초록 ▼

1. 원자로 및 증기발생기 모델의 검증
- 제어 대상이 되는 원자로 및 증발기에 대한 제어적 모델에 대한 불확실성의 분석 및 정량적 분석
2. 모델예측제어이론의 검토 및 계산도구 개발
- 모델 예측제어 이론의 알고리즘의 개선
- 성능함수의 구성 및 가중치 조합의 최적화
3. 원자로출력조절 및 증발기 수위조절을 위한 모델예측 제어기개발
- 반응도 삽입의 비선형성 및 지연 등을 수학적 구속조건으로 체계화
- 급수 스테이션의 급수조절 제어기 설계 및 (ii) 급수시스템(급수 테이션)과 증발기로 이루어

1. 원자로 및 증기발생기 모델의 검증
- 제어 대상이 되는 원자로 및 증발기에 대한 제어적 모델에 대한 불확실성의 분석 및 정량적 분석
2. 모델예측제어이론의 검토 및 계산도구 개발
- 모델 예측제어 이론의 알고리즘의 개선
- 성능함수의 구성 및 가중치 조합의 최적화
3. 원자로출력조절 및 증발기 수위조절을 위한 모델예측 제어기개발
- 반응도 삽입의 비선형성 및 지연 등을 수학적 구속조건으로 체계화
- 급수 스테이션의 급수조절 제어기 설계 및 (ii) 급수시스템(급수 테이션)과 증발기로 이루어진 전체 시스템의 제어기 설계로 구정
- 설계된 시스템에 대한 안정성 및 성능성을 주파수 영역에서 검토

Abstract ▼

The scope of the project comprises of modeling of the nuclear reactor and steam generator, review and modification of model predictive control theory and the design nuclear power controller and steam generator level controller. For the reactor model, the nuclear point kinetic equations and energy ba

The scope of the project comprises of modeling of the nuclear reactor and steam generator, review and modification of model predictive control theory and the design nuclear power controller and steam generator level controller. For the reactor model, the nuclear point kinetic equations and energy balance equations are used to describe the reactor and the model is expressed in linear state space equations. To obtain the steam generator model, the thermal hydraulics and boiling mechanism are applied to describe the steam generator behaviour In time domain. Then the relationships between several inputs and outputs are described in transfer functions. Considering the actual operating conditions and other situations, some modifications and complements are made on the existing simple model based predictive control theory. The disturbances due to the plant uncertainties and measurement noises are considered. The model predictive scheme can be regarded intrinsically as an optimization problem, since the problem is to determine the optimal input to produce the expected output. The relevant algorithms are studied for the efficient convergence of the optimization calculations under a given cost function. The improved algorithms are applied to the derived models of reactor and steam generator to design the controllers of power control system and level control system, respectively. And the controllers obtained under model predictive control method are transformed to the conventional forms. The designed controllers are verified by both static and dynamic calculations, and they give good performances with simple structure.

목차 Contents

• 제 1 장 연구개발 과제의 개요 ...18
• 제 1 절 연구배경 ...18
• 제 2 절 연구의 목표 및 내용 ...20
• 제 2 장 국내외 기술개발 현황 ...23
• 제 1 절 국외 ...23
• 제 2 절 국내 ...24
• 제 3 장 연구개발수행 내용 및 결과 ...26
• 제 1 절 모델예측제어 ...26
• 1. 개요 ...26
• 2. 모델 예측제어의 제어 법칙 ...29
• 1) 기본적 알고리즘 ...29
• 2) 외란과 잡음 ...32
• 3) 상태 함수의 추정 ...35
• 4) 최적화 알고리즘 ...41
• 제 2 절 원자로 출력조절을 위한 MPC 제어기의 설계 ...47
• 1. 원자로 모델 ...47
• 1) 원자로 동특성식 ...48
• 2) 원자로 모델링 ...56
• 3) 원자로 모델의 제어적 특성 ...65
• 2. MPC 제어기의 설계 ...71
• 제 3 절 증기발생기 수위조절을 위한 MPC 제어기의 설계 ...79
• 1. 증기발생기 모델 ...79
• 1) 증기발생기 입력과 수위와의 관계 ...80
• 2) 증기발생기 입력과 출력과의 관계 ...82
• 2. 증기발생기 모델의 특성 ...96
• 3. 증기발생기 수위조절 MPC 제어기의 설계 ...102
• 1) 급수 스테이션의 MPC 제어기 설계 ...102
• 2) 전체 시스템 궤환루프의 MPC 제어기 설계 ...109
• 제 4 장 목표달성도 및 관련분야에의 기여도와 개발결과의 활용계획 ...116
• 1. 목표달성도 ...116
• 2. 관련분야에의 기여도 ...117
• 3. 연구개발의 활용계획 ...118
• 제 5 장 참고문헌 ...119
• Table 1-1 Contents of Project ...21
• Table 3-1 Characteristic Times of Nuclear Reactor Dynamics ...57
• Table 3-2 Physical Data of Kori-2 Reactor ...60
• Table 3-3 Effects of Inputs on Level Variation ...101
• Table 3-4 Effects of Inputs on Percent Power ...101
• Fig. 3-1-1. Concept of Model Predictive Control Law ...27
• Fig. 3-1-2. Structure of Model Predictive Control ...29
• Fig. 3-1-3. Schematic of MPC Control Law ...30
• Fig. 3-1-4. Plant Model with Disturbance and Noise ...33
• Fig. 3-1-5. Block Diagram of Plant Model in State Variables ...34
• Fig. 3-1-6. Model Used for State Estimation ...35
• Fig. 3-1-7. Pseudo-Code of the Optimal Parameter Searching by SA ...46
• Fig. 3-2-1. Time Responses of Six and One Delayed Neutron Group Kinetics Model ...53
• Fig. 3-2-2. Open Loop Bode Diagram of Point Kinetics Equation for Various Neutron Life Times - 6 Group Delayed Neutron ...55
• Fig. 3-2-3. Open Loop Bode Diagram of Point Kinetics Equation for Various Neutron Life Times - 1 Group Delayed Neutron ...56
• Fig. 3-2-4. Reactor Feedback Model ...60
• Fig. 3-2-5. Moderator Temperature Coefficient by Boron Concentration ...61
• Fig. 3-2-6. Overall Thermal Resistance for Various Values of Fuel Gap Heat Transfer Coefficient ...62
• Fig. 3-2-7. Power Responses to Unit Step Change of Reactivity for Various Values of Fuel Gap Heat Transfer Coefficient ...63
• Fig. 3-2-8. Responses of Reactor Outputs for Step Change of Coolant Inlet Temperature ...64
• Fig. 3-2-9. Bode Diagram of Reactor with Feedbacks ...66
• Fig. 3-2-10. Root Locus of Reactor Model - 100% Power ...66
• Fig. 3-2-11. Eigenvalues of Reactor Plant by Initial Powers ...67
• Fig. 3-2-12. Root Locus of Feedback Model - Zero Power ...68
• Fig. 3-2-13. Bode Diagram of the Reactor System at Zero and Full Powers ...69
• Fig. 3-2-14. MPC Control Configuration for Reactor Power Control ...71
• Fig. 3-2-15. System Responses for $W_u=2,\;W_{\Delta u}=1,\;W_y=1$ ...73
• Fig. 3-2-16. System Responses for $W_u=1,\;W_{\Delta u}=1,\;W_y=1$ ...74
• Fig. 3-2-17. System Responses for $W_u=0,\;W_{\Delta u}=1,\;W_y=1$ ...75
• Fig. 3-2-18. Dynamic Calculation of Reactor MPC ...76
• Fig. 3-2-19. Comparison of System Responses between Dynamic and Static Calculations ...77
• Fig. 3-2-20. Reactor Power Control Configuration using Two Controllers ...78
• Fig. 3-3-1. Procedures of Obtaining S/G MIMO Plant Transfer Functions ...80
• Fig. 3-3-2. Power Variation by Unit Step Change of Feedwater Flow Rate ...83
• Fig. 3-3-3. Power Changes by Feedwater Flow Rate Increase Initial Powers of 5%, 10%, 15% and 20% ...85
• Fig. 3-3-4. Power Variation by Unit Step Change of Feedwater Flow Rate ...87
• Fig. 3-3-5. Power Variation by Unit Step Change of Initial Powers of 5%, 10%, 15% and 20% ...88
• Fig. 3-3-6. Power Variation by Unit Step Change of Primary Coolant Temperature ...90
• Fig. 3-3-7. Power Changes by Primary Temperature Increase Initial Powers of 5%, 10%, 15% and 20% ...91
• Fig. 3-3-8. Power Variation by Unit Step Change of Feedwater Temperature ...93
• Fig. 3-3-9. Power Changes by Feedwater Temperature Increase Initial Powers of 5%, 10%, 15% and 20% ...94
• Fig. 3-3-10. Real Values of Zeros of Feedwater-Level Transfer Function by Initial Powers ...96
• Fig. 3-3-11. Real Values of Zeros of Feedwater-% Power Transfer Function by Initial Powers ...97
• Fig. 3-3-12. Gain Margins of Inputs and Level Transfer Function by Initial Powers ...98
• Fig. 3-3-13. Phase Margins of Inputs and Level Transfer Function by Initial Powers ...99
• Fig. 3-3-14. Gain Margins of Inputs and % Power Transfer Function by Initial Powers ...99
• Fig. 3-3-15. Schematic of Steam Generator Feedwater and Level Control System ...102
• Fig. 3-3-16. Feedwater Station with MPC Controller ...103
• Fig. 3-3-17. Feedwater Control by MPC ...104
• Fig. 3-3-18. Feedwater Control System with Conventional Feedback Loop ...105
• Fig. 3-3-19. Comparison of MPC with MWS and LTR ...106
• Fig. 3-3-20. Feedwater Control by MPC for Different Weights ...108
• Fig. 3-3-21. MPC Level Controller ...109
• Fig. 3-3-22. Design Procedure of MPC Controller ...110
• Fig. 3-3-23. Step Responses G(s)=$F(s){\cdot}H_1(s)+H_2(s)$, for 5% Power ...111
• Fig. 3-3-24. Level and Feedwater Flow Rate for Power Increase from 5% to 10% ...113
• Fig. 3-3-25. Dynamic Calculation of State Variable of Steam Generator ...114
• Fig. 3-3-26. Level and Power Variations for Power Increase from 5% to 10% - Dynamic and Static Calculation ...115