CN102470914A - Governor control device and method for marine engines - Google Patents
Governor control device and method for marine engines Download PDFInfo
- Publication number
- CN102470914A CN102470914A CN2010800272186A CN201080027218A CN102470914A CN 102470914 A CN102470914 A CN 102470914A CN 2010800272186 A CN2010800272186 A CN 2010800272186A CN 201080027218 A CN201080027218 A CN 201080027218A CN 102470914 A CN102470914 A CN 102470914A
- Authority
- CN
- China
- Prior art keywords
- speed
- hull
- governor control
- rotating speed
- waves
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1497—With detection of the mechanical response of the engine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/22—Use of propulsion power plant or units on vessels the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridge; Arrangements of order telegraphs
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D45/00—Electrical control not provided for in groups F02D41/00 - F02D43/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1409—Introducing closed-loop corrections characterised by the control or regulation method using at least a proportional, integral or derivative controller
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
- F02D2200/501—Vehicle speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
Disclosed is a governor control device for marine engines that is provided with an actual rotation speed detection means for detecting the actual rotation speed of an engine, and a rolling speed detection means for detecting the rolling rotation speed of a ship, wherein the rotation speed of a propeller in water is maintained constant on the basis of the actual rotation speed and the rolling rotation speed of the ship.
Description
Technical field
The present invention relates to the governor control setup of a kind of boats and ships with driving engine.
Background technology
In the control of boats and ships, carry out PID (proportional-integral-differential) control with the mode that the difference of the rotating speed of target that sets and actual speed disappears with driving engine.And the change that has proposed a kind of propeller speed that interference produced to by stormy weather the time etc. is predicted, and the scheme (patent documentation 1) of the formation of the gain of change PID control.
Patent documentation 1: japanese kokai publication hei 8-200131 communique
Summary of the invention
(problem that invention will solve)
But; Because boats and ships are with governor control carrying out the rotation of main frame the is remained on control of rotating speed of target of driving engine; Because the influence of ocean natural phenomenon and under the situation that hull waves, even the rotation of main frame is maintained at rotating speed of target, screw propeller can be for not necessarily to the water rotating speed yet.Promptly; Under the situation that hull waves along the screw propeller hand of rotation; Screw propeller the water rotating speed is accelerated owing to hull waves the rotation amount that is produced; Under the situation that hull waves along the opposite sense of screw propeller hand of rotation, screw propeller slack-off because hull waves the rotation amount that produced to the water rotating speed.
Because hull waves the maxim to the change of water propeller speed that is produced and depends on and wave angle and its cycle, usually, become the turn left instruction on the right side of per minute ± number.For example, in the waving of 10 second cycle,, become pact ± 1rpm owing to wave the change maximum that is produced to the water propeller speed when waving angle for ± 10 when spending.Propeller load and rotating speed 3 times are proportional, therefore, for example at main frame with in the 100rpm running, when the water propeller speed is had ± during the change of 1rpm (1%), propeller load change approximately ± 3%.
Wave under the situation of the alternation in weight that is produced at such because hull; When will the rotating speed of main frame being kept one regularly like prior art; The governor control setup periodically increases and decreases the fuel input amount according to waving the alternation in weight that is produced, and the result is the deterioration that causes consumption of fuel.
Problem of the present invention is to have considered the governor control of waving the influence that is produced of hull, realizes the improvement of consumption of fuel.
(technical scheme of technical solution problem)
Boats and ships of the present invention are characterised in that with the governor control setup of driving engine, comprise: actual speed testing agency, and the actual speed of main frame detects in this actual speed testing agency; And waving speed testing agency, this waves speed testing agency and detects the rotating speed that hull waves; And the rotating speed based on actual speed and hull wave will keep certain to the water propeller speed.
The governor control setup for example adds the rotating speed that upper hull waves and carries out controlled reset in actual speed.
And the governor control setup carries out governor control through the rotating speed deduction that from rotary speed instruction, hull is waved.In this case, to not applying bigger change in the existing governor control system, and can add formation involved in the present invention.
Boats and ships of the present invention are characterised in that with the governor control method of driving engine, in the actual speed that detects main frame, detect the rotating speed that hull waves, and the rotating speed based on actual speed and hull wave will keep necessarily the water propeller speed.
The governor control method for example adds the rotating speed that upper hull waves and carries out controlled reset in actual speed.
And the governor control method is carried out governor control through the rotating speed deduction that from rotary speed instruction, hull is waved.
Boats and ships of the present invention are characterised in that, comprising: hull; Main frame, this main frame is equipped on the hull; Screw propeller, this screw propeller is connected in main frame; And the governor control setup, this governor control setup control is to the fuel input amount of main frame; Wherein, the governor control setup comprises: actual speed testing agency, and the actual speed of main frame detects in this actual speed testing agency; And waving speed testing agency, this waves the rotating speed that waves that hull detects in speed testing agency; And based on actual speed and the rotating speed that waves, with screw propeller the water rotating speed is kept necessarily.
(effect of invention)
According to the present invention, considered the governor control of waving the influence that is produced of hull, can realize the improvement of consumption of fuel.
Description of drawings
Fig. 1 illustrates as the boats and ships of first embodiment block diagram with the formation of the governor control system of driving engine.
Fig. 2 illustrates as the boats and ships of second embodiment block diagram with the formation of the governor control system of driving engine.
Nomenclature
10 boats and ships are with the governor control system of driving engine
11 main shafts
12 screw propellers
13 main frames
14 actual engine speed detection modules
The 15PID control module
16 hulls wave detection module
17 change revolution speed calculating modules.
The specific embodiment
Below, with reference to accompanying drawing embodiment of the present invention is described.
Fig. 1 illustrates as the boats and ships of first embodiment block diagram with the formation of the governor control system of driving engine.
Boats and ships are controlled to the fuel input amount that is connected in the main frame 13 of screw propeller 12 through main shaft 11 with the governor control system 10 of driving engine.Governor control system 10 is imported rotary speed instruction as benchmark, use (not shown) monitoring such as non-contact switch to be arranged at the rotation of the slewing arrangement (not shown) on the main shaft 11, and in actual engine speed detection module 14 the detection of engine actual speed.Actual engine speed to be detected directly feeds back to former input side, and the difference of rotary speed instruction and actual engine speed is imported to pid control module 15, and control is to the fuel input amount of main frame 13.
But; In the governor control system 10 of this embodiment, wave in the detection module 16, obtain signal corresponding to the rotating speed of hull from ramp rate sensor (not shown) at hull; And based on this signal; In the earthquake rotating speed detection module 17, calculate owing to wave the rotating speed of the hull that is produced, promptly corresponding to the change rotating speed to the water rotating speed of hull.
The actual engine speed addition that change rotating speed and actual engine speed detection module 14 are detected, and will feed back to input side by the actual engine speed that changes the rotating speed correction.That is, in the first embodiment, will input to pid control module corresponding to rotary speed instruction and value, and carry out the PID computing of fuel input amount the difference of water propeller speed.
Through above formation, in the first embodiment, the actual engine speed that is fed back is revised through the rotating speed that waves, and is certain PID control thereby make the water propeller speed.Thus, it is the speed control of certain main frame that the governor control setup makes the water propeller speed, and prevents phase delay and the unnecessary fuel input that prevents to wave along with hull.Thus, in the governor control system of this embodiment, improved consumption of fuel.
Below, the governor control with driving engine describes to the boats and ships of second embodiment with reference to Fig. 2.Fig. 2 illustrates as the boats and ships of second embodiment block diagram with the formation of the governor control system of driving engine.
In the first embodiment; The actual engine speed that to be revised through the change rotating speed feeds back to input side; But; In the governor control system 20 of second embodiment, actual engine speed is identical with prior art directly to input side feedback, and the correction carried out of the change rotating speed that in rotary speed instruction, is used.In addition, identical in addition formation with first embodiment.
That is, identical with first embodiment in second embodiment, wave in detection module 16 and the change rotating speed detection module 17 at hull, based on the change rotating speed of calculating the rotating speed that waves as hull from the signal of ramp rate sensor.But; In second embodiment; Different with first embodiment, will change rotating speed and from rotary speed instruction, deduct, and will be from the actual engine speed inverse feedback of driving engine actual speed detection module 14 wherein; And to pid control module 15 inputs, and carry out the PID control of the fuel input amount of main frame 13.
As stated, in the formation of second embodiment, can access the effect identical with first embodiment.And, in second embodiment,, therefore, to not applying bigger change in the existing governor control setup, and can be suitable for the present invention because the influence that hull is waved adopts in control system with the mode of revising rotary speed instruction.
In addition, the present invention is effective especially for the bigger low speed big-block engine of the influence of change about ± 1rpm, and is particularly useful in the boats and ships of the big-block engine that is equipped with overstroke, low rotation.
And control method is not limited to PID control, also can be suitable in Modern Control Theory, adaptation control, the learning control etc.
Claims (7)
1. boats and ships is characterized in that with the governor control setup of driving engine, comprising: actual speed testing agency, and the actual speed of main frame detects in this actual speed testing agency; And waving speed testing agency, this waves speed testing agency and detects the rotating speed that hull waves; And the rotating speed based on said actual speed and said hull wave will keep certain to the water propeller speed.
2. boats and ships according to claim 1 is characterized in that with the governor control setup of driving engine, in said actual speed, add the rotating speed that the above hull waves and carry out controlled reset.
3. boats and ships according to claim 1 is characterized in that with the governor control setup of driving engine, the rotating speed deduction that from rotary speed instruction, said hull is waved.
4. boats and ships is characterized in that with the governor control method of driving engine, in the actual speed that detects main frame, detect the rotating speed that hull waves, and the rotating speed based on said actual speed and said hull wave will keep certain to the water propeller speed.
5. boats and ships according to claim 4 is characterized in that with the governor control method of driving engine, in said actual speed, add the rotating speed that the above hull waves and carry out controlled reset.
6. boats and ships according to claim 4 is characterized in that with the governor control method of driving engine, the rotating speed deduction that from rotary speed instruction, said hull is waved.
7. boats and ships is characterized in that, comprising: hull; Main frame, this main frame are equipped on the said hull; Screw propeller, this screw propeller is connected in said main frame; And the governor control setup, this governor control setup control is to the fuel input amount of said main frame; Wherein, said governor control setup comprises: actual speed testing agency, and the actual speed of said main frame detects in this actual speed testing agency; And waving speed testing agency, this waves the rotating speed that waves that said hull detects in speed testing agency; And based on said actual speed and the said rotating speed that waves, with said screw propeller the water rotating speed is kept necessarily.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009160279A JP4888867B2 (en) | 2009-07-06 | 2009-07-06 | Marine engine governor control device and control method |
| JP2009-160279 | 2009-07-06 | ||
| PCT/JP2010/061461 WO2011004813A1 (en) | 2009-07-06 | 2010-07-06 | Governor control device and method for marine engines |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102470914A true CN102470914A (en) | 2012-05-23 |
| CN102470914B CN102470914B (en) | 2013-02-20 |
Family
ID=43429237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010800272186A Expired - Fee Related CN102470914B (en) | 2009-07-06 | 2010-07-06 | Governor control device and method for marine engines |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP4888867B2 (en) |
| KR (1) | KR20120024932A (en) |
| CN (1) | CN102470914B (en) |
| TW (1) | TW201105546A (en) |
| WO (1) | WO2011004813A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5679334B2 (en) * | 2011-09-07 | 2015-03-04 | ナブテスコ株式会社 | Marine control equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58214494A (en) * | 1982-06-07 | 1983-12-13 | Mitsubishi Heavy Ind Ltd | Control device of main engine for ship |
| JPS6226503A (en) * | 1985-07-26 | 1987-02-04 | Nippon Kokan Kk <Nkk> | Adaptive control device |
| WO2002036954A1 (en) * | 2000-10-30 | 2002-05-10 | Yamaha Hatsudoki Kabushiki Kaisha | Sailing control device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004291688A (en) * | 2003-03-25 | 2004-10-21 | Denso Corp | Device and method for controlling hull speed |
-
2009
- 2009-07-06 JP JP2009160279A patent/JP4888867B2/en not_active Expired - Fee Related
-
2010
- 2010-07-06 KR KR1020127000127A patent/KR20120024932A/en not_active Application Discontinuation
- 2010-07-06 CN CN2010800272186A patent/CN102470914B/en not_active Expired - Fee Related
- 2010-07-06 TW TW099122126A patent/TW201105546A/en unknown
- 2010-07-06 WO PCT/JP2010/061461 patent/WO2011004813A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58214494A (en) * | 1982-06-07 | 1983-12-13 | Mitsubishi Heavy Ind Ltd | Control device of main engine for ship |
| JPS6226503A (en) * | 1985-07-26 | 1987-02-04 | Nippon Kokan Kk <Nkk> | Adaptive control device |
| WO2002036954A1 (en) * | 2000-10-30 | 2002-05-10 | Yamaha Hatsudoki Kabushiki Kaisha | Sailing control device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2011004813A1 (en) | 2011-01-13 |
| KR20120024932A (en) | 2012-03-14 |
| JP4888867B2 (en) | 2012-02-29 |
| TW201105546A (en) | 2011-02-16 |
| CN102470914B (en) | 2013-02-20 |
| JP2011011726A (en) | 2011-01-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4980391B2 (en) | Marine power system | |
| Coraddu et al. | Analysis of twin screw ships' asymmetric propeller behaviour by means of free running model tests | |
| JP6251456B2 (en) | Control method and apparatus for energy saving navigation of ship | |
| US10156486B2 (en) | Ship comprising a Magnus rotor and force-measuring device | |
| NO170722B (en) | PROCEDURE AND DEVICE FOR THE OPTION OF OPTIMAL USE OF A VESSEL'S PROGRAMMING MACHINERY | |
| JP5296753B2 (en) | Marine engine control system and method | |
| CN102365443B (en) | Ship engine control system | |
| CN102791571A (en) | Method of controlling the position of moored marine vessels | |
| JP6271410B2 (en) | Ship equipment maintenance judgment device | |
| CN102959216A (en) | Ship engine control device and ship engine control method | |
| Vrijdag et al. | Control of propeller cavitation in operational conditions | |
| CN102470914B (en) | Governor control device and method for marine engines | |
| Smogeli et al. | The concept of anti-spin thruster control | |
| CN104595040A (en) | Method and device for controlling energy-saving sailing of ship | |
| KR20170096097A (en) | Control device, ship equipped with the same, and integrated control method | |
| JP2019148212A (en) | Control system of marine main engine | |
| WO2010113655A1 (en) | Marine engine control system | |
| JP2022043544A (en) | Control device, method and program for control | |
| KR20220028077A (en) | Method and system for controlling the propulsion power output of a ship | |
| JP2011066276A (en) | Sunlight tracking device for ship | |
| CN104590529A (en) | Method and device for controlling energy-saving sailing of ship | |
| Fakhrul Islam et al. | Performance study of podded propulsor in static azimuthing conditions | |
| Steen et al. | Measurement of speed loss due to waves | |
| JPH07194724A (en) | Automatic ship azimuth keeping method for ship with water discharge gun | |
| SU434043A1 (en) | DEVICE OF AUTOMATIC REGULATION OF PROCESS ACTIVITY OF A SHIP-POWER POWER ENERGY INSTALLATION WITH A ROW SCREW OF A REGULATED STEP |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130220 Termination date: 20150706 |
|
| EXPY | Termination of patent right or utility model |