Research On Dynamic Analysis And Control Technology Of Polar Crane In Nuclear Power Plant

Polar crane in nuclear power plant(referred to as nuclear polar crane)is a large-scale special lifting equipment that runs above the nuclear power plant.It is mainly used for the lifting of heavy equipment inside the plant and reactor fuel replacement.Due to its special working environment,the positioning accuracy of the nuclear polar crane is relatively high.This paper takes the third-generation nuclear polar crane designed by Dalian Huarui Heavy Industry Group as the research object,uses the virtual power theory to establish the multi-rigid body dynamic model of the nuclear polar crane,and studies the dynamic characteristics of the horizontal guide device under various working conditions and the mechanism of its influence on the positioning accuracy.Based on the operating characteristics of the nuclear polar crane,the operating precision differences of the drive wheels under several different synchronous control schemes are analyzed.On this basis,an improved deviation coupling synchronous control strategy and Fuzzy internal model PID control were proposed to improve the synchronous control performance of the nuclear polar crane,thereby effectively improving the positioning accuracy of the whole machine.The main work of this article includes:(1)Based on the theory of virtual power theory,a multi-rigid-body dynamic model of nuclear polar crane was established.MATLAB software was used to simulate the positioning error of the whole machine,lateral forces and gaps of the horizontal guiding device under the influence of position changing of the trolley,the performance deviation and the response delay of drive wheel performance;(2)Analyze and compare the synchronization control accuracy and anti-interference ability of parallel synchronous control,master-slave synchronous control and deviation coupling synchronous control structure under various operating conditions based on the operating characteristics of nuclear ring cranes,and on the basis of adopting deviation coupling synchronous control,an improved deviation coupled synchronous control structure with position and velocity double closed-loop feedback control is proposed,and the effectiveness of the algorithm is verified by MATLAB simulation;(3)Aiming at the complicated parameter setting of the traditional PID controller adopted by the driven wheel,an internal model PID control method is designed based on the internalmodel control principle.The method has a simple structure and only needs adjusting filtering parameter to improve the performance of the controller,and further combine the fuzzy control algorithm with the internal model PID control to realize the online tuning of the internal model PID controller parameters.Through MATLAB simulation verification,the fuzzy internal model PID control performance is significantly better than the internal model PID control and conventional PID control,it can effectively improve the response velocity and anti-interference performance of drive wheels of the nuclear polar crane.In short,this paper obtained the multi-rigid body dynamic model of the nuclear polar crane through the combination of dynamics theory derivation and simulation analysis.Summarized the working process of the horizontal guide device under various working conditions and the mechanism of its influence on the positioning accuracy.Based on this,an improved deviation coupling synchronous control strategy and fuzzy internal model PID control algorithm are proposed,which can effectively improve the positioning accuracy,response velocity and anti-interference performance of the whole machine,and provide a theoretical reference for the design and automatic operation control of nuclear polar cranes.