201200720 、發明說明： 【發明所屬之技術領域】 本發明是關於一種控制船舶主機運轉的引擎控制裝 【先前技術】 船舶主機的調速器（governor)控制，廣泛採用維持螺 槳（propeller )旋轉數（主機旋轉數）在一定值的pm控制。 又已知結構’為了防止空轉（racing)時的過度旋轉， 根據引擎的模擬模型來變更PID控制參數（專利文獻小 專利文獻1 :特開平8-200131號公報 專利文獻1提案了以模擬來預測因外部擾動導致的旋 轉數隻動’交更pID控制參數，卻沒有採用對應經年累月 的船體阻力增加、職效率低落、引擎性能的惡化 更控制的結槿。 【發明内容】 本發明的目的在於配合船舶經年變化的效率，進行效 率良好的主機運轉。 本發明的船舶引擎控制裝置，其特徵為具備：控制部， ^船舶主機的運轉；觀測器，將包含主機及船體的船舶 對象，將來自控制部的操作量做為輸人；以及補 旦丰又，以觀測益估計接受控制對象的經年變化影響的物 it根據物理量的經年變化前的值與經年變化後的值來 鉍更控制部的控制參數。 補正手段較佳為根據物理量的經年變化前的值，與經 201200720 的經年變化後的控 對象的經年變化。^纟此’可以更正確地估計控制 錄物i呈ΐ舶引擎控制裝置較佳為具備記憶體，記憶體記 圮怜體二:經t變化前的值，補正手段是根據記錄於這個 ΐί:理量的值，與經年變化後估計的物理量的= ====，更控制參數。控制二 Ρ增益及/或DM疋上迷船速S為越大，則變更 速差為越大，變二補正手段是例如上述船 欠又1戈曰里為越小值。又，在引擎抟制驻罢 ，，，，列如主機之旋轉數被檢測，回饋至觀測器。 、 本發明的船舶其频在於具備上制擎控制裝置。 含主ϋ月：船舶引擎控制方法’其特徵在於觀測器將包 二=及船體的船舶做為控制對象，將來自控制主 的操作量做為輸入’在觀測器估計接受控： 婁，年變化後的值來變更控制主機運轉的控二二： 根據本發明，可以配合船舶的經年變化的 效率良好的主機運轉。 迟仃 【實施方式】 以下參照附帶圖式來說明關於本發明的實施形態。 从士 t圖是表示本發明實施形態的引擎控制裳置&結構 的方塊圖。 控制對象10包含主機、螺槳、船體等，來自控制部U 的調速器指令u被施加至主機。控制部u為例如調速器， 4 201200720 進行旋轉數為-定的PID控制。又，主機的輸出轴（圖未 顯不)—’設有制主機實際旋轉數Ne的感應器（圖未顯 不）’貫際旋轉數Ne被負回饋至控制部u的輸入側。也就 是說’目標旋轉數N。與實際旋轉數Ne之偏差被輸入至控 制部11，經過PID演算，輸出調速器指令u。 又，本實施形態的引擎控制裳置，具備已將控制對象 10數值模型化的觀測器12。第二圖是表示控制對象1〇盘 ^ ί 細關係的方塊圖。如第二圖所示，觀測器12 將:周速：扎令U做為輸入’將旋轉數N或船速（對水船速） v寺做為狀態變數。在本實施形態中，實際旋轉數Ne被計 硯測器12中’實際旋轉數&與即是模擬器輸出 Μ數。又’第二圖“、B、C'K是作用於各 异于。 =，引擎控制裝置具備記憶體13與補正演算部14。補 部U是用來自觀測器12的輸出與保存於記憶體13 來鼻出將控制部u的控制參數對應真實船舶的經 =化補正的補正量的演算部。本實施形態中，因為控制 進订PID控制’所以變為補正對象的控制參數是ρι〇 U的m增益是根據以補正演算部14算出 的補正1：來更新。 =前次的控制參數更新時以觀測器12算出的 mo 13。在進行下次控制參數的更新時，在算 ίίΐϋ 相同條件下’例如將旋轉數或燃料投入量 =與則次相同的值’使船航行，將現在船速Vm以觀測 在補正演算部14被輸入以觀測器12估計的現 ίίΪΓ01與被記憶於記憶體13的過去船速VHK)，根據這 二值异出控制部11的控制參數的補正量。 201200720 —由於經年累月下的船體阻力會增加，而螺紫效率會低 即使海象或簡供給量相同，船速也會比前次更新時 (例如新造時）慢。因此，以觀測器12料的現在船速 Vm會變得比過去船速Vmo慢。 在補正々。卩14，把例如過去船速Vmo與現在船速 m的差（Vmo_Vm)做為補正量來算出在控制部“， 二Vm0-Vm)的值越大，貝J p增益、d增益被設定越大且 或增盈被設定越小。也就是說’因為當經年變化產生， =阻力增加，螺槳效率低落，所以為了獲得新造時同樣 =答性，需要差（Vmo_Vm)的值越大，取得卩及/或〇 曰盃越大。例如將p、D增益成比例於 〇 而增加，將I增益反比例而降低。 又，此時在補正演算部14，根據被輸入的Vmo、Vm， 關於觀測器12的狀態方程式也配合控制對象的經年變化進 Γίί而=器12.的模擬器(數值模型)對應現在的控制 分的：t°mv) 1定為把旋轉數ν以及速度v做為成201200720, invention description: TECHNICAL FIELD The present invention relates to an engine control device for controlling the operation of a ship's main engine. [Prior Art] Governor control of a ship's main engine, widely used to maintain propeller rotation number (Host rotation number) is controlled at a certain value of pm. In addition, in order to prevent excessive rotation during the racing, the PID control parameters are changed in accordance with the simulation model of the engine (Patent Document No. 1: Patent Publication No. Hei 8-200131, Patent Document 1 proposes to predict by simulation The number of rotations caused by external disturbances only moves the more pID control parameters, but does not adopt the knot that corresponds to the increase in hull resistance, the lower vocational efficiency, and the deterioration of engine performance over the years. [The present invention] The ship engine control device according to the present invention is characterized in that it includes a control unit, an operation of a ship main engine, and an observer, which is a ship object including a host and a hull. The amount of operation from the control unit is input as the input; and the value of the annual change of the physical quantity according to the annual change of the physical quantity is The control parameter of the control unit is preferably the value of the physical quantity before the change of the year, and the year of the year 201200720 The change of the controlled object after the change. ^纟This can more accurately estimate the control record i. The engine control device is better equipped with memory, the memory is recorded by the body 2: the value before the change of t The corrective means is based on the value recorded in this ΐί: ration, and the calculated physical quantity after the change of the year = ====, more control parameters. Control the second gain and / or DM 迷 on the speed of the ship S If the value is large, the change speed difference is larger, and the second correction means is, for example, the smaller the value of the above-mentioned ship owed and 1 曰 曰. In addition, when the engine is stopped, the number of rotations such as the host is detected. The ship of the present invention is provided with an upper engine control device. The main engine: the ship engine control method is characterized in that the observer uses the ship of the second and the hull as a control object, and The amount of operation from the control master is used as the input 'control in the observer to estimate the control: 娄, the value after the annual change to change the control of the operation of the control host 22: According to the present invention, the host can be matched with the ship's year-over-yearly efficient host Operation. Late [implementation] The embodiment of the present invention will be described with reference to the accompanying drawings. Fig. 4 is a block diagram showing the configuration of the engine control skirt and the embodiment of the present invention. The control object 10 includes a host, a propeller, a hull, etc., from The governor command u of the control unit U is applied to the host. The control unit u is, for example, a governor, 4 201200720 performs a PID control with a rotation number of -. Further, the output shaft of the main unit (not shown) - ' The sensor having the actual number of rotations of the main unit Ne (not shown) 'the number of rotations Ne is negatively fed back to the input side of the control unit u. That is to say, the deviation of the number of target rotations N from the actual number of rotations Ne is The control unit 11 inputs the governor command u through the PID calculation, and the engine control device of the present embodiment includes the observer 12 that has numerically modeled the control target 10. The second figure is a block diagram showing the relationship of the control object 1 . As shown in the second figure, the observer 12 will: the peripheral speed: the tie order U as the input 'the rotation number N or the ship speed (for the watercraft speed) v temple as a state variable. In the present embodiment, the actual number of revolutions Ne is counted as the actual number of revolutions & and the number of turns of the simulator output. Further, the 'second diagrams', B, and C'K are different for each other. = The engine control device includes the memory 13 and the correction calculation unit 14. The complement U is outputted from the observer 12 and stored in the memory. 13 The nose is used to calculate the control parameter of the control unit u corresponding to the correction amount of the real ship. In the present embodiment, since the control PID control is controlled, the control parameter that becomes the correction target is ρι〇U. The m gain is updated based on the correction 1 calculated by the correction calculation unit 14. = the mo 13 calculated by the observer 12 at the time of the previous control parameter update. When the next control parameter is updated, the same condition is calculated ίίΐϋ In the following, for example, the number of rotations or the amount of fuel input = the same value as the next time is used to sail the ship, and the current ship speed Vm is observed and corrected in the correction calculation unit 14 to be estimated by the observer 12 and stored in the memory. The past ship speed VHK of 13 is based on the correction amount of the control parameter of the binary value control unit 11. 201200720 - Since the hull resistance increases over the years, the efficiency of the snail violet is low even if the walrus or the simple supply is the same, Speed It will also be slower than the previous update (for example, when it is new). Therefore, the current ship speed Vm of the observer 12 will become slower than the past ship speed Vmo. In the correction 々. 卩 14, for example, the past ship speed Vmo and The difference (Vmo_Vm) of the ship speed m is used as the correction amount to calculate that the larger the value of the control unit ", two Vm0 - Vm), the larger the gain and the d gain are set, or the gain is set smaller. That is to say, 'because of the change in the years, the resistance increases and the efficiency of the propeller is low. Therefore, in order to obtain the same = correctness in the new creation, the larger the value of the difference (Vmo_Vm) is required, the larger the 卩 and/or the cup is obtained. . For example, the gains of p and D are increased in proportion to 〇, and the I gain is inversely proportionally reduced. Further, at this time, the correction calculation unit 14 matches the state equation of the observer 12 with the input of the Vm, Vm, and the simulator (numerical model) of the control object. Control points: t°mv) 1 is determined to make the rotation number ν and the speed v as
Lit 〇表示轉置），將（N，，V，）\為關於（N，V) =寺^的-階微分，職器指令u做為輸人，並且將在狀 :向里（N，V)、輸入u分別被演算的2χ2行列、2幻矩 ^素做為{Aij}、{Bi} ’將系統狀態方程式（ U來表示時， ~ V驭 [數1] N ^11 ^12 N · Γ^, Ί J ' _ Λ 2\ Α 22 V 一一 + u 是包含螺紫旋轉的阻力的元素，a”是包含船體阻 、兀素。此時A丨2及An，例如各更新為八丨2 · Vm〇/Vm 6 201200720 以及An · Vmo/Vm。又，其他元素維持在原本的值。又， 在上述狀悲方权式，關於主機等變數被省略，但也可以做 成也考慮主機閥的劣化等的結構。 如上，根據本實施形態，由於不用實測船速，估計船 體或螺槳等的經年變化，配合於此而可以更新控制參數， 所以配合船舶經年變化的效率，可以經常進行效率良好的 主機運轉。又，由此可以將航海餘裕（seamargin)變小， 也可改善新造時的燃料消費。 又，從調速器指令u’在經年變化前的船速可以在足夠 精確度模擬的狀況，不是保存於記憶體的過去船速，而是 將模擬的經年變化前的船速，與以本實施形態的觀測器估 計的現在船速比較，也可以進行控制部或觀測器的更新。 又，觀測的狀態變數並不限定於旋轉數，也可以是例 如螺槳軸的力矩等，也可以是複數個物理量。又，做為用 ^古計經年變化的物理量，雖然在本實施形_船速的估 ，值’但也可以是例如以觀測器估計力矩或推力，據此估 计經年變化來更新控制參數。 實施形態中，以例子進行說明PID控制，但在此外 式中’也可以配合估計的船體或螺槳的經“ 化，更新控制參數成為獲得經年變化前的應答性。 【圖式簡單說明】 =圖圖：表料㈣實__料控織置的結構的方 第二圖：表示控制對象與觀測器的關係的方塊圖。 【主要元件符號說明】 10 控制對象 201200720 11 控制部（PID演算部） 12 觀測器 13 記憶體 14 補正演算部 A、 B、C、K 運算子 No 目標旋轉數 Ne 實際旋轉數 Vm 現在船速 Vmo過去船速 u 調速器指令 8Lit 〇 means transpose), will be (N, V,) \ for the (N, V) = temple ^ - order differential, the employee command u as the input, and will be in the shape: inward (N, V), the input u is calculated by 2χ2 rows and 2, and the 2 magic moments are used as {Aij}, {Bi} 'The system state equation (when U is expressed, ~ V驭[number 1] N ^11 ^12 N · Γ^, Ί J ' _ Λ 2\ Α 22 V One-to-one u is an element containing the resistance of the spiral purple rotation, a" is the inclusion of hull resistance, halogen. At this time A丨2 and An, for example, each update It is 丨2 · Vm〇/Vm 6 201200720 and An · Vmo/Vm. In addition, other elements are maintained at the original value. Also, in the above-mentioned sorrowful weight, the variables such as the host are omitted, but it can also be made. As described above, according to the present embodiment, since the ship's speed is not measured, the hull or the propeller is estimated to be changed over the years, and the control parameters can be updated in accordance with this, so that the ship is changed over the years. The efficiency of the main engine can be operated frequently. In addition, the sea margin can be reduced, and the fuel can be improved. Consumption. In addition, the speed of the ship from the governor command u' before the change of the year can be simulated with sufficient accuracy, not the past ship speed saved in the memory, but the speed of the ship before the simulated change over the years. The control unit or the observer may be updated in comparison with the current ship speed estimated by the observer of the embodiment. The state variables to be observed are not limited to the number of revolutions, and may be, for example, the torque of the propeller shaft. It can also be a plurality of physical quantities. Also, as a physical quantity that changes with the age of the year, although in this embodiment, the value of the ship speed is estimated, but it can be, for example, an observer to estimate the moment or thrust. It is estimated that the control parameters are updated over the years. In the embodiment, the PID control is described by way of example, but in the alternative formula, 'the estimated hull or propeller can be matched, and the control parameters are updated to obtain the change over the years. Responsiveness [Simplified description of the schema] = Graph: Table material (4) Real __ The structure of the structure of the material control weave The second diagram: the block diagram showing the relationship between the control object and the observer. 】 10 Control object 2013200720 11 Control unit (PID calculation unit) 12 Observer 13 Memory 14 Correction calculation unit A, B, C, K Operator No No target rotation number Ne Actual rotation number Vm Current ship speed Vmo Past ship speed u adjustment Speed command 8