Analysis and Suppression of Load Oscillation in Underwater Fuel Assembly Transfer System
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摘要: 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。
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关键词:
- 水下燃料组件转运系统 /
- 振荡抑制 /
- 陷波滤波器 /
- 仿真计算
Abstract: 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. -
图 2 系统模型示意图
J—电机端转动惯量；m0—负载小车质量；k—钢丝绳刚度；c—钢丝绳阻尼；R—卷筒半径；θ—电机轴转角；v—负载小车运动速度；x—负载小车位移；Fz—负载小车所受的水的阻力；Fm—负载小车所受的水附加质量力
Figure 2. System Model
图 3 转运系统方框图
vr—给定负载小车速度信号；KN—负载小车给定速度与电机转速转换系数；ωr—给定电机转速信号
Figure 3. Block Diagram of Transfer System
图 4 采用陷波器滤波校正的系统框图
N(s)—陷波滤波器传递函数
Figure 4. Block Diagram of Transfer System with Notch Filter
图 9 简化模型校正前后负载小车速度响应
Figure 9. Speed Response of Trolley Based on the Simplified Model before and after Correction
图 10 简化模型校正前后负载小车位移响应
Figure 10. Displacement Response of Trolley Based on the Simplified Model before and after Correction
图 11 不同模型校正后负载小车速度响应
Figure 11. Speed Response of Trolley of the Two Different Models after Correction
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