JP5426651B2 - Marine engine control apparatus and method - Google Patents

Description

  The present invention relates to an engine control device that controls the operation of a ship main engine.

  In the governor control of the main ship, PID control that maintains the propeller rotation speed (main engine rotation speed) at a constant value is widely adopted. A configuration is also known in which PID control parameters are changed based on a simulation model of an engine in order to prevent overspeed during racing (Patent Document 1).

Japanese Patent Laid-Open No. 8-200231

  In Patent Document 1, although it has been proposed to change the PID control parameter by predicting the rotational speed fluctuation due to the disturbance by simulation, it responds to the increase in hull resistance over time, the decrease in propeller efficiency, the deterioration in engine performance, etc. Therefore, the configuration for changing the control is not adopted.

  The object of the present invention is to operate the main engine efficiently in accordance with the secular change of the ship.

  A marine engine control device according to the present invention includes a control unit that controls the operation of a main engine of a ship, an observer that includes a ship including the main engine and a hull, an operation amount input from the control unit, and a secular change of the control target. It is characterized by comprising a correcting means for estimating a physical quantity affected by the observer with an observer and changing a control parameter of the control unit based on a value before the aging of the physical quantity and a value after the aging.

  The correcting means preferably changes the simulator of the observer to a numerical model corresponding to the control target after the aging based on the value before the aging of the physical quantity and the value after the aging. Thereby, the secular change of a control object can be estimated more correctly.

  Further, the ship engine control device preferably includes a memory that records a value before physical change of the physical quantity, and the correcting means includes the value of the physical quantity recorded in the memory and the value of the physical quantity estimated after the temporal change. The control parameter is changed based on the above. The physical quantity is, for example, the ship speed, and the correction means changes the control parameter in accordance with the difference in ship speed before and after aging. For example, the control unit performs PID control, and the correction unit changes the P gain and / or D gain to a larger value as the ship speed difference is larger. For example, the correction means changes the I gain to a smaller value as the boat speed difference increases. In the engine control device, for example, the rotational speed of the main engine is detected and fed back to the observer.

  A ship according to the present invention includes the engine control device.

  The marine engine control method according to the present invention estimates a physical quantity that is affected by a secular change of a control target in an observer that receives an operation amount from a control unit that controls the operation of the main engine as a control target for a ship including a main engine and a hull. In addition, the control parameter of the control unit that controls the operation of the main engine is changed based on the value before the aging of the physical quantity and the value after the aging change.

  ADVANTAGE OF THE INVENTION According to this invention, the driving | operation of the efficient main machine according to the secular change of a ship can be performed.

It is a block diagram which shows the structure of the engine control apparatus which is embodiment of this invention. It is a block diagram which shows the relationship between a control object and an observer.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a control block diagram showing a configuration of a marine engine control apparatus according to an embodiment of the present invention.

  The control target 10 includes a main machine, a propeller, a hull, and the like, and a governor command u is given to the main machine from the control unit 11. The control unit 11 is a governor that performs PID control, for example, with a constant rotation speed. A sensor (not shown) for measuring the actual rotational speed Ne of the main machine is provided on the output shaft (not shown) of the main machine, and the actual rotational speed Ne is negatively fed back to the input side of the control unit 11. That is, the deviation between the target rotational speed No and the actual rotational speed Ne is input to the control unit 11, and the governor command u is output through the PID calculation.

  Further, the engine control apparatus of the present embodiment includes an observer 12 in which the control object 10 is numerically modeled. FIG. 2 is a block diagram showing a detailed relationship between the controlled object 10 and the observer 12. As shown in FIG. 2, the observer 12 receives the governor command u and uses the rotational speed N, the ship speed (vs. water speed) V, and the like as state variables. In this embodiment, since the actual rotational speed Ne is measured, the observer 12 feeds back the difference between the actual rotational speed Ne and the rotational speed Nm that is the output of the simulator to the simulator, and estimates each state variable. Note that A, B, C, and K in FIG. 2 are operators that operate on each variable.

  Further, the engine control device includes a memory 13 and a correction calculation unit 14. The correction calculation unit 14 is a calculation unit that calculates a correction amount for correcting the control parameter of the control unit 11 in accordance with the secular change of the actual ship by using the output from the observer 12 and the data stored in the memory 13. In the present embodiment, since the control unit 11 performs PID control, the control parameter to be corrected is a PID gain, and the PID gain of the control unit 11 is updated based on the correction amount calculated by the correction calculation unit 14. Is done.

  The memory 13 records the ship speed Vmo calculated by the observer 12 at the previous control parameter update. Next, when the control parameter is updated, the ship is navigated under the same conditions as when the ship speed Vmo is calculated, for example, with the same rotation speed and fuel input as the previous time, and the current ship speed Vm is observed. Calculate with The correction calculation unit 14 receives the current ship speed Vm estimated by the observer 12 and the past ship speed Vmo stored in the memory 13, and the correction amount of the control parameter of the control unit 11 based on these values. Is calculated.

  Over time, the hull resistance increases and the propeller efficiency decreases, so even if the sea conditions and the fuel supply amount are the same, the ship speed becomes slower than the previous update (for example, at the time of new construction). Therefore, the current ship speed Vm estimated by the observer 12 is slower than the past ship speed Vmo.

  In the correction calculation unit 14, for example, a difference (Vmo−Vm) between the past boat speed Vmo and the current boat speed Vm is calculated as a correction amount. In the control unit 11, as the value of (Vmo−Vm) increases, the P gain, The D gain is set large and / or the I gain is set small. That is, when the secular change occurs, the hull resistance increases and the propeller efficiency decreases. Therefore, in order to obtain the same responsiveness as in the new construction, the gain of P and / or D is increased as the difference (Vmo−Vm) is larger. It is necessary to take big. For example, the gains of P and D are increased in proportion to the increase of (Vmo−Vm), and the I gain is decreased in inverse proportion.

  At this time, the correction calculation unit 14 also corrects the state equation in the observer 12 based on the input Vmo and Vm according to the secular change of the control target, and the simulator (numerical model) of the observer 12 performs the current control. Updated to the one corresponding to the target.

と表すとき、Ａ_１２がプロペラ回転の抵抗を含む要素、Ａ_２２が船体抵抗を含む要素となる。このときＡ_１２およびＡ_２２は、例えばそれぞれＡ_１２・Ｖｍｏ／ＶｍおよびＡ_２２・Ｖｍｏ／Ｖｍに更新される。なお、その他の要素はそのままの値に維持される。また、上記状態方程式において主機等に関わる変数は省略されているが、主機バルブの劣化なども考慮する構成とすることもできる。 For example, (N, V) ^t is a state vector whose components are rotation speed N and speed V (t represents transposition), and (N ′, V ′) ^t is a first-order derivative with respect to time of (N, V) ^t. , With the governor command u as input, the state vector (N, V) ^t , and the 2 × 2 matrix and 2 × 1 matrix elements calculated for the input u as {A _ij } and {B _i }, respectively. Equation of state (part)

, A ₁₂ is an element including propeller rotation resistance, and A ₂₂ is an element including hull resistance. In this case _{A 12} and _{A 22} are, for example, is updated to _A 12 · Vmo / Vm and _A 22 · Vmo / Vm, respectively. Other elements are maintained as they are. Further, in the above state equation, variables relating to the main engine and the like are omitted, but a configuration in which deterioration of the main engine valve and the like are taken into consideration can also be adopted.

  As described above, according to the present embodiment, it is possible to estimate the secular change of the hull, the propeller, etc. without actually measuring the ship speed, and to update the control parameters in accordance with this, so that it matches the secular change of the ship. The main engine can be operated efficiently at all times. This can also reduce the sea margin and improve the fuel efficiency at the time of new construction.

  If the ship speed before the secular change can be simulated with sufficient accuracy from the governor command u, this is not the past ship speed stored in the memory, but the simulated ship speed before the aging It is also possible to update the control unit and the observer by comparing the current ship speed estimated by the form observer.

  Further, the observed state variable is not limited to the rotation speed, and may be, for example, the torque of the propeller shaft, or may be a plurality of physical quantities. In this embodiment, the estimated value of the ship speed is used as the physical quantity for estimating the secular change. For example, the torque and thrust are estimated by the observer, and the control parameter is updated by estimating the secular change based on the estimated value. It is also possible to do.

  In this embodiment, PID control has been described as an example. However, in other control methods, control parameters are updated so that responsiveness before aging can be obtained according to the estimated aging of the hull and propeller. It is also possible to do.

10 Controlled object 11 Control part (PID calculating part)
12 Observer 13 Memory 14 Correction Operation Unit

Claims (7)

A control unit for controlling the operation of the main engine of the ship;
An observer that controls a ship including the main engine and the hull, and receives an operation amount from the control unit;
A correction means for estimating a ship speed affected by the secular change of the control object by the observer and changing a control parameter of the control unit based on a value before the secular change of the ship speed and a value after the secular change; Prepared,
The correction means changes the control parameter corresponding to the difference in ship speed before and after the secular change,
The marine engine control device, wherein the control unit performs PID control, and the correction unit changes the P gain and / or the D gain to a larger value as the difference is larger.   The marine engine control device according to claim 1, wherein the correction means changes the I gain to a smaller value as the difference is larger.   The correction means changes the simulator of the observer to a numerical model corresponding to a control target after aging based on a value before aging of the boat speed and a value after aging. 2. The marine engine control device according to 2.   A memory for recording a value of the boat speed before the secular change; and the correction means controls the control based on the value of the boat speed recorded in the memory and the value of the boat speed estimated after the secular change. The engine control device for a ship according to any one of claims 1 and 2, wherein a parameter is changed.   The marine engine control device according to any one of claims 1 to 4, wherein a rotational speed of the main engine is detected and fed back to the observer.   A ship comprising the engine control device according to any one of claims 1 to 5.   A ship including a main engine and a hull is controlled, and an observer that receives an operation amount from a control unit that controls the operation of the main engine is used to estimate a ship speed that is affected by the secular change of the control object. Based on the value before the secular change and the value after the secular change, the control parameter of the control unit that controls the operation of the main engine is changed according to the difference in the ship speed before and after the secular change, and the control unit performs the PID control. And the correction means changes the P gain and / or the D gain to a larger value as the difference is larger.

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