NO180020B - Method and device for speed control of a slow-moving diesel engine - Google Patents

Description

The invention relates respectively to a method for regulation and a device for speed regulation of a slow-moving, multi-cylinder diesel engine.

Large diesel engines, such as e.g. used to operate ship propellers, synchronous generators or other large installations, mostly comprise only a few cylinders working on a common shaft running at low speeds (e.g. less than 100 rev/min). Consequently, there are large pulsations in the drive torque and correspondingly strong changes in the angular velocity of the crankshaft during a working stroke.

If a small time constant is set in the speed regulator used for the regulation, then due to the pulsating actual value, these regulators regularly adjust the filler rod system which regulates the injection pumps of the cylinders and the degree of cylinder filling. Apart from the stability problems, the constant mechanical adjustment of the injection pumps results in an undesirably high wear on the filler rod system and an unnecessarily large mechanical adjustment work.

On the other hand, jumps in the generated engine torque (e.g. in the case of ignition delays or other irregularities in the combustion) or in the mechanical load torque (e.g. when the ship's propeller comes out of the water in rough seas) can lead to rpm variations that must be absorbed to right time to prevent a standstill or a rush of the engine. The speed regulator must therefore not be set too slowly.

The facilities offered commercially on the market therefore work

above all at speeds of less than 20 revolutions/min worse than a manually adjusted filler rod. Machines with 4-6 cylinders below 15 revolutions/min today are not at all satisfactorily mechanically adjustable.

For internal combustion engines, especially in motor vehicles, a regulation is described in European patent application 120 730, whereby a sensor for marks placed on the crankshaft in each case generates a reference impulse, when one of the cylinders is at its top dead center. In this connection, the turning angle of the crankshaft is divided into angular ranges. In stationary operation, the crankshaft needs the same time to run through each angle range, however, in the event of irregularities, this time deviates from the mean value averaged over several angle ranges. In order to regulate an asymmetry during the operation of different cylinders, for each of the cylinders the deviations measured in several working cycles are integrated, and a common pre-setting of the degree of filling for all cylinders is corrected with a correction value formed from this integral.

This corresponds to an integral out-regulation that regulates periodic irregularities, such as arise from asymmetric operation of the cylinders. The mentioned short-term disturbances (ignition delays or exposure of the propellers) cannot in this connection be regulated sufficiently quickly.

From EP 0113510 A2 an injection pump for a diesel engine is known which has an adaptive equalization device. In this connection, the relative acceleration of each cylinder is measured and the amount of fuel to be injected is adapted for their equalization.

The purpose of the invention is to provide a regulation for slow-moving, multi-cylinder diesel engines and which also ensures an out-regulation of transient disturbances. In this connection, the problem arises in particular of identifying and possibly registering such short-term disturbances so quickly that the control or regulation of the motor can be corrected in a suitable way. Accordingly, such rev registration is also one of the purposes of the invention.

The above purposes are achieved according to the invention with a method which is characterized by the features which appear from the characteristic of claim 1, and a device which is characterized by features which appear from the characteristic of claim 10.

In this connection, angular positions of the crankshaft are defined for each cylinder and which produce the starting angle and the ending angle of an angular range occurring in front of the top dead center of the cylinder. This can be done with the help of a sensor for corresponding marks rotating with the crankshaft or another reference impulse generator which in each case emits a reference impulse when reviewing one of these defined angular positions.

For these angular ranges, an actual value na is now continuously measured which indicates the average speed with which the crankshaft runs through this angular range. Furthermore, the speed n averaged over several of these angular ranges for the crankshaft is also measured. There is therefore a first, slow is-value n and another, only over part of the work rate, the average is-value for the speed na.

In stationary operation, in which the driving torque of all cylinders contributes to the same extent to maintaining a speed setpoint value n<*>, these two mean values are approximately equal: na = n = n<*.> Also in case of asymmetric operation of the cylinders always applies also approximately n = n*. This can be immediately seen when n is the speed averaged over an entire working stroke, i.e. when the sum of the angular ranges in a stationary state gives the entire working stroke, i.e. an angular range which precisely corresponds to the angle of rotation of the crankshaft between two nearby top dead centers of the cylinder.

Therefore, the slow speed mean value n is compared with the speed value n<*> and supplied to a slow regulator which determines a first setpoint value for the control of the injection pumps and thus pre-sets the filling degree of all cylinders. In the case of asymmetries, the output signal of this slow regulator practically does not change and even short-term disturbances hardly cause a change.

The continuously measured speed actual value nQ is likewise compared with the speed setpoint value and delivered to a fast regulator. If a one-off or periodic disturbance occurs in a cylinder, the actual value na and therefore also another setpoint value supplied by the output signal of this fast regulator reacts quickly to this change. The angular range, in which this disturbed actual value na was formed, lies in front of the cylinder's top dead center which is assigned to this angular range. The rapid correction of the preset therefore acts at least on this cylinder and its degree of filling, which therefore immediately corrects this occurring disturbance. If, due to this intervention, this disturbance fluctuates so quickly that the actual velocity value na, which is measured in successive angular ranges, already no longer deviates from the desired value n<*>, then no correction is made to the pre-set degree of filling for the additional cylinders.

Advantageously, the method mentioned in the mentioned European application 120 730 can also be used for symmetrizing the operation.

The mentioned intervention for the adjustment of disturbances or asymmetries, respectively, is all the more effective the shorter the time that elapses between the disturbance registration and the correction of the degree of filling for the next cylinder. The end angle of the angle range must therefore be as close as possible to the top dead center for the assigned cylinder. On the other hand, however, the adjustment of the degree of filling, which takes place via the filling rod system of the corresponding injection pump, must be completed before the top dead center is reached. Therefore, the position of the angle range, i.e. the reference positions which determine its starting angle and ending angle, is advantageously set depending on the speed of the crankshaft. This can be done using a corresponding control device.

Advantageous embodiments and further developments and the invention are indicated in the independent claims. In connection with two design examples and five figures, the invention will be explained in more detail.

Fig. 1 shows the hardware components of a preferred embodiment of the invention. Fig. 2 shows occurring impulses and measured quantities in this connection. Fig. 3 and 4 show a principle representation of two advantageously used regulating devices. Fig. 5 shows in this connection reference angular positions of the crankshaft.

The invention will be explained using a four-cylinder two-stroke engine as an example, and if four cylinders Z1, Z2, Z3 and Z4 are represented symbolically in fig. 1. Fuel is injected into the stroke volume of each cylinder during the compression phase from the injection pumps P1...P4, the amount of which in relation to the combustion air is determined by the degree of filling F. For this degree of filling, a desired value F* is given in advance, from which a filling degree regulator FR forms a corresponding setpoint value F<**>, with which the filling rod system of the injection pump is adjusted by means of e.g. hydraulic operation, so that the corresponding position of the injection pump above the actual value F is fed back to the filling degree regulator. In this connection, it can be ensured that the filling degree regulator acts on the filling rod system of all the injection pumps together and sets all the injection pumps together. Preferably, however, there are individually adjustable injection pumps or individually adjustable injection pumps.

At the one in fig. In the position shown in 1, the cylinder Zl is in its top dead center which initiates its first working stroke, the expansion stroke, while the cylinder Z3 is in the bottom dead center, at which its expansion stroke is finished and the second working stroke (the compression stroke) is initiated. Correspondingly, cylinder Z2 is still in the middle of its second working stroke (compression), while Z4 is already in the expansion stroke. In order to ensure a regular combustion in engines with electric ignition in the expansion stroke, the ignition timing must be synchronized with the cylinder position and thus with the rotational movement of the crankshaft. In the case of diesel engines, the injection nozzle is automatically released by the movement of the piston, but, however, the invention also provides here for a registration of the angle of rotation of the crankshaft, which is achieved by a corresponding reference impulse generator. In this connection, it can be an angle detector which can be in the form of a contactless proximity switch, a fault-free driven incremental angle encoder or another digital or analogue working detector circuit connected to the crankshaft.

In the case shown, a measuring disc is placed with the crankshaft directly or above a gear with a ratio of 1:1, and which carries a number of ml of marks M. If one defines a specific starting position for the crankshaft as the zero point, then the detector therefore generates DET in each case after a revolution of d"Y = 360°/ml one impulse, so that the number m of impulses generated since the passage of an initial position can determine the angular position y = m . d"y.

The starting position can be recorded at each revolution by a zero impulse generator, e.g. a mark N which, when passing through the zero-impulse detector DN, emits a corresponding zero-impulse. Displaced towards the zero impulse generator DN or towards the detector DET, there is a further impulse generator DN', which in a known manner determines the direction of rotation of the shaft and thus is indicated by the counting of the impulses from the detector DET. The zero pulse of the detector DN can also be used in each case to synchronize the necessary counters for the counting of the pulses of the detector DET respectively when passing the starting position and possibly to correct counting errors caused by noise impulses. If such a correction is not necessary, then the registration of the starting position can also follow software-based using the counter for the impulses from DET.

In the simplest case, the corresponding number z for the successively firing cylinders is the defined rotation angle range a. = 3 60°/z which indicates that a cylinder in each case after one revolution with the angle a of a cylinder (e.g. Z2) occupies the position previously occupied by the preceding cylinder (eg Zl). This angle a resp. the corresponding number m = ma of impulses from the detector DET therefore counts the entire duty cycle in certain angle ranges. Each of the z angle ranges is assigned to a cylinder and is fixed by reference positions indicating the start angle and the end angle.

In four-stroke engines, each cylinder passes through its top dead center twice in one engine cycle. In order in each case to record a complete work cycle, two revolutions of the crankshaft must therefore be combined into one engine cycle. The number ml for the angular increase d*Y assigned to an angular range a thus doubles, and the initial position assigned to the first top dead center of the cylinder Zl in a working cycle is in each case only achieved after passing the mark N at the detector DN twice. In the general case, the assignment of the angular area follows the number ma to the angular areas a according to the formula ma = ml/Z, where ml is the number of the marks that per cycle passes the DET detector. Are the marks above a gearbox with a gear ratio of 1 connected to the crankshaft, where m2 is the number of working cycles per engine cycles ("cycle number"), m2 = 2 for two-stroke engines, m2 = 4 for four-stroke engines, then ir^ is the number of marks on the impulse disc, while for a direct connection applies:

The detector DET and a counter CT with an output signal that describes the instantaneous angle of rotation *y of the crankshaft as well as possibly the zero impulse generator DN and the corresponding sign detector SIGN for the sign of the direction of rotation, with its auxiliary detector DN' consequently form a reference impulse generator, which with pre-given reference positions (i.e. eg in each case the first top dead center of the cylinder during an engine cycle) respectively emit a reference pulse. From these reference impulses, a measuring and regulating device MR, which is partly program-controlled and digital and partly also works mechanically, hydraulically etc. for safety reasons, forms a first average value n which indicates the average speed at which over an entire work cycle or at least several angular ranges a comprehensive, large angular range is traversed. This mean value n can e.g. is registered as the reciprocal value of the time interval between two reference impulses from the zero impulse generator DN.

In addition, another mean value na is formed in the measuring and regulating device MR which indicates the speed at which the crankshaft in each case passes through an angular range a (or another, smaller, respectively to one of the cylinder's assigned angular range which is determined by corresponding reference positions of the crankshaft or the relevant cylinder). The speed value n thus constitutes an average er value with a large time constant which is practically affected in the same way by the mechanical torque generated from all cylinders. The other average value na, on the other hand, constitutes an average value with a small time constant, in which mainly the last expansion stroke of a cylinder and its influence on the shaft are included.

As will now be explained, the measuring and regulating device MR comprises a slow regulator which compares the mean value n with a speed-should-value n* and from this pre-determines an actual value for the pre-setting of the degree of filling of the cylinder. In addition, a fast regulator is arranged for the difference n<*> - na, whose output signal is superimposed with the output signal from the slow regulator and can thus at any time set the degree of filling before the next expansion stroke of a cylinder.

An advantage of the recording of two speed values averaged with different time constants is, for example, that a regulation of the slow average value is possible, as this regulates the pulse-shaped course of the engine torque M^iese]_ produced by the cylinder without constant adjustment of the regulator setting. The mean value na, on the other hand, allows for quick intervention in the event of disturbances. Thus, e.g. more frequent misfires of a cylinder are recorded and taken care of by suitable interventions on this cylinder and/or in each case corrected when filling the next cylinder. Likewise, short-term overshoots of the limit revs can be indicated and already trigger suitable protective measures before the slow regulation necessary for the stable operation of the engine can react. In particular, the angular ranges assigned to the individual cylinders and the mean values measured therein can be displayed and documented, which provides valuable feedback for the further servicing of the plant.

The already mentioned recording of the angular velocity na is mainly known from the already cited European patent application No. 12 0 73 0 for high-speed internal combustion engines

and enables, by means of an equalization of uneven combustion in the cylinders, an increase in the engine's rotation. In that connection, it is true that in each case the top dead center of a cylinder is the initial position of the assigned cylinder so that only the influence of this cylinder on M(j^ese]_ to the greatest possible extent is recorded in the angular range.

Admittedly, in order to be able to outregulate individually occurring disturbances, it is advantageous when the registration and intervention for handling this disturbance has already been completed before the filling of a cylinder, before its expansion rate takes place again. The end angle of the angle range required for the na measurement must therefore lie sufficiently far in front of the top dead center for the assigned cylinder.

On the other hand, this disturbance indication should be as close as possible to the time of injection. As the filler rod system and the injection pump for regulating the degree of filling require a specific time, the determination of the mean value na is controlled depending on the speed.

This means e.g. for the cylinder Zl, that by pre-specifying a start angle and an end angle for the position of the crankshaft, an angular range a is assigned to it whose end point at low revs is shortly before the position at which this cylinder Zl reaches its top dead center. At high revs, however, this end angle is further shifted in advance.

In addition, the measuring and regulating device contains a control device controlled by the average speed which will be described in more detail in the following in connection with the signals in fig. 2 and a schematic connection in fig. 3.

In fig. 2, the output signal of a time pulse generator elk working with a constant frequency is first shown. The curve n(t) gives the instantaneous rotational speed, i.e. the time derivative dy / dt of the rotation angle y of the motor shaft; In relation to the long-term mean value nav, this actual value in each case shows significant deviations at the times tl...t4, at which the cylinders respectively reach their top dead center. At the time ti which coincides with a zero impulse mD from the zero impulse detector DN, the combustion in the cylinder Zl raises the pressure on the axis of rotation and thus the speed of rotation, so that this speed, however, due to the decreasing expansion; ion's pressure and because of the work required for compression in the cylinder Z2, is too low. In fig. 2, it is exaggeratedly shown that the expansion pressure in the individual cylinders in each case after reviewing their top dead center takes on different values, and therefore an irregular course of the revolutions occurs.

A first counter CT1 counts the time pulses elk between the occurrence of two zero pulses mD respectively. At each zero pulse, the counter value etl is entered into a corresponding memory Ml on whose output the reciprocal value of the counter value multiplied by the output signal sign n for the direction of rotation detector SIGN is then available for the duration of the next revolution of the crankshaft, as a corresponding, long-term mean value n.

The impulses m from the reference pulse generator indicate in each case when an angular range is reached and left and are delivered to another counter CT2 for the time impulses elk. They determine the times at which the in fig. 2, the counter reading ct2 for the counter CT2 is in each case read into a memory M2 and reset.

Thus, e.g. to the cylinder Z2 the reference position y2 of the cylinder axis assigned as end point to its assigned angular range and the corresponding time t2', while the time ti' and the reference position yl=y2- a indicate the beginning of this angular range. The reference position *y2, on the other hand, is shifted by the displacement angle then in relation to the top dead center of the cylinder Z2 (time t2). At the time t2<1>, the mean value formation in the angular range a has therefore already ended and the counter Z2 reads its counter value into the memory M2. The to na proportional value sign n • (l/ct2) will, via the fast regulator, adjust the filling rod system for cylinder Z2 before this cylinder reaches its top dead center.

In fig. 2, it is assumed that ma=9 or, i.e. between the top dead center of two adjacent cylinders has nine incremental angular steps d"Y. The corresponding control impulses corresponding to the reference angular positions yl and y2 are formed by the reference impulse generator from the impulse sequence of the detector DET by this sequence of impulses is delivered to the mentioned counter CT, whose counter reading CT is in each case at a reference position set to the value ma and counted down from this. When the value zero is reached, the next reference impulse is emitted, and the counter is reset.

The synchronization on the zero pulses mD can e.g. happen by the counter reading being set to a corresponding value in each case at a zero impulse, in fig. 2 on the value ct=7. The end position 72 for the angular range a assigned to the cylinder C2 is therefore always reached after the 7th incremental angular steps d-y and offset from the corresponding top dead center for the cylinder Z2 by da=2-d7.

In practice, the top dead center for the cylinders is not registered exactly by the impulse from the impulse generator DET or of a zero impulse. However, this is also not necessary and likewise the angular range a, which is respectively arranged after the cylinders, must not be exactly equal or correspond to the angular distance between the top dead centers of the cylinders. As it is now only a matter of average value generation, e.g. a cylinder throughout be assigned to a somewhat shorter angle range, so that the time required to go through this angle range is also shortened. The average velocity na, which is given as

and which is formed from the time T measured in the counter CT2 between the reference pulses, changes only insignificantly, when the counter CT2 is in each case set to a counter reading irtQ,' corresponding to the changed angular range a<1>. This is shown in fig. 2 for the time t3<1>, at which the counter reading m = 10 is given in advance. Thus, for the cylinder Z4, an angular range a' =10 • d7 has been determined, so that for the reference position 74 of the interval assigned to this cylinder Z4, the value 74 = 73 + a<1> =73+10 • d7 is obtained. In the memory M2, which registers the time T at the end state of the counter at the reference pulse 74, the mean value na = a'/T is then formed, by taking the changed value of the angular range a' stored in the counter into account.

The formation of the average value can also take place over angular ranges a which in each case are smaller than the distance to the top dead center. While in fig. 2 a reference position in each case indicates the end value for an angle range and at the same time the start value for the next angle range, so separate start and end positions can also be defined, so that pauses then occur which are not used to form the mean value na. As long as the rpm is the same, these pauses are the same length, but should, however, a change in rpm change the relative position of the angular areas of the top dead centers, then the corresponding displacement of the beginning and end values causes a temporary change in these pauses. Likewise, it is also possible to choose the measurement intervals greater than the distance between the top dead centers, so that these angular ranges overlap. A sustained change in speed then causes a temporary change in the overlap.

By that in fig. 2 shown example, however, the angular ranges are chosen in such a way that their sum at constant speed just gives the entire cycle of the motor. There are thus no overlaps or breaks, and a reference position simultaneously provides the end value of the previous measurement interval and the beginning value of the next measurement interval. The rpm-dependent displacement of the relative position between the measuring range and top dead center can in this connection be achieved by a temporary change of the measuring range. This is in fig. 2 shown in that at a zero impulse mD or the associated time t', the counter reading ct of the counter CT is not set to the value 7, as is usually provided for during the synchronization, but e.g. set to the value 6. The counter CT, which at the preceding reference position is normally set to the value m = 9 and at time t<1> has therefore reached the counter reading 7, is already reset after eight counter increments and thus ends the counting interval prematurely. This one-off change of the angle range a and the counter in the speed signal na = a/ T in the memory M2 can again be taken into account in the manner already mentioned.

For this speed-dependent position displacement of the angular range a, which in this case therefore occurs via the counter CT in the reference pulse generator, it is in fig. 2 arranged a corresponding function generator FKT, which pre-gives the corresponding position displacement when resp. da<1> over the synchronization of the counter CT as a function of the speed n.

The mean value na reacts more sensitively to torque pulsations of the motor than the mean value n. Consequently, in the case of asymmetries in the operation, no adjustments are made to a slow counter R, which from the speed range n<*->n delivers a desired value F<*> for presetting the degree of filling . Correspondingly, a regulator Ra is arranged which is fed by the regulating valve n<*->na. Its output signal Fa<* >which serves to correct the preset and e.g. on an addition term AD is additively superimposed with F<*> , can constantly adjust the injection pumps. As torque pulsations are simply unavoidable, the regulator Ra can mainly be kept at rest when the speed range n<*->na within a predetermined variation width is not to be out-regulated. For this purpose, in front of the regulator Ra in fig. 3 made sure to connect a dead link which, only when a predetermined limit value for n<*->na is exceeded, connects the regulator Ra with a corresponding control signal.

The inertia of the regulator R is preferably achieved by using an integral regulator or a proportional-integral regulator with mainly integral ratios. For the fast regulator Ra, on the other hand, a purely proportional or a predominantly proportional relationship is preferred.

Especially in the event that the degree of filling of the individual injection pumps can be adjusted individually, the already mentioned described symmetrization of cylinder asymmetries can be advantageous.

In addition to the performed recording of the speed n over the counter CTl (counter final position T after each period), the memory Ml and the divider DIV1 (output signal: (sign nJir^/T) and to the necessary measurement of the speed na in the case of the mentioned regulation, this symmetrization also requires registration of the revolutions n^j, each of which preferably only registers the effect of an assigned cylinder Tj.

A device suitable for this purpose is shown in fig. 4. In this connection, a division into angular areas Bj is necessary, each of which begins approximately at the top dead center of the assigned cylinder. For a six-cylinder two-stroke engine, this angular division, which is given in advance as a function of the speed n by a function memory FKT, is shown in fig. 5.

In this connection, twelve angular positions p-^ are given in advance as reference positions which can be counted by a cyclic counter running in the decoder DECOD. In this connection, an odd counter number i indicates according to j = (i+1)/Z the cylinder to which the angular range Sj belongs, and the angular position p-^ in that connection indicates the reference angle at which the angular range Sj begins (bottom dead center of <Z>j) and angle range Bj-i until the preceding counter ends. These reference angles are stored independently in the function encoder. In the event that the mentioned fast regulator is provided, equal counter numbers i according to j' = i/2 + 1 indicate the cylinder to which the angular range aj i is assigned, and the angular position pj_ indicates the reference angle with which the angular range aj i ends (before the top dead center of Zj ■) and the next angular range aji+1 begins. The distance da(n) from top dead center is respectively preset again from the function memory at a zero impulse depending on the speed according to a stored function, whereby the width of the area a2 can also change.

In each case, the counter CT is reset to the position p-^ and delivers incremental angular steps d^ during the count, i.e. an angle with regard to p-^ and which is compared in the decoder DECOD with the read reference angle p2- If this angle is reached, then the second impulse generated by DECOD and the reference angle p3 read in, until a new cycle begins after the twelfth counting impulse and whose first impulse can be triggered by the zero impulse m^.

At each even counter number i, the impulse restarts the counter CT2 in the manner mentioned, as its counter end value Ta was read into the memory M2 for the subsequent divider DIV2 to form the average speed na = (aj i/Ta)•sign n. For this, the width aj i of this angular range was named with the help of this impulse from the function memory and in the multiplier MP multiplied by the signal from the direction of rotation detector SIGN.

At each different counter number i, the same process is repeated for the angular ranges Bj with the help of the counters CY3 (counter end position T3) and the divider DIV3. The resulting mean value n^j = Bj/T£ is, however, corresponding to its assignment to the cylinder Zj supplied via a multiplex switch to a monitoring device (in the simplest case a display DIS).

An asymmetry in the cylinder can be regulated by feeding n^ to a memory M3. In this connection, the deviation n*-nfij can be averaged over several revolutions to obtain in each case a correction value F<*>j assigned to the cylinder Zj. The degree of filling of the cylinder Zj is then controlled by F<*> + F<*>a + Fj<* >independently of the injection pumps of the other cylinder.

These and similar interventions stabilize the operation of the regulators R and Rq,.

Claims (13)

1. Procedure for regulating a slow-running, multi-cylinder diesel engine, characterized by al) to assign to each cylinder (Z1...Z6) a front disses top dead center (ti,t2,t3...) horizontal angle range (a; a1...a6) from the engine's cycle, a2) to form one over several of the angular ranges (a; aj_...ag) the mean, first speed value (n) for a crankshaft, and a3) comparing the first velocity value (n) with one first speed setpoint (n<*>) and supply it to a slow regulator (R), so that bl) angular positions (7; 7j_...7g) for the crankshaft are determined, as these each correspond to the end angle (7^...75) of the angle range (a; a1...ag) lying in front of the top dead center of the respective cylinder (Z1...Z6), b2) when the respective angular position ( y1... y6) is reached, a other speed value (na) for the crankshaft, corresponding to the average speed of the crankshaft in the respective leading angle range (a, a^-.ag), and b3) comparing the second velocity value (na) with one different speed setpoint (n*) and deliver it to a fast regulator (Ra), while cl) the output signal (F*) from the slow regulator (R) is used to preset the degree of filling for all cylinders (Z1...Z6) and c2) the output signal (Fa<*>) from the fast speed controller (Ra) is used to adjust the pre-setting of the degree of filling for the respective cylinder (Z1...Z6). 2. Method according to claim 1, characterized in that the slow regulator (R) mainly has integral conditions, the fast regulator (Ra) mainly substantially proportional conditions. 3. Procedure according to claim 1, characterized in that the angular areas ( ara1...etg) corresponds at least approximately in each case to the angular distance of the crankshaft between the top dead centers of two adjacent cylinders (Zl...Zg). 4. Method according to claim 3, characterized in that the distance (da(n)) to an angular range (<*]_...etg) from the top dead center of the assigned cylinder (Z1...Z6) is adjusted depending on the speed (n) . 5. Method according to claim 4, characterized in that constant speed (n) for the crankshaft gives the sum of the angular ranges (ce1...ag) for the entire engine cycle, and that in order to change the distance, one of the angular ranges (a^... ag) transient. 6. Method according to claim 1, characterized in that when comparing the second actual speed value (na) with the second desired speed value (n*), deviations below a predetermined threshold (DT) are suppressed. 7. Method according to claim 1, characterized in that the angular position of the crankshaft is registered continuously, that the angular range (a, ct]_... etg) is given in advance by an initial value and a final value (T^... "Yg ;Pi ) / that the time (T) between the achievement of the initial value and the final value is measured, and that the second speed value (na) is determined from the measured time (T) ., 8. Method according to claim 1, characterized in that the first speed target value (n) is determined by measuring the required time in each case for a complete cycle of the engine. 9. Procedure according to claim 1, characterized in that an average rotational speed (ngj) assigned to one of the cylinders during which the crankshaft runs through an angular range (Bj) starting practically at the top dead center of this one cylinder (Zj) is measured, that the average rotational speed (n^j) is compared with a desired value (n<*>), and that the degree of filling for the cylinder (Zj) assigned to this speed (ngj) is thus corrected. 10. Device for rev control of a slow-moving, multi-cylinder diesel engine, characterized by the fact that it comprises a) an angle sensor (DET,CT) connected to the crankshaft which continuously registers the current angular position (7) of the crankshaft and on reaching predetermined reference angular positions (7i/72--0 for the crankshaft in each case emits a reference pulse , b) to the angle sensor (DET,CT) connected devices (CT1,M1,DIV1) to form a first average speed setpoint (n) with which the crankshaft traverses more than two reference angle positions (7i,72•••)/c ) to the angle encoder (DET,CT) connected bodies (CT2,M2,DIV2) to form another average speed value (na) with which the crankshaft passes through one in each case of two reference angular positions given and before the top dead center of the respective cylinder occurring angular range ( a1...a6), d) one with the difference (n-n*) of the first speed actual value (n) with the first speed set value (n*) fed slow regulator (R) which generates a first control signal ( F<*>), e) one of diffe the rans (na-n*) from the first speed actual value (na) with the second speed-desired value (n*) fed fast regulator (Ra) which generates another control signal (Fa<*>) and f) organs (Pl,. .. P4) to control the degree of filling for the individual cylinder depending on the sum (AD) of the two control signals (F<*>+Fa<*>). 11. Device according to claim 10, characterized by means (FKT, ST) , which depending on the speed (n) adjust the position of the angular areas (o^a-L...ag) relative to the top dead center of the cylinders (Z1...Z6). 12. Device according to claim 11, characterized by a dead link (DT) for suppressing small values of the difference (na-n<*>) from the second speed actual value (na) with the second speed target value (n<* >) at the input of the fast regulator (Rq,) . 13. Device according to claim 11, characterized by means (CT3,DIV3) for forming a third mean value (ngj) for the speed at which the crankshaft, after passing through the top dead center (Tj) of a cylinder, passes through to this cylinder ( Zj) assigned additional angular range (Bj), and organs (F-|*) to change the degree of filling for this cylinder (Zj) depending on the third mean value (ngj) (fig. 4,5).