Research On Adaptive Flexible Detection Device Of Nuclear Fuelassembly And Multi-source Error Cooperative Compensation Method

As the direct source of nuclear energy,the nuclear fuel assembly is constantly subjected to the coupling interaction of external variable environmental factors,resulting in its own local random deformation and surface zirconium alloy oxide film damage phenomenon occurs frequently.Regular in-service detection has become an important measure to ensure the safe operation of the nuclear power plant.However,limited by the difficulties of detection mechanism and error compensation,the existing detection devices and methods generally have some problems such as poor adaptability of the mechanism,insufficient contact and measurement flexibility,and urgent improvement of detection accuracy and efficiency.Therefore,focusing on detection accuracy,detection efficiency and detection safety,this paper innovatively developed a high-precision adaptive flexible detection device of nuclear fuel assembly.By systematically revealing the principle of high-precision detection based on closed-loop calibration of mechanism,and developing the flexible measurement mechanism based on dynamic monitoring of mechanism force system,the multi-source error adaptive collaborative compensation method to suppress the mechanical gap and sensor error was established.It aims to realize accurate,efficient and safe detection of oxide film thickness and deformation of assembly in complex nuclear environment,so as to meet the increasingly strict requirements of nuclear power field engineering application.The main innovative work of this paper is as follows:Firstly,the passive adaptive aligning mechanism based on mutated hook joint,the active/passive flexible measurement mechanism with dynamic feedback of internal and external acting force,and the high-precision detection mechanism based on serial-parallel hybrid connection was innovatively presented,a high-precision adaptive flexible detection device of nuclear fuel assembly was developed.From the dimension of detection mechanism,the foundation for improving the detection accuracy,efficiency and safety of the device was laid.Secondly,the detection closed loop of serial detection and parallel calibration was innovatively constructed,the pose transformation relationship and force system action mechanism of the detection device was deeply studied,the principle of high-precision detection based on closed-loop calibration of mechanism was completely revealed,and the flexible measurement mechanism based on dynamic monitoring of mechanism force system was established.From the dimension of detection principle,theoretical support for solving the core problems of accurate detection and flexible measurement of the device was provided.Thirdly,by using the calculation principle of deflection in the theory of small deformation,a compensation mechanism of micro-articulated clearance based on similar deflection transformation was established.The idea of probabilistic error compensation was introduced to develop a dynamic compensation strategy for multiple sensor errors based on probabilistic setting.A multi-source error adaptive collaborative compensation method was proposed.From the dimension of error compensation,the problem of cooperative compensation between mechanical gap and sensor error was effectively solved.Finally,the test platform of assembly detection device was built.Through the systematic experiment of flexibility detection,film thickness measurement and deformation detection,it is proved that the device can be adaptive to the random deformation assembly in all directions and has the performance of flexible contact and flexible measurement.With the proposed error compensation method,the device can accurately detect the assembly deformation and oxide film thickness,greatly improving the detection accuracy,detection efficiency and detection safety for the assembly.