JPS6218392A - Method of controlling constant output of variable pitch propeller ship - Google Patents

Abstract

PURPOSE:To permit propeller angle to adjustably follow up the large load fluctuation to a main engine by generating the actuator controlling signal for compensating for the load fluctuation to the main engine according to adaptable control in an adaptable control block. CONSTITUTION:An identifier 8 identifies parameters in the adaptable control of a block to be controlled according to the output generated by a main engine 3 and the output of a controller 9. The controller 9 permits the output generated by the main engine 3 to follow up the output set value for minimizing the dispersion value of said output from the output set value. The actuator controlling signal compensating for the load fluctuation to the main load 3 is generated from the output set value of the main engine 3 on the basis of the identified parameters. And the actuator controlling signal is supplied to the input of an actuator 5 so that the propeller angle of a variable pitch propeller 4 is adjusted to restrain the load fluctuation to the main engine 3. Thus, even if large load fluctuation to the main engine is generated by the racing phenomenon or the like, the propeller angle follows up said fluctuation adjustably to control the generated output constant.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a constant power control method for a variable pitch propeller ship.

[Prior art and its problems]

As a method for controlling the output of a main engine in a variable pitch propeller ship, a constant output control method as shown in the block diagram of FIG. 2 is known. In Fig. 2, 1 is the main engine rotation speed setting device, and the rotation speed setting device 1 sets the rotation speed setting value of the main engine 3 to the output setting value so that the output setting value of the main engine 3 can be obtained with good output efficiency. Set based on. . The deviation between the set rotation speed setting value and the rotation speed measurement value of the main engine 3 is calculated, and the rotation speed deviation is input to the speed governor 2. The governor 2 outputs a signal to command the fuel rack position of the main engine 3 based on the rotation speed deviation, adjusts the amount of fuel input, and controls the rotation speed of the main engine 3 to the set rotation speed. do.

On the other hand, the output of the speed governor 2 is matched with the rotation speed setting value of the main engine 3. The output of the speed governor 2 corresponds to the torque generated by the main engine 3, and the output of the main engine 3 can be determined by combining these multiplications. A deviation between the generated output of the main engine 3 and the output setting value of the main engine 3 is taken, and the output deviation is input to the PID controller 6 for controlling the actuator 5 of the variable pitch propeller 4. .

Accordingly, the PID controller 6 outputs a control signal to the actuator 5, and the actuator 5 adjusts the propeller angle of the variable pitch propeller 4 to suppress load fluctuations to the main engine 3, and Constant output control is performed to match the output to the output setting value.

However, in the above output control method, the output deviation between the output setting value of the main engine 3 and the generated output is input directly to the PID controller 6, and the propeller angle of the variable pitch propeller 4 is adjusted based only on the PID method. Therefore, the response to the load fluctuations applied to the main engine 3 is not sufficient. For this reason, when a racing phenomenon occurs in which the propeller is exposed above the water surface due to pitching of the ship during rough weather, the main engine 3
In some cases, the main engine 3 is unable to follow large load fluctuations, causing excessive torque in the main engine 3, surging in the supercharger, etc., and causing problems in the operation of the main engine 3.

[Purpose of the invention]

In view of the above-mentioned current situation, the purpose of the present invention is to provide a variable-speed control system capable of controlling the output of the main engine at a constant level while sufficiently following large load fluctuations to the main engine that occur during racing phenomena. The object of the present invention is to provide a constant power control method for a pitch propeller ship.

[Structure of the invention]

This invention provides a main engine rotation speed setting value determined based on an output setting value of the main engine of a variable pitch propeller ship;
Based on the rotation speed measurement value of the main engine, the rotation speed of the main engine is controlled to the rotation speed setting value by the output of the speed governor, and the rotation speed setting value and the output of the speed governor are An actuator control signal generated based on the generated output of the main engine determined from and the output setting value of the main engine is input to the actuator of the variable pitch propeller to adjust the propeller angle of the variable pitch propeller. In the constant output control method for a variable pitch propeller ship, which controls the output of the main engine to the output setting value of the main engine, the input to the actuator is taken as the input, and the output of the main engine is an identifier for identifying a parameter in adaptive control of a controlled object whose output is a generated output; and an identifier for identifying a parameter in adaptive control of a controlled object whose output is a generated output; The present invention is characterized in that a controller is provided for generating an actuator control signal in consideration of load fluctuations to the actuator, and the generated actuator control signal is input to the actuator.

[Structure of the invention]

Hereinafter, the constant power control method for a variable pitch propeller ship according to the present invention will be explained in detail based on the drawings.

FIG. 1 is a block diagram showing a constant power control method for a variable pitch propeller ship according to the present invention. In FIG. 1, 1 is a main engine speed setting device, 2 is a speed governor, 3 is a main engine, 4 is a variable pitch propeller, and 5 is an actuator. In this invention as well, similarly to the conventional method shown in FIG. The rotational speed deviation between the measured value of the rotational speed of the main engine 3 and the rotational speed measurement value of the main engine 3 is input to the governor 2, and the rotational speed of the main engine 3 is controlled to a set value. Further, the propeller angle of the variable pitch propeller 4 is adjusted by a control signal to the actuator 5 so as to suppress load fluctuations on the main engine 3.

In the above-mentioned control, the present invention includes a controlled object block 7 whose input is the input to the actuator 5 and whose output is the output generated by the main engine 3, and which includes a parameter identifier 8 and a controller 9. An adaptive control block 10 is added to adjust the propeller angle of the variable pitch propeller 4 so as to suppress large load fluctuations to the main engine 3 through adaptive control.

The output setting value of the main engine 3 is input to the controller 9, and the output generated by the main engine 30 (obtained from the rotation speed setting value of the main engine 3 and the output of the speed governor 2) and the output of the main engine 3 are input to the identifier 8. The output of 9 is input. The identifier 8 identifies parameters for adaptive control of the controlled object block 7 based on the generated output of the main engine 3 and the output of the controller 9. The controller 9 is the main engine 3
Based on the identified parameters, an actuator control signal that can compensate for load fluctuations on the main engine 3 and that can be made to follow the output setting value so that the variance between the generated output and the output setting value is minimized. It is generated from the output setting value of the main engine 3. This actuator control signal is then input to the actuator 5 to adjust the propeller angle of the variable pitch propeller 4 so as to suppress load fluctuations on the main engine 3.

As described above, in the present invention, the adaptive control block 10 generates an actuator control signal that compensates for load fluctuations on the main engine 3 through adaptive control, inputs it to the actuator 5, and transmits the variable Since the propeller angle of the pitch propeller 4 is adjusted, even if a large load change occurs on the main engine 3 due to a racing phenomenon, etc., the adjustment of the propeller angle is sufficiently followed, and the output generated by the main engine 3 is controlled at a constant level. be able to.

〔Effect of the invention〕

Since the constant output control method for a variable pitch propeller ship of this invention is configured as described above, it can sufficiently follow large load fluctuations to the main engine that occur during racing phenomena, etc., and adjust the output of the main engine. can be controlled at a constant level.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the method of the present invention, and FIG. 2 is a block diagram showing the conventional method. In the drawing, 1...Main engine rotation speed setting value, 2...Governor, 3...
・Main engine, 4... Variable pitch propeller, 5... Actuator, 6
...PID controller, 7.Controlled object block, 8.Parameter identifier, 9.Controller, storage...Adaptive control block.

Claims (1)

[Scope of Claims] The output of the governor is determined based on the rotation speed setting value of the main engine, which is determined based on the output setting value of the main engine of the variable pitch propeller ship, and the rotation speed measurement value of the main engine. The rotational speed of the main engine is controlled to the rotational speed setting value, and the generated output of the main engine is determined from the rotational speed setting value and the output of the governor, and the output setting of the main engine is controlled. By inputting an actuator control signal generated based on the value to the actuator of the variable pitch propeller and adjusting the propeller angle of the variable pitch propeller, the generated output of the main engine is set to the output setting of the main engine. In a constant output control method for a variable pitch propeller ship, the method includes: identifying a parameter in adaptive control of a controlled object whose input is the input to the actuator and whose output is the generated output of the main engine; and a controller for generating an actuator control signal that compensates for load fluctuations to the controlled object from the output setting value of the main engine based on the parameters identified by the identifier. and inputting the actuator control signal generated by the controller to the actuator.