CN102483004A - Marine engine control system and method - Google Patents
Marine engine control system and method Download PDFInfo
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- CN102483004A CN102483004A CN2010800380443A CN201080038044A CN102483004A CN 102483004 A CN102483004 A CN 102483004A CN 2010800380443 A CN2010800380443 A CN 2010800380443A CN 201080038044 A CN201080038044 A CN 201080038044A CN 102483004 A CN102483004 A CN 102483004A
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- 238000000034 method Methods 0.000 title description 5
- 239000000446 fuel Substances 0.000 claims abstract description 70
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000035945 sensitivity Effects 0.000 claims description 5
- 235000013350 formula milk Nutrition 0.000 description 19
- 241000283220 Odobenus rosmarus Species 0.000 description 16
- 230000000694 effects Effects 0.000 description 8
- 230000001105 regulatory effect Effects 0.000 description 8
- 238000002347 injection Methods 0.000 description 6
- 239000007924 injection Substances 0.000 description 6
- 230000015572 biosynthetic process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009466 transformation Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- 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
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/14—Use of propulsion power plant or units on vessels the vessels being motor-driven relating to internal-combustion engines
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- 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
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- 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
- F02D31/007—Electric control of rotation speed controlling fuel supply
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- 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
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- 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
- F02D41/021—Introducing corrections for particular conditions exterior to the engine
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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)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Disclosed is a marine engine control system which is characterized by seeking a load resistance factor from the actual revolving speed of a main engine and a fuel index and converting a control target value from the first physical value to the second physical value using the load resistance factor being updated.
Description
Technical field
The present invention relates to the control system of boats and ships, particularly carry out the control system of boats and ships with the control of motor based on walrus with motor.
Background technique
In the control of boats and ships, carry out PID (proportional-integral-differential) control with rotating speed of target and the agonic mode of actual speed set with motor.But, when harsh weather, because the load torque rapid change that propeller cavitation produces, therefore, in the PID control of the speedup of the navigation under utilizing imagination normal climate situation, exist owing to exceed the speed limit to cause the danger of engine failure etc.For such problem, prediction has been proposed owing to disturb the change of the revolution speed of propeller that is produced to change the scheme (patent documentation 1) of the formation of the speedup that PID controls.
The existing technology document
Patent documentation
Patent documentation 1: japanese kokai publication hei 8-200131 communique
Summary of the invention
(problem that invention will solve)
In order to improve fuel efficiency, be necessary to carry out speed regulating control according to walrus, still, in patent documentation 1,, therefore, can not change corresponding with the walrus that changes all the time owing to do not carry out the judgement of walrus tightly.In addition, may not we can say that also rotating speed control just can improve fuel efficiency according to walrus.
The variation that the objective of the invention is to newly sensor is not set and judge walrus through carrying out the speed regulating control according to walrus, thereby realizes the raising of fuel efficiency.
(being used to solve the method for problem)
Boats and ships of the present invention are characterised in that with engine control system, from the actual speed of master motor and fuel index, obtain the load resistance coefficient, adopt the load resistance coefficient that upgrades and control target value is transformed into second physical quantity from first physical quantity.
Preferably, in conversion, adopt the mean value of load resistance coefficient at the appointed time.In addition, for example first physical quantity is the rotating speed of master motor, and second physical quantity is the output of master motor.And second physical quantity also can be the fuel index.Moreover preferably, boats and ships possess a plurality of control modes with engine control system, and in control mode was switched, second physical quantity was switched between the output of master motor and fuel index.
More preferably, boats and ships will carry out the switching of control mode as parameter from the physical quantity that the load resistance coefficient is derived with engine control system.At least one of the effective value that comprises the variable cycle of the resistance coefficient of for example loading in the physical quantity or change.In addition, the switching of control mode is corresponding with the switching of for example control target value, perhaps, and also can be corresponding with the change of the sensitivity of the proportional of PID computing, integral.
Boats and ships of the present invention are characterised in that to possess above-mentioned arbitrary boats and ships and use engine control system.
Boats and ships of the present invention are characterised in that with engine control, from the actual speed of master motor and fuel index, obtain the load resistance coefficient, adopt the load resistance coefficient that upgrades and control target value is transformed into second physical quantity from first physical quantity.
(effect of invention)
According to the present invention, newly sensor is not set and judges the variation of walrus, through carrying out speed regulating control, thereby can improve fuel efficiency according to walrus.
Description of drawings
Fig. 1 is the control block diagrams of the boats and ships of first embodiment of the invention with engine control system.
Fig. 2 is the plotted curve that the concrete time series of expression load resistance coefficient R, actual speed Ne and fuel index FIe changes.
Fig. 3 is the plotted curve of the dynamic speciality in the control of expression fuel index, output control and the rotating speed control.
Fig. 4 is the example of employed control graph in second mode of execution.
Fig. 5 be the load resistance coefficient R shown in the presentation graphs 2 (c) variance components Rv, with and the time series of effective value Re changes, the plotted curve of the variable cycle of load resistance coefficient R.
Fig. 6 is the example of employed control graph in the 3rd mode of execution.
Fig. 7 is the control block diagrams of the boats and ships of the 3rd mode of execution with engine control system.
Symbol description
10,20 boats and ships are used engine control system
11,14,17,25 controllers
12 rotating speeds/fuel exponential transform module
13 master motors
15 actuators
16 rotating speeds/output value conversion module
Module is calculated in 19 outputs
22 diverter switches
24 load resistance coefficients are calculated module
26 control mode handover modules.
Embodiment
Below, with reference to accompanying drawing mode of execution of the present invention is described.
Fig. 1 is that expression is as the boats and ships of the first embodiment of the invention control block diagram with the formation of engine control system.
The boats and ships of first mode of execution for example possess three control modes with engine control system 10, and each control mode can be selected a ground according to the situation of walrus etc. and selected.First control mode maintains the rotating speed control of rotating speed of target (revolution) No for actual speed (revolution) Ne with master motor 13.Second control mode maintains the output control of desired value Po for the output Pe with master motor 13.In addition, the 3rd control mode is with fuel injection amount, promptly maintains the fuel index control of desired value FIo as the fuel index FIe of its index.
Boats and ships with engine control system 10 in, the manipulator is in arbitrary control mode, (No) sends as rotary speed instruction with rotating speed.That is, in the speed regulating control of this mode of execution, the manipulator is as long as only be familiar with rotating speed as controlling object.
In first control mode (rotating speed control), the deviation input controller 11 between the rotating speed of target No that will send as control command and the actual speed Ne of feedback.Come the output of self-controller 11 to be sent to actuator 15 through diverter switch 22, actuator 15 will with the fuel supply master motor 13 of the corresponding fuel injection amount of the output that comes self-controller 11 (fuel index FIe).
In addition, the switch of diverter switch 22 for carrying out the switching between first to the 3rd control mode, when selecting first control mode, the controller 11 of rotating speed being controlled usefulness is connected with actuator 15.
In second control mode (output control), the rotating speed of target No that sends as control command is transformed into target output Po (afterwards stating) in rotating speed/output transform module 16.In output control, the present output Pe of master motor 13 is fed back, and the deviation between the target output Po is imported into controller 17.In second control mode, diverter switch 22 is connected controller 17 with actuator 15, comes the output of self-controller 17 to be sent to actuator 15 through diverter switch 22.15 pairs of master motors of actuator 13 carry out spraying (FIe is corresponding with the fuel index) with the corresponding fuel of the output that comes self-controller 17.
In addition, the present output Pe that is fed back calculates in the module 19 in output, calculates (afterwards stating) by the actual speed Ne of master motor 13 with the corresponding fuel index of actual fuel injection quantities FIe.
In addition, the conversion in rotating speed/output transform module 16 based on after the mean value R of the load resistance coefficient R that states
AvCarry out conversion, load resistance coefficient R and mean value R thereof
AvCalculate in the module 24 at the load resistance coefficient, calculate by natural fuel index FIe that is described below and actual speed Ne.
In the 3rd control mode (control of fuel index), the rotating speed of target No that sends as control command is transformed into target fuel index FIo in rotating speed/fuel exponential transform module 12.In addition, in this conversion, be employed in the mean value R that the load resistance coefficient is calculated the load resistance coefficient R that is calculated in the module 24
Av
In fuel index control, FIe is fed back with the corresponding fuel index of the fuel injection amount of reality, and will and target fuel index FIo between deviation be input to controller 14.In the 3rd control mode, diverter switch 22 is connected controller 14 with actuator 15, and comes the output of self-controller 14 to be sent to actuator 15 through diverter switch 22.15 pairs of master motors of actuator 13 carry out spraying (FIe is corresponding with the fuel index) with the corresponding fuel of the output that comes self-controller 14.
As stated; The boats and ships of first mode of execution with engine control system 10 in; Through the switching of diverter switch 22, thereby can control mode be switched between rotating speed control, output control, the control of fuel index, and can carry out speed regulating control according to walrus.
Below, output is calculated in the module 19 in the transformation for mula of the control target value in rotating speed/output transform module 16, the rotating speed/fuel exponential transform module 12 and output calculate formula and describe.In addition, in following explanation, be that 100% percentaeg [%] is represented when rotational speed N, output P, torque T, fuel index FI are employed in the continuous maximum rating (MCR) of master motor 13.
According to propeller law, output P [%] is cube proportional with rotational speed N [%], is expressed as:
P＝R·(N/100)
3 (1)
Here, R is the coefficient [%] according to above-mentioned walrus, is called the load resistance coefficient in this manual.In addition, R [%] is 100% with water surface tranquility (state that does not have the calmness of wave) under sail.
On the other hand, owing between torque T [%], output P [%], rotational speed N [%], have following relation:
T＝P/(N/100) (2)
Therefore, when torque T adopts load resistance coefficient R, can be expressed as:
T＝R·(N/100)
2 (3)
In addition, because fuel index FI [%] is regarded as equating (FI=T) with torque T [%] in speed regulating control, therefore, from (3) Shi Kede:
FI＝R·(N/100)
2 (4)
Therefore,, in rotating speed/output transform module 16, obtain output P from rotational speed N, in rotating speed/fuel exponential transform module 12, obtain fuel index FI based on (4) formula based on (1) formula if load resistance coefficient R is definite.
In addition, by (4) formula, present load resistance coefficient R value can be obtained from natural fuel index FIe [%] and actual speed Ne [%] through following formula:
R＝FIe/(Ne/100)
2 (5)
That is, the load resistance coefficient R of (4) formula changes according to walrus constantly, and still, this value is obtained by (5) formula.Therefore; In the rotating speed/output transform module 16 and rotating speed/fuel exponential transform module 12 of this mode of execution; Every mean value R that will adopt stipulated time (for example from tens of several hours degree, the preferred 1 hour degree assigned to) T of the load resistance coefficient R that (5) formula calculates at a distance from stipulated time T
Av=[∫ FIe/ (Ne/100)
2Dt]/T upgrades and sets as being used for the value of the load resistance coefficient R of (1) formula, (4) formula.
That is, in rotating speed/output transform module 16, adopt following formula as transformation for mula:
Po＝R
av·(No/100)
3 (6)
In rotating speed/fuel exponential transform module 12, adopt following formula as transformation for mula:
FIo＝R
av·(No/100)
2 (7)
In addition, the value of calculating the output Pe that is calculated in the module 19 in output is obtained through following formula by (1), (5) formula:
Pe＝FIe·(Ne/100) (8)
The concrete time series of medelling ground expression load resistance coefficient R, actual speed Ne, fuel index FIe changes among Fig. 2.In addition; The time series of the value of calculating of the load resistance coefficient R [%] that the measured value of Fig. 2 (a) expression rotational speed N e [%], Fig. 2 (b) expression fuel index FIe [%], Fig. 2 (c) expression are calculated the actual speed Ne shown in Fig. 2 (a), Fig. 2 (b), fuel index FIe substitution (5) formula changes, and transverse axis is time [second].
Shown in Fig. 2 (a), actual speed Ne is during certain rotating speed is controlled, according to the influence of wave, to be that the center changes with the target value set at rotating speed (revolution), and the cycle of change is relevant with the wave period that hull receives.On the other hand, shown in Fig. 2 (b), in fuel index (fuel injection amount) FIe, except the change relevant, compare, have the much bigger trend (ト レ Application De) of grade (オ one ダ one) with the cycle of rotating speed change with the rotating speed change.And, by (5) formula R=FIe/ (Ne/100)
2The load resistance coefficient R that calculates receives the influence of Fig. 2 (a), Fig. 2 (b) change separately, shown in Fig. 2 (c), changes.
Then, the typical example of the change (Fig. 3 (d)) of the change (Fig. 3 (b)) of the change (Fig. 3 (a)) of the rotating speed [%] of master motor, fuel exponential quantity, output change (Fig. 3 (c)), load resistance coefficient in each control mode that the control of expression rotating speed, output control, fuel index are controlled among Fig. 3.
As shown in Figure 3, for example shown in Fig. 3 (d), and master motor that cycle also short less in the change of load resistance coefficient R produces under the situation of replying interest for delinquency and is selected the control of load resistance coefficient.Shown in Fig. 3 (b), in the control of fuel index, the fuel index is kept necessarily, still, and the rotating speed shown in Fig. 3 (a), Fig. 3 (c) and output change a little in the short period.
Shown in Fig. 3 (d), the change that output is controlled at load resistance coefficient R is middle degree, and the cycle is also longer to a certain extent, and master motor is selected under the situation of fully servo-actuated.Shown in Fig. 3 (c), the output of master motor is roughly kept certain through above-mentioned output control, and the master motor steady running.At this moment, rotating speed (Fig. 3 (a)) and fuel index (Fig. 3 (b)) with load resistance coefficient R in the roughly the same cycle, change with moderate size.
In addition, rotating speed control for example is used in very big surging wave or in the zone, harbour, prevents because the excessive rotation of the caused master motor that for example dallies etc.Shown in Fig. 3 (d), when for example producing idle running, its value of load resistance coefficient R becomes minimum suddenly.At this moment, because rotating speed begins rapid rising, therefore certain in order to keep rotating speed, the fuel index descends (Fig. 3 (b)) significantly, the output of master motor descend significantly (Fig. 3 (c)).Thus, can prevent the excessive rising of rotating speed.
As stated, in the first embodiment, can set suitable physical quantity for control target value according to walrus etc. and carry out speed regulating control, can improve fuel efficiency.In addition, when sending rotating speed of target No, because therefore the output control target value Po and the fuel index control target value FIo that can obtain its value and adapt to the walrus of this moment, can further improve fuel efficiency.
Below, with reference to Fig. 4, Fig. 5 the boats and ships of second mode of execution of the present invention are described with engine control system.The boats and ships of second mode of execution are roughly the same with engine control system with the boats and ships of the formation of engine control system and first mode of execution; But; In second mode of execution, the cycle of the change of load resistance coefficient R and the effective value of the change of load resistance coefficient R are carried out the switching of first to the 3rd control mode as parameter.
Fig. 4 representes to carry out based on the cycle of the change of load resistance coefficient R and effective value the example of control graph of the switching of first to the 3rd control mode.That is, in Fig. 4, transverse axis is the variable cycle of load resistance coefficient R, and the longitudinal axis is corresponding with the effective value of the change of load resistance coefficient R.
In general, the length of the variable cycle of load resistance coefficient R and master motor become positive correlation to the servo-actuated property of wave change, and the size of the effective value of change becomes positive correlation with the size of wave effect, and the while becomes inverse correlation with the size of interference effect.Therefore; In this mode of execution; Under the situation that the earthquake cycle is short and responsiveness master motor is lower; Or under the situation that effective value is little and but the little interference effect of wave effect is big of change, carry out fuel index control, fixed fuel emitted dose and suppress unnecessary fuel and spray (fuel index control mode).
On the contrary, the earthquake cycle is long and can obtain under the situation of sufficient servo-actuated property, or the effective value of change is big and take place to carry out rotating speed control under the big situation of the wave effect of idle running, keeps the rotating speed certain (rotating speed control mode) of master motor (propeller cavitation).And, at the zone line of these two operating modes, export control, keep master motor output certain (output control mode).
Promptly; In second mode of execution; Be based on the load resistance coefficient and calculate the load resistance coefficient R that is calculated in the module 24 (Fig. 1), further calculate the variable cycle of load resistance coefficient R and the effective value of the change of load resistance coefficient R, with reference to the control graph of Fig. 4; And the control mode in the zone of selection correspondence, and carry out the switching of diverter switch 22 (Fig. 1).
Here, in Fig. 5 (a), change the time series variation with the effective value Re [%] of Rv with the time series of the variance components Rv [%] of the load resistance coefficient R [%] shown in graphical representation Fig. 2 (c).In addition, the variance components Rv among Fig. 5 (a) has removed the corresponding of trend with load resistance coefficient R from Fig. 2 (c).In addition; In Fig. 5 (b); Describe time point from the crosscut 0 [%] in rise of the time point of crosscut 0 [%] the variance components Rv of Fig. 5 (a) [%] rises with the time that is spent with graphical representation in next time; In this mode of execution, the variable cycle of this value as load resistance coefficient R adopted.
As stated; Second embodiment of the invention; Can obtain the effect roughly the same with first mode of execution; Can judge present walrus, and from the different a plurality of control modes of control target value, select suitable control mode from the physical quantity that derives by the load resistance coefficient of the variable cycle of load resistance coefficient, the effective value of change etc. simultaneously.
Below, with reference to Fig. 6, Fig. 7 the 3rd mode of execution is described.The 3rd mode of execution is identical with second mode of execution, and the variable cycle of load resistance coefficient R and the effective value of change are switched the control mode of speed governing as parameter.In the switching of the control mode of second mode of execution, control target value is changed to rotating speed, output, fuel index, still, in the 3rd mode of execution, do not carry out the change of control target value, and corresponding to each zone of figure the change Control Parameter.
The boats and ships of the 3rd mode of execution with engine control system in; For example rotating speed control is used for speed regulating control; With each regional corresponding zone of the rotating speed control shown in the control graph (Fig. 4) of second mode of execution, output control, the control of fuel index in; Shown in the control graph of Fig. 6, select responsive control, intermediate controlled, slowly control respectively.
Fig. 7 representes the control block diagram of the rotating speed control of the 3rd mode of execution.In addition, the formation identical with first, second mode of execution adopted identical reference marks, and omit its explanation.In the rotating speed control of the 3rd mode of execution, with the deviation input controller 25 of rotating speed of target No and actual speed Ne.Come the output of self-controller 25 to input to actuator 15, supply with to master motor 13 with the corresponding fuel injection amount of the output that comes self-controller 25 (fuel index FIe).
Be illustrated in the relation of the relativity of each item sensitivity in the PID computing in each control mode of the 3rd mode of execution in the table 1, these are to change through the setting of the speedup that changes each item.
[table 1]
In addition; In Fig. 6, control mode is divided into three zones, still; It also can be the formation that only is divided into two control modes; In this case, for example be divided into responsive control and slowly control, the relation table of the relativity of the proportional in two-mode in the PID computing, the sensitivity of integral is shown in table 2.
[table 2]
In addition, in this case, also can be merely PI control.
As stated, in the 3rd mode of execution, also can access the effect roughly the same with second mode of execution.In addition, in this mode of execution, be controlled to be example with rotating speed and be illustrated, still, this mode of execution also can be applicable to output control and the control of fuel index.
In addition, first to the 3rd mode of execution also can make up respectively and uses in obtaining the scope of coupling.
In addition, in each mode of execution, also can constitute any or in whellhouse or engine compartment etc., representing more than two by the physical quantity that derives in the load resistance coefficient with the effective value of the load resistance coefficient of calculating, its variable cycle, change.In addition, in second, third mode of execution, also can be only with the effective value of the variable cycle of load resistance coefficient, change any, or with the switching of regulation control mode by other physical quantitys combinations of deriving in the load resistance coefficient.In addition, alternative variable cycle also can use variation frequency.Moreover in this mode of execution, the manipulator sets rotating speed as control command, still, also can set fuel index, output, ship's speed and other physical quantitys as control command.
In addition, be not limited to PID control, also can be applicable to modern control theory, be suitable for control, learning control etc. for controlling method.For example under the situation of the 3rd mode of execution, based on the physical quantity that derives by the load resistance coefficient, the sensitivity of change PI computing and PID computing; And carry out the switching of control mode; But, for example Modern Control Theory, be suitable in control, the learning control etc., also can be based on physical quantity by the derivation of load resistance coefficient; Change the value of the Control Parameter in each control, carry out the switching of control mode.
Claims (12)
1. boats and ships are used engine control system, it is characterized in that, from the actual speed of master motor and fuel index, obtain the load resistance coefficient, adopt the said load resistance coefficient that upgrades and control target value is transformed into second physical quantity from first physical quantity.
2. boats and ships according to claim 1 are used engine control system, it is characterized in that, in said conversion, adopt the mean value of said load resistance coefficient at the appointed time.
3. boats and ships according to claim 2 is characterized in that with the control engine system said first physical quantity is the rotating speed of said master motor.
4. boats and ships according to claim 3 are used engine control system, it is characterized in that, said second physical quantity is the output of said master motor.
5. boats and ships according to claim 3 are used engine control system, it is characterized in that, said second physical quantity is the fuel index.
6. boats and ships according to claim 2 are used engine control system, it is characterized in that, possess a plurality of control modes, and in the switching of said control mode, said second physical quantity is switched between the output of said master motor and fuel index.
7. use engine control system according to each described boats and ships in claim 2 or the claim 6, it is characterized in that, will carry out the switching of control mode as parameter from the physical quantity that said load resistance coefficient is derived.
8. boats and ships according to claim 7 are used engine control system, it is characterized in that, comprise at least one of effective value of variable cycle or the said change of said load resistance coefficient in the said physical quantity.
9. boats and ships according to claim 8 are used engine control system, it is characterized in that, the switching of said control mode is corresponding with the switching of control target value.
10. boats and ships according to claim 9 are used engine control system, it is characterized in that, the change of the proportional of the switching of said control mode and PID computing, the sensitivity of integral is corresponding.
11. boats and ships is characterized in that, possess in the claim 1 to 11 each described boats and ships and use engine control system.
12. boats and ships are used engine control, it is characterized in that, from the actual speed of master motor and fuel index, obtain the load resistance coefficient, adopt the said load resistance coefficient that upgrades and control target value is transformed into second physical quantity from first physical quantity.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009-201066 | 2009-08-31 | ||
| JP2009201066A JP4750880B2 (en) | 2009-08-31 | 2009-08-31 | Marine engine control system and method |
| PCT/JP2010/064727 WO2011025003A1 (en) | 2009-08-31 | 2010-08-30 | Marine engine control system and method |
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| CN102483004A true CN102483004A (en) | 2012-05-30 |
| CN102483004B CN102483004B (en) | 2013-08-07 |
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| CN2010800380443A Active CN102483004B (en) | 2009-08-31 | 2010-08-30 | Marine engine control system and method |
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| JP (1) | JP4750880B2 (en) |
| KR (1) | KR101173535B1 (en) |
| CN (1) | CN102483004B (en) |
| TW (1) | TWI444310B (en) |
| WO (1) | WO2011025003A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103786860A (en) * | 2014-02-19 | 2014-05-14 | 哈尔滨工程大学 | Executing mechanism of ship main engine and control method thereof |
| CN107045351A (en) * | 2017-05-13 | 2017-08-15 | 上海磐剑海洋科技有限公司 | A kind of multifunctional novel unmanned boat remote control |
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|---|---|---|---|---|
| JP6777970B2 (en) * | 2016-10-21 | 2020-10-28 | テンアイズ株式会社 | How to control the number of revolutions of a marine engine |
| JP6907139B2 (en) * | 2018-02-27 | 2021-07-21 | 株式会社三井Ｅ＆Ｓマシナリー | Control system for main marine engine |
| JP2022091049A (en) | 2020-12-08 | 2022-06-20 | ヤマハ発動機株式会社 | Boat |
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| JP2005120990A (en) * | 2003-10-20 | 2005-05-12 | Honda Motor Co Ltd | Intake air amount control device for internal combustion engine |
| CN101091046A (en) * | 2004-11-04 | 2007-12-19 | 国立大学法人东京海洋大学 | Method and device for controlling injection of fuel for marine diesel engine |
| JP2006220014A (en) * | 2005-02-08 | 2006-08-24 | Toyota Motor Corp | Control method of internal combustion engine |
| JP2008045484A (en) * | 2006-08-16 | 2008-02-28 | Japan Marine Science Inc | Control method and control device for marine internal combustion engine |
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| CN103786860A (en) * | 2014-02-19 | 2014-05-14 | 哈尔滨工程大学 | Executing mechanism of ship main engine and control method thereof |
| CN103786860B (en) * | 2014-02-19 | 2016-05-04 | 哈尔滨工程大学 | Marine main engine executing agency and control method thereof |
| CN107045351A (en) * | 2017-05-13 | 2017-08-15 | 上海磐剑海洋科技有限公司 | A kind of multifunctional novel unmanned boat remote control |
Also Published As
| Publication number | Publication date |
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| CN102483004B (en) | 2013-08-07 |
| JP4750880B2 (en) | 2011-08-17 |
| JP2011052577A (en) | 2011-03-17 |
| TWI444310B (en) | 2014-07-11 |
| TW201107192A (en) | 2011-03-01 |
| KR20120068846A (en) | 2012-06-27 |
| KR101173535B1 (en) | 2012-08-13 |
| WO2011025003A1 (en) | 2011-03-03 |
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