CN102959217A - Device and method for controlling ship engine - Google Patents

Abstract

The actual rotational velocity Ne for a main engine (1) is detected, and is input to a time delay logic (13) and a cycle calculation unit (15). The fluctuation cycle of the actual rotational velocity Ne is detected by the cycle calculation unit (15), and the actual rotational velocity Ne is delayed by a quarter-cycle by the time delay logic (13), and the result is fed back. The target rotational velocity No and the feedback signal deviation are input to a proportional control unit (14), and a proportional calculation is performed with a gain corresponding to the fluctuation angle velocity of the actual rotational velocity calculated from the cycle that has been determined by the cycle calculation unit (15). The fuel index FIo corresponding to the target rotational velocity No is calculated by an N/FI conversion unit (12), and is added to the output from the proportional control unit (14).

Description

Boats and ships are with engine controller and method

Technical field

The present invention relates to a kind of boats and ships engine controller for the running of the main frame of boats and ships is controlled.

Background technique

In boats and ships, general employing is maintained revolution speed of propeller the fixing control of rotating speed of fixed value.That is to say, in the regulator control of marine main engine, actual speed can be maintained rotating speed of target (patent documentation 1) by PID control.But, in the fixing control of rotating speed, exist fuel feed (fuel index) to change according to load change, thus the situation that fuel consumption increases.Accordingly, there is the regulator control of carrying out fuel feed (fuel index) is fixed as fixed value according to walrus.

Patent documentation 1: Japanese kokai publication hei 8-200131 communique

Summary of the invention

(problem that invention will solve)

But, even be set as the fuel index fixing and the main frame torque is maintained roughly fixing, if but the propeller load change then can't be maintained torque of propeller fixingly, so the thrust change, propulsive efficiency reduces.

The object of the invention is to carry out torque of propeller becomes fixing host computer control, suppresses the thrust change, improves propulsive efficiency.

(technological scheme of technical solution problem)

Boats and ships engine controller of the present invention, be used for giving rotating speed of target and exporting the fuel index, described boats and ships are characterised in that with engine controller, to postpone with respect to the variable cycle of the actual speed of master motor 10% ~ 30% feedback signal and feed back, the change angular velocity with actual speed makes the fuel change index pro rata simultaneously.

Feedback signal for example is to make actual speed postpone the signal that gets by the time-delay logic, and the deviation of rotating speed of target and feedback signal for example is output by the scale operation section that is set with the gain corresponding with changing angular velocity.

And, also comprising rotating speed of target/fuel index converting unit, described rotating speed of target/fuel index converting unit calculates the fuel index corresponding with rotating speed of target, is added to the fuel index corresponding with rotating speed of target from the output of scale operation section.

Perhaps, boats and ships comprise the PI control device with engine controller, and the deviation of rotating speed of target and feedback signal is input to the PI control device, and the fuel index corresponding with rotating speed of target is generated/keeps in the I of PI control device operational part.

And feedback signal also can generate by differentiating of actual speed.

Boats and ships of the present invention is characterized in that comprising described boats and ships engine controller.

And, boats and ships engine control method of the present invention, be used for giving rotating speed of target and exporting the fuel index, described boats and ships are characterised in that with engine control method, to postpone with respect to the variable cycle of the actual speed of master motor 10% ~ 30% feedback signal and feed back, the change angular velocity with actual speed makes the fuel change index pro rata simultaneously.

(effect of invention)

According to the present invention, can carry out torque of propeller and become fixing host computer control, suppress the thrust change, improve propulsive efficiency.

Description of drawings

Fig. 1 is the control block diagram of structure of the engine controller of expression the first mode of execution.

Fig. 2 is for the principle of explanation invention and the plotted curve of effect/effect.

Fig. 3 is the control block diagram of structure of the engine controller of expression the second mode of execution.

Fig. 4 is the control block diagram of structure of the engine controller of expression the 3rd mode of execution.

Fig. 5 is the control block diagram of structure of the engine controller of expression the 4th mode of execution.

Symbol description

10,20,22,25 boats and ships engine controllers

11 master motors

The 12N/FI changeover part

13 time-delay logics

14 proportional control sections

15 computation of Period sections

16 actuators

17 proportional+integral control devices (PI control device)

21 logics of differentiating

24 integral control sections.

Embodiment

Below, with reference to accompanying drawing, embodiments of the present invention are described.

Fig. 1 is the boats and ships of expression the first mode of execution of the present invention with the control block diagram of the structure of the control gear of engine.

The boats and ships of present embodiment are regulator systems of controlling to master motor 11 feed fuels with engine controller 10, and the bent axle of master motor 11 (not shown) is connected with the propeller cavitation (not shown) that advances usefulness.With in the engine controller 10, o is as desired value for the target setting rotational speed N at boats and ships, and detects actual speed Ne as the output of master motor 11 by the known method of using steering gear etc.

Rotating speed of target No is converted into fuel index FIo in N/FI changeover part 12.And, parallel therewith, in the present embodiment, try to achieve and the actual speed Ne of the master motor 11 by time-delay logical one 3 feedbacks between deviation, and in proportional control section 14, carry out scale operation.

In the present embodiment, proportional control section 14 is by carrying out scale operation to the proportional gain of change angular velocity omega of actual speed Ne, time-delay logical one 3 with the phase delay of actual speed Ne roughly 90 ° or variable cycle approximately 10 ~ 30%.In addition, the cycle T of the actual speed Ne that calculates according to the change of actual speed Ne based on computation of Period section 15 decides the gain of proportional control section 14 and the retard time of time-delay logical one 3.

And, the signal from N/FI changeover part 12 and proportional control section 14 is carried out inputing to actuator 16 after the sum operation, the fuel of the amount that actuator 16 will be corresponding with fuel index FI offers master motor 11.

Below, with reference to Fig. 2, the fixing principle of controlling of torque of propeller of the present invention and the fixing control of fuel index are compared and illustrate.

In addition, figure 2 illustrates the engine speed N(Fig. 2 (a) in the fixing control of fuel index and the fixing control of torque of propeller), fuel index FI or main frame torque Qe(Fig. 2 (b)), torque of propeller Qp or thrust (Fig. 2 (c)), moment coefficient Kq(Fig. 2 (d)) the mean value of time fluctuation with 100% expression.And, in Fig. 2, show the change of each physical quantity in the fixing control of fuel index in 0 ~ 25 second interval, show the change of each physical quantity in the fixing control of torque of propeller in 30 ~ 55 seconds interval.

When by fluid density ρ, airscrew diameter D, rotating speed of target No each physical quantity being carried out nondimensionalization (No dimension) time, torque of propeller Qp uses moment coefficient Kq and engine speed N to be expressed as:

Qp＝Kq·N ² （1）

Here, use separately mean value Qpa, Kqa, Na and change Fen Liang ⊿ Qp, ⊿ Kq, ⊿ N to be expressed as torque of propeller Qp, moment coefficient Kq, engine speed N:

Qp＝Qpa＋⊿Qp

Kq＝Kqa＋⊿Kq

N＝N a＋⊿N

If be about mean value with (1) formula linear approximation, then can be approximately:

$\mathrm{\ΔQp}=(\∂\mathrm{Qp}/\∂K\mathrm{q})\·\mathrm{\ΔKq}+(\∂\mathrm{Qp}/\∂N)\·\mathrm{\ΔN}$

$={\mathrm{Na}}^2\·\mathrm{\ΔKq}+2\mathrm{Kqa}\·\mathrm{Na}\·\mathrm{\ΔN}---\left(2\right)$

Here, when the mean value Kqa with moment coefficient is made as 1(100%), be about to average torque of propeller Qpa and be made as 1(100%) time, about mean value, because mean speed Na essence equals rotating speed of target No(=1), be expressed as so propeller cavitation can be changed a Liang ⊿ Qp according to (2) formula:

⊿Qp＝⊿Kq＋2·⊿N （3）

And, be made as I, the main frame torque is made as Qe if will comprise the moment of inertia of the rotary part of engine, propeller cavitation, then the equation of motion of oil gun (oiler) is:

dN/dt＝（Qe－Qp）/I （4）

Here, when main frame torque Qe being separated into its mean value Qea and change Fen Liang ⊿ Qe and representing by Qe=Qea+ ⊿ Qe, because Qea essence equals Qpa, so (Qea=Qpa), (4) formula is represented as:

d⊿N/dt＝（⊿Qe－⊿Qp）/I （5）

(the fixing control of fuel index)

Main frame torque Qe roughly is directly proportional with fuel index FI, if remove coefficient, then essence equals fuel index FI, so in the fixing control of fuel index, Ke is with Kao Lv ⊿ Qe=0(Fig. 2 (b) left side).At this moment, (5) formula is represented as:

d⊿N/dt＝-⊿Qp/I （6）

Here, the load change that will cause owing to the interference of ripple etc. is expressed as the Bian Dong ⊿ Kq of moment coefficient Kq, if the sine wave (Fig. 2 (d) left side) of Dui ⊿ Kq hypothesis change angular velocity omega

⊿Kq＝A·sin（ωt） （7）

Wherein, t is the time, according to (3) formula, can get

⊿Qp＝A·sin（ωt）＋2·⊿N （8）

If with its substitution (6) formula, then the equation of motion of oil gun is:

d⊿N/dt＝－（A·sin（ωt）＋2·⊿N）/I （9）

Here, the permanent solution of (9) formula is represented as (Fig. 2 (a) left side):

⊿N＝B·sin（ωt＋θ）（10）

B＝－A／√（（ωI） ²＋4）

θ＝－tan ^-1（ωI/2）

That is to say, in the fixing control of fuel index, if the load change in the cycle that will represent by (7) formula adds to propeller cavitation, then engine speed N changes such as (10) formula based on the delay of the phase theta corresponding with moment of inertia I.At this moment, torque of propeller Qp and thrust Th(=KtN ², Kt: thrust coefficient) change (Fig. 2 (c) left side) such as (8) formula, propulsive efficiency reduces.In addition, suppose that here thrust coefficient Kt changes with the mode of moment coefficient Kq roughly the same (same phase) with the difference of removing side-play amount (オ Off セ ッ ト).

(the fixing control of torque of propeller)

On the other hand, if torque of propeller Qp fixedly ， Ze ⊿ Qp=0(Fig. 2 (c) right side), if with its substitution (3) formula, then can obtain:

⊿N＝－⊿Kq/2 （11）

That is to say, when when mean value left and right sides linear approximation is set up, in order to make torque of propeller Qp for fixing, make engine speed N cooperate the Bian Dong ⊿ Kq of moment coefficient Kq, basis (11) formula changes and gets final product (Fig. 2 (a) right side) centered by rotating speed of target No.

And, as torque of propeller Qp fixedly the time during (⊿ Qp=0), (5) formula is represented as:

d⊿N/dt＝⊿Qe/I

The change Fen Liang ⊿ Qe of main frame torque Qe is:

⊿Qe＝I·（d⊿N/dt）（12）

Here, same during with the fixing control of fuel index, when the cyclical swing with (7) formula is assumed to moment coefficient Kq (Fig. 2 (d) right side), is used for establishing torque of propeller Qp and becomes according to (11) formula for fixing condition:

⊿ N=-Asin(ω t)/2, make as can be known the Bian Dong ⊿ Kq opposite phase of engine speed N and moment coefficient, and get final product (Fig. 2 (a) right side) with 1/2 adjusting amplitude of vibration.And this changes corresponding (Fig. 2 (b) right side) with following formula with make main frame torque Qe according to (12) formula about mean value Qea:

⊿Qe＝－ω·I·A·cos（ωt）/2 （13）

As mentioned above, fuel index FI can be regarded as main frame torque Qe.Therefore, if when when formula is given load change, the fuel index FIo corresponding with rotating speed of target No being added the change of (13) formula by (7), then torque of propeller Qp is maintained fixing (Fig. 2 (c) right side).That is to say, in the first embodiment, as shown in Figure 1, reverse feedback time-delay make in the logical one 3 actual speed Ne phase delay 90 ° (1/4th cycles) and phase place, and in proportional control section 14, carry out amplification based on the gain corresponding with the change angular velocity omega.

As mentioned above, according to the first mode of execution, torque of propeller can be maintained fixingly, and thrust be maintained fixing, can prevent the reduction of the propulsive efficiency that causes owing to load change.

Below, with reference to Fig. 3, the boats and ships of the second mode of execution of the present invention control gear with engine is described.In addition, Fig. 3 is the boats and ships of expression the second mode of execution with the control block diagram of the structure of the control gear of engine.

Boats and ships at the first mode of execution are used in the engine controller 10, only use P control, generate the fuel index FIo corresponding with rotating speed of target No by N/FI changeover part 12.But, use in the engine controller 20 at the boats and ships of the second mode of execution, use PI control, and do not use N/FI changeover part 12.In addition, other structures are identical with the first mode of execution, and to the identical identical reference symbol of structure mark, and the description thereof will be omitted.

With in the engine controller 20, the deviation of the feedback signal of rotating speed of target No and the actual speed Ne by time-delay logical one 3 is input to proportional+integral control device (PI control device) 17 at boats and ships.The deviation of input is carried out various computings in proportional+integral control device (PI control device) 17, and exports to actuator 16.In addition, the fuel index FIo corresponding with rotating speed of target No is generated/keeps in the I operational part of proportional+integral control device (PI control device) 17.At this moment, integration time constant is set as the long time of the impact that is not subjected to variable cycle.

As mentioned above, in the second mode of execution, also can similarly torque of propeller be maintained fixingly with the first mode of execution, and can obtain identical effect.

In addition, in first, second mode of execution, use time-delay logic postpones actual speed and feeds back, and simultaneously the gain of scale operation section is set in the mode corresponding with the change angular velocity of actual speed, but also can be the structure that actual speed is differentiated and fed back.

For example, the boats and ships control gear 22 of engine that uses the 3rd and the 4th mode of execution of differentiating, 25 control block diagram have been shown in Fig. 4,5.In addition, in the following description, the structure identical with first, second mode of execution marked identical reference symbol, and the description thereof will be omitted.

The 3rd mode of execution of Fig. 4 is corresponding with the first mode of execution of Fig. 1, and the 4th mode of execution of Fig. 5 is corresponding with the second mode of execution of Fig. 3.That is to say, in the 3rd mode of execution, the fuel index FIo corresponding with rotating speed of target No generates by N/FI changeover part 12, and actual speed Ne is given fuel index FIo from N/FI changeover part 12 by the logic 21 of differentiating, proportional control section 14 by positive feedback.In the logic 21 of differentiating, Ne differentiates to actual speed, and in proportional control section 14, differential signal is exaggerated with the gain of regulation.

On the other hand, in the 4th mode of execution, actual speed Ne and the 3rd mode of execution similarly by the logic 21 of differentiating, proportional control section 14 by positive feedback, simultaneously reverse feedback is to the input side of rotating speed of target No, its deviation is input to integral control section 24.That is to say, the integration time constant of integral control section 24 is set to the long time of the impact that is not subjected to variable cycle, and the fuel index FIo corresponding with rotating speed of target No is generated/keeps in the I of integral control section 24 computing.Given signal FIo from integral control section 24 from the feedback signal of proportional control section 14 output by positive feedback, and with theirs with input to actuator 16.

As mentioned above, even in the 3rd, the 4th mode of execution, also can similarly realize the fixing control of torque of propeller with first, second mode of execution.

And the propeller cavitation of the first mode of execution ~ the 4th mode of execution fixedly control example, for example optionally switches according to walrus automatically or manually as fixing the also usefulness such as control, the fixing control of output with the fixing control of rotating speed, fuel index.When because the load change that ripple etc. causes is approximately during the roughly fixed cycle of (preferred below 10 seconds) below 20 seconds, the fixing control of applicable torque of propeller for example, under such condition, can be selected the fixing control of torque of propeller.And, in first, second mode of execution, be made as 0 the retard time by the logic of will delaying time, the proportional gain of control device be made as 1, thereby the fixing control of propeller cavitation can be switched to the fixing control of output.

Claims (7)

1. boats and ships engine controller is used for giving rotating speed of target and exporting the fuel index, and described boats and ships are characterised in that with engine controller,

To postpone with respect to the variable cycle of the actual speed of master motor 10% ~ 30% feedback signal and feed back, the change angular velocity with described actual speed makes described fuel change index pro rata simultaneously.

2. boats and ships engine controller according to claim 1, it is characterized in that, described feedback signal is to make described actual speed postpone the signal that gets by the time-delay logic, and the deviation of described rotating speed of target and described feedback signal is output by the scale operation section that is set with the gain corresponding with described change angular velocity.

3. boats and ships engine controller according to claim 2, it is characterized in that, also comprise rotating speed of target/fuel index converting unit, described rotating speed of target/fuel index converting unit calculates the fuel index corresponding with described rotating speed of target, is added to the fuel index corresponding with described rotating speed of target from the output of described scale operation section.

4. boats and ships engine controller according to claim 2, it is characterized in that, also comprise the PI control device, the deviation of described rotating speed of target and described feedback signal is input to described PI control device, and the fuel index corresponding with described rotating speed of target is generated/keeps in the I of described PI control device operational part.

5. boats and ships engine controller according to claim 1 is characterized in that, described feedback signal generates by differentiating of described actual speed.

6. boats and ships is characterized in that, comprise according to claim 1 each described boats and ships engine controller in 5.

7. boats and ships engine control method is used for giving rotating speed of target and exporting the fuel index, and described boats and ships are characterised in that with engine control method,

To postpone with respect to the variable cycle of the actual speed of master motor 10% ~ 30% feedback signal and feed back, the change angular velocity with described actual speed makes described fuel change index pro rata simultaneously.

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