水下燃料组件转运系统负载振荡分析与抑制

Analysis and Suppression of Load Oscillation in Underwater Fuel Assembly Transfer System

核电厂水下燃料组件转运系统运行的平稳性对确保其装载的燃料组件安全至关重要。由于钢丝绳的柔性,系统中的电机驱动钢丝绳传动的水下运行负载小车在运行过程中的振荡问题难以避免。考虑钢丝绳的弹性,建立了水下运行负载小车的完整动力学模型,将负载小车速度分解并适当简化后,完整动力学模型化为简化模型并依此进行分析及控制系统的校正。依据简化模型设计了抑制负载小车振荡的串联陷波滤波器,将设计的陷波滤波器应用于完整动力学模型进行仿真计算,仿真结果显示负载小车的振荡得到有效抑制,也验证了简化模型的有效性。本文分析方法在低速运行时可以有效抑制负载小车振荡,简单有效且易于工程实现。

The stability of the underwater fuel assembly transfer system in nuclear power plant is essential to ensure the safety of the fuel assemblies loaded.Because of the flexibility of the steel wire rope,it is difficult to avoid the oscillation of the underwater running load trolley driven by the motor in the system.Considering the elasticity of the steel wire rope,a complete dynamic model of the underwater running load trolley was established.After decomposing the speed of the load trolley and simplifying it appropriately,the complete dynamic model was transformed into a simplified model,and the analysis and calibration of control system were carried out accordingly.A series notch filter was designed based on the simplified model to suppress the oscillation of the load trolley.The designed notch filter was applied to the complete dynamic model for simulation calculation.The simulation results showed that the oscillation of the load trolley was effectively suppressed,and the effectiveness of the simplified model was also verified.The analysis method in this paper can effectively suppress the oscillation of the load trolley during low-speed operation,which is simple,effective,and easy to implement in engineering.