CN102470914B - Governor control device and method for marine engines - Google Patents

Governor control device and method for marine engines Download PDF

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Publication number
CN102470914B
CN102470914B CN2010800272186A CN201080027218A CN102470914B CN 102470914 B CN102470914 B CN 102470914B CN 2010800272186 A CN2010800272186 A CN 2010800272186A CN 201080027218 A CN201080027218 A CN 201080027218A CN 102470914 B CN102470914 B CN 102470914B
Authority
CN
China
Prior art keywords
speed
rotating speed
hull
waves
governor control
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.)
Expired - Fee Related
Application number
CN2010800272186A
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Chinese (zh)
Other versions
CN102470914A (en
Inventor
田中一郎
岛田一孝
山本秀则
光藤亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsui Shipbuilding System Technology Research Co Ltd
Mitsui Engineering and Shipbuilding Co Ltd
Mitsui Zosen Systems Research Inc
Original Assignee
Mitsui Shipbuilding System Technology Research Co Ltd
Mitsui Engineering and Shipbuilding Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Mitsui Shipbuilding System Technology Research Co Ltd, Mitsui Engineering and Shipbuilding Co Ltd filed Critical Mitsui Shipbuilding System Technology Research Co Ltd
Publication of CN102470914A publication Critical patent/CN102470914A/en
Application granted granted Critical
Publication of CN102470914B publication Critical patent/CN102470914B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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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

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  • 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)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (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

Governor control setup and the control method of marine engines
Technical field
The present invention relates to a kind of governor control setup of marine engines.
Background technology
In the control of marine engines, carry out PID (proportional-integral-differential) control in the mode that the difference of the rotating speed of target that sets and actual speed disappears.And the change that has proposed the propeller speed that a kind of interference to by stormy weather the time etc. produces 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 the control of the governor of marine engines carries out the rotation of main frame is remained on the control of rotating speed of target, because the impact of ocean natural phenomenon and in 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.Namely, in the situation that hull waves along the screw propeller hand of rotation, the rotation amount that the water rotating speed is produced owing to hull waves of screw propeller accelerates, in 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 produces to the water rotating speed.
Because hull waves the maxim to the change of water propeller speed that produces and depends on swing 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, when swing angle for ± 10 when spending become pact ± 1rpm owing to wave the change maximum to the water propeller speed that produces.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 in the situation of the alternation in weight that produces at such because hull, when the rotating speed of main frame being kept one regularly such as prior art, the governor control setup periodically increases and decreases the fuel input amount according to waving the alternation in weight that produces, and the result is the deterioration that causes consumption of fuel.
Problem of the present invention is the governor control of the impact of having considered that waving of hull produces, realizes the improvement of consumption of fuel.
(technical scheme of technical solution problem)
The governor control setup of marine engines of the present invention is characterised in that, comprising: actual speed testing agency, and the actual speed of main frame detects in this actual speed testing agency; And waving speed detecting mechanism, this waves speed detecting mechanism 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 by the rotating speed deduction that from rotary speed instruction hull is waved.In this case, to not applying larger change in the existing governor control system, and can add formation involved in the present invention.
The governor control method of marine engines of the present invention is characterised in that, in the actual speed that detects main frame, 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 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 by 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 detecting mechanism, this waves the rotating speed that waves that speed detecting mechanism detects hull; 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 the impact that waving of hull produces, can realize the improvement of consumption of fuel.
Description of drawings
Fig. 1 is the block diagram that illustrates as the formation of the governor control system of the marine engines of the first embodiment.
Fig. 2 is the block diagram that illustrates as the formation of the governor control system of the marine engines of the second embodiment.
Nomenclature
The governor control system of 10 marine engines
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 rotating speed computing modules.
The specific embodiment
Below, with reference to accompanying drawing embodiments of the present invention are described.
Fig. 1 is the block diagram that illustrates as the formation of the governor control system of the marine engines of the first embodiment.
Governor control system 10 controls of marine engines are to the fuel input amount that is connected in the main frame 13 of screw propeller 12 by main shaft 11.Governor control system 10 is inputted rotary speed instruction as benchmark, (not shown) monitoring such as use non-contact switch are arranged at the rotation of the slewing arrangement (not shown) on the main shaft 11, and detect actual engine speed in actual engine speed detection module 14.Detected actual engine speed directly feeds back to former input side, and the difference of rotary speed instruction and actual engine speed is inputted 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 present embodiment, wave in the detection module 16 at hull, obtain signal corresponding to the rotating speed of hull from ramp rate sensor (not shown), and based on this signal, in the earthquake rotating speed detection module 17, calculate owing to wave the rotating speed of the hull that produces, namely 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 be fed 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 to the difference of water propeller speed, and carry out the PID computing of fuel input amount.
By above formation, in the first embodiment, the actual engine speed that is fed is corrected by 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 place from lagging behind and prevent from dropping into along with the unnecessary fuel that hull waves.Thus, in the governor control system of present embodiment, improved consumption of fuel.
Below, with reference to Fig. 2 the governor control of the marine engines of the second embodiment is described.Fig. 2 is the block diagram that illustrates as the formation of the governor control system of the marine engines of the second embodiment.
In the first embodiment, to feed back to input side by the actual engine speed that the change rotating speed is corrected, but, in the governor control system 20 of the second embodiment, actual engine speed is same as the prior art directly to input side feedback, and the correction carried out of the change rotating speed that is used in rotary speed instruction.In addition, identical with the first embodiment in addition formation.
That is, identical with the first embodiment in the 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 the second embodiment, different from the first embodiment, to change rotating speed deducts from rotary speed instruction, 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 mentioned above, in the formation of the second embodiment, can access the effect identical with the first embodiment.And, in the second embodiment, because the impact that hull is waved adopts in control system in the mode of revising rotary speed instruction, therefore, to not applying larger change in the existing governor control setup, and can be suitable for the present invention.
In addition, the present invention is effective especially for the larger 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, study control etc.

Claims (7)

1. the governor control setup of a marine engines is characterized in that, comprising: actual speed testing agency, and the actual speed of main frame detects in this actual speed testing agency; And waving speed detecting mechanism, this waves speed detecting mechanism and detects the rotating speed that hull waves; And the rotating speed that waves based on described actual speed and described hull keeps certain with screw propeller to the water rotating speed.
2. the governor control setup of marine engines according to claim 1 is characterized in that, adds the rotating speed that the above hull waves and carry out controlled reset in described actual speed.
3. the governor control setup of marine engines according to claim 1 is characterized in that, the rotating speed deduction that from rotary speed instruction described hull is waved.
4. the governor control method of a marine engines is characterized in that, when detecting the actual speed of main frame, detects the rotating speed that hull waves, and the rotating speed that waves based on described actual speed and described hull keeps certain with screw propeller to the water rotating speed.
5. the governor control method of marine engines according to claim 4 is characterized in that, adds the rotating speed that the above hull waves and carry out controlled reset in described actual speed.
6. the governor control method of marine engines according to claim 4 is characterized in that, the rotating speed deduction that from rotary speed instruction described hull is waved.
7. boats and ships is characterized in that, comprising: hull; Main frame, this main frame are equipped on the described hull; Screw propeller, this screw propeller is connected in described main frame; And the governor control setup, this governor control setup control is to the fuel input amount of described main frame; Wherein, described governor control setup comprises: actual speed testing agency, and the actual speed of described main frame detects in this actual speed testing agency; And waving speed detecting mechanism, this waves the rotating speed that waves that speed detecting mechanism detects described hull; And based on described actual speed and the described rotating speed that waves, with described screw propeller the water rotating speed is kept necessarily.
CN2010800272186A 2009-07-06 2010-07-06 Governor control device and method for marine engines Expired - Fee Related CN102470914B (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2009-160279 2009-07-06
JP2009160279A JP4888867B2 (en) 2009-07-06 2009-07-06 Marine engine governor control device and control method
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 CN102470914A (en) 2012-05-23
CN102470914B true CN102470914B (en) 2013-02-20

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JP (1) JP4888867B2 (en)
KR (1) KR20120024932A (en)
CN (1) CN102470914B (en)
TW (1) TW201105546A (en)
WO (1) WO2011004813A1 (en)

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* Cited by examiner, † Cited by third party
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

Family Cites Families (4)

* Cited by examiner, † Cited by third party
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
JP2004291688A (en) * 2003-03-25 2004-10-21 Denso Corp Device and method for controlling hull speed

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Publication number Publication date
WO2011004813A1 (en) 2011-01-13
CN102470914A (en) 2012-05-23
JP2011011726A (en) 2011-01-20
JP4888867B2 (en) 2012-02-29
KR20120024932A (en) 2012-03-14
TW201105546A (en) 2011-02-16

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Granted publication date: 20130220

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