digital I/O signal, scrambler and the load transducer of interface module collection site equipment, carry out after computing, by interface module, steering order is sent to servo-driver again, make it complete the accurate control to servomotor; Between the PLC controller of integrated motion control function and interface module, adopt high-speed bus to be connected, form distributed kinetic control system.Safety system signal and the safety PLC of fuel manipulator crane are connected.
Further, the nuclear power station material-loading/unloading machine control system of the PLC of application integration motion control function as above, wherein, the PLC that operation PLC is integrated motion control function, technology and motion control are integrated, use ripe technical module, realize complicated control task; Between the PLC of integrated motion control function and servo-driver, connect by interface module, between operation PLC and interface module, pass through DP (Drive) bus communication, DP (Drive) has clock synchronous characteristic, guarantee that timing, to servo-driver sending controling instruction, realizes fixed cycle control; By interface module, can realize different manufacturers driver simultaneously, can connect servo-driver (control servomotor), connect variable frequency drives (control asynchronous machine), connect stepper motor (control step motor).Both can realize speed control, also can realize accurate position control, be with good expansibility.
Further, the nuclear power station material-loading/unloading machine control system of application PLC of movement type as above, wherein, the control functional module of the PLC controller of described integrated motion control function comprises:
A) recursive call module, realizes calling of subroutine module;
B) fixed cycle calling module, for ensureing the real-time control to large dolly, main lifting, between operation PLC controller and the interface module of servo driving, pass through DP (DRIVE) bus communication, DP (DRIVE) has clock synchronous characteristic, guarantee that timing, to servo-driver sending controling instruction, realizes fixed cycle control;
C) scrambler, servo-driver initial value arrange module, for system is carried out to initialization setting; D) active lattice maintenance management module, realizes active lattice handling material record and management;
E) large vehicle walking, rate control module, for according to real-time large truck position, judgement allow cart forward, service condition backward, according to different operator schemes, direction and the speed of cart operation are controlled;
F) carriage walking, rate control module, for according to real-time little truck position, judgement allow dolly left, service condition to the right, according to different operator schemes, direction and speed to trolley travelling are controlled;
G) main lifting lifting, rate control module, for according to real-time main lifting location, judgement allow main lifting upwards, service condition downwards, according to different operator schemes, direction and the speed of main lifting operation are controlled;
H) lifting of TV bar, rate control module, for according to real-time TV bar position, judges and allows the rising of TV bar, decline service condition, according to different operator schemes, direction and the speed of the operation of TV bar is controlled;
I) cart driver module, receives the instruction of large vehicle walking, rate control module, carries out resolving of servo driver drives instruction, and driver is controlled;
J) dolly driver module, receives the instruction of carriage walking, rate control module, carries out resolving of servo driver drives instruction, and driver is controlled;
K) main lifting driver module, receives the instruction of main lifting walking, rate control module, carries out resolving of servo driver drives instruction, and driver is controlled;
L) TV bar driver module, receives the instruction of the walking of TV bar, rate control module, carries out resolving of servo driver drives instruction, and driver is controlled;
M) gripping apparatus engagement and dropout control module, for judging the condition that allows gripping apparatus engagement and thread off, the engagement to gripping apparatus and the operation of threading off are controlled;
N) fault processing module, for fault detect and failure reset;
O) protection system module, for the safety protection function of system;
P) display module, for showing position coordinates and the load weight of large and small car, main lifting;
Q) automatic, semi-automatic module, realize fuel manipulator crane automatically, semi-automatic operation;
R) the deflection method module of reloading, realizes in the time selecting deflection method to reload, and control system, according to the arranging situation of current reactor fuel assembly, is calculated the correct deviation post of large dolly automatically, does not need that operator is artificial to be calculated and intervene
Further, the nuclear power station material-loading/unloading machine control system of application integration motion control function PLC as above, wherein, this system realizes semi-automatic operation pattern and full automatic working pattern by automatic, the semi-automatic module of PLC controller; Protection system module by PLC controller is carried out safety movement protection interlock in equipment moving being carried out to monitoring in real time.
Further, the nuclear power station material-loading/unloading machine control system of the PLC of application integration motion control function as above, wherein, control system is under semi-automatic operation pattern and full automatic working pattern, can adopt the deflection method operation of reloading, significantly improve the main speed that is lifted at full motion stroke, avoid friction and collision between fuel assembly simultaneously, realize handling material operation fast.
Beneficial effect of the present invention is as follows: the present invention is gathered and monitored the information such as displacement and weight of being come by field level equipment feedback in real time by the Logical processing unit of the PLC controller of integrated motion control function, calculated the process function module that obtains in real time motion control instruction and be sent to PLC controller, it is controlled driver.The PLC controller of integrated motion control function can change and make supper-fast response according to operator's operation, has improved the accuracy of fuel manipulator crane action.
The present invention realized completely fuel manipulator crane half, full automatic working; Cart is synchronized with the movement; Large and small car is coordinated accurately location automatically; The technological difficulties such as hand, automatic operation of telephotography bar.In realizing the accurate motion of the each parts of fuel manipulator crane, also provide comprehensively interlock protection function reliably.
Brief description of the drawings
Fig. 1 is composition of the control system structured flowchart of the present invention;
Fig. 2 is that large and small car moves control program process flow diagram automatically;
Fig. 3 is large and small car coordinated movement of various economic factors program flow diagram;
Fig. 4 is cam drive program flow diagram;
Fig. 5 is the program flow diagram of TV bar;
Fig. 6 is TV bar driver process flow diagram.
Embodiment
Below in conjunction with drawings and Examples, the present invention will be described in detail.
As shown in Figure 1, fuel manipulator crane control system provided by the present invention comprises operating console, has touch screen computer and the PLC controller of man-machine interface, and described PLC controller is two PLC systems of operation PLC and safety PLC composition.Wherein, the operation PLC PLC controller that is integrated motion control function, the function with the aspect such as servo driving is resolved in data acquisition, logic control, interlock protection, the motion of being responsible for fuel manipulator crane; Safety PLC is universal PLC, is responsible for the safety system function of fuel manipulator crane.Each action button, displaing lamp and digital display meter on operator's console is connected with operation PLC controller, and touch screen computer is connected by bus with operation PLC controller; The PLC controller of integrated motion control function is by the information of digital I/O signal, scrambler and the load transducer of interface module collection site equipment, carry out after computing, by interface module, steering order is sent to servo-driver again, make it complete the accurate control to servomotor; Between the PLC controller of integrated motion control function and interface module, adopt high-speed bus to be connected, form distributed kinetic control system.Safety system signal and the safety PLC of fuel manipulator crane are connected.
Operating personnel utilize operating console and man-machine interface touchscreen button to operate fuel manipulator crane, the PLC controller of integrated motion control function receives the steering order information of control desk and touch-screen, after logic and control algorithm processing, send the large dolly of movement instruction control, main lifting, TV bar servo-driver and gripping apparatus action, and the motion states such as large dolly, main lifting, TV bar and gripping apparatus are fed back on control desk, touch-screen picture page and shown.On the platform of dolly, control desk being set operates fuel manipulator crane.Control desk is provided with a display panel that bank control panel is vertical with.Control panel is provided with control operation button, power switch, gripping apparatus switch and gripping apparatus pilot lamp, fuel selection switch.Vertical panel is provided with pilot lamp, and button is reported to the police, lifted load height, computer monitor, position indicator, load cell switch, border bypass button, crucial interlock switch, the switch etc. of cutting off the electricity supply.
In actual application, the PLC controller of the integrated motion control function that can adopt, as the CPU315T-2DP of Siemens, MICROBOX420 etc., interface module is as the IM174 interface module of Siemens or other interface modules of the same type.
The PLC controller of integrated motion control function is undertaken after computing by the information of the field apparatuss such as interface module capturing and coding device and load transducer, then by interface module, steering order is sent to servo-driver, makes it complete the accurate control to motor.Between integrated motion control function PLC and interface module, adopt high-speed bus to be connected, formed distributed kinetic control system.Integrated motion control function PLC is also responsible for carrying out safety movement protection interlock in equipment moving being carried out to monitoring in real time, and it is controlled functional module and comprises:
A) recursive call module, realizes calling of subroutine module;
B) fixed cycle calling module, for ensureing the real-time control to large dolly, main lifting, between operation PLC controller and the interface module of servo driving, pass through DP (DRIVE) bus communication, DP (DRIVE) has clock synchronous characteristic, guarantee that timing, to servo-driver sending controling instruction, realizes fixed cycle control;
C) scrambler, servo-driver initial value arrange module, for system is carried out to initialization setting;
D) active lattice maintenance management module, realizes active lattice handling material record and management;
E) large vehicle walking, rate control module, for according to real-time large truck position, judgement allow cart forward, service condition backward, according to different operator schemes, direction and the speed of cart operation are controlled;
F) carriage walking, rate control module, for according to real-time little truck position, judgement allow dolly left, service condition to the right, according to different operator schemes, direction and speed to trolley travelling are controlled;
G) main lifting lifting, rate control module, for according to real-time main lifting location, judgement allow main lifting upwards, service condition downwards, according to different operator schemes, direction and the speed of main lifting operation are controlled;
H) lifting of TV bar, rate control module, for according to real-time TV bar position, judges and allows the rising of TV bar, decline service condition, according to different operator schemes, direction and the speed of the operation of TV bar is controlled;
I) cart driver module, receives the instruction of large vehicle walking, rate control module, carries out resolving of servo driver drives instruction, and driver is controlled;
J) dolly driver module, receives the instruction of carriage walking, rate control module, carries out resolving of servo driver drives instruction, and driver is controlled;
K) main lifting driver module, receives the instruction of main lifting walking, rate control module, carries out resolving of servo driver drives instruction, and driver is controlled;
L) TV bar driver module, receives the instruction of the walking of TV bar, rate control module, carries out resolving of servo driver drives instruction, and driver is controlled;
M) gripping apparatus engagement and dropout control module, for judging the condition that allows gripping apparatus engagement and thread off, must engage and thread off to operate to gripping apparatus and control;
N) fault processing module, for fault detect and failure reset;
O) protection system module, for the safety protection function of system;
P) display module, for showing position coordinates and the load weight of large and small car, main lifting;
Q) automatic, semi-automatic module, realize fuel manipulator crane automatically, semi-automatic operation;
R) the deflection method module of reloading, control system, according to the arranging situation of current reactor fuel assembly, is calculated the correct deviation post of large dolly automatically, does not need that operator is artificial to be calculated and intervene
Control system is that fuel manipulator crane is provided with semi-automatic operation pattern and full automatic working pattern.Semi-automatic operation: under semi-automatic pattern, operator manually inputs position (core region, the district that tumbles, the region (being generally the position of trystate) that can select maybe of coordinates of targets.Under semi-automatic pattern, can move large dolly simultaneously, improve the speed of reloading.The main motion hoisting can be selected manual, semi or fully automatic pattern operation according to specific situation.But the closure of gripping apparatus, release, initially play lift operations, final loading operation is manually operation all.Automatic and semi-automatic operation has reduced and has started and positioning time, the large dolly of fuel manipulator crane, the main acceleration and deceleration control hoisting, and speed control smoothly is all automatically to control according to integrated motion control function PLC setting value.Full automatic working: in large dolly Automatic Positioning Control, automatic mode is similar with semi-automatic pattern.But automatic mode has increased the function that reads the database file that reloads from industrial computer.The database file that reloads has been described the information of each fuel assembly, as sequence number, fuel type, step number, direction etc.This fuel data library file can touch screen display.Operator only needs mobile select progressively " confirmation " or " operation automatically " of based on fuel assembly, and fuel manipulator crane is positioned at reactor core or tiltable frame region etc. automatically.
About the automatic operation problem of large and small car.Under semi-automatic and automatic mode, provide by the dress database root that reloads the reactor core target location that will load and unload material according to the type of fuel assembly, skew is reloaded subroutine according to its deviation post of reactor core position calculation, fuel manipulator crane can be in any position of safety zone, press interpolation geometric locus definitely, the coordinated movement of various economic factors is to assigned address.Idiographic flow as shown in Figure 2.Automatically after control subroutine starts, first the correlation parameter in large dolly coordinated movement of various economic factors subroutine is carried out initialization and generates interpolated point list data block, then judgement is charging process or discharge process, whether there is offset operation, and be to move or move to the zone position of tumbling to reactor core direction, after mobile condition meets, call large dolly coordinated movement of various economic factors subroutine and carry out the large dolly coordinated movement of various economic factors (speed, direction and the enabling signal of given Move2D), and return movement settling signal.
About the problem of the large and small car coordinated movement of various economic factors.After large dolly coordinated movement of various economic factors control command starts, call corresponding process function and delete the defined interpolated point of former cam (running orbit), prepare for generating new cam, according to the desired movement locus of technique object, produce interpolated point, and interpolated point is added in cam and gone, and specify interpolation type and fill up the gap between cam interpolated point by corresponding process function piece, complete the generation of cam, and can start cam drive.As shown in Figure 3.In large dolly coordinated movement of various economic factors subroutine, when completing after the generation of cam, large dolly has possessed movement locus and the moving condition of its motion, now calls cam drive subroutine (axle synchronous and moving interpolation functional block), and returns to cam drive settling signal.After cam drive starts, when after synchronously having set up of principal and subordinate's axle, call absolute fix process function piece, mobile main shaft (cart), follow motion of main shaft from axle (dolly), move to behind target location at large dolly, return to variate-value, to show that cam drive finishes, and the subprograms corresponding piece that resets.If in motion process, axle fault alarm, stops the large dolly coordinated movement of various economic factors.Program circuit as shown in Figure 4.The technique object of T-CPU is applied in the motion control of fuel manipulator crane, and by adopting the process function piece of axle control, with realize large dolly in a plane along the coordinated movement of various economic factors in X, Y-direction, and complete reactor core or the accurate location at the place that tumbles.
About the hand of TV bar, automatic operation problem.Based on the operating characteristic of integrated motion control function PLC, according to the difference of controlling function, TV bar program is divided into TV bar control subroutine, TV bar load and highly controls subroutine, TV bar hypervelocity monitoring subroutine, TV bar operation area subroutine, TV bar hypervelocity monitoring subroutine TV bar driven element program, specific procedure flow process as shown in Figure 5.TV bar control subroutine is the intermediate hub of whole program frame, and its major function is according to the interlocking conditioned signal from other subroutines, carries out comprehensive logic judgement and processes, and finally sends steering order to driven element program.Driven element program has adopted brand-new institutional framework, utilizes the technology controlling and process module of integrated motion control function PLC to control driver, and program flow diagram as shown in Figure 6.First be enabling of TV bar, defined the concept that axle enables in driven element program, i.e. TV bar motion is referred to as an axle motion, and the operation of any motor function piece all must enable this condition as prerequisite taking axle.The corresponding enable signal of controlling subroutine of Enable signal that axle enables.Whole interlockings that enable signal is realized are all to carry out function driver action by this functional block.Enabled state be 1 and other functional modules all do not have in out of order situation, can enter into operation and suspend the deterministic process of module.This module is used mutually with rate control module and the position control module used below.In the time that sending, manual command realizes speed control by suspending module and rate control module; In the time that sending, autocommand realizes positioning control by suspending module and position control module.Switching between hand, automatic operation completes by suspending module, first suspends original action and triggers new action again.After manual or autocommand disappear, also will automatically trigger time-out module and stop the motion of TV bar.In the time of speed and position control module operation troubles, can trigger immediately motion malfunctioning module, forbid the motion of TV bar, after failure reset, can continue operation.The use of scrambler reseting module be for the adjustment of scrambler numerical value used.Under the prerequisite that is 1 in enabled state, can realize the setting to scrambler numerical value.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if to these amendments of the present invention with within modification belongs to the scope of the claims in the present invention and equivalent technology thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (3)
1. the nuclear power station material-loading/unloading machine control system of an application integration motion control function PLC; comprise operating console, there is touch screen computer and the PLC controller of man-machine interface, it is characterized in that: described PLC controller is two PLC systems of operation PLC and safety PLC composition; Wherein moving PLC is the PLC controller of integrated motion control function, and the function with servo driving aspect is resolved in data acquisition, logic control, interlock protection, the motion of responsible fuel manipulator crane; Safety PLC is universal PLC, is responsible for the safety system function of fuel manipulator crane; Each action button, displaing lamp and digital display meter on operator's console is connected with operation PLC, and touch screen computer is connected by bus with operation PLC; The PLC controller of integrated motion control function is by the information of digital I/O signal, scrambler and the load transducer of interface module collection site equipment, carry out after computing, by interface module, steering order is sent to servo-driver again, make it complete the accurate control to servomotor; Between the PLC controller of integrated motion control function and interface module, adopt high-speed bus to be connected, form distributed kinetic control system; Safety system signal and the safety PLC of fuel manipulator crane are connected; Between the PLC controller of integrated motion control function and servo-driver, connect by interface module, between the PLC controller of integrated motion control function and interface module, pass through DP Drive bus communication, DP Drive has clock synchronous characteristic, guarantee that timing, to servo-driver sending controling instruction, realizes fixed cycle control; By interface module control servomotor, control asynchronous machine, control step motor, both can realize speed control simultaneously, also can realize accurate position control, be with good expansibility;
The control functional module of the PLC controller of described integrated motion control function comprises:
A) recursive call module, realizes calling of subroutine module;
B) fixed cycle calling module, for ensureing the real-time control to large dolly, main lifting, the timing of PLC controller, to servo-driver sending controling instruction, realizes fixed cycle control;
C) scrambler, servo-driver initial value arrange module, for system is carried out to initialization setting;
D) active lattice maintenance management module, realizes active lattice handling material record and management;
E) large vehicle walking, rate control module, for according to real-time large truck position, judgement allow cart forward, service condition backward, according to different operator schemes, direction and the speed of cart operation are controlled;
F) carriage walking, rate control module, for according to real-time little truck position, judgement allow dolly left, service condition to the right, according to different operator schemes, direction and speed to trolley travelling are controlled;
G) main lifting lifting, rate control module, for according to real-time main lifting location, judgement allow main lifting upwards, service condition downwards, according to different operator schemes, direction and the speed of main lifting operation are controlled;
H) lifting of TV bar, rate control module, for according to real-time TV bar position, judges and allows the rising of TV bar, decline service condition, according to different operator schemes, direction and the speed of the operation of TV bar is controlled;
I) cart driver module, receives the instruction of large vehicle walking, rate control module, carries out resolving of servo driver drives instruction, and driver is controlled;
J) dolly driver module, receives the instruction of carriage walking, rate control module, carries out resolving of servo driver drives instruction, and driver is controlled;
K) main lifting driver module, receives the instruction of main lifting walking, rate control module, carries out resolving of servo driver drives instruction, and driver is controlled;
L) TV bar driver module, receives the instruction of the walking of TV bar, rate control module, carries out resolving of servo driver drives instruction, and driver is controlled;
M) gripping apparatus engagement and dropout control module, for judging the condition that allows gripping apparatus engagement and thread off, must engage and thread off to operate to gripping apparatus and control;
N) fault processing module, for fault detect and failure reset;
O) protection system module, for the safety protection function of system;
P) display module, for showing position coordinates and the load weight of large and small car, main lifting;
Q) automatic, semi-automatic module, realize fuel manipulator crane automatically, semi-automatic operation;
R) the deflection method module of reloading, realizes in the time selecting deflection method to reload, and provides large dolly correct deviation post.
2. the nuclear power station material-loading/unloading machine control system of application integration motion control function PLC as claimed in claim 1, wherein, this system realizes semi-automatic operation pattern and full automatic working pattern by automatic, the semi-automatic module of the PLC controller of integrated motion control function; The protection system module of the PLC controller by integrated motion control function is carried out safety movement protection interlock in equipment moving being carried out to monitoring in real time.
3. the nuclear power station material-loading/unloading machine control system of application integration motion control function PLC as claimed in claim 2, it is characterized in that, this system is under semi-automatic operation pattern and full automatic working pattern, can adopt the deflection method operation of reloading, significantly improve the main speed that is lifted at full motion stroke, avoid friction and collision between fuel assembly simultaneously, realize handling material operation fast.
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