JP2018066350A - Marine engine rotation speed control method - Google Patents

Marine engine rotation speed control method Download PDF

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JP2018066350A
JP2018066350A JP2016206803A JP2016206803A JP2018066350A JP 2018066350 A JP2018066350 A JP 2018066350A JP 2016206803 A JP2016206803 A JP 2016206803A JP 2016206803 A JP2016206803 A JP 2016206803A JP 2018066350 A JP2018066350 A JP 2018066350A
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disturbance
control method
rotation speed
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marine engine
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JP6777970B2 (en
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ふぇいふぇい 伊藤
Feifei Ito
ふぇいふぇい 伊藤
雅則 伊藤
Masanori Ito
雅則 伊藤
義広 謝花
Yoshihiro Shaka
義広 謝花
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TEN EYES KK
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Abstract

PROBLEM TO BE SOLVED: To provide a marine engine rotation speed control method which enables a marine engine to perform complete combustion by curbing an excessive fuel supply.SOLUTION: In a marine engine rotation speed control method, an engine is operated in a manner that: determines presence or absence of disturbance and a characteristic thereof on the basis of magnitude of pitch of a vessel body; adjusts a rotation speed to a target rotation speed with a normal control characteristic when determining the absence of the disturbance; and manipulates a proportional gain, in a case of PID control for example, so as to keep the engine in an allowable rotation speed fluctuation range and allowable torque fluctuation range when determining the presence of cyclic disturbance.SELECTED DRAWING: Figure 1

Description

本発明は、エンジンの回転数を一定にするガバナを備えた舶用エンジンの回転数制御方法に関する。   The present invention relates to a marine engine rotation speed control method including a governor that keeps the engine rotation speed constant.

特許文献１には、海象に応じて選択可能な３つの制御モードが記載されている。第１制御モードは、主機関の実回転速度（回転数）を目標回転速度（回転数）に維持する回転速度制御、第２制御モードは、主機関の出力を目標値に維持する出力制御、第３制御モードは、燃料噴射量（フューエルインデックス）を目標値に維持するフューエルインデックス制御である。また、何れの制御モードを行う場合でも、制御の対象は回転速度である。   Patent Document 1 describes three control modes that can be selected according to sea conditions. The first control mode is a rotation speed control that maintains the actual rotation speed (rotation speed) of the main engine at the target rotation speed (rotation speed), and the second control mode is an output control that maintains the output of the main engine at the target value. The third control mode is fuel index control that maintains the fuel injection amount (fuel index) at a target value. In any control mode, the object of control is the rotation speed.

特許文献２には、燃費向上を目的とした舶用エンジン制御方法として、目標回転数が所定の回転数範囲（例えば船舶が外洋を航海するときに設定される回転数の最低値以上且つ過回転数以下）か否かを判断し、所定の範囲内にあると判断した場合にはガバナオフ条件（切り替えスイッチがオフに切り替えられている場合を含む）が成立しているか否かを判断し、成立していない場合には回転数調整を実行する内容が記載されている。   In Patent Document 2, as a marine engine control method for improving fuel efficiency, a target rotational speed is within a predetermined rotational speed range (for example, a minimum rotational speed set when a ship sails in the open ocean and an excessive rotational speed). If the governor-off condition (including the case where the change-over switch is turned off) is satisfied, it is determined that the condition is satisfied. If not, the contents for executing the rotation speed adjustment are described.

特許第４７５０８８１号公報Japanese Patent No. 4750881 特開２００８−０４５４８４号公報JP 2008-045484 A

特許文献１及び特許文献２に示すように、舶用エンジンの回転数制御は目標回転数を定め、この目標回転数と実際の回転数との偏差に応じガバナを操作して、目標回転数を保持するよう、エンジンへの供給燃料をＰＩＤなどの制御で加減するようにしている。   As shown in Patent Document 1 and Patent Document 2, marine engine rotation speed control determines a target rotation speed, and operates the governor according to the deviation between the target rotation speed and the actual rotation speed to maintain the target rotation speed. Therefore, the fuel supplied to the engine is adjusted by control such as PID.

一方、船舶が航行する場合、波浪などに起因する外乱を受けると、ピッチングによって船体が前後に上下動しエンジンに直結するプロペラの水深が変化する。水深が深くなるとプロペラトルクが大きくなりエンジン出力を上回ってエンジン回転数が低下し、逆にプロペラの水深が浅くなるとエンジン回転数が目標回転数よりも高くなってしまう。   On the other hand, when the ship is navigating, when subjected to disturbance caused by waves or the like, the depth of the propeller directly connected to the engine changes due to the hull moving up and down due to pitching. As the water depth increases, the propeller torque increases and exceeds the engine output, and the engine speed decreases. Conversely, when the water depth of the propeller decreases, the engine speed becomes higher than the target speed.

ここで、船舶に作用する外乱には、比較的穏やかな海面を航行する場合の波浪による周期性外乱と、荒天の場合の非周期性外乱があり、従来の制御では、外乱の有無、周期性或は非周期性外乱の区別なく、一律の制御特性により回転数制御を行っており、燃料消費量の増加・黒煙などの有害物質の排出・エンジン内部の汚れ等々の問題につながっている。   Here, disturbances acting on ships include periodic disturbances caused by waves when navigating relatively calm sea surfaces and non-periodic disturbances in case of stormy weather. Alternatively, the rotational speed control is performed with uniform control characteristics without distinguishing between non-periodic disturbances, which leads to problems such as an increase in fuel consumption, discharge of harmful substances such as black smoke, and dirt inside the engine.

非周期的外乱の場合にエンジン回転数を制御しないと、オーバースピード、オーバーロードとなって航行が不安定になり、燃費の損失も大きくなる。
一方、周期性外乱の場合は、回転数は、常時一定となるような厳密な制御を行わなくても一定の幅内に収まっており、一定値を厳格に保持するため敏感な回転数の制御を繰り返すと、特に回転数を上げるためガバナによって供給燃料量を多くする場合に、燃料噴射量が燃焼可能量を上回り、不完全燃焼となって、却って燃費が悪くなる傾向があること、これが黒煙等有害物質の排出、さらにはエンジン内部の汚れにつながることを本発明者は知見した。 If the engine speed is not controlled in the case of non-periodic disturbances, navigation will become unstable due to overspeed and overload, and fuel consumption loss will also increase.
On the other hand, in the case of periodic disturbances, the rotational speed stays within a certain range without performing strict control that is always constant. If the amount of fuel supplied by the governor is increased to increase the rotational speed, the fuel injection amount exceeds the combustible amount, resulting in incomplete combustion, which tends to deteriorate the fuel consumption. The present inventor has found that harmful substances such as smoke are discharged, and further, the inside of the engine is contaminated.

上記の知見に基づき本発明をなしたものであり、本発明はガバナによって燃料噴射量を制御する舶用エンジンの回転数制御方法において、船体のピッチングの大きさに基づき航行時の外乱の有無およびその性状について判断し、外乱がないと判断した場合には通常の制御特性によって回転数が目標回転数になるように制御し、外乱が周期性であると判断した場合には、例えばＰＩＤ制御の場合は比例ゲインを操作し許容される回転数変動及びトルク変動の範囲でエンジンを運転するようにした。   Based on the above knowledge, the present invention has been made, and the present invention is a marine engine rotation speed control method for controlling the fuel injection amount by a governor. Judgment is made on the properties, and when it is determined that there is no disturbance, control is performed so that the rotational speed becomes the target rotational speed according to normal control characteristics, and when it is determined that the disturbance is periodic, for example, in the case of PID control Operated the proportional gain and operated the engine in the range of allowable speed fluctuation and torque fluctuation.

上記ＰＩＤ制御は、目標回転数をｎr、実回転数をｎとするとき、
ＫP（ｎr−ｎ）＋ＫI∫（ｎr−ｎ）dt＋ＫDd/dt（ｎr−ｎ）
で表される。制御方式にはこのＰＩＤ制御の他に比例項と積分項からなるＰＩ制御、比例項と微分項からなるＰＤ制御なども用いられる。
本発明にあっては、周期性外乱と判断した場合には、制御方式の感度を代表する項、上記では比例項であるＫP（ｎr−ｎ）のゲインＫPのみを操作する。 In the PID control, when the target rotational speed is n r and the actual rotational speed is n,
K P (n r −n) + K I (n r −n) dt + K D d / dt (n r −n)
It is represented by In addition to this PID control, PI control consisting of a proportional term and an integral term, PD control consisting of a proportional term and a differential term, and the like are also used as the control method.
In the present invention, when a periodic disturbance is determined, only the term representing the sensitivity of the control method, that is, the gain K P of K P (n r −n), which is a proportional term in the above, is operated.

本発明に係る制御方法は、電気式制御回路を有するガバナに有利ではあるが、機械式ガバナであっても出力リンク機構の動きを制御することで、本発明方法を適用することが可能である。   Although the control method according to the present invention is advantageous for a governor having an electric control circuit, the method of the present invention can be applied by controlling the movement of the output link mechanism even with a mechanical governor. .

本発明に係る舶用エンジンの回転数制御方法によれば、通常航行時の周期的外乱が船体に加わった場合に、回転数変動及びトルク変動が所定の範囲内であれば、必要以上に細かな制御を行わないことで、燃料の過剰供給を抑制することができる。その結果、燃費が向上するのみならず、黒煙などの有害物質の排出を抑えることが出来る。また、燃料の未燃分によるエンジン内部の汚れも少なくすることが可能となる。   According to the marine engine rotation speed control method of the present invention, when a periodic disturbance during normal navigation is applied to the hull, if the rotation speed fluctuation and the torque fluctuation are within a predetermined range, they are finer than necessary. By not performing the control, the excessive supply of fuel can be suppressed. As a result, not only fuel consumption is improved, but also emission of harmful substances such as black smoke can be suppressed. In addition, it is possible to reduce contamination inside the engine due to unburned fuel.

本発明に係る舶用エンジンの回転数制御方法を適用するシミュレーションモデルの概要を示す図。The figure which shows the outline | summary of the simulation model which applies the rotational speed control method of the marine engine which concerns on this invention. 同制御方法のフローチャート。The flowchart of the control method. 図２の省エネモードの詳細を示すフローチャート。The flowchart which shows the detail of the energy saving mode of FIG. 周期性外乱時の運転時間と回転数を示すグラフであり、（ａ）は従来の制御方法を適用した場合、（ｂ）は本発明の制御方法を適用した場合を示す。It is a graph which shows the driving | running time and rotation speed at the time of a periodic disturbance, (a) shows the case where the conventional control method is applied, (b) shows the case where the control method of this invention is applied. 周期性外乱時の運転時間と燃料噴射量を示すグラフであり、（ａ）は従来の制御方法を適用した場合、（ｂ）は本発明の制御方法を適用した場合を示す。It is a graph which shows the operation time and fuel injection amount at the time of periodic disturbance, (a) shows the case where the conventional control method is applied, (b) shows the case where the control method of this invention is applied.

図１に示すように、目標回転数をガバナに設定すると、ガバナはエンジンに対し目標回転数に応じた量の燃料を噴射するため、燃料噴射弁を開く期間（燃料噴射期間）を調整する。このときガバナゲイン調整器は応答特性などの制御特性を調整する。   As shown in FIG. 1, when the target rotational speed is set to the governor, the governor injects an amount of fuel corresponding to the target rotational speed to the engine, and therefore adjusts the period for opening the fuel injection valve (fuel injection period). At this time, the governor gain adjuster adjusts control characteristics such as response characteristics.

エンジンの回転数は回転系において計測され、この計測値はガバナにフィードバックされ目標回転数（ｎr）と実際の回転数（ｎ）との差をなくすようにガバナ出力すなわち燃料噴射期間が調整される。 The engine speed is measured in the rotating system, and this measured value is fed back to the governor and the governor output, that is, the fuel injection period is adjusted so as to eliminate the difference between the target speed (n r ) and the actual speed (n). The

また、エンジンの回転はプロペラに伝えられ、プロペラが回転することで、その反力がプロペラトルクとしてエンジンの発生するトルクと拮抗し、エンジンおよびプロペラからなる回転系の回転数が定まる。   Further, the rotation of the engine is transmitted to the propeller, and when the propeller rotates, the reaction force antagonizes the torque generated by the engine as the propeller torque, and the rotation speed of the rotating system including the engine and the propeller is determined.

また、航行時には波浪などによって船体に外乱が加わり、ピッチングなどの船体運動を引き起こす。この結果プロペラの水深が変化し、プロペラトルクも変化することとなり更にはエンジンの回転数も変化する。また外乱によって船速も変化する。   Further, during navigation, disturbances are applied to the hull due to waves and the like, causing hull motion such as pitching. As a result, the water depth of the propeller changes, the propeller torque also changes, and the engine speed also changes. The ship speed also changes due to disturbance.

上記のように、外乱によってエンジン回転数が変化するため、ガバナはＰＩＤ制御などによって出力を調整し、回転数を目標回転数に近づけるための制御を行う。具体的には以下の制御を行う。   As described above, since the engine speed changes due to disturbance, the governor adjusts the output by PID control or the like, and performs control to bring the speed close to the target speed. Specifically, the following control is performed.

図２に示すように、先ずは通常のＰＩＤ制御、即ちエンジン回転数を一定に維持する高ゲインによる回転数制御で航行を開始し、外乱が無ければその状態を維持するが、海象の変化により外乱を受けるようになったとき、船体に加わる外乱が周期性外乱か否かを判断する。   As shown in FIG. 2, navigation is first started by normal PID control, that is, rotation speed control with a high gain that keeps the engine rotation speed constant, and if there is no disturbance, that state is maintained, but due to changes in sea conditions When a disturbance is received, it is determined whether the disturbance applied to the hull is a periodic disturbance.

外乱の有無および周期性外乱か否かの判断はピッチングの大きさによって判断する。すなわり、外乱が無しの場合は前記したようにその状態を維持し、外乱が周期性外乱であると判断した場合には、省エネモードでエンジンを回転させ、外乱が周期性外乱でないと判断した場合、即ち、プロペラが水面上に突出するような危険外乱と判断した場合には、通常の制御特性による制御のままで目標回転数を影響の無い範囲まで下げる。   The presence / absence of disturbance and the periodic disturbance are determined by the magnitude of pitching. In other words, when there is no disturbance, the state is maintained as described above. When it is determined that the disturbance is a periodic disturbance, the engine is rotated in the energy saving mode, and the disturbance is determined not to be a periodic disturbance. In this case, that is, when it is determined that there is a dangerous disturbance such that the propeller protrudes on the surface of the water, the target rotational speed is lowered to an unaffected range while maintaining the control based on the normal control characteristics.

省エネモードでは図３に示すように、比例ゲインＫPを徐々に小さくして行く。この実施例では、回転数変動とトルク変動が所定の範囲内であれば前回のゲインＫPに０．９をかけて今回の比例ゲインＫPとする制御を行い、回転数変動とトルク変動の少なくとも一方が所定の範囲を超えた場合には、前回のゲインＫPを０．９で割って今回の比例ゲインＫPとする制御を行い、回転数変動とトルク変動が共に所定の範囲を超えない場合には再び比例ゲインＫPを徐々に小さくして行く制御に戻り、ＫPがＫPの初期値ＫPOを超えた場合には省エネモードを終了する。 In the energy saving mode, the proportional gain K P is gradually reduced as shown in FIG. In this embodiment, if the rotational speed fluctuation and the torque fluctuation are within a predetermined range, the control is performed by multiplying the previous gain K P by 0.9 to obtain the current proportional gain K P. When at least one of them exceeds a predetermined range, control is performed by dividing the previous gain K P by 0.9 to obtain the current proportional gain K P, and both the rotational speed fluctuation and torque fluctuation exceed the predetermined range. If there is no return to the control gradually decreases the proportional gain K P again, when K P exceeds the initial value K PO of K P terminates the power saving mode.

図３では、回転数変動とトルク変動の少なくとも一方が所定の範囲を超えない範囲で、比例ゲインＫPを徐々に小さくしていく方式としたが、省エネモードにおける比例ゲインＫPの値を通常制御のままとし、比例項ＫP（ｎr−ｎ）の変化幅を縮小或いは拡大させ制御することも可能である。 In FIG. 3, the proportional gain K P is gradually reduced within a range in which at least one of the rotational speed fluctuation and torque fluctuation does not exceed the predetermined range. However, the value of the proportional gain K P in the energy saving mode is normally set. It is also possible to control by reducing or expanding the change width of the proportional term K P (n r −n) while maintaining the control.

そして、省エネモードが終了したならば再び図２に戻り、回転数とトルクを測定し、回転数変動またはトルク変動の少なくとも一方が所定値よりも小さければ、再度外乱の有無および周期性外乱か否かを判断し、外乱が無ければ通常のＰＩＤ制御を行い、周期性外乱と判断した場合には省エネモードに移行する。   Then, when the energy saving mode is completed, the process returns to FIG. 2 again, and the rotational speed and torque are measured. If at least one of the rotational speed fluctuation or torque fluctuation is smaller than the predetermined value, the presence / absence of the disturbance and the periodic disturbance again. If there is no disturbance, normal PID control is performed. If it is determined that the disturbance is periodic, the process shifts to the energy saving mode.

また回転数変動及びトルク変動の両方が所定値よりも大きい場合には荒天航行モードに移行する。この荒天航行モードではオーバースピード及びオーバーロードを避けるため、目標回転数を下げ、許容される運転条件で運転する。   Further, when both the rotational speed fluctuation and the torque fluctuation are larger than the predetermined value, the stormy weather navigation mode is entered. In this stormy navigation mode, in order to avoid overspeed and overload, the target rotational speed is lowered and the vehicle is operated under allowable operating conditions.

荒天航行モードでは一定間隔ごとに回転数変動とトルク変動を測定し、これら回転数変動またはトルク変動が所定値以下となった場合には、外乱が周期性か否かを判断し、周期性と判断した場合には省エネモードで運転し、周期性でないと判断した場合にはＫP値が高い通常の制御に戻る。 In the stormy weather navigation mode, the rotational speed fluctuation and torque fluctuation are measured at regular intervals, and when the rotational speed fluctuation or torque fluctuation is below a predetermined value, it is determined whether the disturbance is periodic or not. When it is determined, the operation is performed in the energy saving mode, and when it is determined that it is not periodic, the control returns to the normal control with a high K P value.

図４は周期性外乱時の運転時間と回転数を示すグラフであり、（ａ）は従来の制御方法を適用した場合、（ｂ）は本発明の制御方法を適用した場合を示す。
この図４から比例ゲインＫPを高く設定した従来法は、比例ゲインＫPを低く設定した本発明方法での制御よりも回転数の変動幅が小さいことが分かる。 FIG. 4 is a graph showing the operation time and the number of rotations at the time of periodic disturbance. (A) shows the case where the conventional control method is applied, and (b) shows the case where the control method of the present invention is applied.
The 4 conventional method set high proportional gain K P from, it can be seen that the fluctuation range of the rotational speed than the control of the present invention method set low proportional gain K P is small.

一方、図５は図４と同時に行った周期性外乱時の運転時間と燃料噴射量を示すグラフであり、（ａ）は従来の制御方法を適用した場合、（ｂ）は本発明の制御方法を適用した場合を示す。
この図５から比例ゲインＫPを高く設定した従来法は、比例ゲインＫPを低く設定した本発明方法での制御よりも１回の燃料噴射量の上下の幅が大きくしかも変化の中心が上方ずれていることが分かる。 On the other hand, FIG. 5 is a graph showing the operation time and fuel injection amount at the time of the periodic disturbance performed simultaneously with FIG. 4, where (a) shows the case where the conventional control method is applied, and (b) shows the control method of the present invention. The case where is applied is shown.
The 5 conventional method set high proportional gain K P from the proportional gain K 1 times the vertical width is increased moreover the center of a change in the fuel injection amount than the control of the P in the present invention method set low is above You can see that it is shifted.

また、以下の表１はトルク変動が１０〜２５％の範囲での、比例ゲインＫPを高く設定した従来法と比例ゲインＫPを低く設定した本発明方法の燃料節約％を比較したものである。 Further, Table 1 below in which the torque variation in the range 10 to 25%, compared with the fuel savings% of the proportional gain K P to set high the conventional method and the proportional gain K invention method P was set lower is there.

Figure 2018066350
Figure 2018066350

図５の燃料噴射量はトルクと同等であり、このことからプロペラトルクの変動幅が大きいほど、比例ゲインＫPを低く設定した本発明方法の方が燃費向上に有利であることが分かる。 The fuel injection amount in FIG. 5 is equivalent to the torque. From this, it can be understood that the method of the present invention in which the proportional gain K P is set lower is more advantageous as the fluctuation range of the propeller torque is larger.

即ち、比例ゲインＫPを低く設定することで過剰な燃料供給を抑制することができ、これによって不完全燃焼が防止され、その結果燃費向上が達成できる。 That is, by setting the proportional gain K P low, it is possible to suppress excessive fuel supply, thereby preventing incomplete combustion and consequently improving fuel consumption.

本発明に係る舶用エンジンの回転数制御方法は、電気式或は機械式のガバナを備えた船舶であれば、商船やフェリーに限らず漁船などあらゆる船舶に適用することが可能である。   The marine engine speed control method according to the present invention can be applied to all ships such as fishing boats as well as merchant ships and ferries as long as they are equipped with electric or mechanical governors.

Claims (3)

ガバナによって燃料噴射量を制御する舶用エンジンの回転数制御方法において、船体のピッチングの大きさに基づき航行時の外乱が周期性か否かを判断し、外乱が小さく周期性でもないと判断した場合には応答性を重視した比例ゲインを有する制御方式によって回転数が目標回転数になるように制御し、外乱が周期性であると判断した場合には、比例ゲインを操作し許容される回転数変動及びトルク変動の範囲で制御を行うことを特徴とする舶用エンジンの回転数制御方法。   In the marine engine speed control method that controls the fuel injection amount by the governor, when judging whether or not the disturbance during navigation is periodic based on the size of the pitching of the hull, it is determined that the disturbance is small and not periodic Is controlled so that the rotation speed becomes the target rotation speed by a control method having proportional gain with emphasis on responsiveness, and when it is determined that the disturbance is periodic, the rotation speed allowed by operating the proportional gain A marine engine speed control method, wherein control is performed within a range of fluctuation and torque fluctuation. ガバナによって燃料噴射量を制御する舶用エンジンの回転数制御方法において、船体のピッチングの大きさに基づき航行時の外乱が周期性か否かを判断し、外乱が小さく周期性でもないと判断した場合には応答性を重視した比例項を有する制御方式によって回転数が目標回転数になるように制御し、外乱が周期性であると判断した場合には、前記制御方式における比例項の変動幅よりも狭い値を周期性外乱時の比例項の変動幅と定めて制御を行うことを特徴とする舶用エンジンの回転数制御方法。   In the marine engine speed control method that controls the fuel injection amount by the governor, when judging whether or not the disturbance during navigation is periodic based on the size of the pitching of the hull, it is determined that the disturbance is small and not periodic Is controlled so that the rotational speed becomes the target rotational speed by a control method having a proportional term that emphasizes responsiveness, and if it is determined that the disturbance is periodic, the fluctuation range of the proportional term in the control method is The marine engine speed control method is characterized in that control is performed by setting a narrow value as the fluctuation range of the proportional term during periodic disturbance. 請求項１または２に記載の舶用エンジンの回転数制御方法において、前記ガバナは電気式または機械式制御回路を備えることを特徴とする舶用エンジンの回転数制御方法。   3. The marine engine speed control method according to claim 1, wherein the governor comprises an electric or mechanical control circuit.
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CN109334894A (en) * 2018-11-02 2019-02-15 中国船舶重工集团公司第七0三研究所 A kind of marine intelligent type digital governor
CN113137311A (en) * 2020-01-16 2021-07-20 纳博特斯克有限公司 Fuel supply control device, fuel supply control method, and recording medium
KR20230021600A (en) 2021-08-05 2023-02-14 나부테스코 가부시키가이샤 Main machine control device, control method for main machine control device, control program for main machine control device
US11904988B2 (en) 2020-12-08 2024-02-20 Yamaha Hatsudoki Kabushiki Kaisha Watercraft

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CN109334894A (en) * 2018-11-02 2019-02-15 中国船舶重工集团公司第七0三研究所 A kind of marine intelligent type digital governor
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CN113137311A (en) * 2020-01-16 2021-07-20 纳博特斯克有限公司 Fuel supply control device, fuel supply control method, and recording medium
US11904988B2 (en) 2020-12-08 2024-02-20 Yamaha Hatsudoki Kabushiki Kaisha Watercraft
KR20230021600A (en) 2021-08-05 2023-02-14 나부테스코 가부시키가이샤 Main machine control device, control method for main machine control device, control program for main machine control device

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