JPS59153691A - Controller of marine main engine - Google Patents

Abstract

PURPOSE:To prevent a main engine from overspeed by sending a controller response improving signal to a PID controller on the bases of a hull motion signal, a revolution setting signal of the main engine and a revolution error signal indicating the error between said revolution setting signal and a revolution speed measuring signal of the main engine. CONSTITUTION:Receiving a hull motion signal from a hull motion detecting sensor 24, a revolution speed setting signal of a main engine from a revolution speed setter 1 and a revolution speed error signal from a subtracter 3, a hull motion processor 19 analyzes the magnitude and the frequency of hull's motion and feeds an instruction signal of improving controller's response to a gain compensating function generator 21 as a compensating means, an integration time compensating function generator 22 and a differentiation time compensating function generator 23. Each of the generators 21, 22 and 23 receives the instruction signal of improving the controller's response. Compensated values corresponding to the gain, integrated time and a differentiated time of a PID controller are sent from the generators to the PID controller 5.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for controlling the output of a marine main engine.

A conventional marine main engine control device is configured as shown in Fig. 1, where numeral 1 in Fig. 1 indicates a main engine rotational speed setting device, and 2 sends a setting output signal. wiring, 3
is the subtracter, 4 is the wiring that sends the rotation speed error signal, 5 is the PI
D controller, 6 is the wiring that sends the rotation speed control output, 7 is the function generator for overtorque prevention, 8 is the wiring that sends the overtorque prevention control output, 9 is the main (intershell scavenging pressure transmitter, 10 is the black smoke Prevention function generator, 11 is wiring for sending control output for black smoke prevention, 12 is minimum control output selector, 13 is wiring for sending final main engine speed control signal, 14 is main engine, 15 is propeller shaft, 16 is a rotation speed measuring device (tachometer), 17 is a wiring for transmitting the main sleeper rotation speed for feedback, and P is a propeller.

In such a conventional control device, the rotation speed feed bank governor circuit A has a rotation speed setting device 1. Subtractor 3. It is composed of a PID controller 5 and a tachometer 16.

Further, the overtorque prevention circuit B includes a rotation speed setting device 1 and an overtorque prevention function generator 7.

Due to the configuration of the speed governor circuit A and the overtorque prevention circuit B, when the set rotation speed is suddenly increased by the main engine rotation speed setting device 1, the main engine 14. The overtorque prevention circuit B prevents the rotation speed feedback governor circuit A from outputting a control signal to supply a large amount of fuel to the main engine 14 due to the response delay of the propeller shaft 15 and the propeller P. The maximum amount of fuel that corresponds to the set output signal is regulated.

The black smoke prevention circuit C is connected to the main engine scavenging air pressure transmitter 9. It is composed of a black smoke prevention function generator 10 and wiring 11.

This black smoke prevention circuit C defines the maximum amount of fuel corresponding to the scavenging pressure of the main engine 14, that is, the amount of combustion air.

Note that the control parameters of the PID controller 5 are set to constant values.

With the above-mentioned circuits A, B, and C, in the conventional control device,
The lowest value of the output signals of the three functions of each circuit A, B, and C is determined by a minimum control output selector 12, and the actual main engine fuel amount (fuel pump stroke control amount) is determined.

However, with such a control system for the echelon, there is a problem in that if the propeller P temporarily rises above the sea surface due to rough weather, the main engine 14 will over-speed. When the propulsion efficiency is poor, such as when the engine speed or steering angle is large, predictive control is not possible, so there is a problem in that the amount of fuel increases and fuel efficiency deteriorates.

The present invention aims to solve these problems, and by predictively controlling the rotation speed of the main engine according to the ship's motion, it prevents the main engine from overspeeding and reduces the amount of fuel. The purpose of the present invention is to provide a control device for a marine main engine.

For this reason, the control device for a marine main engine of the present invention is a control device for preventing overspeed due to a decrease in the load of a main engine of a ship. and calculate the difference between the rotation speed setting signal output from the main (civilian rotation speed measuring device) and the rotation speed setting signal output from the rotation speed setting device and the rotation speed measurement signal output from the rotation speed measuring device. and a PID controller that outputs a rotation speed control signal to control the rotation speed between the main (shells) based on the rotation speed error signal output from the subtractor, In order to control the rotation speed of the main engine according to controller gain,
The present invention is characterized by being provided with a hull motion processing section that outputs a controller response improvement command signal to the PID controller via means for correcting the integral time amount and the differential time amount.

Hereinafter, a control system for a marine main engine as an embodiment of the present invention will be explained with reference to the drawings. Fig. 2 is an overall configuration diagram thereof, and in Fig. 2, the same reference numerals as in Fig. 1 indicate almost the same parts. It shows.

As shown in FIG. 2, in this embodiment as well, the main engine rotation speed setting device 1. Subtractor 3. PII) Controller5. Oats〈Torre prevention function generator 7. Main engine scavenging pressure transmitter9. Function generator for preventing black smoke 10. Minimum control output selector 12. Main isoseki 14, propeller shaft 154 rotation speed measuring device (tachometer) 1
6° propeller P and each wiring 2, 4, 6, 8. I Ll
3 and 17 are arranged.

Furthermore, a hull motion detection sensor 24 is provided for detecting hull motion, and this sensor 24 is adapted to detect motions such as lowing, pitching, and changes in the ship's heading of the hull.

The hull motion signal from this sensor 24 is supplied to the hull motion processing section 19 via wiring 18 .

The hull motion processing unit 19 transmits the hull motion signal from the hull motion detection sensor 24, the rotation speed setting signal from the rotation speed setting device 1, and the rotation speed error signal from the subtractor 3 to each wiring 2.4.
．． 18, and performs a kind of disturbance processing.

Further, the hull motion processing section 19 receives each signal, analyzes the magnitude and period of the hull motion, and transmits the signal to a gain correction function generator 21 as a correction means via a wiring 20. A controller response improvement command signal is supplied to an integral time correction function generator 22 and a differential time correction function generator 23.

Each of the function generators 21, 22, and 23 receives the controller response improvement command signal and sends a correction value corresponding to the gain, integration time, and differentiation time of the PID controller 5 to the PID controller 5, respectively.

The rotation speed feedback governor circuit A includes a rotation speed regulator J, a subtractor 3. PID controller 5 and tachometer 1
6.

Further, the overtorque prevention circuit B includes a rotation speed setting device 1 and an overtorque prevention function generator 7.

Furthermore, the black smoke prevention circuit C includes a main engine scavenging air pressure transmitter 9,
It is composed of a black smoke prevention function generator 1o and wiring 11.

In addition, the control parameter correction circuit includes the hull motion processing section 1.
9. Gain correction function generator 21. Integral time correction function generator 22. It is composed of a differential time correction function generator 23 and a hull motion detection sensor 24.

Since the marine main/shell control device of the present invention is configured as described above, by inputting the rotation speed setting signal and the rotation speed error signal to the hull motion processing section 19, changes in speed control can be This can be determined by determining whether the problem is due to a change in the set rotation speed or a disturbance.

At the same time, the hull motion signal is also input to the hull motion processing unit 19, so that the hull motion processing unit 19 processes changes in amplitude, acceleration, and Changes in periodicity can be detected appropriately.

In the hull motion processing section 19, first, the magnitude of the amplitude is determined.

Check the magnitude of the disturbance according to the magnitude of the acceleration change.

Next, the periodicity is determined and the position on the period at which this disturbance currently falls is confirmed.

Then, based on the confirmation result of the magnitude of the disturbance, a signal corresponding to the strength of the controller response improvement command signal is set, and based on the periodicity determination result, a correction value for improving the control response is set in advance in advance.

The intensity of the controller response improvement command signal obtained in this way is corrected by the correction value on the period side, and the final controller response improvement command signal is output to the PID controller 5.

That is, in the apparatus of this embodiment, the control parameters can be changed according to the movement of the ship.

Thereby, for example, even if the propeller P temporarily goes above the sea surface, it is possible to predict this in advance and reduce the amount of fuel in advance to prevent over-speed.

In addition, when the propulsion efficiency deteriorates due to rough weather, the required amount of fuel can be input only when the propulsion is effective, that is, when the propeller P is below the sea surface and the hull is close to horizontal, and in the case of a pond, the amount of fuel can be reduced. Becomes powerful.

As described above in detail, according to the control device for a marine main engine of the present invention, the following effects and advantages can be obtained.

(1) Since predictive control is possible, overspeeding of the main engine will not occur even in rough weather, improving safety.

(2) When propulsion efficiency is poor, it is possible to determine when propulsion is effective and when it is ineffective, and the amount of fuel input can be regulated according to the results, reducing wasted fuel for propulsion. This makes it possible to improve fuel efficiency.

[Brief explanation of the drawing]

FIG. 1 is an overall configuration diagram of a conventional marine main engine control device, and FIG. 2 is an overall configuration diagram of a marine main engine control device as an embodiment of the present invention. 1. Rotation speed setting device, 2. Wiring, 3. Subtractor, 4.
・Wiring, 5.. PID controller, 6.. Wiring, 7.. Overtorque prevention function generator, 8.. Wiring, 9.. Main engine scavenging air pressure transmitter, 1o.. Black smoke prevention function generator. , 11
・・Wiring, 12・・Minimum control output selector, 13・・Wiring, 14・・Main engine, 15・・Propeller shaft, 16・・Rotation speed measuring device (tough meter), 17.18・・Wiring, 19・
- Hull motion processing section, 2o... Wiring, 21... Gain correction function generator, 22... Integral time correction function generator, 23.
- Differential time correction function generator, 24... Hull motion detection sensor, A... Rotation speed feedback governor circuit, B... Overtorque prevention circuit, C... Black smoke prevention circuit, D... Control parameter correction circuit, P ··propeller. Sub-Agent Patent Attorney Yoshihiko Iinuma

Claims (1)

[Claims] A control device for preventing over-rotation due to load reduction of a main engine of a ship, comprising: a rotation speed setting device for setting the rotation speed of the main engine; and a rotation speed measuring device for measuring the rotation speed of the main engine; A subtractor that calculates the difference between the rotation speed setting signal output from the rotation speed setting device and the rotation speed measurement signal output from the rotation speed measuring device, and a rotation speed error signal output from the subtractor. a PID controller that outputs a rotation speed control signal to control the rotation speed of the main engine; A detecting sensor, a means for correcting the gain, integral time amount, and differential time amount of the PID controller in response to the hull motion signal output from the sensor, the rotation speed setting signal, and the rotation speed error signal. 1. A control device for a marine main engine, comprising: a hull motion processing unit that outputs a controller response improvement command signal to the PID controller.