WO2013054388A1

WO2013054388A1 - Ship propulsion system and ship with same

Info

Publication number: WO2013054388A1
Application number: PCT/JP2011/073308
Authority: WO
Inventors: 太田　裕二; 英司齋藤
Original assignee: 三菱重工業株式会社
Priority date: 2011-10-11
Filing date: 2011-10-11
Publication date: 2013-04-18
Also published as: CN103502093B; CN103502093A; KR101494567B1; KR20130133892A

Abstract

A ship propulsion system mounted on a ship is configured so as to minimize influence on the speed of the ship, the influence being caused by a variation in a load on a shaft generator. Provided is a ship propulsion system mounted on a ship which comprises a shaft generator connected to a propulsion shaft for connecting a vapor turbine and a propeller. The ship propulsion system comprises: a control valve which is provided in supply piping for supplying vapor to the vapor turbine and which controls the amount of supply of the vapor; and a control device which determines the amount of operation of the control valve. The control device comprises: a first calculation section (11) which calculates a first operation amount (V1) for matching the actual rotational speed of the propeller with a rotational speed command for the propeller; a second calculation section (12) which calculates a second operation amount (V2) on the basis of a shaft generator output command value determined from load conditions within the ship; and an adder (13) which obtains a third operation amount (V3) by adding the first operation amount (V1) and the second operation amount (V2). The ship propulsion system controls the control valve on the basis of the third operation amount (V3).

Description

Marine propulsion system and ship equipped with the same

The present invention relates to a marine propulsion system and a marine vessel equipped with the marine propulsion system.

Conventionally, a marine propulsion system in which a main engine and a propeller are connected by a propulsion shaft and a shaft generator is connected to the propulsion shaft is known (for example, see Patent Document 1).
In a ship equipped with such a marine propulsion system, the power generated by the shaft generator is converted into an inboard frequency and supplied to the inboard power supply system.

JP 2007-326391 A

The ship disclosed in Patent Document 1 has a problem that the main engine is affected by the load fluctuation of the shaft generator, the ship speed fluctuates, and the ride comfort deteriorates.

The present invention has been made in view of such circumstances, and provides a marine vessel propulsion system capable of reducing the influence on the ship speed due to load fluctuations of the shaft generator and a ship equipped with the same. Objective.

In order to solve the above problems, the present invention employs the following means.
A first aspect of the present invention is a marine propulsion system mounted on a marine vessel including a shaft generator connected to a propulsion shaft that couples a steam turbine and a propulsion device, and supplies steam to the steam turbine A control valve that is provided in the pipe and controls the supply amount of steam; and a control device that determines an operation amount of the control valve, wherein the control device determines an actual rotation speed of the propulsion device to a rotation speed command of the propulsion device A first calculation means for calculating a first operation amount for matching with the second calculation means, a second calculation means for calculating a second operation amount based on a shaft generator output command value determined from a load condition in the ship, There is provided a marine vessel propulsion system that includes an adding unit that adds a first operation amount and the second operation amount to obtain a third operation amount, and controls the control valve based on the third operation amount.

According to the first aspect of the present invention, the second operation amount is obtained based on the shaft generator output command determined from the load situation in the ship, and this second operation amount is added to the opening control of the control valve. It becomes possible to supply the steam amount corresponding to the load fluctuation of the shaft generator to the steam turbine prior to the ship speed fluctuation. As a result, the turbine output can be operated in advance, and the ship speed control can be promptly followed with respect to the load fluctuation of the shaft generator. As a result, even if the load of the shaft generator fluctuates abruptly, it is possible to suppress fluctuations in ship speed due to this, and improve navigation stability.

In the marine propulsion system according to the first aspect of the present invention, the second calculation means includes means for estimating a turbine output to the shaft generator from the shaft generator output command, and a turbine output to the shaft generator. The information which linked | related with the 2nd operation amount is previously hold | maintained, You may comprise the means to acquire the 2nd operation amount corresponding to the estimated turbine output to the said shaft generator.

According to such a configuration, the turbine output to the shaft generator is estimated based on the shaft generator output command determined from the load condition in the ship, and the steam amount corresponding to the turbine output to the shaft generator is supplied. The second operation amount to be acquired is acquired from information in which the turbine output to the shaft generator that is held in advance and the second operation amount are associated with each other. Therefore, the second operation amount can be easily obtained.

In the marine vessel propulsion system according to the first aspect of the present invention, the second calculation means includes means for estimating the previous turbine output using the previous third operation amount, and the previous shaft generator output command. And the means for estimating the turbine output to the previous shaft generator and the previous propulsion by subtracting the estimated turbine output to the previous shaft generator from the estimated previous turbine output. Means for calculating the turbine output to the vessel, means for estimating the current turbine output using a third operation amount obtained by adding the unknown second operation amount to the current first operation amount, Means for estimating the turbine output to the current shaft generator using the shaft generator output command, and subtracting the estimated turbine output to the current shaft generator from the estimated current turbine output. By The difference between the turbine output to the current propulsion unit and the turbine output to the previous propulsion unit and the turbine output to the current propulsion unit is a predetermined value determined according to the ship speed. And a means for calculating the unknown second operation amount.

According to such a configuration, the turbine output to the previous propulsion device is obtained, and the turbine output to the current propulsion device is obtained with the second manipulated variable as an unknown, and the turbine output to the previous propulsion device and the current propulsion are obtained. A second manipulated variable is obtained such that the difference from the turbine output to the vessel becomes a predetermined value corresponding to the ship speed. Thus, since the second manipulated variable is obtained by solving the equation using the second manipulated variable for obtaining the power corresponding to the turbine output to the shaft generator as an unknown, the second manipulated variable can be easily obtained. Can do.

In the marine propulsion system according to the first aspect of the present invention, an area where the rotational speed command of the propeller is 80% or less, or a value obtained by dividing the fluctuation range of the shaft generator output command by the turbine output is 0. In the case where it is larger than 01, the second calculation means may output the second operation amount.

According to such a configuration, only in a region where the rotational speed command of the propulsion device is 80% or less, or when a value obtained by dividing the fluctuation range of the shaft generator output command by the turbine output is larger than 0.01, Since the second calculation means outputs the second operation amount, the processing load on the second calculation means can be reduced.

Also, a second aspect of the present invention provides a ship provided with any of the above marine propulsion systems.

According to the present invention, there is an effect that the influence on the ship speed due to the load fluctuation of the shaft generator can be reduced.

1 is a diagram showing a schematic configuration of a marine propulsion system according to a first embodiment of the present invention. FIG. 2 is a control block diagram illustrating a schematic configuration of the control device illustrated in FIG. 1. It is the control block diagram which showed schematic structure of the control apparatus with which the ship propulsion system which concerns on the 2nd Embodiment of this invention is provided. It is the control block diagram which showed schematic structure of the control apparatus with which the ship propulsion system which concerns on the 3rd Embodiment of this invention is provided. It is the figure which showed the internal structure of the 2nd calculating part shown in FIG. It is the control block diagram which showed schematic structure of the control apparatus with which the ship propulsion system which concerns on the 4th Embodiment of this invention is provided.

Hereinafter, embodiments of a marine vessel propulsion system according to the present invention and a vessel provided with the marine vessel propulsion system will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a diagram showing a schematic configuration of a marine propulsion system according to a first embodiment of the present invention. As shown in FIG. 1, a marine propulsion system 10 is provided in a boiler 1, a steam turbine (main machine) 2 that is rotated by steam supplied from the boiler 1, and a supply pipe that supplies steam from the boiler 1 to the steam turbine. Control valve 3, speed governor (governor) 4 for operating the opening degree of control valve 3, propeller (propulsion unit) 5 driven by the rotational power of steam turbine 2, steam turbine 2, propeller 5, The main components are a shaft generator 6 connected to the propulsion shaft that connects the two, and a control device 7 that controls the speed control device 4 to adjust the amount of steam supplied to the steam turbine 2 and control the steam turbine output. It is provided as a configuration. The shaft generator 6 is controlled by a power management system 8.

As shown in FIG. 2, the control device 7 is determined from a first calculation unit 11 that calculates a first operation amount V <b> 1 for making the actual rotation speed of the propeller coincide with the propeller rotation speed command, and a load state in the ship. Based on the shaft generator output command, the second operation unit 12 that calculates the second operation amount V2, the first operation amount V1 output from the first operation unit 11, and the second operation unit 12 output from the second operation unit 12. And an adder 13 that adds the operation amount V2 to obtain the third operation amount V3.

The first calculation unit 11 includes a subtractor 21 that calculates a difference between the propeller rotation speed command and the actual rotation speed of the propeller, and a controller 22 that obtains a first operation amount from the result of the subtractor 21. The controller 22 is, for example, a PID controller.

The second calculation unit 12 includes a first processing unit 23 and a second processing unit 24. The first processing unit 23 estimates the turbine output Wg to the shaft generator by dividing the shaft generator output command by the shaft generator efficiency. The second processing unit 24 holds in advance a table in which the turbine output Wg to the shaft generator is associated with the second operation amount V2, and the turbine output to the shaft generator estimated by the first processing unit 23 is stored. A second operation amount V2 corresponding to Wg is acquired. Here, a plurality of tables are provided according to the turbine inlet steam pressure Pin. When the turbine inlet steam pressure Pin and the turbine output Wg to the shaft generator are input, the second processing unit 24 changes the turbine output Wg to the shaft generator from the map corresponding to the input turbine inlet steam pressure Pin. The corresponding second operation amount V2 is acquired. The map is created in advance from a simulation or actual examination of the relationship between the turbine inlet steam pressure, the operation amount of the governor 4 and the turbine output. In place of the map, an arithmetic expression for calculating the second manipulated variable V2 from the turbine output Wg to the shaft generator is set for each turbine inlet steam pressure, and the second manipulated variable V2 is obtained using this arithmetic expression. Also good.

In the marine propulsion system 10 having such a configuration, the actual rotation speed of the propeller is estimated from the actual turbine output, and the estimated actual rotation speed of the propeller and the propeller rotation speed command are input to the first calculation unit 11. The In the first computing unit 11, the difference between the actual rotational speed and the propeller rotational speed command is calculated by the subtractor 21, and the first manipulated variable V <b> 1 is obtained by inputting this difference to the controller 22.
Moreover, the shaft generator output command output from the power management system 8 that controls the power in the ship is input to the first processing unit 23 of the second calculation unit 12, and the turbine from the shaft generator output command to the shaft generator is input. The output Wg is estimated. The estimated turbine output Wg to the shaft generator is input to the second processing unit 24 together with the turbine inlet steam pressure Pin, and the second manipulated variable V2 is obtained from the input information and the table.

The first operation amount V1 determined by the first calculation unit 11 and the second operation amount V2 determined by the second calculation unit 12 are added by the adder 13 to obtain a third operation amount V3. The third operation amount V3 is sent to the speed governor 4 in FIG. Then, the governor 4 operates based on the third operation amount V3, whereby the control valve 3 is controlled to a predetermined opening degree. As a result, the amount of steam supplied to the steam turbine 2 is adjusted, and the ship Speed is controlled.

As described above, according to the marine propulsion system 10 according to the present embodiment, the turbine output Wg to the shaft generator is obtained based on the shaft generator output command given from the power management system 8, and this shaft generator is obtained. Since the second manipulated variable V2 corresponding to the turbine output Wg to the engine is added to the opening control of the control valve 3, the effect on the turbine output due to the fluctuation of the load condition of the shaft generator is grasped in advance, and steam is supplied in advance. The amount can be reflected. In other words, since the responsiveness of the ship speed control is slower than the responsiveness of the control of the shaft generator, it is detected in advance from the shaft generator output command that the actual generator fluctuates, and the operation corresponding to the fluctuation By giving the amount as the second operation amount V2 in advance of the ship speed control, the ship speed control can be quickly followed with respect to the load fluctuation of the shaft generator. As a result, even if the load of the shaft generator fluctuates abruptly, it is possible to suppress fluctuations in ship speed due to this, and improve navigation stability.

[Second Embodiment]
Next, a marine propulsion system according to a second embodiment of the present invention will be described. In the marine propulsion system 10 according to the first embodiment described above, the marine propulsion system according to the present embodiment has a low propeller rotational speed command (for example, a region where the propeller rotational speed command is 80% or less) or a shaft. In a region where the fluctuation range of the generator output command is large (for example, a region where a value obtained by dividing the fluctuation range of the shaft generator output command by the turbine output is larger than 0.01), the second operation amount V2 is output from the second calculation unit 12. And the second manipulated variable V2 is not output in other areas, in other words, zero.

For example, in a region where the propeller rotational speed command is high (for example, a region where the propeller rotational speed command is greater than 80%), it is expected that the influence of fluctuations in the load on the shaft generator on the turbine output will be minimal, and navigation stability Does not affect sex. Similarly, if the fluctuation range of the shaft generator output command is very small (for example, a value obtained by dividing the fluctuation range of the shaft generator output command by the turbine output is 0.01 or less), the load on the shaft generator The impact of fluctuations on turbine output is expected to be small. Therefore, in the present embodiment, the second manipulated variable V2 output from the second calculator 12 is set to zero in a region where the influence on the turbine output due to the load fluctuation of the shaft generator is considered to be small.

FIG. 3 is a control block diagram showing a schematic configuration of a control device provided in the marine propulsion system according to the present embodiment. In the marine propulsion system control device shown in FIG. 3, the switching means 50 is provided on the signal line connecting the second arithmetic unit 12 and the adder 13, and the switching means 50 is based on the propeller rotational speed command and the shaft generator output command. Is configured to turn on and off.
In FIG. 3, the switching means 50 is provided to mechanically turn on and off the output signal from the second arithmetic unit 12. For example, the region where the propeller rotational speed command is low, or the shaft generator output command In the region where the fluctuation range is large, the second calculation unit 12 may output the value of the second manipulated variable V2 as zero. In this case, when the above condition is met, the second calculation unit 12 does not have to calculate the second operation amount V2, and thus the processing load on the second calculation unit 12 can be reduced.

[Third Embodiment]
Next, a marine propulsion system according to a third embodiment of the present invention will be described. The marine vessel propulsion system according to the present embodiment has substantially the same configuration as the marine vessel propulsion system 10 according to the first embodiment described above, but the configuration of the second arithmetic unit 12 is different. In the following, parts different from the first embodiment will be mainly described.

FIG. 4 is a control block diagram showing a schematic configuration of a control device provided in the marine propulsion system according to the present embodiment, and FIG. 5 is a diagram showing an internal configuration of the second arithmetic unit 12-1 shown in FIG. is there. As shown in FIGS. 4 and 5, the second calculation unit 12-1 uses the previous third manipulated variable V3 (n−1) to estimate the previous turbine output W (n−1). Unit 31, a fourth processing unit 32 that estimates the turbine output Wg (n-1) to the previous shaft generator using the previous shaft generator output command, and the estimated previous turbine output W (n A fifth processing unit 33 that calculates the turbine output Wp (n-1) to the previous propeller by subtracting the turbine output Wg (n-1) to the previous shaft generator estimated from -1) The sixth processing unit estimates the current turbine output W (n) using the third operation amount V1 (n) + X obtained by adding the unknown second operation amount X to the current first operation amount V1 (n). 34 and the current shaft generator output command are used to estimate the turbine output Wg (n) to the current shaft generator. By subtracting the estimated turbine output Wg (n) to the current shaft generator from the processing unit 35 and the estimated current turbine output W (n), the turbine output Wp (n) to the current propeller is subtracted. An eighth processing unit 36 that calculates the difference between the turbine output Wp (n-1) of the previous propeller and the turbine output Wp (n) of the current propeller is determined according to the ship speed. And a ninth processing unit 37 for calculating an unknown second operation amount X.

More specifically, as shown in FIG. 5, the third processing unit 31 determines the steam flow rate from the previous third manipulated variable V3 (n−1) and the previous turbine inlet steam pressure Pin (n−1). And the estimated steam flow rate, turbine inlet steam temperature Tin (n-1), turbine outlet steam pressure Pout (n-1), turbine outlet steam temperature Tout (n-1), and turbine efficiency Dt (n-1 ) Is obtained as input information, and the previous turbine output W (n-1) is calculated by substituting these input information into a predetermined arithmetic expression held in advance.
The fourth processing unit 32 calculates the turbine output Wg (n−1) to the previous shaft generator by dividing the previous shaft generator output command by the shaft generator efficiency.
The fifth processing unit 33 uses the turbine output Wg (n−1) from the previous turbine output W (n−1) obtained by the third processing unit 31 to the previous shaft generator obtained by the fourth processing unit 32. ) Is subtracted to obtain the previous turbine output Wp (n-1) to the propeller.

Further, the sixth processing unit 34 adds the unknown second operation amount X to the current first operation amount V1 (n) and the current third operation amount V1 (n) + X and the turbine inlet steam pressure Pin (n). And the estimated steam flow rate, turbine inlet steam temperature Tin (n), turbine outlet steam pressure Pout (n), turbine outlet steam temperature Tout (n), and turbine efficiency Dt (n). The current turbine output W (n) is calculated by substituting these input information into a predetermined arithmetic expression held in advance.

The seventh processing unit 35 calculates the turbine output Wg (n) to the current shaft generator by dividing the current shaft generator output command by the shaft generator efficiency.
The eighth processing unit 36 subtracts the turbine output Wg (n) for the current shaft generator obtained by the seventh processing unit 35 from the current turbine output W (n) obtained by the sixth processing unit 34. Thus, the turbine output Wp (n) to the current propeller is obtained.

The ninth processing unit 37 includes the turbine output Wp (n−1) for the previous propeller obtained by the fifth processing unit 33 and the turbine output Wp (n) for the current propeller obtained by the eighth processing unit 36. The second manipulated variable X is obtained such that the difference between the two becomes a predetermined value based on the boat speed. For example, when there is no change in the ship speed, the second manipulated variable X is determined such that the previous turbine output Wp (n−1) to the propeller matches the turbine output Wp (n) to the current propeller. When the ship speed is increasing or decreasing, the difference between the previous turbine output Wp (n-1) to the propeller and the current turbine output Wp (n) to the current propeller is the increase in the ship speed or A second manipulated variable X is determined so as to be a predetermined value set based on the decrease.

The second operation amount X obtained by the ninth processing unit 37 is output to the adder 13 and added to the current first operation amount V1 (n) as shown in FIG. Three manipulated variables V3 (n) are obtained. The third operation amount V3 (n) is sent to the speed governor 4 in FIG. Then, the governor 4 operates based on the third operation amount V3 (n), so that the control valve 3 is controlled to a predetermined opening degree. As a result, the amount of steam supplied to the steam turbine 2 is adjusted. The ship speed is controlled.

As described above, according to the marine propulsion system according to the present embodiment, the turbine output of the previous propeller is obtained, the turbine output of the current propeller is obtained with the second manipulated variable as an unknown, and the previous propeller is output to the propeller. A second manipulated variable is obtained such that the difference between the turbine output and the turbine output to the current propeller is a predetermined value corresponding to the ship speed. Thus, the second manipulated variable V2 (n) is obtained by solving the equation using the second manipulated variable V2 (n) as an unknown to obtain power corresponding to the turbine output to the shaft generator. The second manipulated variable V2 (n) can be easily obtained.

In the present embodiment, the previous steam flow rate was estimated based on the inlet steam pressure and the third manipulated variable V3. However, when a flow meter is provided in the steam supply pipe, the value measured by the flow meter. It is good also as using.

[Fourth Embodiment]
Next, a marine propulsion system according to a fourth embodiment of the present invention will be described. In the marine propulsion system according to the third embodiment described above, the marine propulsion system according to the present embodiment is a region where the propeller rotational speed command is low (for example, a region where the propeller rotational speed command is 80% or less) or shaft power generation. In a region where the fluctuation range of the machine output command is large (for example, a region where a value obtained by dividing the fluctuation range of the shaft generator output command by the turbine output is larger than 0.01), the second manipulated variable 12-1 V2 (n) is output, and the second manipulated variable V2 (n) is not output in other areas, in other words, zero.

FIG. 6 is a control block diagram showing a schematic configuration of a control device provided in the marine propulsion system according to the present embodiment. In the marine propulsion system shown in FIG. 6, a switching means is provided in the signal line connecting the second arithmetic unit 12-1 and the adder 13, and the switching means is turned on / off based on the propeller rotational speed command and the shaft generator output command. It is configured.
In FIG. 6, the switching means 50 is provided to mechanically turn on / off the output signal from the second arithmetic unit 12-1. For example, in the region where the propeller rotational speed command is low or the shaft generator output In the region where the fluctuation range of the command is large, the second calculation unit 12-1 may output the value of the second manipulated variable V2 (n) as zero. In this case, when the above condition is met, the second calculation unit 12-1 does not have to calculate the second operation amount V2 (n), thereby reducing the processing load on the second calculation unit 12-1. It becomes possible to make it.

DESCRIPTION OF SYMBOLS 1 Boiler 2 Steam turbine 3 Control valve 4 Speed control device 5 Propeller 6 Shaft generator 7 Control device 10 Marine propulsion system 11 1st calculating part 12, 12-1 2nd calculating part 13 Adder 23 1st process part 24 2nd Processor 31 third processor 32 fourth processor 33 fifth processor 34 sixth processor 35 seventh processor 36 eighth processor 37 ninth processor 50 switching means

Claims

A marine propulsion system mounted on a ship comprising a shaft generator connected to a propulsion shaft that couples a steam turbine and a propulsion device,
A control valve that is provided in a supply pipe for supplying steam to the steam turbine, and controls a supply amount of steam;
A control device for determining an operation amount of the control valve;
The control device includes:
First computing means for calculating a first manipulated variable for making the actual rotational speed of the propulsion device coincide with the rotational speed command of the propulsion device;
Second computing means for calculating a second manipulated variable based on a shaft generator output command value determined from a load situation in the ship;
Adding means for adding the first operation amount and the second operation amount to obtain a third operation amount;
A marine propulsion system that controls the control valve based on the third operation amount.
The second calculation means includes
Means for estimating the turbine output to the shaft generator from the shaft generator output command;
Means for preliminarily storing information in which the turbine output to the shaft generator and the second operation amount are associated with each other, and obtaining a second operation amount corresponding to the estimated turbine output to the shaft generator; The marine propulsion system according to claim 1.
The second calculation means includes
Means for estimating the previous turbine output using the previous third manipulated variable;
Means for estimating the turbine output to the previous shaft generator using the previous shaft generator output command;
Means for subtracting the estimated turbine output to the previous shaft generator from the estimated previous turbine output, thereby calculating the turbine output to the previous propulsion unit;
Means for estimating the current turbine output using a third manipulated variable obtained by adding an unknown number of the second manipulated variable to the first manipulated variable this time;
Means for estimating the turbine output to the current shaft generator using the shaft generator output command this time,
Means for calculating the turbine output to the current propulsion device by subtracting the estimated turbine output to the current shaft generator from the estimated current turbine output;
Means for calculating the unknown second manipulated variable such that a difference between the turbine output to the previous propulsion device and the turbine output to the current propulsion device becomes a predetermined value determined according to a ship speed; The marine propulsion system according to claim 1, comprising:
In a region where the rotation speed command of the propulsion device is 80% or less, or when a value obtained by dividing the fluctuation range of the shaft generator output command by the turbine output is larger than 0.01, the second calculation means is The marine propulsion system according to any one of claims 1 to 3, which outputs two operation amounts.
A ship provided with the marine vessel propulsion system according to any one of claims 1 to 4.