Optimal control of the system of coupled cylinders

We consider the problem of optimal control of a system consisting of two coupled cylinders. Such a system is a mathe-matical model of the nuclear fuel transfer mechanism at the nuclear power plant reactor. And also, such models are found in various robotic systems. We have obtained optimal control under certain assumptions on a controllable system. © 2018 Author(s).The research was supported by Russian Foundation for Basic Research, project no. 17-08-01385

Sequential optimal control of the nuclear fuel reload mechanism

The BN-800 reactor overload system is designed to overload fuel assemblies and consists of a set of nodes that provide guidance for the reload mechanism at given coordinates, grabbing, lifting, lowering and rotating assemblies. On the throat of the BN-800 reactor there are three rotary plugs, the smaller of which is located inside the middle one and the middle one inside the large one. On a smaller tube placed the capture mechanism of the fuel assembly. The plugs, which are the reactor cover, perform the role of thermal and biological protection, as well as, guide the reload mechanism to the given coordinates of the core in order to capture the fuel assembly and move it to the required zone with the given coordinates. In this paper, we will consider the problem of minimal-time cast a gripper located on a smaller traffic jam to a given fuel assembly, assuming that the traffic jams will turn in series and at each moment only one traffic jam can be turned. The solution of such a task will contribute to the reduction of the stopping time of the power unit for carrying out operations on refueling. For this problem, a mathematical model was constructed to describe the movement of three connected plugs. Based on that, an algorithm for constructing optimal control was proposed considering given assumptions. © 2019 Author(s).Ural Branch, Russian Academy of Sciences, UB RAS: 18-1-1-9The research was supported by the Integrated Scientific Program of the Ural Branch of Russian Academy of Sciences, Project 18-1-1-9 “Estimation of the Dynamics of Nonlinear Control Systems and Route Optimization”

Mathematical Model of the Nuclear Fuel Refueling Mechanism of the BN-800 Reactor and Optimization of its operation

In connection with the burning of nuclear fuel in the reactors of nuclear power plants, the nuclear fuel refueling procedure is periodically carried out. Part of the spent fuel assemblies is removed to the spent fuel pool. Some of them are rearranged inside the reactor to other places, and instead of the unloaded fuel assemblies, fresh fuel assemblies are loaded into the vacated places. The problem under consideration can be considered as a route problem with specific restrictions Beltyukov (2013); Korobkin (2012). The goal of the optimization route problem is to minimize the time spent on reloading fuel assemblies. This is motivated by the fact that the reactor stops during the refueling period and the nuclear power plant incurs material losses. Due to the fact that the optimality criterion is the total operating time of the mechanism, it is necessary to learn how to find the time spent on an elementary operation - moving the grip from one position to another. Knowing the time spent on elementary operations, we can calculate the time spent on the rearrangement of fuel assemblies for a given order of fuel assemblies movement. This work is devoted to the time-optimal algorithm for performing an elementary operation - transferring a grip from one position to another. Knowledge of such an algorithm will make it possible to construct an objective function for the route problem of permutation of fuel assemblies. © 2022 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)Russian Foundation for Basic Research, РФФИ, (20-01-00873)This work was supported by the Russian Foundation for Basic Research (grants No. 20-01-00873)

Impulse Control of the Manipulation Robot

A nonlinear control problem for a manipulation robot is considered. The solvability conditions for the problem are obtained in the class of special impulse controls. To achieve the control goal, the kinetic energy of the manipulation robot is used. When finding analytical formulas for controls, the classical first integrals of Lagrangian mechanics were used. The effectiveness of the proposed algorithm is illustrated by computer simulation

Optimal control of the fuel reload mechanism

The algorithm for determining the optimal route for moving and controlling the mechanisms for reloading fuel assemblies of fast neutron reactors is proposed. It allows increasing the efficiency of the Nuclear Power Plant operation by reducing the stopping time for nuclear fuel transhipment. © 201

TIME-OPTIMAL GUIDANCE ALGORITHM OF THE NUCLEAR FUEL LOADING MECHANISM IN FAST NEUTRON REACTORS

A time-optimal control algorithm for the mechanism of reloading nuclear fuel for a fast reactor is proposed. A comparison is made with the known results.Работа выполнена при поддержке РФФИ (проект 20-08-00873)

THE CONTROLLING OF THE ROBOT WITH THREE DEGREES OF FREEDOM

The problem of controlling the manipulation robot is considered. The mathematical model of the manipulator is obtained. This model is described by a substantially nonlinear system of differential equations. A control algorithm having a two-impulse structure is pro-posed for this model

WORK OPTIMIZATION OF NUCLEAR FUEL OVERLOADING MECHANISM FOR BN-800 REACTOR

The problem of minimizing the time of reloading nuclear fuel for the BN-800 reactor is considered. Under the assumption that no more than two plugs can rotate at a time, a time-optimal control algorithm is proposed.Работа выполнена при поддержке РФФИ (проект № 18-01-00410)