CN102449291A - Control method and controller of marine engine - Google Patents
Control method and controller of marine engine Download PDFInfo
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- CN102449291A CN102449291A CN200980159618XA CN200980159618A CN102449291A CN 102449291 A CN102449291 A CN 102449291A CN 200980159618X A CN200980159618X A CN 200980159618XA CN 200980159618 A CN200980159618 A CN 200980159618A CN 102449291 A CN102449291 A CN 102449291A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
- F02D31/007—Electric control of rotation speed controlling fuel supply
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D45/00—Electrical control not provided for in groups F02D41/00 - F02D43/00
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1409—Introducing closed-loop corrections characterised by the control or regulation method using at least a proportional, integral or derivative controller
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1413—Controller structures or design
- F02D2041/1422—Variable gain or coefficients
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1413—Controller structures or design
- F02D2041/1432—Controller structures or design the system including a filter, e.g. a low pass or high pass filter
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/101—Engine speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/1012—Engine speed gradient
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
- F02D31/007—Electric control of rotation speed controlling fuel supply
- F02D31/009—Electric control of rotation speed controlling fuel supply for maximum speed control
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
Abstract
Ship-handling performance is maintained while fuel efficiency is enhanced by switching between a fuel saving mode and a normal mode efficiently. In normal mode, a set rotation speed and an actual rotation speed are inputted to a controller (4), and a PID controller (12) calculates an output value to the fuel supply means of a marine engine (2) based on the difference between the set rotation speed and the actual rotation speed. The PID controller (12) also has a fuel saving mode for reducing the variation range of an output value per unit time as compared with the normal mode. Detection sections (20, 22, 24, 26, 28) for monitoring variations in the set rotation speed and actual rotation speed are provided, and, when the set rotation speed or actual rotation speed exceeds a predetermined range in the fuel saving mode, the PID controller (12) is switched to the normal mode on the basis of the outputs from the detection sections.
Description
Technical field
The present invention relates to possess controlling method and its employed control gear of the marine engine of arrangements for speed regulation.
Background technique
In the marine engine,, the arrangements for speed regulation (speed regulator) that fuel Control Parameter such as fuel injection amount are controlled are set for its rotating speed is adjusted to the rotating speed of target of being set by the operator.As this speed regulator; Patent documentation 1 disclosed that kind for example; Rotating speed and the calculation of setting rotating ratio with the reality of marine engine are arranged; Relatively result in according to this, the speed regulator, disclosed as patent documentation 2 of the tooth bar position of the adjustment petrolift that marine engine possessed is correspondingly adjusted the speed regulator of the fuel feed of master motor with the rotating speed and the deviation of setting rotating speed of the reality of master motor.
Patent documentation 1: japanese kokai publication hei 7-279738 communique
Patent documentation 2: japanese kokai publication hei 8-200131 communique
According to the technology of above-mentioned patent documentation 1,2, the result according to relatively calculating carries out the adjustment of the tooth bar position of petrolift one by one, correspondingly carries out the adjustment of fuel feed one by one with the rotating speed and the deviation of setting rotating speed of reality.Though if carry out the adjustment of tooth bar position, the adjustment of fuel feed one by one, then the rotating speed of marine engine always is controlled as necessarily, exist fuel by the possibility that consumes in vain.On the other hand, ending one by one though the rotating speed of marine engine changes, can to suppress the consumption of fuel under the situation of control.Therefore, expectation switches to state of controlling one by one definitely and the state that stops to control one by one rightly with rotating speed.
In addition, also can substitute control one by one, the speed of the variation of the employed parameter of control is reduced, make the few control of change of the delivery volume of fuel.But in this case, actual rotating speed is difficult to consistent with the rotating speed of operator's setting, the difficulty of steering a ship.
The objective of the invention is to; A kind of steering a ship property of keeping is provided; And can switch to effectively and forbid to the change of the output value of fuel supply member or make the equable pattern of the delivery volume of fuel, improve the controlling method and the control gear thereof of the marine engine of fuel efficiency.
Summary of the invention
In the mode based on the controlling method of marine engine of the present invention; Possess according to the setting rotating speed of setting by the operator and as the difference change of the actual speed of the rotating speed of the reality of marine engine to the normal mode of the output value of fuel supply member with forbid the change of output value, or compare the conservation of fuel pattern that the change amplitude that makes each unit time reduces with normal mode.The supply member that acts as a fuel under the situation that is machinery control, can use the final controlling element of control petrolift, being under the electronically controlled situation, can use solenoid valve.Under defined terms, switch to above-mentioned normal mode from above-mentioned conservation of fuel pattern.
In a mode of the control gear that is used for this method, be provided with the calculation member of calculating under normal mode and conservation of fuel pattern to the output value of fuel supply member.Have again, be provided with the supervision member of keeping watch on the change of setting rotating speed or actual speed.Keep watch on member when setting rotating speed or actual speed and surpassed predetermined range, produce and remove instruction, the calculation member receives removes instruction, is switched to normal mode.
Because switch normal mode and conservation of fuel pattern like this, so, can under normal mode, keep steering a ship property, under the conservation of fuel pattern, improve fuel efficiency.
In the controlling method of aforesaid way, the condition that can make afore mentioned rules is for example for having reached in above-mentioned actual speed when disturbing outside the speed range that safe operation sets with respect to oceanic condition, external force.In the control gear of aforesaid way, keep watch on member and reached when guaranteeing that rotating speed that steering a ship property sets is following in actual speed, can produce and remove instruction.
Because as if formation as them, then, be switched to normal mode for example because the variation that external force is disturbed exists under the situation of the possibility that is difficult to safe operation, so, the raising of steering a ship property.In addition, can safe operation the time, can pass through conservation of fuel mode suppression fuel consumption.
In the controlling method of aforesaid way, the condition that can make afore mentioned rules is that above-mentioned actual speed has reached the rotating speed that uses in the ocean when following.In the control gear of aforesaid way, can be to keep watch on member to have reached the rotating speed that uses in the ocean when following in actual speed, produce and remove instruction.
Because as if formation as them, for example reach below the rotating speed that uses in the ocean in actual speed, exist under the situation of the possibility that is difficult to safe operation, be switched to normal mode from the conservation of fuel pattern that can suppress fuel consumption, so, the raising of steering a ship property.
In the controlling method of aforesaid way, the condition that can also make afore mentioned rules is that above-mentioned actual speed has reached and is the rotating speed that prevents overwinding then set when above.In the control gear of aforesaid way, also can be to keep watch on member to have reached in above-mentioned actual speed and be the rotating speed that prevents overwinding then set when above, generating solution removes instruction.
Because as if formation as them, then, be switched to normal mode from the conservation of fuel pattern existing actual speed to become under the situation of the possibility of rotating, so, can prevent that actual speed from becoming rotation.
In the controlling method of aforesaid way, the condition that can make afore mentioned rules is that above-mentioned setting rotating speed is when having been changed by above-mentioned operator.In the control gear of aforesaid way, can be to keep watch on member when above-mentioned setting rotating speed has been changed by above-mentioned operator, generating solution removes instruction.
Because as if formation as them, then changed and set under the situation of rotating speed the operator, be switched to normal mode, so, can be to make the marine engine rotation with the corresponding actual speed of setting rotating speed.After this,, continue the navigation of ship, then can improve fuel consumption efficiency if switch to the conservation of fuel pattern.
Having, can be when the change amount of above-mentioned setting rotating speed is the scope of inching again, keeps above-mentioned conservation of fuel pattern, and, can also be to keep watch on member to keep the conservation of fuel pattern.As inching, for example be the setting rotating speed of 2rpm/ below second.Because if constitute like this, then to set under the situation of scope that rotating speed is inching, the conservation of fuel pattern is maintained, so, can improve fuel consumption efficiency.
In addition; In the controlling method of aforesaid way; Can be that difference in above-mentioned setting rotating speed under the above-mentioned normal mode and above-mentioned actual speed is during in first scope; Be switched to above-mentioned conservation of fuel pattern, when the difference of above-mentioned setting rotating speed under above-mentioned conservation of fuel pattern and above-mentioned actual speed is bigger than second scope, be switched to above-mentioned normal mode.In this case, second scope is bigger than first scope.Equally; In the control gear of aforesaid way; Can be to keep watch on member in the difference of above-mentioned setting rotating speed under the above-mentioned normal mode and above-mentioned actual speed during in first scope; Stop ring off signal, when the difference of above-mentioned setting rotating speed under above-mentioned conservation of fuel pattern and above-mentioned actual speed is bigger than second scope, generate ring off signal.In this case, also be that second scope is bigger than first scope.
Because as if formation as them, then second scope is bigger than first scope, so, be difficult to be switched to normal mode from the conservation of fuel pattern, therefore, the time of under the conservation of fuel pattern, navigating by water is long, can improve fuel consumption efficiency.
In addition, in the controlling method of aforesaid way, can when being switched to above-mentioned conservation of fuel pattern from above-mentioned normal mode, above-mentioned output value be changed to mean value.Perhaps; In the control gear of aforesaid way; Setting is calculated to the mean value of the mean value of the output value of fuel supply member and is calculated member; Be arranged on when normal mode is switched to the conservation of fuel pattern, above-mentioned output value switched to the switching member of mean value of calculating the stipulated time of member from mean value.
Because, then under the conservation of fuel pattern, can make the change in rotational speed of marine engine few as if formation as them, so, can reduce switching to normal mode, can improve fuel consumption efficiency.
In the controlling method of aforesaid way, can be when above-mentioned conservation of fuel pattern, regulation is to the save mode upper limit of the output value of fuel supply member.Perhaps; In the control gear of aforesaid way; Also can be that the calculation member makes the change of the output value of fuel supply member compare with normal mode in the conservation of fuel pattern, reduce under the situation of change amplitude that regulation is to the save mode CLV ceiling limit value of the output value of fuel supply member; When the output value of being calculated has surpassed the save mode CLV ceiling limit value, export this save mode CLV ceiling limit value.
If formation as them is then under the conservation of fuel pattern, though the change of actual speed becomes big when heavy storm; But because the upper limit is set in the output value to the fuel supply member; So, there is not the excessive situation of variation of the delivery volume of fuel, can prevent rotation.The change that in addition, can also prevent actual speed becomes big.
In the controlling method of aforesaid way, can be to calculate the control of usage ratio integral differential to the output value of fuel supply member.In this case; When above-mentioned conservation of fuel pattern; Multiply by ratio with the employed proportional gain constant of proportional control in the above-mentioned PID control and use reduction factor; Multiply by integration employed intergration time with the integral control in the control of above-mentioned PID and use reduction factor, the differential in controlling with above-mentioned PID is controlled and multiply by differential employed derivative time and use reduction factor, in view of the above; Forbid comparing, the change amplitude of each unit time of the above-mentioned output value of each unit time is reduced to the change of the output value of fuel supply member or with above-mentioned normal mode.Have again, each reduction factor can be set.
Perhaps, in the control gear of aforesaid way, can be that the calculation member possesses the PID control member.In this case; When above-mentioned conservation of fuel pattern; Multiply by ratio with the employed proportional gain constant of the proportional control in the above-mentioned PID control member and use reduction factor, multiply by integration employed intergration time with the integral control of above-mentioned PID control member and use reduction factor, control with the differential of above-mentioned PID control member and multiply by differential employed derivative time and use reduction factor; In view of the above; Forbid change, or compare, the change amplitude of each unit time of the above-mentioned output value of each unit time is reduced with above-mentioned normal mode to the output value of fuel supply member.Have again, each reduction factor can be set.
If desire change proportional gain constant, intergration time, derivative time under the conservation of fuel pattern; Then need at first grasp their value under the normal mode; One side is compared with these values of being grasped, new settings proportional gain constant, intergration time, derivative time, handles trouble.Relative therewith, if with respect to proportional gain constant, intergration time, derivative time, multiply by reduction factor, then do not need to grasp singly proportional gain constant, intergration time, derivative time under the normal mode, can set easily.
Description of drawings
Fig. 1 is the block diagram of control gear of the marine engine of a mode of execution of the present invention.
Fig. 2 is the block diagram of the function of expression controller performance shown in Figure 1.
Embodiment
The control gear of the marine engine of a mode of execution of the present invention is as shown in Figure 2, is control marine engine, the for example parts of marine diesel engine 2.Marine diesel engine 2 for example is multi-cylinder diesel motor, though not shownly go out, each cylinder possesses Fuelinjection nozzle and fuel supply member, for example fuel-injection pump respectively.Fuelinjection nozzle, is supplied with the fuel that is supplied to when authorized pressure is above at the pressure of the fuel of supplying with from fuel-injection pump to the cylinder of correspondence.Each fuel-injection pump will with from after the control gear stated, for example the output value of controller 4 is that the fuel of the amount on basis is supplied with to the Fuelinjection nozzle of correspondence.Marine diesel engine 2 is except that the marine diesel engine that possesses Fuelinjection nozzle, fuel-injection pump; Can also be the marine diesel engine that carries out fuel supply to each cylinder through electromagnetic valve, for example make the marine diesel engine of the fuel injection system of joint-track type, pressurized cylinder formula.In addition, also can make and possess the fuel supply member, the marine diesel engine of the nozzle tip of the injection valve that for example acts as a fuel at each cylinder.Nozzle tip is to carry out excitation or demagnetization through the electromagnet to the portion of setting within it, and spool is moved, and the parts that fuel sprays are carried out in control in the cylinder of correspondence, controlled according to the output value of controller 4 respectively.
In this embodiment; Controller 4 is as shown in Figure 2, and as the addition member of calculating the deviation of setting tach signal and actual speed signal, for example adder 10 is brought into play functions; Also as the PID control member that has been supplied to this deviation, for example PID controller 12 is brought into play functions.That is, the deviation that PID controller 12 usefulness are supplied to multiply by the proportional gain constant, carries out proportional control; With the deviation integration that is supplied to, multiply by the inverse of intergration time with it, carry out integral control; Deviation differential with being supplied to multiply by derivative time with it, carries out differential control; To respectively be worth addition through what these proportional control, integral control and differential control obtained, the value after the addition will be exported as output value.
In addition, at PID controller 12 limiter 14 to be set, surpassed in the output value of being calculated under the situation of the limiter CLV ceiling limit value that is limited device 14 settings, the mode of output limiter CLV ceiling limit value constitutes.
Under normal mode, even, do not produce error with setting under the situation that tach signal changed yet, in addition, make the actual speed signal rapidly with set back several signals consistent mode preset proportion gain constant, intergration time and derivative time.
Under the conservation of fuel pattern, compare the working strength grow of integral control with normal mode, set intergration time and derivative time with the idle basically mode of differential control.In addition, with the little mode preset proportion gain constant of proportional control of the strength ratio normal mode of the work of proportional control.Through setting by this way, to compare with normal mode, the amplitude of fluctuation of each unit time of the output value of PID controller 12 reduces.
The setting of proportional gain constant, intergration time and derivative time under the conservation of fuel pattern is not change they itself, but through with multiply by respectively proportional gain constant, intergration time and the derivative time of initial value, for example normal mode the proportional gain constant with reduction factor, intergration time with carrying out reduction factor and derivative time with reduction factor.Therefore; Even because do not grasp proportional gain constant, intergration time and the derivative time itself under the normal mode; As long as consider it is under the normal mode several times of the proportional gain constant, be several times of this intergration time, be several times of this derivative time, so, can set easily.In addition, the proportional gain constant with reduction factor, intergration time with also can at random setting by the operator respectively reduction factor and derivative time with reduction factor.
To set forth in the back to the switching between conservation of fuel pattern and the normal mode.
In order to determine the switching between above-mentioned normal mode and the conservation of fuel pattern, also as keeping watch on member, for example five detection units are brought into play functions to controller 4.As five detection units, actual speed overspeed detection portion 20, actual speed horizontal detection portion 22 are set, set rpm level detection unit 24, set rotation speed change amount detection unit 26, rotating speed variation detection unit 28.
Actual speed hypervelocity horizontal detection portion 20 input actual speed signals; Judge that it is whether more than predetermined hypervelocity level; If the actual speed signal is more than the hypervelocity level; Then export the OFF signal that switches to normal mode, if the actual speed signal less than the hypervelocity level, is then exported the signal to the ON of conservation of fuel mode switching.The hypervelocity level is set to can judge marine diesel engine 2 level of rotation excessively.Therefore, under the conservation of fuel pattern, cross under the situation of rotation, can switch, under normal mode, do not cross under the situation of rotation at marine diesel engine 2 to normal mode at marine diesel engine 2, can be to the conservation of fuel mode switching.
Actual speed horizontal detection portion 22 input actual speed signals; Judge whether it expires more than the rotating speed in seaworthiness, if the actual speed signal is then exported the OFF signal more than the full rotating speed of seaworthiness; If the actual speed signal is then exported the ON signal less than the full rotating speed (Na PVC Off Le returns the translocation number) of seaworthiness.The full rotating speed of seaworthiness is to be illustrated in the ocean to use the rotating speed under the situation of marine diesel engine 2.Therefore, under the conservation of fuel pattern, under the situation more than the full rotating speed of seaworthiness, can switch to normal mode at the actual speed signal.In addition, under normal mode, if the actual speed signal is expired rotating speed less than seaworthiness, then can be to the conservation of fuel mode switching.The full rotating speed of seaworthiness be the shape, size according to boats and ships etc. calculate in advance oceangoing voyage the time rotating speed.In addition, when in the bay, navigating by water, also consider oceanic condition, external force interference etc.; Calculate the rotating speed that can navigate by water safely in advance; When in the bay, navigating by water, more than the rotating speed that this quilt is calculated, then actual speed horizontal detection portion 22 exports the OFF signals as if actual speed; If the actual speed signal less than above-mentioned rotating speed of being calculated, is then exported the ON signal.
Set 24 inputs of rpm level detection unit and set tach signal, judge whether it expires more than the rotating speed in seaworthiness, under the situation more than the full rotating speed for seaworthiness, output OFF signal, under situation less than the full rotating speed of seaworthiness, output ON signal.Therefore, under the conservation of fuel pattern,, can switch to normal mode setting tach signal under the situation more than the full rotating speed of seaworthiness.In addition, under normal mode, setting under the situation of tach signal less than the full rotating speed of seaworthiness, can be to the conservation of fuel mode switching.
Set 26 inputs of rotation speed change amount detection unit and set tach signal, calculate this unit time, for example the variance ratio of each second; Judge that whether this variance ratio is in predetermined value; For example 2rpm/ is being under the situation of 2rpm/ more than second more than second, output OFF signal; Under less than the 2rpm/ situation of second, output ON signal.The value that should be scheduled to is set to regard as sets the value of change in rotational speed amount in the scope of inching.Therefore, under the conservation of fuel pattern, setting under the extraneous situation of change in rotational speed amount in inching; Can switch to normal mode; Under normal mode, under situation about setting in the scope of change in rotational speed amount in inching, can be to the conservation of fuel mode switching.
Deviation signal (setting the deviation signal of tach signal and actual speed signal) from adder 10 is transfused to rotating speed variation detection unit 28.This deviation signal representes that actual speed is with respect to the variation of setting rotating speed; In this variation in the first predetermined scope; For example ± situation in the 3rpm scope under, output ON signal, in this variation in the second predetermined scope; For example+5rpm above or-situation below the 5rpm under, output OFF signal.Therefore, under the conservation of fuel pattern, increased under the situation more than the 5rpm, or reduced under the following situation of-5rpm, can switch to normal mode in rotating speed variation as the deviation signal of setting tach signal and actual speed signal.In addition, under normal mode, under the situation of change in the scope of rotating speed variation at ± 3rpm, can be to the conservation of fuel mode switching.
The output signal of these each detection units 20,22,24,26,28 is for example supplied with door 30 to the logic gate that is made up of controller 4.Be under the situation of ON signal with the output signal of door 30, produce output at each detection unit 20,24,26,28.This output is supplied with to the timer that is made up of controller 4 32.This timer 32 produces output when the output with door 30 has continued whole preset time.Therefore; Even only at all detection unit 20,22,24,26,28 output ON signals of short time; Timer 32 does not produce output yet, and when whole preset time had produced the ON signal, timer 32 produced output at all detection units 20,22,24,26,28.The output of this timer 32 is ready to complete display unit 36 supplies to the conservation of fuel pattern that is arranged on the display device shown in Figure 1 34, and it is lighted, and the conservation of fuel pattern is ready to complete.
The output of timer 32 is for example supplied with door 38 to the logic gate that is made up of controller 4.The conservation of fuel mode select signal that has generated when the conservation of fuel model selection button 40 on being arranged on control device 8 has been closed is also supplied with to this and door 38.Only supply with output with door 38, and when conservation of fuel model selection button 40 fueling save modes are selected signal, produce output at timer 34.Therefore, even timer 32 produces output, that is,,, just do not produce output with door 38 as long as be not supplied at the conservation of fuel mode select signal even all detection units 20,22,24,26,28 produce the ON signal at whole preset time.
Supply with to PID controller 12 with the output of door 38.PID controller 12 is switched to the conservation of fuel pattern through the supply of reception with the output of door 38 from normal mode, under the conservation of fuel pattern, carries out PID control.Simultaneously, supply with to the conservation of fuel mode display 42 that is arranged on the display device 34 with the output of door 38, expression has got into the conservation of fuel pattern.Otherwise when the output with door 38 did not supply to PID controller 12, PID controller 12 switched to normal mode from the conservation of fuel pattern.
In addition, supply with to switch control portion 19 with the output of door 38, the mode of switch control portion 19 so that the output of wave filter 16 is supplied with to fuel-injection pump or nozzle tip switched diverter switch 18.Through be switched to the conservation of fuel pattern from normal mode, the output value of PID controller 12 produces change.In addition, the output of the PID controller 12 that has relaxed at the initial stage of switching because by wave filter 16 is supplied with to fuel-injection pump or nozzle tip, so, the change in the time of can suppressing to switch.After specified time limit, diverter switch 18 is switched in process, and the output former state of PID controller 12 is supplied with to fuel-injection pump or nozzle tip.
Like this; Under normal mode; If all detection unit 20,22,24,26,28 is at whole certain hour output ON signal, then PID controller 12 is switched to the conservation of fuel pattern, and PID controller 12 is exported the output value that fuel-injection pump or nozzle tip are controlled under the conservation of fuel pattern.But; Under this conservation of fuel pattern, if any output OFF signal of detection unit 20,22,24,26,28, then PID controller 12 is switched to normal mode; Under normal mode, the output value that PID controller 12 output is controlled fuel-injection pump or nozzle tip.
Therefore; Be increased under the situation more than the hypervelocity level in actual speed, actual speed is increased under the situation more than the full rotating speed of seaworthiness, set rotating speed increase under the situation more than the 2rpm, set rotating speed be increased under the situation more than the full rotating speed of seaworthiness or the variation of rotating speed changed ± situation more than the 5rpm under; Even because hereto under the conservation of fuel pattern, control, control is switched to normal mode, so; Can not impact the raising of steering a ship property to safe navigation.In addition, during the conservation of fuel pattern, the consumption of fuel is inhibited.
In addition, in the specified time limit that is switched to the conservation of fuel pattern, because the output of PID controller 12 is by wave filter 16 equalizations and by being exported, so, there is not the sharply situation of change significantly of the output value supplied with to fuel-injection pump or nozzle tip.Its result is that the variation of the rotating speed of marine engine 2 can significantly not change, and can prevent after the conservation of fuel mode switching, switches to normal mode once more at once.
In addition, because be provided with limiter 14 at PID controller 12, so, there be not its output value situation bigger than limiter CLV ceiling limit value, there is not the unusual big situation of fuel variations amount, can prevent rotation.Under the conservation of fuel pattern because the operation amount of final controlling element, nozzle tip is few, so, exist in be switched to the conservation of fuel pattern after, the possibility that rotating speed change is bigger than normal mode.For this reason, this limiter 14 is set.In addition, this limiter 14 can be the value than the output upper limit of the PID controller 12 under the normal mode low 5 to 10%.
In the above-described embodiment, though be provided with five detection units 20,22,24,26,28, also can use desirable odd number or plural detection unit in these five detection units according to situation.Under the situation of the detection unit 30 that uses odd number, not need with door 30.In addition; Though conservation of fuel model selection button 40 is set; The conservation of fuel mode select signal is supplied to and door 38; But also can remove conservation of fuel model selection button 40, with door 38, the output of timer 32 is directly supplied with to PID controller 12, switch control portion 19, conservation of fuel pattern display unit 42.In addition, also can timer 32, wave filter 46, diverter switch 18, switch control portion 19 be removed according to situation.
In addition; Though in the above-described embodiment; PID controller 12 with setting proportional gain constant, intergration time, derivative time the value different with normal mode for, continues PID control, still under the conservation of fuel pattern; Also can be to stop the PID control of PID controller 12, the mode of the output value former state output of the PID controller 12 before control is about to stop to constitute the conservation of fuel pattern.
Claims (20)
1. the controlling method of a marine engine; It is characterized in that; Possess according to the setting rotating speed of setting by the operator and as the difference change of the actual speed of the rotating speed of the reality of marine engine to the normal mode of the output value of fuel supply member with forbid the change of above-mentioned output value; Or the conservation of fuel pattern that reduces of the change amplitude of comparing the above-mentioned output value that makes each unit time with normal mode, under defined terms, switch to above-mentioned normal mode from above-mentioned conservation of fuel pattern.
2. the controlling method of marine engine as claimed in claim 1 is characterized in that,
The condition of afore mentioned rules is that above-mentioned actual speed has reached and is the speed range of disturbing safe operation to set with respect to oceanic condition, external force when outer.
3. the controlling method of marine engine as claimed in claim 1 is characterized in that,
The condition of afore mentioned rules is that above-mentioned actual speed has reached the rotating speed that uses in the ocean when following.
4. the controlling method of marine engine as claimed in claim 1 is characterized in that,
The condition of afore mentioned rules is that above-mentioned actual speed has reached and is the rotating speed that prevents overwinding then set when above.
5. the controlling method of marine engine as claimed in claim 1 is characterized in that,
The condition of afore mentioned rules is that above-mentioned setting rotating speed is when having been changed by above-mentioned operator.
6. the controlling method of marine engine as claimed in claim 5 is characterized in that, when scope in inching of the change amount of above-mentioned setting rotating speed, keeps above-mentioned conservation of fuel pattern.
7. the controlling method of marine engine as claimed in claim 1 is characterized in that,
Be switched to above-mentioned conservation of fuel pattern during in first scope in the difference of above-mentioned setting rotating speed under the above-mentioned normal mode and above-mentioned actual speed; When the difference of above-mentioned setting rotating speed under above-mentioned conservation of fuel pattern and above-mentioned actual speed is bigger than second scope; Be switched to above-mentioned normal mode, second scope is bigger than first scope.
8. the controlling method of marine engine as claimed in claim 1 is characterized in that,
When being switched to above-mentioned conservation of fuel pattern from above-mentioned normal mode, above-mentioned output value is changed to mean value.
9. the controlling method of marine engine as claimed in claim 1 is characterized in that, when above-mentioned conservation of fuel pattern, has stipulated the save mode upper limit of above-mentioned output value.
10. like the controlling method of each the described marine engine in the claim 1 to 8, it is characterized in that,
The usage ratio integral differential of calculating of above-mentioned output value is controlled; When above-mentioned conservation of fuel pattern; Multiply by ratio with the employed proportional gain constant of proportional control in the control of above-mentioned PID and use reduction factor, the integral control in controlling with above-mentioned PID multiply by integration employed intergration time uses reduction factor, and the differential in controlling with above-mentioned PID is controlled and multiply by differential employed derivative time and use reduction factor; In view of the above; Forbid the change of above-mentioned output value or compare, the change amplitude of each unit time of the above-mentioned output value of each unit time is reduced with above-mentioned normal mode
Make it possible to set each above-mentioned reduction factor.
11. the control gear of a marine engine is the control gear that is used for the controlling method of the described marine engine of claim 1,
The control gear of said marine engine possesses the calculation member; Said calculation member is transfused to sets rotating speed and actual speed; Have according to the difference of above-mentioned setting rotating speed and above-mentioned actual speed and calculate normal mode, it is characterized in that to the output value of the fuel supply member of above-mentioned marine engine
Above-mentioned calculation member has the change of forbidding above-mentioned output value or compares with above-mentioned normal mode; The conservation of fuel pattern that the change amplitude of the above-mentioned output value of each unit time is reduced; Mode can switch to above-mentioned normal mode and above-mentioned conservation of fuel pattern is configured
The supervision member that possesses the change of keeping watch on above-mentioned setting rotating speed or above-mentioned actual speed when above-mentioned setting rotating speed or above-mentioned actual speed surpass predetermined range, sends and removes instruction,
Above-mentioned calculation member receives above-mentioned releasing instruction, is switched to above-mentioned normal mode.
12. the control gear of marine engine as claimed in claim 11 is characterized in that,
Above-mentioned supervision member has reached when guaranteeing that rotating speed that steering a ship property sets is following in above-mentioned actual speed, sends above-mentioned releasing instruction.
13. the control gear of marine engine as claimed in claim 11 is characterized in that,
Above-mentioned supervision member has reached the rotating speed that uses in the ocean when following in above-mentioned actual speed, sends above-mentioned releasing instruction.
14. the control gear of marine engine as claimed in claim 11 is characterized in that,
Above-mentioned supervision member has reached in above-mentioned actual speed and has been the rotating speed that prevents overwinding then set when above, sends above-mentioned releasing instruction.
15. the control gear of marine engine as claimed in claim 11 is characterized in that,
When above-mentioned supervision member has been changed by the operator at above-mentioned setting rotating speed, send above-mentioned releasing instruction.
16. the control gear of marine engine as claimed in claim 11 is characterized in that,
Above-mentioned supervision member is kept above-mentioned conservation of fuel pattern when scope in inching of the change amount of above-mentioned setting rotating speed.
17. the control gear of marine engine as claimed in claim 11 is characterized in that,
Above-mentioned supervision member is under above-mentioned normal mode; When the difference of above-mentioned setting rotating speed and above-mentioned actual speed is in first scope; Stop above-mentioned releasing instruction, under above-mentioned conservation of fuel pattern, when the difference of above-mentioned setting rotating speed and above-mentioned actual speed has surpassed second scope; Send above-mentioned releasing instruction, second scope is set greatlyyer than first scope.
18. the control gear of marine engine as claimed in claim 11 is characterized in that,
Be provided with the mean value calculation member of the mean value of calculating above-mentioned output value, be provided with when being switched to above-mentioned conservation of fuel pattern from above-mentioned normal mode, above-mentioned output value is switched to the switching member of above-mentioned mean value.
19. the control gear of marine engine as claimed in claim 11 is characterized in that,
Above-mentioned calculation member makes the change of above-mentioned output value compare with above-mentioned normal mode in above-mentioned conservation of fuel pattern; Reduced under the situation of change amplitude; Stipulate the save mode CLV ceiling limit value of above-mentioned output value; When the output value of having been calculated has surpassed above-mentioned save mode CLV ceiling limit value, export above-mentioned save mode CLV ceiling limit value.
20. the control gear of marine engine as claimed in claim 11 is characterized in that,
Above-mentioned calculation member has the PID control member that carries out PID control; When above-mentioned conservation of fuel pattern; Multiply by ratio with the employed proportional gain constant of proportional control in the control of above-mentioned PID and use reduction factor, the integral control in controlling with above-mentioned PID multiply by integration employed intergration time uses reduction factor, multiply by the differential of aforementioned proportion integral differential in controlling and controls employed differential and use reduction factor; In view of the above; Forbid the change of above-mentioned output value or compare, the change amplitude of each unit time of the above-mentioned output value of each unit time is reduced with above-mentioned normal mode
Make it possible to set each above-mentioned reduction factor.
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| PCT/JP2009/061381 WO2010150349A1 (en) | 2009-06-23 | 2009-06-23 | Control method and controller of marine engine |
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| EP (1) | EP2447515B1 (en) |
| KR (2) | KR101438018B1 (en) |
| CN (1) | CN102449291B (en) |
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| CN108104960A (en) * | 2017-12-15 | 2018-06-01 | 潍柴西港新能源动力有限公司 | Hybrid power engine rotating speed communication strategy |
| CN109854398A (en) * | 2017-11-07 | 2019-06-07 | 罗伯特·博世有限公司 | For utilizing the method that the revolving speed of combustion motors is adjusted in the compensation of lag time |
| CN113915017A (en) * | 2020-07-10 | 2022-01-11 | 纳博特斯克有限公司 | Engine characteristic estimation device and method, state estimation device, and storage medium |
| CN115045773A (en) * | 2022-06-21 | 2022-09-13 | 无锡威孚高科技集团股份有限公司 | Control method, electronic controller and control system for marine electronic control engine |
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| JP2015078884A (en) * | 2013-10-16 | 2015-04-23 | 富士通株式会社 | Monitoring device, monitoring program, and monitoring method |
| CN104149779B (en) * | 2014-07-08 | 2016-07-06 | 江苏大学 | Vehicle power matching system with hydraulic mechanical stepless gearbox |
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- 2009-06-23 KR KR1020137027980A patent/KR101438018B1/en active IP Right Grant
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109854398A (en) * | 2017-11-07 | 2019-06-07 | 罗伯特·博世有限公司 | For utilizing the method that the revolving speed of combustion motors is adjusted in the compensation of lag time |
| CN109854398B (en) * | 2017-11-07 | 2022-09-09 | 罗伯特·博世有限公司 | Method for regulating the rotational speed of a combustion motor with compensation for a lag time |
| CN108104960A (en) * | 2017-12-15 | 2018-06-01 | 潍柴西港新能源动力有限公司 | Hybrid power engine rotating speed communication strategy |
| CN108104960B (en) * | 2017-12-15 | 2019-12-03 | 潍柴西港新能源动力有限公司 | Hybrid power engine revolving speed communication strategy |
| CN113915017A (en) * | 2020-07-10 | 2022-01-11 | 纳博特斯克有限公司 | Engine characteristic estimation device and method, state estimation device, and storage medium |
| CN115045773A (en) * | 2022-06-21 | 2022-09-13 | 无锡威孚高科技集团股份有限公司 | Control method, electronic controller and control system for marine electronic control engine |
| CN115045773B (en) * | 2022-06-21 | 2024-05-17 | 无锡威孚高科技集团股份有限公司 | Marine electric control engine control method, electronic controller and control system |
Also Published As
| Publication number | Publication date |
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| EP2447515B1 (en) | 2016-05-04 |
| EP2447515A4 (en) | 2013-08-21 |
| DK2447515T3 (en) | 2016-08-01 |
| WO2010150349A1 (en) | 2010-12-29 |
| KR20140013042A (en) | 2014-02-04 |
| CN102449291B (en) | 2015-01-28 |
| EP2447515A1 (en) | 2012-05-02 |
| KR20120018310A (en) | 2012-03-02 |
| KR101438018B1 (en) | 2014-09-04 |
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