JP4888867B2 - Marine engine governor control device and control method - Google Patents

Marine engine governor control device and control method Download PDF

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JP4888867B2
JP4888867B2 JP2009160279A JP2009160279A JP4888867B2 JP 4888867 B2 JP4888867 B2 JP 4888867B2 JP 2009160279 A JP2009160279 A JP 2009160279A JP 2009160279 A JP2009160279 A JP 2009160279A JP 4888867 B2 JP4888867 B2 JP 4888867B2
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rotational speed
rolling
hull
speed
actual
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JP2011011726A (en
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一郎 田中
一孝 島田
秀則 山本
亮 光藤
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Mitsui Engineering and Shipbuilding Co Ltd
Mitsui E&S Holdings Co Ltd
Mitsui Zosen Systems Research Inc
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Mitsui Engineering and Shipbuilding Co Ltd
Mitsui E&S Holdings Co Ltd
Mitsui Zosen Systems Research Inc
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Priority to JP2009160279A priority Critical patent/JP4888867B2/en
Priority to KR1020127000127A priority patent/KR20120024932A/en
Priority to TW099122126A priority patent/TW201105546A/en
Priority to CN2010800272186A priority patent/CN102470914B/en
Priority to PCT/JP2010/061461 priority patent/WO2011004813A1/en
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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
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1497—With detection of the mechanical response of the engine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/22—Use of propulsion power plant or units on vessels the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridge; Arrangements of order telegraphs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/04—Introducing corrections for particular operating conditions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D45/00—Electrical control not provided for in groups F02D41/00 - F02D43/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1409—Introducing closed-loop corrections characterised by the control or regulation method using at least a proportional, integral or derivative controller
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
    • F02D2200/501—Vehicle speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
    • F02D31/001—Electric control of rotation speed

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Ocean & Marine Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)

Description

本発明は、舶用エンジンのガバナ制御装置に関する。   The present invention relates to a marine engine governor control device.

舶用エンジンの制御では、設定された目標回転速度と実回転速度の差がなくなるようにＰＩＤ制御が行われる。また、荒天時などの外乱によるプロペラ回転速度の変動を予測してＰＩＤ制御のゲインを変更する構成も提案されている（特許文献１）。   In the marine engine control, PID control is performed so that the difference between the set target rotational speed and the actual rotational speed is eliminated. In addition, a configuration has been proposed in which the gain of PID control is changed by predicting fluctuations in the rotation speed of the propeller due to disturbance such as during stormy weather (Patent Document 1).

特開平８−２００１３１号公報Japanese Patent Laid-Open No. 8-200231

しかし、舶用エンジンのガバナ制御は、主機の回転を目標回転速度に維持する制御を行っているため、海象の影響により船体がローリングしている場合、主機の回転が目標回転速度に維持されても、プロペラの対水回転速度は一定とはならない。すなわち、船体がプロペラ回転方向にローリングする場合には、プロペラの対水回転速度は船体ローリングによる回転分速くなり、船体がプロペラ回転方向とは逆方向にローリングする場合には、プロペラの対水回転速度は、船体ローリングによる回転分遅くなる。   However, since the governor control of the marine engine performs control to maintain the rotation of the main engine at the target rotation speed, even if the hull is rolling due to the influence of sea conditions, the rotation of the main engine is maintained at the target rotation speed. The rotation speed of the propeller against water is not constant. In other words, when the hull rolls in the direction of propeller rotation, the rotation speed of the propeller against water increases by the amount of rotation due to the hull rolling, and when the hull rolls in the direction opposite to the direction of rotation of the propeller, The speed is reduced by the amount of rotation due to hull rolling.

船体ローリングによる対水プロペラ回転速度の変動の最大値は、ローリング角度と、その周期に依存し、通常、毎分±数回転程のオーダとなる。例えば、１０秒周期のローリングにおいて、ローリング角度±１０度のとき、ローリングによる対水プロペラ回転速度の変動は、最大で約±１ｒｐｍとなる。プロペラ負荷は、回転速度の３乗に比例するため、例えば主機が１００ｒｐｍで運転中に、対水プロペラ回転速度に±１ｒｐｍ（１％）の変動があると、プロペラ負荷は、約±３％変動する。   The maximum value of the rotation speed of the water propeller due to the hull rolling depends on the rolling angle and its cycle, and is usually on the order of several rotations per minute. For example, in rolling with a period of 10 seconds, when the rolling angle is ± 10 degrees, the fluctuation of the rotational speed of the water propeller due to rolling is about ± 1 rpm at the maximum. Since the propeller load is proportional to the cube of the rotational speed, for example, if the main propeller is operating at 100 rpm and the water propeller rotational speed varies by ± 1 rpm (1%), the propeller load varies by approximately ± 3%. To do.

このような船体ローリングによる負荷変動の下、従来のように主機の回転速度を一定に維持しようとすると、ガバナ制御装置は、ローリングによる負荷変動に応じて燃料投入量を周期的に増減し、結果的に燃費の悪化を招く。   Under such load fluctuations caused by hull rolling, if the main engine speed is to be kept constant as in the past, the governor controller periodically increases or decreases the fuel input amount according to the load fluctuations caused by rolling. In particular, the fuel consumption is deteriorated.

本発明は、船体のローリングによる影響を考慮したガバナ制御を行い、燃費の改善を図ることを課題としている。   An object of the present invention is to improve the fuel consumption by performing governor control in consideration of the influence of rolling of the hull.

本発明の舶用エンジンのガバナ制御装置は、主機の実回転速度を検出する実回転速度検出手段と、船体ローリングの回転速度を検出するローリング速度検出手段とを備え、実回転速度と船体ローリングの回転速度に基づいて対水プロペラ回転速度を一定に維持することを特徴としている。   A governor control device for a marine engine according to the present invention comprises an actual rotational speed detecting means for detecting an actual rotational speed of a main engine and a rolling speed detecting means for detecting a rotational speed of a hull rolling, and the actual rotational speed and the rotation of the hull rolling. It is characterized in that the rotational speed of the water propeller is kept constant based on the speed.

ガバナ制御装置は、例えば実回転速度に船体ローリングの回転速度を加算してフィードバック制御を行う。   The governor control device performs feedback control by adding the rotational speed of the hull rolling to the actual rotational speed, for example.

また、ガバナ制御装置は、回転速度指令から船体ローリングの回転速度を差し引くことでガバナ制御を行う。この場合、従来のガバナ制御システムに大きな変更を加えることなく本発明に係る構成を付加することができる。   Further, the governor control device performs the governor control by subtracting the rotational speed of the hull rolling from the rotational speed command. In this case, the configuration according to the present invention can be added without greatly changing the conventional governor control system.

本発明の舶用エンジンのガバナ制御方法は、主機の実回転速度を検出するとともに、船体ローリングの回転速度を検出し、実回転速度と船体ローリングの回転速度に基づいて対水プロペラ回転速度を一定に維持することを特徴としている。   The governor control method for a marine engine according to the present invention detects the actual rotation speed of the main engine, detects the rotation speed of the hull rolling, and makes the rotation speed of the water propeller constant based on the actual rotation speed and the rotation speed of the hull rolling. It is characterized by maintaining.

ガバナ制御方法は、例えば実回転速度に船体ローリングの回転速度を加算してフィードバック制御を行う。   For example, the governor control method performs feedback control by adding the rotational speed of the hull rolling to the actual rotational speed.

また、ガバナ制御方法は、回転速度指令から船体ローリングの回転速度を差し引くことでガバナ制御を行う。   The governor control method performs the governor control by subtracting the rotation speed of the hull rolling from the rotation speed command.

本発明の船舶は、船体と、船体に搭載される主機と、主機に連結されるプロペラと、主機への燃料投入量を制御するガバナ制御装置とを備え、ガバナ制御装置が、主機の実回転速度を検出する実回転速度検出手段と、船体のローリングの回転速度を検出するローリング速度検出手段とを備え、実回転速度とローリングの回転速度に基づいてプロペラの対水回転速度が一定に維持されることを特徴としている。   The ship of the present invention includes a hull, a main engine mounted on the hull, a propeller coupled to the main engine, and a governor control device that controls the amount of fuel input to the main engine, and the governor control device is an actual rotation of the main engine. An actual rotation speed detection means for detecting the speed and a rolling speed detection means for detecting the rotation speed of the hull rolling are provided, and the rotation speed of the propeller with respect to water is maintained constant based on the actual rotation speed and the rotation speed of the rolling. It is characterized by that.

本発明によれば、船体のローリングによる影響を考慮したガバナ制御を行い、燃費の改善を図ることができる。   According to the present invention, it is possible to improve the fuel consumption by performing the governor control in consideration of the influence of the rolling of the hull.

第１実施形態である舶用エンジンのガバナ制御システムの構成を示すブロック線図である。It is a block diagram which shows the structure of the governor control system of the marine engine which is 1st Embodiment. 第２実施形態である舶用エンジンのガバナ制御システムの構成を示すブロック線図である。It is a block diagram which shows the structure of the governor control system of the marine engine which is 2nd Embodiment.

以下、本発明の実施形態について添付図面を参照して説明する。
図１は、本発明の第１実施形態である舶用エンジンのガバナ制御システムの構成を示すブロック線図である。 Embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a block diagram showing a configuration of a marine engine governor control system according to a first embodiment of the present invention.

舶用エンジンのガバナ制御システム１０は、主軸１１を介してプロペラ１２に連結される主機１３への燃料投入量を制御するものである。ガバナ制御システム１０は、回転速度指令を基準入力とし、主軸１１に設けられるターニングギア（図示せず）の回転を近接スイッチ等（図示せず）を用いてモニタしてエンジン実回転速度検出ブロック１４においてエンジン実回転速度を検出する。検出されたエンジン実回転速度は、従来入力側へとそのままフィードバックされ、回転速度指令とエンジン実回転速度の差分がＰＩＤ制御ブロック１５へ入力されて主機１３への燃料投入量が制御される。   The marine engine governor control system 10 controls the amount of fuel input to the main engine 13 connected to the propeller 12 via the main shaft 11. The governor control system 10 uses the rotational speed command as a reference input, monitors the rotation of a turning gear (not shown) provided on the spindle 11 using a proximity switch or the like (not shown), and detects the actual engine rotational speed detection block 14. The actual engine speed is detected at. The detected actual engine speed is directly fed back to the conventional input side, and the difference between the engine speed command and the actual engine speed is input to the PID control block 15 to control the amount of fuel input to the main engine 13.

しかし、本実施形態のガバナ制御システム１０では、船体ローリング検出ブロック１６において、ロールレートセンサ（図示せず）から船体の回転速度に対応する信号を取得し、この信号に基づき、変動回転速度検出ブロック１７において、ローリングによる船体の回転速度、すなわち船体の対水回転速度に対応する変動回転速度が計算される。 However, in the governor control system 10 of the present embodiment, the hull rolling detection block 16 acquires a signal corresponding to the rotation speed of the hull from a roll rate sensor (not shown), and based on this signal, the fluctuation rotation speed detection block At 17, the rotational speed of the hull due to rolling, that is, the variable rotational speed corresponding to the rotational speed of the ship against water is calculated.

変動回転速度は、エンジン実回転速度検出ブロック１４で検出されたエンジン実回転速度に加算され、変動回転速度により修正されたエンジン実回転速度が入力側へとフィードバックされる。すなわち、第１実施形態では、回転速度指令と対水プロペラ回転速度との差分に対応する値がＰＩＤ制御ブロック１５に入力され、燃料投入量のＰＩＤ演算が行われる。   The variable rotational speed is added to the engine actual rotational speed detected by the engine actual rotational speed detection block 14, and the engine actual rotational speed corrected by the variable rotational speed is fed back to the input side. That is, in the first embodiment, a value corresponding to the difference between the rotation speed command and the water propeller rotation speed is input to the PID control block 15 and the fuel injection amount PID calculation is performed.

以上の構成により、第１実施形態では、フィードバックされるエンジン実回転速度がローリングの回転速度により修正され、対水プロペラ回転速度を一定にするＰＩＤ制御が行われることとなる。これにより、ガバナ制御装置は対水プロペラ回転速度を一定にする主機の調速制御を行い、位相遅れを防止して船体ローリングにともなう無駄な燃料投入を防止する。これにより、本実施形態のガバナ制御システムでは燃費が改善される。   With the above configuration, in the first embodiment, the feedback actual engine rotation speed is corrected by the rolling rotation speed, and PID control is performed to keep the rotation speed of the water propeller constant. As a result, the governor control device controls the speed of the main engine to keep the rotational speed of the water propeller constant, thereby preventing phase lag and preventing wasteful fuel input due to hull rolling. Thereby, in the governor control system of this embodiment, a fuel consumption is improved.

次に図２を参照して第２実施形態の舶用エンジンのガバナ制御について説明する。図２は、本発明の第２実施形態である舶用エンジンのガバナ制御システムの構成を示すブロック線図である。   Next, the governor control of the marine engine of the second embodiment will be described with reference to FIG. FIG. 2 is a block diagram showing a configuration of a marine engine governor control system according to a second embodiment of the present invention.

第１実施形態では、変動回転速度により修正されたエンジン実回転速度を入力側へとフィードバックしたが、第２実施形態のガバナ制御システム２０では、エンジン実回転速度は、従来と同様に入力側へそのままフィードバックされ、回転速度指令に変動回転速度による修正を加えている。なお、それ以外の構成については、第１実施形態と同様である。   In the first embodiment, the actual engine speed corrected by the variable engine speed is fed back to the input side. However, in the governor control system 20 of the second embodiment, the actual engine speed is input to the input side as in the conventional case. It is fed back as it is, and the rotational speed command is corrected by the variable rotational speed. Other configurations are the same as those in the first embodiment.

すなわち、第２実施形態では、第１実施形態と同様に、船体ローリング検出ブロック１６および変動回転速度検出ブロック１７において、ロールレートセンサからの信号に基づいて船体ローリングの回転速度である変動回転速度が算出される。しかし、第２実施形態では、第１実施形態とは異なり、変動回転速度を回転速度指令から差引き、これにエンジン実回転速度検出ブロック１４からのエンジン実回転速度を負帰還して、ＰＩＤ制御ブロック１５へ入力し、主機１３の燃料投入量のＰＩＤ制御を行う。   That is, in the second embodiment, similarly to the first embodiment, in the hull rolling detection block 16 and the fluctuating rotation speed detection block 17, the fluctuating rotation speed that is the rotation speed of the hull rolling is determined based on the signal from the roll rate sensor. Calculated. However, in the second embodiment, unlike the first embodiment, the variable rotational speed is subtracted from the rotational speed command, and the engine actual rotational speed from the engine actual rotational speed detection block 14 is negatively fed back to this to perform PID control. Input to the block 15 to perform PID control of the fuel input amount of the main engine 13.

以上のように、第２実施形態の構成においても第１実施形態と同様の効果を得ることができる。また、第２実施形態では、船体ローリングの影響を、回転速度指令を修正する形で制御システムに取り入れているため、従来のガバナ制御装置に大きな変更を加えることなく本発明を適用することができる。   As described above, the same effects as those of the first embodiment can be obtained in the configuration of the second embodiment. Further, in the second embodiment, the effect of hull rolling is incorporated into the control system by correcting the rotational speed command, so that the present invention can be applied without greatly changing the conventional governor control device. .

なお本発明は、±１ｒｐｍ程度の変動の影響が大きい低速大型機関に特に有効であり、ロングストローク、低回転の大型機関を搭載した船舶において特に有用である。   The present invention is particularly effective for a low-speed large engine that is greatly affected by fluctuations of about ± 1 rpm, and is particularly useful for a ship equipped with a long-stroke, low-rotation large engine.

また、制御方法についてはＰＩＤ制御に限らず、現代制御理論、適用制御、学習制御等にも適用可能である。   Further, the control method is not limited to PID control but can be applied to modern control theory, application control, learning control, and the like.

１０ 舶用エンジンのガバナ制御システム
１１ 主軸
１２ プロペラ
１３ 主機
１４ エンジン実回転速度検出ブロック
１５ ＰＩＤ制御ブロック
１６ 船体ローリング検出ブロック
１７ 変動回転速度計算ブロック DESCRIPTION OF SYMBOLS 10 Marine engine governor control system 11 Main shaft 12 Propeller 13 Main engine 14 Engine actual rotational speed detection block 15 PID control block 16 Hull rolling detection block 17 Fluctuating rotational speed calculation block

Claims (7)

主機の実回転速度を検出する実回転速度検出手段と、船体ローリングの回転速度を検出するローリング速度検出手段とを備え、前記実回転速度と前記船体ローリングの回転速度に基づいて対水プロペラ回転速度を一定に維持することを特徴とする舶用エンジンのガバナ制御装置。   An actual rotation speed detecting means for detecting an actual rotation speed of the main engine, and a rolling speed detection means for detecting the rotation speed of the hull rolling, and the rotation speed against the water propeller based on the actual rotation speed and the rotation speed of the hull rolling. A marine engine governor control device characterized by maintaining a constant value. 前記実回転速度に前記船体ローリングの回転速度を加算してフィードバック制御を行うことを特徴とする請求項１に記載の舶用エンジンのガバナ制御装置。   The governor control device for a marine engine according to claim 1, wherein feedback control is performed by adding the rotational speed of the hull rolling to the actual rotational speed. 回転速度指令から前記船体ローリングの回転速度を差し引くことを特徴とする請求項１に記載の舶用エンジンのガバナ制御装置。   The governor control device for a marine engine according to claim 1, wherein a rotational speed of the hull rolling is subtracted from a rotational speed command. 主機の実回転速度を検出するとともに、船体ローリングの回転速度を検出し、前記実回転速度と前記船体ローリングの回転速度に基づいて対水プロペラ回転速度を一定に維持することを特徴とする舶用エンジンのガバナ制御方法。   A marine engine characterized by detecting an actual rotational speed of a main engine, detecting a rotational speed of a hull rolling, and maintaining a constant water propeller rotational speed based on the actual rotational speed and the rotational speed of the hull rolling. Governor control method. 前記実回転速度に前記船体ローリングの回転速度を加算してフィードバック制御を行うことを特徴とする請求項４に記載の舶用エンジンのガバナ制御方法。   5. The governor control method for a marine engine according to claim 4, wherein feedback control is performed by adding the rotational speed of the hull rolling to the actual rotational speed. 回転速度指令から前記船体ローリングの回転速度を差し引くことを特徴とする請求項４に記載の舶用エンジンのガバナ制御方法。   5. The governor control method for a marine engine according to claim 4, wherein a rotational speed of the hull rolling is subtracted from a rotational speed command. 船体と、前記船体に搭載される主機と、前記主機に連結されるプロペラと、前記主機への燃料投入量を制御するガバナ制御装置とを備え、前記ガバナ制御装置が、前記主機の実回転速度を検出する実回転速度検出手段と、前記船体のローリングの回転速度を検出するローリング速度検出手段とを備え、前記実回転速度と前記ローリングの回転速度に基づいて前記プロペラの対水回転速度を一定に維持することを特徴とする船舶。
A hull, a main machine mounted on the hull, a propeller coupled to the main machine, and a governor control device for controlling a fuel input amount to the main machine, wherein the governor control device is an actual rotational speed of the main machine. An actual rotational speed detecting means for detecting the rolling speed and a rolling speed detecting means for detecting the rolling rotational speed of the hull. A ship characterized in that it is maintained at.
JP2009160279A 2009-07-06 2009-07-06 Marine engine governor control device and control method Expired - Fee Related JP4888867B2 (en)

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JP2009160279A JP4888867B2 (en) 2009-07-06 2009-07-06 Marine engine governor control device and control method
KR1020127000127A KR20120024932A (en) 2009-07-06 2010-07-06 Governor control device and method for marine engines
TW099122126A TW201105546A (en) 2009-07-06 2010-07-06 Governor control device and method for marine engines
CN2010800272186A CN102470914B (en) 2009-07-06 2010-07-06 Governor control device and method for marine engines
PCT/JP2010/061461 WO2011004813A1 (en) 2009-07-06 2010-07-06 Governor control device and method for marine engines

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