JP2013032153A - Ship control method, and ship - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a ship control method capable of reducing an inboard surplus power as much as possible, and also capable of controlling a ship speed variation.SOLUTION: The method includes: a step of driving a main engine 22; a step of backing up the main engine 22 by an operation of an electric motor 35; a step of generating power by driving a power turbine 23 by an exhaust gas of the main engine 22; a step of generating power by driving a steam turbine 26 by a steam generated by the exhaust gas of the main engine 22; a step of controlling an electric energy of the power turbine 23 and the steam turbine 26 so as to suppress the surplus power with respect to an inboard demand power as much as possible; and a step of calculating the fuel injection amount of the main engine 22 equivalent to the output by the motor operation as the conversion fuel injection amount, and of controlling the fuel injection amount by subtracting the conversion fuel injection amount from a fuel injection amount supplied to the main engine 22.

Description

  The present invention relates to a ship control method and a ship provided with an exhaust heat recovery type ship propulsion device provided with a generator that collects exhaust heat from a main engine for ship propulsion and generates electric power, and a bias motor that urges a main engine. Is.

  2. Description of the Related Art Conventionally, as a ship exhaust heat recovery system, an exhaust heat recovery ship propulsion apparatus that generates power by driving a steam turbine with steam generated by using exhaust gas of a main engine is known. There is also known an axial generator motor that is driven by a main engine to generate electric power, and obtains surplus electric power in the ship to energize the main engine. A system provided with these has been proposed as an energy-saving technique for ships, and is disclosed, for example, in Patent Document 1 below. Patent Document 1 discloses an invention in which exhaust gas from a main engine is used to drive a steam turbine to generate power, and the generated power is used in a shaft generator motor.

JP 2007-1339 A (refer to FIG. 1 and FIG. 5 (e))

  However, the generated power generated by the steam turbine or the like may be excessive with respect to the required power on board, and surplus power may be generated. Such an event occurs when the load on the ship suddenly decreases (for example, when the power supplied to the refrigerated container in the ship is stopped). When surplus power is generated in this way, fluctuations in power frequency may increase due to an imbalance between inboard required power and generated power.

  Similarly, in a system provided with a power turbine (gas turbine) that is driven by the exhaust gas of the main engine and generates power, fluctuations in the power frequency may increase due to an imbalance between the inboard required power and the generated power.

  As described above, in an exhaust heat recovery system including a steam turbine or a power turbine, generally, the amount of steam supplied to the steam turbine is controlled by feedback control using a power generation command value based on the ship's required power and the current power generation amount. Since the amount of exhaust gas supplied to the power turbine is controlled, the response delay cannot be ignored. Therefore, in order to suppress fluctuations in the power frequency, it is required to improve the responsiveness to the required power on board.

  On the other hand, since the shaft generator motor is driven as a motor by surplus electric power in the ship, the assist torque by the shaft generator motor becomes a disturbance, and the ship that wants to sail at a constant speed accelerates rapidly.

  This invention is made in view of such a situation, Comprising: While reducing surplus electric power in a ship as much as possible, while providing the ship control method and ship which can suppress a ship speed fluctuation | variation, Objective.

In order to solve the above problems, the ship control method and ship according to the present invention employ the following means.
The ship control method of the present invention includes a step of driving a main engine, a step of energizing the main engine by motor operation, a step of generating power by driving a power turbine with exhaust gas of the main engine, and the main A method of generating power by driving a steam turbine with steam generated by engine exhaust gas, and a method for controlling a ship, wherein the power is controlled so as to suppress surplus power with respect to the power demand on the ship as much as possible. A step of controlling the amount of electric power of the turbine and the steam turbine, and a fuel injection amount of the main engine corresponding to an output by the motor operation is calculated as a converted fuel injection amount, and the fuel injection amount supplied to the main engine And a step of controlling the fuel injection amount by subtracting the converted fuel injection amount, That.

  Further, the ship control method of the present invention includes a step of driving a main engine, a step of energizing the main engine by motor operation, a step of generating power by driving a power turbine with exhaust gas of the main engine, A method of generating power by driving a steam turbine with steam generated by exhaust gas of the main engine, and a method for controlling the power turbine based on the onboard power demand and the load of the main engine. Controlling the flow rate of exhaust gas supplied from the main engine and / or controlling the flow rate of steam supplied to the steam turbine based on the onboard demand power and the load of the main engine; and the motor The fuel injection amount of the main engine corresponding to the output by operation is converted into fuel injection. Calculated as the amount, characterized in that it comprises a step of controlling the amount of fuel injection by subtracting the converted fuel injection quantity from the fuel injection amount supplied to the main engine.

  Further, the ship control method of the present invention includes a step of driving a main engine, a step of energizing the main engine by motor operation, a step of generating power by driving a power turbine with exhaust gas of the main engine, A method of generating power by driving a steam turbine with steam generated by exhaust gas of the main engine, and a method for controlling the power turbine based on the onboard power demand and the load of the main engine. Calculating the opening degree of a power turbine control valve that controls the flow rate of exhaust gas from the main engine to be supplied as a feed forward opening degree, and outputting the feed forward opening degree to the power turbine control valve; and / Or based on ship power demand and main engine load, Calculating the opening degree of a steam turbine control valve that controls the flow rate of steam supplied to the steam turbine as a feedforward opening degree, and outputting the feedforward opening degree to the power turbine control valve; The fuel injection amount of the main engine corresponding to the output by the motor operation is calculated as a converted fuel injection amount, and the fuel injection amount is controlled by subtracting the converted fuel injection amount from the fuel injection amount supplied to the main engine And a step of performing.

  The ship of the present invention includes a main engine that drives a propeller for propulsion, a power turbine that is driven by exhaust gas of the main engine, a steam turbine that is driven by steam generated by the exhaust gas of the main engine, Provided between a power turbine and a turbine generator driven by the steam turbine, and between the main engine and the propeller for propulsion, motor operation for obtaining surplus power in the ship and energizing the main engine is enabled. In a ship equipped with a boosting motor, a controller for controlling the power amount of the power turbine and the steam turbine so as to suppress as much as possible surplus power with respect to the onboard demand power, and output by the motor operation The corresponding fuel injection amount of the main engine is calculated as a converted fuel injection amount, and the main engine A fuel injection amount control unit for controlling the amount of fuel injected from the fuel injection amount by subtracting the converted fuel injection quantity to be supplied to the gin, characterized in that it comprises a.

  The ship of the present invention includes a main engine that drives a propeller for propulsion, a power turbine that is driven by exhaust gas of the main engine, a steam turbine that is driven by steam generated by the exhaust gas of the main engine, Provided between a power turbine and a turbine generator driven by the steam turbine, and between the main engine and the propeller for propulsion, motor operation for obtaining surplus power in the ship and energizing the main engine is enabled. In a ship provided with a boost motor, the flow rate of exhaust gas from the main engine supplied to the power turbine is controlled based on the onboard demand power and the load of the main engine, and / or the onboard demand power and Supplied to the steam turbine based on the load of the main engine A steam turbine control unit for controlling the flow rate of air, and a fuel injection amount of the main engine corresponding to an output by the motor operation is calculated as a converted fuel injection amount, and the converted fuel is calculated from the fuel injection amount supplied to the main engine And a fuel injection control unit that controls the fuel injection amount by subtracting the injection amount.

  The ship of the present invention includes a main engine that drives a propeller for propulsion, a power turbine that is driven by exhaust gas of the main engine, a steam turbine that is driven by steam generated by the exhaust gas of the main engine, Provided between a power turbine and a turbine generator driven by the steam turbine, and between the main engine and the propeller for propulsion, motor operation for obtaining surplus power in the ship and energizing the main engine is enabled. In a ship equipped with a boost motor, the opening degree of a control valve for a power turbine that controls the flow rate of exhaust gas from the main engine supplied to the power turbine is fed based on the required power in the ship and the load of the main engine. Calculated as the forward opening, for the power turbine control valve The power turbine control unit that outputs the feedforward opening and / or the opening of a steam turbine control valve that controls the flow rate of steam supplied to the steam turbine based on the inboard required power and the load of the main engine. A steam turbine control unit that calculates the feedforward opening degree and outputs the feedforward opening degree to the steam turbine control valve; and the main engine corresponding to the output of the boost motor during the motor operation. And a fuel injection amount control unit that calculates the fuel injection amount as a converted fuel injection amount and subtracts the converted fuel injection amount from the fuel injection amount supplied to the main engine.

Since the opening degree of the control valve for the power turbine is feedforward controlled based on the inboard required power, the response of the power turbine to the inboard required power is improved. Therefore, the surplus power in the ship can be reduced as much as possible.
Since the fuel injection amount of the main engine corresponding to the output during motor operation of the boost motor is calculated as a converted fuel injection amount and subtracted from the fuel injection amount supplied to the main engine, the boost motor boosts the main engine with surplus power. Even so, fluctuations in the propeller rotational speed can be suppressed.
It is possible to provide a ship capable of navigating at a desired constant speed by reducing in-ship surplus power and suppressing power frequency fluctuations.

According to the present invention, the opening degree of the control valve for the power turbine can be feedforward controlled based on the required power in the ship to improve the power turbine responsiveness to the required power in the ship. Can be reduced to
In addition, since the steam turbine responsiveness to the ship's required power can be improved by feedforward control of the opening degree of the steam turbine control valve based on the ship's required power, it is possible to reduce the ship's surplus power as much as possible. it can.
Further, since the fuel injection amount is corrected by using the fuel injection amount (converted fuel injection amount) of the main engine corresponding to the output during the motor operation of the boost motor, even if the boost motor boosts the main engine with surplus power Speed fluctuation can be suppressed.

It is a schematic block diagram of the waste heat recovery type ship propulsion apparatus of this invention. It is the graph which showed the load sharing of the steam turbine, the power turbine, the shaft generator motor, and the diesel engine for electric power generation with respect to the ship required electric power and the main engine load ratio. It is the graph which showed the relationship between a power turbine output target value and exhaust gas amount adjustment valve opening degree (control valve B opening degree) for every main engine load ratio. It is a control block diagram which implement | achieves the opening degree control of the exhaust gas amount adjusting valve of a power turbine. It is the flowchart which showed the opening degree control of the exhaust gas amount adjustment valve of a power turbine. It is a control block diagram which implement | achieves the fuel injection amount control with respect to the main engine of a ship. (A) is a graph showing the relationship between the shaft generator motor output and the equivalent main engine output (engine output), (b) is the main engine output (engine output), the main engine speed (engine speed) and 6 is a graph showing a relationship with a fuel injection amount command. It is a control block diagram which performs determination of an electric power surplus state. FIG. 7 is a control block diagram showing a case of an electronic control engine with respect to FIG. 6. FIG. 10 is a control block diagram showing a case where ship speed is directly controlled with respect to FIG. 9.

Hereinafter, an embodiment of an exhaust heat recovery type ship propulsion apparatus according to the present invention and a ship provided with the same will be described with reference to the drawings.
FIG. 1 shows a schematic configuration of an exhaust heat recovery type ship propulsion device provided in a ship.
The exhaust heat recovery type ship propulsion apparatus 1 includes a main engine 22 that propels a ship, an exhaust turbine supercharger 21 that compresses air supplied to the main engine 22, a power turbine (gas turbine) 23, and a steam turbine 26. And a turbine generator 28 connected to the power turbine 23 and the steam turbine 26. The operations of the main engine 22, the power turbine 23, the steam turbine 26, and the turbine generator 28 are controlled by a control unit (not shown).

The main engine 22 is, for example, a low speed two-cycle diesel engine. A shaft generator motor (biasing motor) 35 is connected to the output shaft 32 of the main engine 22, and a screw propeller 30 is attached to the shaft generator motor 35 via a propeller shaft 33.
The main engine 22 is provided with a plurality of cylinders including a cylinder liner (not shown), a cylinder cover (not shown), and the like. In each cylinder, a piston (see FIG. (Not shown) is arranged. Further, an exhaust port (not shown) of each cylinder is connected to an exhaust manifold (not shown), and the exhaust manifold is connected to the inlet side of the turbine portion 21a of the exhaust turbine supercharger 21, The inlet side of the power turbine 23 is connected. On the other hand, an air supply port (not shown) of each cylinder is connected to an air supply manifold (not shown), and the air supply manifold is supercharged with an exhaust turbine via an air cooler 31 serving as an intercooler. The compressor unit 21b of the machine 21 is connected.
The shaft generator motor 35 is capable of performing a power generation operation in which power is generated by being driven by the main engine 22 while performing a motor operation that obtains surplus power in the ship and energizes the main engine 22. The operation of the shaft generator motor 35 is controlled by a control unit (not shown).

  An exhaust gas economizer is provided on the downstream side of the turbine portion 21 a of the exhaust turbine supercharger 21. In this exhaust gas economizer, not only exhaust gas from the exhaust turbine supercharger 21 but also exhaust gas from the power turbine 23 is introduced. In the heat exchange part of the exhaust gas economizer, water supplied from a water supply pipe (not shown) is heated and evaporated by the heat of the introduced exhaust gas, and superheated steam is generated. The superheated steam generated in the heat exchange section is introduced into the steam turbine 26 as main steam, and the steam that has finished work in the steam turbine 26 is led to the condenser 29 and returned to the water. The water condensed in the condenser 29 is cooled and warmed by the air cooler 31 and the wall of the main engine 22 and then supplied again to the exhaust gas economizer.

The power turbine 23 is rotationally driven by the exhaust gas extracted from the exhaust manifold of the main engine 22, and the steam turbine 26 is rotationally driven when supplied with the steam generated by the exhaust gas economizer. It has become.
The power turbine 23 and the steam turbine 26 are coupled in series to drive the turbine generator 28. The output shaft of the steam turbine 26 is connected to a turbine generator 28 via a speed reducer 27 and a coupling (not shown), and the output shaft of the power turbine 23 is connected to the steam turbine 26 via a speed reducer 24 and a clutch 25. Connected to the input shaft. As the clutch 25, a clutch that is engaged and disengaged at a predetermined rotational speed is used. For example, an SSS (Synchro-Self-Shifting) clutch is preferably used.

  On the upstream side of the exhaust gas flow of the power turbine 23, there is an exhaust gas amount adjusting valve (power turbine control valve) B for controlling the amount of gas introduced into the power turbine 23, and an emergency for shutting off the supply of exhaust gas to the power turbine 23 in an emergency. A stop emergency shutoff valve A is provided. Further, a bypass valve C for bypassing the exhaust gas flow to the exhaust gas amount adjusting valve B is provided.

On the upstream side of the steam flow of the steam turbine 26, there is a steam amount adjusting valve (steam turbine control valve) E that controls the amount of steam introduced into the steam turbine 26, and an emergency that shuts off the supply of steam to the steam turbine 26 in an emergency. A stop emergency shutoff valve D is provided. A bypass valve F for bypassing the steam flow to the steam amount adjusting valve E is provided.
As described later, the opening degree of each of the exhaust gas amount adjusting valve B and the steam amount adjusting valve E is controlled by the control unit.

As described above, the turbine generator 28 is driven as power by collecting the exhaust energy of the exhaust gas (combustion gas) of the main engine 22.
The electric power generated by the turbine generator 28 is connected to the inboard system via a power line (not shown). Further, the electric power generated by the shaft generator motor 35 is also connected to the inboard system via a power line (not shown). Furthermore, the ship of the present embodiment includes three diesel generators DG1, DG2, and DG3 (not shown) for power generation as auxiliary generators, and these generated powers are also sent to the inboard system via power lines (not shown). Connected with.
The inboard required power is calculated by a control unit (not shown) from current values and voltage values obtained from an ammeter and a voltmeter connected to the inboard system.

The load sharing of the steam turbine 26, the power turbine 23, the shaft generator motor 35, and the three power generation diesel engines DG1, DG2, and DG3 that generate electric power is based on the inboard required power and the load of the main engine 22, as shown in FIG. It is determined as follows.
In FIG. 2, the horizontal axis indicates the load ratio (%) of the main engine 22, and the vertical axis indicates the inboard required power (kW). The numerical values on the vertical axis and the horizontal axis are appropriately determined depending on the type, size, etc. of the ship. The example shown in the figure shows the case of a container ship. The required power in the ship when no power is supplied to the refrigerated container (without Ref Container) and the ship in the case where power is supplied to all refrigerated containers (with Max Ref Container) The required power is shown.

  When the main engine load ratio is small, sufficient exhaust energy cannot be obtained to operate the steam turbine (ST) and the power turbine (PT), and therefore, only three power generation diesel engines DG1, DG2, and DG3 are used to enter the ship. Operated to meet the required power. Each of the power generation diesel engines DG1, DG2, and DG3 is started up in the order of the first power generation diesel engine DG1, the second power generation diesel engine DG2, and the third power generation diesel engine DG3 in accordance with an increase in the ship's required power.

When the main engine load ratio becomes equal to or higher than a predetermined value, the heat quantity of exhaust gas capable of obtaining the amount of steam that can be activated by the steam turbine (ST) can be obtained, so the steam turbine (ST) is first activated. As the main engine load rate increases, the shaft generator motor (SGM) is started and the power turbine (PT) is started.
As the main engine load ratio increases, the steam turbine (ST), the shaft generator motor (SGM), and the power turbine (PT) are sequentially started. The load sharing is reduced in the order of the second power generation diesel engine DG2 and the first power generation diesel engine DG1.

  As shown in the figure, when the main engine load ratio is during normal voyage and the average shipboard power requirement, the steam turbine (ST) 26, the power turbine (PT) 23, and the shaft generator motor It can be seen that power is generated by (SGM) 35 and that no power generation is required in power generation diesel engines DG1, DG2, and DG3. In addition, the steam turbine (ST) and the power turbine (PT) generate power preferentially so as to output outputable power corresponding to the engine load ratio, and the shaft generator motor (SGM) Only a predetermined ratio of the output power according to the ratio is generated to suppress the output. Thus, the exhaust heat recovery of the main engine 22 is performed to the maximum by giving priority to the steam turbine (ST) and the power turbine (PT) over the shaft generator motor (SGM).

[Control of power turbine]
Next, control of the power turbine 23 will be described.
As shown in FIG. 3, the opening degree of the exhaust gas amount adjustment valve B of the power turbine 23 is determined in advance for each main engine load ratio with respect to the power turbine output target value. In the figure, an opening degree map of the exhaust gas amount adjusting valve B with respect to main engine load ratios of 50%, 60% and 100% is shown. Such a map is obtained in advance by numerical calculation or actual measurement, and is stored in the memory of the control unit. Moreover, it may replace with the calculation by a map and may calculate sequentially by the numerical formula model using a conversion factor.

FIG. 4 shows a control block diagram for controlling the power turbine 23. Based on this control block diagram, the opening command of the power turbine 23 is issued as follows according to the flowchart of FIG.
When started in step S1 in FIG. 5, in step S2, numerical calculation is performed on an opening map (see FIG. 3) of the exhaust gas amount adjusting valve (control valve B) that can obtain a desired power turbine output for each main engine load ratio. Alternatively, it is obtained in advance by actual measurement.

  Next, in step S <b> 3, the power turbine output target value is calculated by the power generation output command calculator 2. The power turbine output target value is obtained from the map shown in FIG. 2 in accordance with the main engine load ratio and the inboard required power. The inboard required power is calculated from the current value and voltage value obtained from the inboard system as described above.

  In step S4, the power turbine actual output value is measured, and in step S5, the difference between the power turbine output target value and the power turbine actual output value is calculated by the subtractor 3. In step S6, a PID control calculation is performed by the PID controller 4 based on the control deviation obtained by the subtracter 3, and a feedback control amount (operation amount) O1 is derived.

In step S7, based on the rotational speed deviation between the power turbine target rotational speed and the actual power turbine rotational speed, a feedback control amount (operation amount) O2 is calculated by an opening degree converter.
In step S8, the opening of the exhaust gas amount adjusting valve B is obtained from the map shown in FIG. 3 using the power turbine output target value and the main engine load ratio obtained by the opening calculator 5, and feedforward control is performed. An amount (operation amount) O3 is obtained.

In step S9, the sum of the feedback control amount O2 and the feedforward control amount O3 is performed by the adder 6, and the sum of the output result and the feedback control amount O1 is performed by the adder 7. Finally, the exhaust gas is exhausted. The opening command value of the amount adjusting valve B is determined.
Control of the power turbine 23 corresponding to the fluctuation | variation of inboard required electric power is performed by repeating the calculation of the above step S3-S9 with a predetermined | prescribed control period.

  Thus, since the opening degree of the exhaust gas amount control valve B is feedforward controlled based on the inboard required power, the responsiveness of the power turbine 23 to the inboard required power can be improved, and as a result, surplus power in the ship can be allowed. It can be reduced as much as possible.

[Control of steam turbine]
Next, control of the steam turbine will be described.
The opening degree of the steam amount adjusting valve E of the steam turbine 26 is performed using feedforward control in the same manner as the exhaust gas amount adjusting valve B of the power turbine 23 described above.
That is, the opening degree of the steam amount adjusting valve E with respect to the steam turbine output target value is obtained in advance in the same manner as in FIG. 3 and stored in the memory of the control unit for each main engine load ratio.
Then, as shown in the control block diagram of FIG. 4, the steam turbine output target value is obtained by the power generation output command calculator 2 according to the map of FIG. 2 from the main engine load ratio and the inboard required power. The difference between this steam turbine output target value and the actual steam turbine output value is calculated by the subtractor 3, and the feedback control amount (operation amount) O1 is calculated by the PID controller 4.
Further, the opening calculator 5 calculates the feedforward control amount (operation amount) O3 of the opening of the steam amount adjusting valve E from the map of FIG. 3 regarding the steam turbine based on the main engine load ratio and the steam turbine output target value. obtain. The adder 6 adds the feedforward control amount O3 and the feedback control amount O2 obtained by the opening converter based on the rotational speed deviation between the steam turbine target rotational speed and the actual steam turbine rotational speed. The adder 7 calculates the sum of the output result and the feedback control amount O1. In this way, the opening degree of the steam amount adjusting valve E is determined. By repeating the above opening degree calculation at a predetermined control cycle, the steam turbine 26 is controlled in response to fluctuations in inboard required power.

  Thus, since the opening degree of the steam amount adjusting valve E is feedforward controlled based on the required power in the ship, the responsiveness of the steam turbine 26 to the required power in the ship can be improved, and as a result, surplus power in the ship can be allowed. It can be reduced as much as possible.

As described above, in the present embodiment, the opening degree control of the exhaust gas amount adjusting valve B of the power turbine 23 and the opening degree control of the steam amount adjusting valve E of the steam turbine 26 are performed independently.
However, since the response of the steam system is generally slow, the steam turbine control may be operated as a master and the power turbine as a slave to generate a power turbine command. Specifically, the steam turbine load is taken into account when calculating the power turbine target output by the power generation output command calculator 2 of FIG. Thereby, the opening degree of the exhaust gas amount adjusting valve B is controlled while monitoring the load on the steam turbine side on the power turbine side, and the opening degree instruction of the control valve is issued so that the fluctuation of surplus power is not directed toward the power turbine. be able to.

[Control of shaft generator motor]
Next, control of the shaft generator motor 35 will be described.
Since the exhaust heat recovery type ship propulsion apparatus 1 shown in FIG. 1 has improved the responsiveness with respect to the ship's required power of the power turbine 23 and the steam turbine 26, it can suppress surplus power as much as possible. . However, if the required power in the ship suddenly decreases more than expected and a relatively large surplus power is generated, the assist torque from the shaft generator motor 35 driven by the surplus power becomes a disturbance and sails at a constant speed. The ship you are trying to accelerate suddenly accelerates. Therefore, in the present embodiment, the following control is performed.

  FIG. 6 is a control block diagram showing the fuel injection amount control logic of the ship. In the figure, when a propeller rotational speed command is given by the propeller rotational speed requested by the ship operator, the requested propeller rotational speed as the target is converted into a fuel injection amount by the controller 41, and the fuel injection command is output. give.

  On the other hand, if the surplus power amount generated by the sudden decrease in the required power on board is detected and determined to be in the power surplus state (see FIG. 8 described later), the shaft generator motor 35 according to the map A (see FIG. 7 described later) The main engine output corresponding to the output is calculated by the engine output calculator 45 shown in FIG. Then, the fuel injection amount calculator 46 calculates a fuel injection amount (converted fuel injection amount) corresponding to the main engine speed and the main engine output as a feedforward control amount using the map B (see FIG. 7 described later). To do. The feed-forward control amount of the fuel injection amount obtained by this surplus power is transmitted to the subtractor 47 and subtracted from the fuel injection command of the controller 41. The corrected fuel injection command from the subtractor 47 is given to the main engine 22. In this manner, the fuel injection amount to be finally supplied to the main engine 22 is controlled by applying the feedforward control.

  Next, the rotational speed after adding the assist torque from the shaft generator motor 35 and subtracting the navigation load (for example, hull resistance) is calculated by the rotational speed calculator 43 based on the sensor output of the engine shaft. I do. The actual output value of the propeller as the output result is fed back, and the difference from the propeller rotation speed command value is calculated by the subtractor 44.

The above-described feedforward control amount of the fuel injection amount is obtained by the map A and the map B shown in FIGS. 7A and 7B, which are created in advance by the engine output calculator 45 and the fuel injection amount calculator 46, respectively. Are calculated using each. The map A in FIG. 7A is a map that can calculate the engine output corresponding to the motor output of the shaft generator motor 35, and is shown as a two-dimensional map. Further, a map B in FIG. 7B is a map in which a fuel injection amount (converted fuel injection amount) corresponding to the main engine speed and the main engine output can be calculated, and is shown as a three-dimensional map.
As described above, since the motor output of the shaft generator motor 35 is directly detected, the feedforward control amount of the fuel injection amount is calculated from the map A and the map B shown in FIGS. 7A and 7B. Can do. Note that, instead of the calculation by the map, the calculation may be sequentially performed by a mathematical model using a conversion coefficient.

The determination regarding the power surplus state for starting the feedforward control illustrated in FIG. 6 is performed by the power surplus state determination unit illustrated in FIG.
In the power surplus state determination means, first, the inboard required power is calculated from the voltage and current value of the inboard system in the inboard required power calculation 51. This inboard required power calculation is the same as the inboard required power calculation used in controlling the power turbine 23 and the steam turbine 26 described with reference to FIG.
On the other hand, in a ship equipped with an exhaust heat recovery system, the total of the turbine generator 28, the shaft generator motor 35, and the power generating diesel engine is the power supply. Therefore, surplus power can be obtained by subtracting the inboard required power from the total of these outputs. Then, in the power surplus state determination, the obtained surplus power is compared with a predetermined threshold, and when the surplus power exceeds the threshold, it is determined as a power surplus state, and the control shown in FIG. 6 described above is started.
As described above, the fuel injection of the main engine corresponding to the output at the time of motor operation of the shaft generator motor 35 so that the target propeller rotational speed is obtained when the surplus power is detected and determined to be the surplus power state. By controlling the fuel injection amount of the engine using the amount as a feedforward control amount, fluctuations in ship speed can be suppressed even when the required power on board is drastically reduced.

  In FIG. 6, a mechanical control engine that mechanically controls fuel injection is used as the main engine 22. However, the main engine 22 is also suitably used for an electronic control engine as shown in FIG. In this case, since the main engine 22 is an electronically controlled engine, conversion information on the fuel injection amount can be entered into the controller 41. As described above, when the engine is an electronic control engine, the fuel injection information of the surplus power calculation result can be directly input in advance to the controller 41 which is the governor of the engine, and it is only necessary to send one control signal to the actuator. The system can be configured more easily.

Furthermore, as shown in FIG. 10, in addition to the electronic control engine described with reference to FIG. 9, direct control may be performed so that the boat speed required by the ship operator is obtained.
As shown in FIG. 10, when a command is given by the propeller rotation speed and the ship speed required by the ship operator, the target required propeller rotation speed and the ship speed are converted into a fuel injection amount by the controller 41. Then, a command for the fuel injection amount is given to the main engine 22. Since the main engine 22 is an electronically controlled engine, it is possible to insert into the controller 41 the conversion information of the fuel injection amount and the ship speed detected by GPS or the like. As a result, the speed / ship speed calculator 48 can obtain the target value of the ship speed as well as the speed, so that the ship speed can be directly controlled so that the ship speed required by the ship operator is obtained. Is possible.

As described above, according to the present embodiment, since the opening degrees of the control valve B for the power turbine and the control valve E for the steam turbine E are feedforward controlled based on the required power in the ship, surplus power in the ship is made as much as possible. Can be reduced.
Further, even when a surplus inboard power more than expected occurs due to a sudden decrease in inboard required power, the fuel injection amount (converted fuel injection) of the main engine 22 corresponding to the output of the shaft generator motor 35 during motor operation. The amount of fuel injection is corrected using the amount, so that fluctuations in ship speed can be suppressed.

  In the present embodiment, the feedforward control based on the inboard required power is performed for each of the power turbine 23 and the steam turbine 26. However, the present invention is not limited to this, and any of the power turbine 23 and the steam turbine 26 is performed. On the other hand, the feedforward control of the present invention may be used.

DESCRIPTION OF SYMBOLS 1 Waste heat recovery type ship propulsion apparatus 21 Exhaust turbine supercharger 22 Main engine 23 Power turbine 26 Steam turbine 28 Turbine generator 35 Shaft generator motor (heating motor)
B Exhaust gas control valve (Power turbine control valve)
E Steam control valve (Control valve for steam turbine)

Claims (6)

Driving the main engine;
Energizing the main engine by motor operation;
A step of generating power by driving a power turbine with the exhaust gas of the main engine;
A step of generating power by driving a steam turbine with steam generated by the exhaust gas of the main engine;
In a method for controlling a ship provided with
Controlling the power amount of the power turbine and the steam turbine so as to suppress as much as possible surplus power with respect to the onboard power demand;
The fuel injection amount of the main engine corresponding to the output by the motor operation is calculated as a converted fuel injection amount, and the fuel injection amount is controlled by subtracting the converted fuel injection amount from the fuel injection amount supplied to the main engine And a process of
A method for controlling a ship, comprising: Driving the main engine;
Energizing the main engine by motor operation;
A step of generating power by driving a power turbine with the exhaust gas of the main engine;
A step of generating power by driving a steam turbine with steam generated by the exhaust gas of the main engine;
In a method for controlling a ship provided with
Based on the inboard demand power and the load on the main engine, control the flow rate of the exhaust gas from the main engine supplied to the power turbine, and / or on the basis of the inboard demand power and the load on the main engine, Controlling the flow rate of steam supplied to the steam turbine;
The fuel injection amount of the main engine corresponding to the output by the motor operation is calculated as a converted fuel injection amount, and the fuel injection amount is controlled by subtracting the converted fuel injection amount from the fuel injection amount supplied to the main engine And a process of
A method for controlling a ship, comprising: Driving the main engine;
Energizing the main engine by motor operation;
A step of generating power by driving a power turbine with the exhaust gas of the main engine;
A step of generating power by driving a steam turbine with steam generated by the exhaust gas of the main engine;
In a method for controlling a ship provided with
Based on the onboard demand power and the load of the main engine, the opening degree of the control valve for the power turbine that controls the flow rate of the exhaust gas from the main engine supplied to the power turbine is calculated as the feed forward opening degree, and the power Steam turbine control that outputs the feedforward opening to the turbine control valve and / or controls the flow rate of steam supplied to the steam turbine based on the onboard power demand and the load of the main engine Calculating the valve opening as a feedforward opening, and outputting the feedforward opening to the power turbine control valve;
The fuel injection amount of the main engine corresponding to the output by the motor operation is calculated as a converted fuel injection amount, and the fuel injection amount is controlled by subtracting the converted fuel injection amount from the fuel injection amount supplied to the main engine And a process of
A method for controlling a ship, comprising: A main engine that drives the propeller for propulsion,
A power turbine driven by the exhaust gas of the main engine;
A steam turbine driven by steam generated by the exhaust gas of the main engine;
A turbine generator driven by the power turbine and the steam turbine;
An energizing motor provided between the main engine and the propeller for propulsion, capable of operating the motor to energize the main engine by obtaining surplus power in the ship;
In a ship equipped with
A control unit for controlling the power amount of the power turbine and the steam turbine so as to suppress surplus power with respect to the onboard demand power as much as possible;
The fuel injection amount of the main engine corresponding to the output by the motor operation is calculated as a converted fuel injection amount, and the fuel injection amount is controlled by subtracting the converted fuel injection amount from the fuel injection amount supplied to the main engine A fuel injection charge control unit,
A ship characterized by comprising. A main engine that drives the propeller for propulsion,
A power turbine driven by the exhaust gas of the main engine;
A steam turbine driven by steam generated by the exhaust gas of the main engine;
A turbine generator driven by the power turbine and the steam turbine;
An energizing motor provided between the main engine and the propeller for propulsion, capable of operating the motor to energize the main engine by obtaining surplus power in the ship;
In a ship equipped with
Based on the inboard demand power and the load on the main engine, control the flow rate of the exhaust gas from the main engine supplied to the power turbine, and / or on the basis of the inboard demand power and the load on the main engine, A steam turbine controller that controls the flow rate of steam supplied to the steam turbine;
The fuel injection amount of the main engine corresponding to the output by the motor operation is calculated as a converted fuel injection amount, and the fuel injection amount is controlled by subtracting the converted fuel injection amount from the fuel injection amount supplied to the main engine A fuel injection charge control unit,
A ship characterized by comprising. A main engine that drives the propeller for propulsion,
A power turbine driven by the exhaust gas of the main engine;
A steam turbine driven by steam generated by the exhaust gas of the main engine;
A turbine generator driven by the power turbine and the steam turbine;
An energizing motor provided between the main engine and the propeller for propulsion, capable of operating the motor to energize the main engine by obtaining surplus power in the ship;
In the exhaust heat recovery type ship propulsion device equipped with
Based on the ship's required power and the load of the main engine, the opening degree of the control valve for the power turbine that controls the flow rate of the exhaust gas from the main engine supplied to the power turbine is calculated as the feed forward opening degree, and the power A power turbine control unit that outputs the feedforward opening degree to the turbine control valve and / or a flow rate of steam supplied to the steam turbine is controlled based on inboard required power and a load of the main engine. A steam turbine control unit that calculates the opening degree of the steam turbine control valve as a feed forward opening degree and outputs the feed forward opening degree to the steam turbine control valve;
Fuel injection for calculating the fuel injection amount of the main engine corresponding to the output of the energizing motor during the motor operation as a converted fuel injection amount, and subtracting the converted fuel injection amount from the fuel injection amount supplied to the main engine A quantity control unit;
A ship characterized by comprising:

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