Supervisory+Control+of+ …. Supervisory... · (O&M) 'costs'through ... One+deaerator!...
Transcript of Supervisory+Control+of+ …. Supervisory... · (O&M) 'costs'through ... One+deaerator!...
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Supervisory+Control+of+Multi2Modular+Advanced+Reactor+Plants
(AT217OR230201)
S.+M.+CetinerOak+Ridge+National+Laboratory
DOE+NEAdvanced+Sensors+and+InstrumentationProgram+Review+WebinarOctober+12213,+2016
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 2
Acknowledgement
Project+participants+(FY16)! ORNL
• S.'M.'Cetiner• M.'D.'Muhlheim• A.'Guler• S.'Greenwood• R.'J.'Belles
! Ohio+State+University+(Subcontract)• R.'Denning
! PNNL+(ART+ICHMI+– ERM+Project)• P.'Ramuhalli• E.'H.'Hirt• G.'Dib
! ANL+(Subcontract)• D.'Grabaskas• A.'Brunett
• G.'Flanagan'(FY14415)• R.'Kisner'(FY14415)• D.'Fugate'(FY14415)
• A.'Veeramany• C.'A.'Bonebrake• S.'Roy
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 3
AT217OR230201+— Supervisory+Control of+Multi2Modular+Advanced+Reactor+Plants+
! Benefits+of+a+supervisory+control+system+(SCS)– optimization'of'plant'staffing– significant'reduction'in'operations'and'maintenance'
(O&M)'costs'through'integrated'enhanced'risk'monitors'(ERMs)
– design'and'performance'optimization'through'risk4informed'operations'framework
– increase'in'plant'availability,'reliability,'and'safety
Technical)Approach,)Accomplishments/Results
Mission)Relevance
Expected)Deliverables)&)Schedule
Ope
ratin
g Pr
oced
ures
Gui
delin
es
Ope
ratin
g Ex
perie
nce
Y
N
Data Acqusition
- Acquire sensory data
Verification
- Test solution in a lower-order plant model
Actuation
- Generate actuation command
Current Plant StateFuture Plant State
S1
S2
SN
.
.
.
Data Bus
- Interpret sensory data- Determine proximity to challenge surface- Determine current operating regime- Perform trends analyses
Plant State Estimation
- Failure diagnosis- Detect anomalies- Detect sensor drift and component
degradation- Identify fault incipience- Isolate faults
- Project remaining useful life estimates- Probability of failure vs. time horizon- Cycle counting
Diagnostics and Prognostics
Loop until Convergence
MSC
S
Ope
rato
r In
put
Desired Future State
DECISION MAKING
EVALUATION METRIC
Decision Analysis
IMPLEMENT DETERMINISTIC PORTION____________________________________________________________________________________________
_
- Check generated alternative success paths for conformity to guidelines, etc.
- Rank the paths for likelihood of success< apply utility theory >
- Generate a single solution that represents an operational strategy
Decision Options
IMPLEMENT PROBABILISTIC PORTION____________________________________________________________________________________________
_
- Reflect fault state in the RT-PRA model- Reflect diagnostics and prognostics
indicators in the RT-PRA model< perform fault-tree analysis >
- Generate success paths to a nominal or acceptable state
< perform event-tree analysis >- Navigation to map desired future state
onto current state
Probabilistic
Decision2Making
0.000.250.500.751.00
0.00 0.25 0.50 0.75 1.00x1
u 1(x
1)
Reactor Temperature Difference Δ TRX
0.0
0.5
1.0
0.00 0.25 0.50 0.75 1.00x2
u 2(x
2)
Reactor Outlet Temperature TRXo
-1.0-0.50.00.51.0
0.00 0.25 0.50 0.75 1.00x3
u 3(x
3)
Reactor Inlet Temperature TRX i
-2
-1
0
1
0.00 0.25 0.50 0.75 1.00x4
u 4(x
4)
EM Pump Discharge Pressure pdis
0.0
0.4
0.8
0.00 0.25 0.50 0.75 1.00x5
u 5(x
5)
Primary Loop Sodium Level yP
-2
-1
0
1
0.00 0.25 0.50 0.75 1.00x6
u 6(x
6)
Intermediate Loop Sodium Level yI
-2
-1
0
1
0.00 0.25 0.50 0.75 1.00x7
u 7(x
7)
Steam Generator Drum Liquid Level ySG
-2
-1
0
1
0.00 0.25 0.50 0.75 1.00x8
u 8(x
8)
Neutron Flux φ
-2
-1
0
1
0.00 0.25 0.50 0.75 1.00x9
u 9(x
9)
Feedwater Flow Rate ω fw
+Performance2Based+Decision+Analysis
! A+control+decision+is+made+based+on+actual+plant+status+in+real+time– probabilistic'models'rank'control'options'based'on'
the'health'and'operational'status'of'components– system'models'evaluate'performance'implications'
of'probabilistically'identified'control'actions– integrated'control'decision're4ranks'the'
probabilistically4identified'control'options'using'weighted'utility'functions• The'utility'functions'are'determined'based'on'the'trip'set'points'and'other'constraints'that'define'the'operational'space
! Developed+and+demonstrated+the+probabilistic)and+deterministic)parts+of+decision2making+for+ALMR+PRISM+(FY16)
! Incorporated+PNNL’s+enhanced+risk+monitors+(ERMs)+module+into+the+SCS+framework+(FY16)
! Demonstration+of+full+supervisory+control+capabilities+in+an+end2to2end+ALMR+PRISM+plant+(FY17)– Level'2'Milestone'due'Nov.'30'(on'target)
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 4
Presentation+Outline
! Background+on+Supervisory+Control+Project
! Work+performed+during+FY16
! Summary and+Conclusions
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 5
! Probabilistically+identify+decision+alternatives– reflect'the'change'of'state'in'any'component,– reconfigure'the'probabilistic'models'to'reflect'the'change,– execute'the'probabilistic'tools,'and– identify'and'transmit'the'operational'alternatives'ranked'by'probability'of'
successfully'avoiding'the'actuation'of'a'safety'system'setpoint
! Deterministically+evaluate+alternative+decisions+using+system+models– reflect'the'change'of'state'in'any'component,– reconfigure'the'system'models'to'reflect'the'change,– execute'the'probabilistically'selected'control'options,– provide'profiles'of'variables'of'interest'that'show'selected'metrics'over'time,'rate'of'
approaching'a'safety'system'setting,'and'how'close'the'system'is'to'the'safety'system'setting
! Generate+a+single+solution– identify'the'optimal'control'option'based'on'utility'theory'analysis'of'the'
probabilistic/system'analyses'(i.e.,'makes'a'decision),– transmit'an'actuation'signal'to'the'component(s)'of'interest,'and– inform'the'operator'of'action'taken'or'requests'permission'to'take'action
The+process+of+decision2making+is+to+identify+and+choose+among+alternatives+that+will+move+from+a+degraded+state+to+a+desired+state+or+condition
IdentifyDecision
Alternatives
EvaluateDecision
Alternatives
Generate a Single Solution
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 6
SCS+decision2making+framework
Ope
ratin
g Pr
oced
ures
Gui
delin
es
Ope
ratin
g Ex
perie
nce
Y
N
Data Acqusition
Read sensory data
Verification
Verify solution
Actuation
Generate actuation command
Current Plant StateFuture Plant State
S1
S2
SN
.
.
.
Data Bus
- Interpret data- State estimation- Trend analyses
Plant State Estimation
- Failure diagnosis- Probability of failure vs. time- Cycle counting
Diagnostics and Prognostics
Loop until Convergence
MSC
S
Ope
rato
r In
put
Desired Future State
DECISION MAKING
EVALUATION METRIC
Decision Analysis
DETERMINISTIC PORTION
Decision Options
PROBABILISTIC PORTION
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 7
Embedded+decision2making+enables+proactive+operations+rather+than+simply+reactive+control
InstructionsNew Setpoints
ERM Module reports an anomaly
Supervisory Control System Decision-Making
Performance+implications+of+control+actions+evaluated
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 8
The+metric+of+interest+for+the+SCS+is+the+likelihood)of)avoiding)an)unplanned)trip
A. AllowanceB. AllowanceC. Region/where/channel/may/be/determined/inoperableD. Plant/operating/marginE. Region/of/calibration/tolerance/(acceptable/as/left/condition)(Source/ISABS67.04B1994)
State+space+spanned+by+two+arbitrary+state+variables,+x1 and+x2
Safety)System)Region
Operation+anywhere+within+the+homeostatic+region+is+considered+normal
The+SCS+is• Implemented+as+a+non2safety+system• completely+independent+of+and+isolated+
from+the+reactor+protection+system+(RPS)+(GDC+22,+24)
• functional+domain+is+bounded+by+the+safety+system+(e.g.,+RPS)+trip+setpoints
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 9
Probabilistic+and+deterministic+models+capture+the+operational+characteristics+of+the+
ALMR+PRISM
ALMR+PRISM+Power+Block+End2to2End+System+Configuration
! Reference:+PRISM)Preliminary)Safety)Information)Document
! Nine+reactor+modules+arranged+in+three+identical+power+blocks
! Each+power+block+features+three+identical+reactor+modules,+each+with+its+own+SG+that+jointly+supply+power+to+a+single+turbine2generator
ALMR+PRISM+power+plant
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 10
ORNL+started+with+the+reference BOP+design+provided+in+the+ALMR+PRISM+
Preliminary+Safety+Information+Document+(PSID)
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 11
ALMR+PRISM+BOP+system+is+simplified+for+SCS+modeling
Probabilistic+and+system+models+were+constructed+based+on+this+flow+layout
! Three+steam+generators
– Only'SG1'and'SG2'participate'in'autonomous'controlb'SG3'is'a'base4load'generator
! One+high2pressure+turbine+(HPT)
! One+low2pressure+turbine+(LPT)
! One+moisture+separator+and+reheater stage(between+HPT+and+LPTs)
! Condenser
! One+low2pressure+feedwater heater+(FWH)
! One+high2pressure+FWH
! One+deaerator
! Pumps,+valves
Dru
m
SG 1
Recirculation Pump
~HP LP 1 LP 2
Moisture Separator Reheater
Condenser
Low-Pressure Feedwater
HeaterHigh-Pressure
Feedwater Heater
Dru
m
SG 2
Recirculation Pump
Dru
m
SG 3
Recirculation Pump
Deaerator
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 13
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 14
PNNL’s+Enhanced+Risk+Monitors+(ERM)+module+was+incorporated+into+the+SCS+
Decision2Making+Framework! Overview+of+ERMs! ERM+Framework! Integration+of+ERM+Module+with+Supervisory+Control+Framework
PNNL-25839, Rev. 0
Prepared for the U.S. Department of Energy under Contract DE-AC05-76RL01830
Summary Describing Integration of ERM Methodology into Supervisory Control Framework with Software Package Documentation Advanced Reactor Technology Milestone: M4AT-16PN2301052
September 2016
P Ramuhalli A Veeramany EH Hirt CA Bonebrake G Dib S Roy
t
Valve+position
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 15
The+ERM+module+is+integrated+into+the+SCS+framework
A.4
Figure A.3. Different Software Components and Their Interactions with Each Other. The packages are color-coded, where the green components represent packages written by ORNL, orange are packages written by PNNL, and beige are components required for interfacing PNNL and ORNL packages.
A.3 The Prognostics Module
The prognostics module requires defining a mathematical model for the failure progression of each component. Currently, only the model for the turbine control valve is implemented. However, the module is designed such that it is easy to plug any type of model on top of the existing one, without changing any of the base code. This is implemented by specifying two Abstract classes: MeasurementModel and StateModel. These provide the template (or interface) for which ParticleFilter class expects the model to provide.
If the Prognostics module is treated as a black box, then all the inputs and output for the module, assuming a valve prognostic model, are shown in Figure A.4. The necessary inputs and outputs will change with the type of component.
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 16
Failure+modes+and+reliability+data+for+the+BOP+components+were+provided+by+ANL
! BOP+components+failure+modes+and+reliability+data– Turbines– Reheaters– Generator– Condenser– Pumps– Deaerator– Valves
• AirBoperated/valves/(AOV)• MotorBoperated/valves/(MOV)• Hydraulically/operated/valves/(HOV)• Turbine/bypass/valve/(TBV)• Main/steam/isolation/valve/(MSIV)• Check/valve/(CKV)• Manual/valve/(XVM)
PRISM Balance-of-Plant Analysis Failure Modes and Reliability Data
Nuclear Engineering Division
PRISM Balance-of-Plant Analysis Failure Modes and Reliability Data
Prepared by David Grabaskas, Acacia J. Brunett Nuclear Engineering Division, Argonne National Laboratory August, 2016
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 17
ORNL+modeled+three+scenarios+to+demonstrate+and+validate+the+SCS
!Scenario+1:+Turbine+Control+Valve+(TCV)+drifts+in+closed+direction
!Scenario+2:+SG+#1+feedwater+flow+control+valve+(FCV)+drifts+in+closed+direction
!Scenario+3:+SG+#1+feedwater+FCV+drifts+in+open+direction
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 18
ORNL+modeled+three+scenarios+to+demonstrate+and+validate+the+SCS
!Scenario+1:+Turbine+Control+Valve+(TCV)+drifts+in+closed+direction
!Scenario+2:+SG+#1+feedwater+flow+control+valve+(FCV)+drifts+in+closed+direction
!Scenario+3:+SG+#1+feedwater+FCV+drifts+in+open+direction
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 19
Reactor+Module+1+and+Reactor+Module+2+in+operation`turbine)control)valve)(TCV))drifts)close:
four+control+options+are+identified probabilistically
SG2+only+
option
SG1+only+
option
SG1+and+SG2+
option
1
2
34
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Reactor+Module+1+and+Reactor+Module+2+in+operation`turbine)control)valve)(TCV))drifts)close:
four+control+options+are+identified probabilistically
SG2+only+
option
SG1+only+
option
SG1+and+SG2+
option
1
2
34
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Based+on+the+decision+trajectory,+SCS+generates+actuation+instructions+for+
lower+level+controllers
Open+Turbine+Bypass+Valve+1+(TBV+1)(i.e.,+partial+steam+dump+into+the+condenser—accomplished+via+a+new+setpoint+on+the+control+system)
Close+Turbine+Bypass+Valve+1+(TBV+1)(i.e.,+stop+steam+dump)
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The+BOP+model+matches+the+ALMR+PRISM+BOP+technical+specification+at+steady+state—
benchmarking+needed+for+transient+response
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 23
Based+on+the+previous+decision+path+“shutdown+Rx+1”,+the+models+are+automatically+updated+to+
capture+the+actual+system+and+component+status
SG2+only+
option
SG1+only+
option
SG1+and+SG2+
option
SG1OOS
FWCV
TBV
Shutdown
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 24
Monitoring+component+health+via+the+ERM+results+in+re2ranking+of+probabilistic+options
– Example:+feedwater+FCV+degraded
Before:1. Do+nothing2. Controlled+shutdown+of+Rx+13. Reduce+FW+flow—reduce+power4. Open+TBV—reduce+power—close+TBV
Degraded+FW+FCV:1. Do+nothing2. Controlled+shutdown+of+Rx+13. Open+TBV—reduce+power—close+TBV4. Reduce+FW+flow—reduce+power
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 25
Summary
! ORNL+developed+a+supervisory+control+(semi2autonomous+control)+concept+that+uses+a+multi2tiered+decision2making+approach
! The+approach+employs+well2known+tools+for+decision2making,+and+implements+a+novel+way+to+integrate+individual+results+into+a+single+operational+decision– FT/ET'for'probabilistic'models
! ALMR+PRISM+concept+was+selected+as+the+demonstration+platform
! Probabilistic+and+systems+models+were+created+for+ALMR+PRISM+BOP
– The'ERM'monitors'component'health,'and'via'the'SCS,'updates'the'probabilistic'models
– Probabilistic'models'successfully'identify'and'rank'available'control'actions
– The'system'model'matches'the'probabilistic'model,'recognizes'and'simulates'the'SCS'instructions
– The'integrated'model'makes'a'decision
! Decision2making+capabilities+were+demonstrated+for+a+number+of+operational+scenarios– Level'2'Milestone'due'Nov.'30'(on'target)
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DOE+NE+ASI+Program+Review+Webinar+— October+12,13+2016 Cetiner'– Supervisory'Control'System'of'Multi4Modular'Advanced'Reactors 26
! SCS+can+help+reduce+control+room+staffing+size– an'autonomous'control'capability'can'reduce'demand'on'human'resources– the'proposed'operator'staffing'for'the'ALMR'PRISM'design'is'a'minimum'of'eight'licensed'operators'
for'nine'reactor'modules– Under'current'regulatory'requirements,'this'same'nine'reactor'module'facility'would'require'at'least'
24–30'operators! Increase+plant+availability+by+scheduling+maintenance+outages
– The'SCS'accounts'for'all'combinations'of'equipment'conditions,'such'as'out4of4service'for'maintenance,'failed'state,'or'degraded'state'to'accurately'reflect'system/component'status'and'operating'conditions
– There'are'three'basic'approaches'taken'to'plant'maintenance:• Reactive/– failure/based/(i.e.,/repair/or/replace/components/after/they/have/failed)• Preventive/– interval/based/(i.e.,/use/failure/data/to/establish/a/maintenance/interval)• Predictive/– condition/based/(i.e.,/track/remaining/useful/lifetime(RUL)/of/components)
! Minimize+plant+transients`+increase+plant+safety– probabilistic'techniques'are'used'to'determine'those'control'actions'that'have'the'greatest'likelihood'
of'avoiding'a'trip'setpoint'based'on'actual'plant'status'and'component'health
! Higher+operational+performance– expanding'the'scope'of'PRAs'to'the'nuclear'I&C'system'will'lead'to'architectures'that'deliver'higher'
operational'performance,'similar'to'how'PRAs'helped'in'the'design'of'NPPs
Technology+Impact
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Questions?