JPH08200131A - Load fluctuation control unit of electronic governor for marine use - Google Patents
Load fluctuation control unit of electronic governor for marine useInfo
- Publication number
- JPH08200131A JPH08200131A JP7028868A JP2886895A JPH08200131A JP H08200131 A JPH08200131 A JP H08200131A JP 7028868 A JP7028868 A JP 7028868A JP 2886895 A JP2886895 A JP 2886895A JP H08200131 A JPH08200131 A JP H08200131A
- Authority
- JP
- Japan
- Prior art keywords
- rotation speed
- electronic governor
- controller
- engine
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Feedback Control In General (AREA)
- Control Of Velocity Or Acceleration (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は船舶用電子ガバナ制御装
置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ship electronic governor control device.
【０００２】[0002]
【従来の技術】従来の電子ガバナ装置は回転数指令値に
実回転数が等しくなるようにする比例積分微分（ＰＩ
Ｄ）制御でそのＰＩＤパラメータは固定である。図２は
従来の電子ガバナ装置のブロック図である。図において
１は指令回転数、２は実回転数、３は指令回転数１に対
する実回転数２の偏差である。前記偏差をコントローラ
４に入力してＰＩＤ演算しコントローラ４の出力５をサ
ーボアンプ６へ入力し、その出力でアクチュエータ７を
制御しアクチュエータ出力８により主機関９の燃料供給
量を調整し、実回転数２がきまる。外乱により実回転数
２が急変した場合コントローラ４はＰＩＤ演算を行い前
記の経路でフィードバック制御を行う。コントローラ４
のパラメータは一定である。2. Description of the Related Art In a conventional electronic governor device, a proportional-integral-derivative (PI) that makes an actual rotation speed equal to a rotation speed command value is provided.
D) In control, the PID parameter is fixed. FIG. 2 is a block diagram of a conventional electronic governor device. In the figure, 1 is the command rotation speed, 2 is the actual rotation speed, and 3 is the deviation of the actual rotation speed 2 from the command rotation speed 1. The deviation is input to the controller 4, the PID is calculated, the output 5 of the controller 4 is input to the servo amplifier 6, the actuator 7 is controlled by the output, and the fuel supply amount of the main engine 9 is adjusted by the actuator output 8 to realize the actual rotation. Number 2 is fixed. When the actual rotation speed 2 suddenly changes due to a disturbance, the controller 4 performs a PID calculation and performs feedback control through the above path. Controller 4
Parameters are constant.
【０００３】[0003]
【発明が解決しようとする課題】舶用機関で駆動される
プロペラは通常水中にあるため十分な負荷を受けている
が、荒天時等にはプロペラが海面からとび出し機関の負
荷は急激に軽くなり、回転数が急上昇しオーバスピード
になり、機関の故障発生の危険がある。この現象を早期
に検知し即座に燃料供給量を制御し回転数の急上昇を防
止するには従来の回転数コントローラは実回転数に対し
固定の制御パラメータで行うため十分な応答性能が得ら
れなかった。A propeller driven by a marine engine is usually under water, so it receives a sufficient load. However, in stormy weather, the propeller jumps out of the sea surface and the load on the engine suddenly decreases. , There is a danger of engine failure due to sudden increase in rotation speed and overspeed. In order to detect this phenomenon at an early stage and immediately control the fuel supply amount to prevent a sudden increase in the rotation speed, the conventional rotation speed controller does not have sufficient response performance because it uses fixed control parameters for the actual rotation speed. It was
【０００４】本発明の目的は外乱によるプロペラ回転数
の変動を予測しそれに応じてＰＩＤパラメータを変更す
ることにより安定した機関回転を保ち得る舶用電子ガバ
ナの負荷変動制御器を提供するにある。An object of the present invention is to provide a load variation controller for a marine electronic governor which can maintain stable engine rotation by predicting a change in propeller speed due to disturbance and changing a PID parameter accordingly.
【０００５】[0005]
【課題を解決するための手段】本発明の舶用電子ガバナ
の負荷変動制御器は船舶用主機関の電子ガバナ装置にお
いて、制御装置内部に設けられた主機のシミュレーショ
ンモデルと、前記シミュレーションモデルにより現在の
回転数とアクチュエータ出力とから予測される回転数と
指令回転数とからＰＩＤパラメータを自動的に変更する
コントローラとを有することを特徴としている。A load variation controller for an electronic governor for a ship according to the present invention is an electronic governor device for a main engine for a ship, wherein a simulation model of the main engine provided inside the controller and the current simulation model are used. It is characterized by having a controller for automatically changing the PID parameter from the rotation speed predicted from the rotation speed and the actuator output and the command rotation speed.
【０００６】[0006]
【作用】実回転数の変化率から負荷を予測し、その負荷
とアクチュエータ出力から機関のシミュレーションモデ
ルにより機関回転数の変化の予測をつける。その予測回
転数と指令回転数からＰＩＤ制御パラメータを計算しそ
のパラメータにより制御を行う。前記により広い回転領
域負荷領域に対して安定した制御を行うことができる。The load is predicted from the rate of change of the actual speed, and the change of the engine speed is predicted from the load and the actuator output by a simulation model of the engine. A PID control parameter is calculated from the predicted rotation speed and the command rotation speed, and control is performed using the parameter. It is possible to perform stable control over a wider rotation range load range.
【０００７】[0007]
【実施例】本発明に係る第１実施例を図１によって説明
する。図１は本発明に係る第１実施例の制御ブロック図
である。図において１は指令回転数、２は実回転数でそ
の偏差３がコントローラ４０に入力される。コントロー
ラ出力５がサーボアンプ６に入力される。サーボアンプ
６の出力をアクチュエータ７に入力しアクチュエータ出
力８により主機関９の燃料供給量を調整しこれにより実
回転数２がきまる。実回転数２とアクチュエータ出力８
がエンジンシミュレータ１０に入力されエンジンシミュ
レータ１０の予測回転数１１と指令回転数１との差がコ
ントローラ４０に入力され最適なＰＩＤパラメータが求
められる。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment according to the present invention will be described with reference to FIG. FIG. 1 is a control block diagram of a first embodiment according to the present invention. In the figure, 1 is a command rotational speed, 2 is an actual rotational speed, and a deviation 3 thereof is input to the controller 40. The controller output 5 is input to the servo amplifier 6. The output of the servo amplifier 6 is input to the actuator 7, and the actuator output 8 adjusts the fuel supply amount of the main engine 9 to determine the actual rotational speed 2. Actual speed 2 and actuator output 8
Is input to the engine simulator 10, the difference between the predicted rotation speed 11 of the engine simulator 10 and the command rotation speed 1 is input to the controller 40, and the optimum PID parameter is obtained.
【０００８】前記第１実施例の作用を説明する。指令回
転数１と実回転数２との偏差３がサーボアンプ６を経て
アクチュエータ７に入力されアクチュエータ出力８で主
機関９の燃料供給量を調整することにより実回転数２が
きまる。実回転数２とアクチュエータ出力８からエンジ
ンシミュレータ１０により実回転数変化より速く予測回
転数１１を計算しその予測回転数１１と指令回転数１と
の差とからコントローラ４０は最適なＰＩＤパラメータ
を求めその値を使ってコントローラ４０でＰＩＤ制御を
行う。The operation of the first embodiment will be described. The deviation 3 between the command rotation speed 1 and the actual rotation speed 2 is input to the actuator 7 via the servo amplifier 6, and the actuator output 8 adjusts the fuel supply amount of the main engine 9 to determine the actual rotation speed 2. The engine speed is calculated from the actual speed 2 and the actuator output 8 by the engine simulator 10 faster than the actual speed change, and the controller 40 obtains the optimum PID parameter from the difference between the predicted speed 11 and the commanded speed 1. The controller 40 performs PID control using the value.
【０００９】[0009]
【発明の効果】本発明は外乱による回転数を予測してそ
れに応じたＰＩＤ制御パラメータを設定することにより
広い負荷範囲で安定した制御ができる。According to the present invention, stable control can be performed in a wide load range by predicting the rotation speed due to disturbance and setting the PID control parameter according to the prediction.
【図１】本発明に係る第１実施例のブロック図。FIG. 1 is a block diagram of a first embodiment according to the present invention.
【図２】従来例の電子ガバナ装置のブロック図。FIG. 2 is a block diagram of a conventional electronic governor device.
１…指令回転数、２…実回転数、３…偏差、５…コント
ローラ出力、６…サーボアンプ、７…アクチュエータ、
８…アクチュエータ出力、９…主機関、１０…エンジン
シミュレータ、１１…予測回転数、４０…コントロー
ラ。1 ... Command rotation speed, 2 ... Actual rotation speed, 3 ... Deviation, 5 ... Controller output, 6 ... Servo amplifier, 7 ... Actuator,
8 ... Actuator output, 9 ... Main engine, 10 ... Engine simulator, 11 ... Predicted rotation speed, 40 ... Controller.
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 庁内整理番号 ＦＩ 技術表示箇所 Ｇ０５Ｂ 13/04 9131−3Ｈ Ｇ０５Ｄ 13/62 Ｅ ─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. 6 Identification code Internal reference number FI Technical display location G05B 13/04 9131-3H G05D 13/62 E
Claims (1)
て、制御装置内部に設けられた主機のシミュレーション
モデル（１０）と、前記シミュレーションモデルにより
現在の回転数（２）とアクチュエータ出力（８）とから
予測された回転数（１１）と指令回転数（１）とからＰ
ＩＤパラメータを自動的に変更するコントローラ（４
０）とを有することを特徴とする舶用電子ガバナの負荷
変動制御器。1. An electronic governor device for a marine main engine, comprising a main machine simulation model (10) provided inside a control device, and a current rotational speed (2) and an actuator output (8) according to the simulation model. From the predicted rotation speed (11) and the command rotation speed (1), P
Controller that automatically changes ID parameters (4
0) and a load variation controller for a marine electronic governor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7028868A JPH08200131A (en) | 1995-01-26 | 1995-01-26 | Load fluctuation control unit of electronic governor for marine use |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7028868A JPH08200131A (en) | 1995-01-26 | 1995-01-26 | Load fluctuation control unit of electronic governor for marine use |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08200131A true JPH08200131A (en) | 1996-08-06 |
Family
ID=12260364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7028868A Withdrawn JPH08200131A (en) | 1995-01-26 | 1995-01-26 | Load fluctuation control unit of electronic governor for marine use |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08200131A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2006049252A1 (en) * | 2004-11-04 | 2008-05-29 | 国立大学法人東京海洋大学 | Fuel injection control method and apparatus for marine diesel engines |
| JP2009036180A (en) * | 2007-08-03 | 2009-02-19 | Yanmar Co Ltd | Engine rotation speed control device |
| JP2010235049A (en) * | 2009-03-31 | 2010-10-21 | Mitsui Eng & Shipbuild Co Ltd | Marine power system |
| WO2010150349A1 (en) | 2009-06-23 | 2010-12-29 | 日本郵船株式会社 | Control method and controller of marine engine |
| WO2011122375A1 (en) * | 2010-03-31 | 2011-10-06 | 三井造船株式会社 | Marine engine control device and method |
| WO2011125464A1 (en) * | 2010-03-31 | 2011-10-13 | 三井造船株式会社 | Engine control device and method |
| WO2012043055A1 (en) * | 2010-09-30 | 2012-04-05 | 三井造船株式会社 | Ship engine control device and ship engine control method |
| JP2012091786A (en) * | 2011-12-26 | 2012-05-17 | Mitsui Eng & Shipbuild Co Ltd | Device and method of controlling marine engine |
| TWI409384B (en) * | 2010-03-31 | 2013-09-21 | Mitsui Shipbuilding Eng | Control device and method for ship engine |
| EP2371703A4 (en) * | 2008-12-25 | 2015-12-02 | Mitsubishi Heavy Ind Ltd | Controller for ship equipped with thermal discharge recovery system and the ship equipped with the controller |
| CN106976541A (en) * | 2016-01-17 | 2017-07-25 | 哈尔滨工业大学（威海） | The anti-overwinding control strategy of watercraft electric propulsion system under a kind of non-orderly sea |
| JP2018066350A (en) * | 2016-10-21 | 2018-04-26 | テンアイズ株式会社 | Marine engine rotation speed control method |
| JP2019019783A (en) * | 2017-07-19 | 2019-02-07 | 国立研究開発法人 海上・港湾・航空技術研究所 | Engine control method, engine control program and engine controller using engine state observation instrument |
| JP2020186730A (en) * | 2020-08-13 | 2020-11-19 | 国立研究開発法人 海上・港湾・航空技術研究所 | Engine control method, engine control program, and engine control device using engine state observation device |
-
1995
- 1995-01-26 JP JP7028868A patent/JPH08200131A/en not_active Withdrawn
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2006049252A1 (en) * | 2004-11-04 | 2008-05-29 | 国立大学法人東京海洋大学 | Fuel injection control method and apparatus for marine diesel engines |
| JP2009036180A (en) * | 2007-08-03 | 2009-02-19 | Yanmar Co Ltd | Engine rotation speed control device |
| EP2371703A4 (en) * | 2008-12-25 | 2015-12-02 | Mitsubishi Heavy Ind Ltd | Controller for ship equipped with thermal discharge recovery system and the ship equipped with the controller |
| JP2010235049A (en) * | 2009-03-31 | 2010-10-21 | Mitsui Eng & Shipbuild Co Ltd | Marine power system |
| TWI419815B (en) * | 2009-03-31 | 2013-12-21 | Mitsui Shipbuilding Eng | Power system for ships |
| WO2010150349A1 (en) | 2009-06-23 | 2010-12-29 | 日本郵船株式会社 | Control method and controller of marine engine |
| TWI409384B (en) * | 2010-03-31 | 2013-09-21 | Mitsui Shipbuilding Eng | Control device and method for ship engine |
| KR101301023B1 (en) * | 2010-03-31 | 2013-08-29 | 미쯔이 죠센 가부시키가이샤 | Marine engine control device and method |
| WO2011122375A1 (en) * | 2010-03-31 | 2011-10-06 | 三井造船株式会社 | Marine engine control device and method |
| WO2011125464A1 (en) * | 2010-03-31 | 2011-10-13 | 三井造船株式会社 | Engine control device and method |
| JP2011214467A (en) * | 2010-03-31 | 2011-10-27 | Mitsui Eng & Shipbuild Co Ltd | Marine engine control device and method |
| CN102791997A (en) * | 2010-03-31 | 2012-11-21 | 三井造船株式会社 | Engine control device and method |
| CN102803693A (en) * | 2010-03-31 | 2012-11-28 | 三井造船株式会社 | Marine engine control device and method |
| JP2011214468A (en) * | 2010-03-31 | 2011-10-27 | Mitsui Eng & Shipbuild Co Ltd | Engine control device and method |
| CN102959216A (en) * | 2010-09-30 | 2013-03-06 | 三井造船株式会社 | Ship engine control device and ship engine control method |
| JP2012077648A (en) * | 2010-09-30 | 2012-04-19 | Mitsui Eng & Shipbuild Co Ltd | Vessel engine control device and vessel engine control method |
| WO2012043055A1 (en) * | 2010-09-30 | 2012-04-05 | 三井造船株式会社 | Ship engine control device and ship engine control method |
| JP2012091786A (en) * | 2011-12-26 | 2012-05-17 | Mitsui Eng & Shipbuild Co Ltd | Device and method of controlling marine engine |
| CN106976541A (en) * | 2016-01-17 | 2017-07-25 | 哈尔滨工业大学（威海） | The anti-overwinding control strategy of watercraft electric propulsion system under a kind of non-orderly sea |
| JP2018066350A (en) * | 2016-10-21 | 2018-04-26 | テンアイズ株式会社 | Marine engine rotation speed control method |
| JP2019019783A (en) * | 2017-07-19 | 2019-02-07 | 国立研究開発法人 海上・港湾・航空技術研究所 | Engine control method, engine control program and engine controller using engine state observation instrument |
| JP2020186730A (en) * | 2020-08-13 | 2020-11-19 | 国立研究開発法人 海上・港湾・航空技術研究所 | Engine control method, engine control program, and engine control device using engine state observation device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 20020402 |