TWI464320B - Engine speed calculation device and governor control system - Google Patents

Engine speed calculation device and governor control system Download PDF

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Publication number
TWI464320B
TWI464320B TW099122121A TW99122121A TWI464320B TW I464320 B TWI464320 B TW I464320B TW 099122121 A TW099122121 A TW 099122121A TW 99122121 A TW99122121 A TW 99122121A TW I464320 B TWI464320 B TW I464320B
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engine
pulsation
time interval
calculated
pulse
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TW099122121A
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Chinese (zh)
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TW201107587A (en
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Ichiro Tanaka
Kazutaka Shimada
Hidenori Yamamoto
Akira Mitsufuji
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Mitsui Shipbuilding Eng
Mitsui Zosen Systems Res Inc
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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
    • F02D35/00—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for
    • F02D35/02—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for on interior conditions
    • F02D35/023—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for on interior conditions by determining the cylinder pressure
    • 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
    • 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
    • F02D29/02—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 peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D35/00—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for
    • 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
    • F02D41/0002—Controlling intake air
    • F02D41/0007—Controlling intake air for control of turbo-charged or super-charged engines
    • 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
    • F02D41/0097—Electrical control of supply of combustible mixture or its constituents using means for generating speed signals
    • 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
    • F02D2200/04—Engine intake system parameters
    • F02D2200/0406—Intake manifold pressure
    • 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
    • F02D41/021—Introducing corrections for particular conditions exterior to the engine
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/12—Improving ICE efficiencies

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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)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)

Description

引擎轉速計算裝置及調速器控制系統Engine speed calculation device and governor control system

本發明是關於燃機引擎的調速器控制，尤其是關於用來算出引擎轉速之轉速計算裝置。The present invention relates to governor control for a gas turbine engine, and more particularly to a rotational speed computing device for calculating engine speed.

例如，船舶用引擎的調速器控制係利用配置在轉動齒輪附近的感測器檢測引擎的實際轉速，以使已被設定的目標轉速與實際轉速沒有差距的方式控制燃料噴射量。但是，由於內燃機引擎的迴轉輸出中含有燃燒行程中因爆發所引起的脈動，故監視引擎轉速之調速器控制，會有根據該脈動進行非必要的調整的可能性。這種情況，燃料噴射量變不穩定，控制性、操作性惡化。另外，引擎採用凸輪式的燃料噴射系統的情況，由於非必要的調整，會使從調速制動器至燃料泵的機構提早磨損。針對這個問題，已知的方法為將被檢測過的實際轉速依脈波週期進行取樣保持予以回授，由調速器控制來消除引擎脈動的影響(日本專利文獻1)。For example, the governor control of the marine engine controls the actual rotational speed of the engine by means of a sensor disposed near the rotating gear to control the fuel injection amount in such a manner that the set target rotational speed does not differ from the actual rotational speed. However, since the swing output of the internal combustion engine engine includes the pulsation caused by the explosion during the combustion stroke, the governor control for monitoring the engine speed may have an unnecessary adjustment according to the pulsation. In this case, the fuel injection amount becomes unstable, and the controllability and operability deteriorate. In addition, in the case of a cam-type fuel injection system, the mechanism from the speed control brake to the fuel pump is prematurely worn due to unnecessary adjustment. In response to this problem, a known method is to sample and hold the detected actual rotational speed in accordance with the pulse period, and to control the influence of the engine pulsation by the governor control (Japanese Patent Document 1).

【專利文獻1】日本專利特公平3-24581號公報[Patent Document 1] Japanese Patent Special Fair No. 3-24581

現今，例如大型船舶用引擎也高漲針對油耗量進行改善的要求，追求考慮到波浪中的螺旋槳負載變動(例如小於10秒週期之週期的變動)等之調速器控制。但是，日本專利文獻1中，將轉速以引擎的脈動週期進行取樣保持予以回授，追隨波浪所導致的負載變動會有困難。Nowadays, for example, engines for large ships are also required to improve the fuel consumption, and to pursue governor control in consideration of variations in propeller load in waves (for example, variations in cycles of less than 10 seconds). However, in Japanese Patent Laid-Open No. 1, the rotation speed is sampled and held in the pulsation cycle of the engine, and it is difficult to follow the load fluctuation caused by the wave.

本發明的目的為既維持負載變動所導致的轉速變動又算出以簡單的構成消除了引擎脈動的影響之轉速。An object of the present invention is to calculate a rotational speed that eliminates the influence of engine pulsation with a simple configuration while maintaining the fluctuation of the rotational speed caused by the load fluctuation.

本發明的引擎轉速計算裝置，其特徵為：具備有對應於內燃機引擎1循環的迴轉，檢測複數個脈波訊號之脈波檢測手段，及從脈波訊號算出引擎轉速之轉速計算手段；由以內燃機引擎的脈動週期為單位的移動平均來算出引擎轉速。The engine speed calculation device of the present invention is characterized in that: the pulse wave detecting means for detecting a plurality of pulse wave signals corresponding to the rotation of the engine 1 cycle, and the rotational speed calculating means for calculating the engine rotational speed from the pulse wave signal; The pulsation period of the internal combustion engine is a unit moving average to calculate the engine speed.

轉速計算手段係將相鄰脈波間的時間間隔Ti 對應於前述脈動週期的特定數量連續予以累計以求出脈動週期。The rotational speed calculation means continuously accumulates the time interval T i between adjacent pulse waves corresponding to the specific number of the aforementioned pulsation cycles to obtain a pulsation cycle.

當1循環的迴轉被檢測之脈波訊號數N為內燃機引擎的氣缸數Z時，特定個數對應於N/Z。當N/Z的整數部為Q時，用Q個或Q+1個時間間隔Ti 的累計來算出脈動週期。When the number N of pulse signals detected by the rotation of one cycle is the number of cylinders Z of the engine of the internal combustion engine, the specific number corresponds to N/Z. When the integer part of N/Z is Q, the pulsation period is calculated by the accumulation of Q or Q+1 time intervals T i .

當N/Z的小數部為D時，於時間間隔Ti 的累計進行對應於前述小數部D的修正來算出脈動週期。對應於小數部D的修正值係用被累計的時間間隔Ti 當中最過去的時間間隔算出。修正係用被累計的時間間隔Ti 當中最新的時間間隔算出。When the fractional part of N/Z is D, the pulsation period is calculated by performing the correction of the fractional part D on the integration of the time interval T i . The correction value corresponding to the decimal portion D is calculated using the most recent time interval among the accumulated time intervals T i . The correction is calculated using the latest time interval among the accumulated time intervals T i .

本發明的調速器控制系統，其特徵為：使用前述引擎轉速計算裝置。The governor control system of the present invention is characterized in that the aforementioned engine speed calculating means is used.

又，本發明的引擎轉速計算方法，其特徵為：對應於內燃機引擎1循環的迴轉檢測複數個脈波訊號，從脈波訊號算出引擎轉速，由以內燃機引擎的脈動週期為單位的移動平均來算出引擎轉速。Further, the engine rotational speed calculation method according to the present invention is characterized in that a plurality of pulse wave signals are detected corresponding to the rotation of the engine 1 cycle, and the engine rotational speed is calculated from the pulse wave signal by a moving average in units of the pulsation cycle of the internal combustion engine. Calculate the engine speed.

進而，本發明的船舶，其特徵為：具備有船體、及船體上搭載之內燃機引擎、及算出內燃機引擎的引擎轉速之引擎轉速計算裝置；引擎轉速計算裝置具備有對應於內燃機引擎1循環的迴轉檢測複數個脈波訊號之脈波檢測手段，及從脈波訊號算出引擎轉速之轉速計算手段；由以內燃機引擎的脈動週期為單位的移動平均來算出引擎轉速。Further, the ship according to the present invention is characterized in that it includes a hull and an engine engine mounted on the hull, and an engine rotational speed calculating device that calculates an engine speed of the internal combustion engine; the engine rotational speed calculating device is provided with a cycle corresponding to the internal combustion engine 1 The slewing detects the pulse wave detecting means of the plurality of pulse wave signals, and the rotational speed calculating means for calculating the engine rotational speed from the pulse wave signal; and calculates the engine rotational speed from the moving average in units of the pulsation period of the internal combustion engine.

依據本發明，可以既維持負載變動所導致的轉速變動又算出以簡單的構成消除了引擎脈動的影響之轉速。According to the present invention, it is possible to calculate the number of revolutions in which the influence of the engine pulsation is eliminated with a simple configuration while maintaining the fluctuation of the rotational speed caused by the load fluctuation.

以下，參考附圖來說明本發明的實施形態。Hereinafter, embodiments of the present invention will be described with reference to the drawings.

第一圖為表示本發明的一個實施形態中船舶用引擎之調速器控制系統的全體構成之方塊圖。The first figure is a block diagram showing the overall configuration of a governor control system for a marine engine according to an embodiment of the present invention.

調速器控制系統是一種進行主機也就是內燃機引擎11的調速之系統，經由以已被設定的引擎轉速作為輸入，調整對內燃機引擎11的各氣缸之燃料噴射，回授被實測過的引擎轉速，使引擎轉速維持在設定值。The governor control system is a system for controlling the speed of the main engine, that is, the internal combustion engine 11 , and adjusts the fuel injection to each cylinder of the internal combustion engine 11 by using the engine speed that has been set as an input, and returns the engine that has been measured. The speed keeps the engine speed at the set value.

即是目標轉速係於轉速設定部12進行設定，輸入給PID控制部13。從PID控制部13使調速器指令輸出給燃料泵14，燃料泵14則將根據調速器指令的噴射量之燃料供應給內燃機引擎11的各氣缸。內燃機引擎11的主軸15安裝有轉動齒輪16和螺旋槳17，在轉動齒輪16的周緣部附近，接近配置接近開關或電磁拾取感測器等的脈波產生裝置18。In other words, the target rotational speed is set by the rotational speed setting unit 12, and is input to the PID control unit 13. The governor command is output from the PID control unit 13 to the fuel pump 14, and the fuel pump 14 supplies the fuel according to the injection amount commanded by the governor to each cylinder of the internal combustion engine 11. The main shaft 15 of the internal combustion engine 11 is mounted with a rotating gear 16 and a propeller 17, and a pulse wave generating device 18 such as a proximity switch or an electromagnetic pickup sensor is disposed in the vicinity of the peripheral portion of the rotating gear 16.

脈波產生裝置18是一種伴隨轉動齒輪16的迴轉來產生脈波訊號之裝置，例如檢測轉動齒輪16的齒尖部或溝槽部，產生與引擎轉速成比例的脈波訊號。來自脈波產生裝置18的脈波訊號傳送至轉速運算部19，施予後述的轉速計算處理，算出現在的引擎轉速來作為實際轉速。於轉速運算部19被算出的實際轉速回授給PID控制部13的輸入側，與目標轉速的差輸入到PID控制部13。The pulse wave generating device 18 is a device for generating a pulse wave signal accompanying the rotation of the rotating gear 16, for example, detecting a tooth tip portion or a groove portion of the rotating gear 16, and generating a pulse wave signal proportional to the engine speed. The pulse wave signal from the pulse wave generating device 18 is sent to the rotational speed computing unit 19, and the rotational speed calculating process described later is applied to calculate the current engine rotational speed as the actual rotational speed. The actual rotational speed calculated by the rotational speed computing unit 19 is fed back to the input side of the PID control unit 13, and the difference from the target rotational speed is input to the PID control unit 13.

其次，參考第二圖，針對因內燃機引擎11的燃燒行程而發生之引擎轉速的脈動與脈波訊號的關係。此外，第二圖為表示各氣缸的活塞位置、爆發的時序、及引擎轉速(角速度)的變動與脈波訊號的關係之圖。Next, referring to the second figure, the relationship between the pulsation of the engine speed and the pulse wave signal which occurs due to the combustion stroke of the internal combustion engine 11 is described. In addition, the second figure is a graph showing the relationship between the piston position of each cylinder, the timing of the explosion, and the fluctuation of the engine speed (angular velocity) and the pulse signal.

第二圖中，以一個例子表示採用6缸2行程的柴油引擎來作為內燃機引擎11的情況之時序。第二(a)圖至第二(f)圖為分別表示1循環(曲柄軸1迴轉)所經過之氣缸＃1至＃6的活塞位置及爆發的時序，第二(g)圖為表示此時主軸15的轉速變動，第二(h)圖為表示此時脈波產生裝置18所產生之脈波訊號的順序。In the second figure, the timing of the case of using the six-cylinder two-stroke diesel engine as the internal combustion engine 11 is shown by way of an example. The second (a) to the second (f) are the piston positions and the timing of the explosion of the cylinders #1 to #6 through which one cycle (crankshaft 1 rotation) passes, and the second (g) diagram shows this. The rotation speed of the main shaft 15 changes, and the second (h) diagram shows the sequence of the pulse wave signals generated by the pulse wave generating device 18 at this time.

如同第二圖所示，6缸2行程的柴油為曲柄軸1迴轉間(1循環)，各氣缸依序發生1次的爆發，共6次的爆發。曲柄軸於各氣缸發生爆發的燃燒行程供應扭力(torque)，故曲柄軸的角速度會在各氣缸發生爆發正後的時序一時變快，以發生爆發的週期變動(脈動)。藉由此方式，轉動齒輪16(參考第一圖)的迴轉(角速度)也是在1循環之間變動，也會在脈波產生裝置18所產生之脈波訊號的脈波波幅、脈波間隔，配合爆發的間隔而發生疏密。此外，脈波間隔對應於轉動齒輪16的齒距(一定值)並對應主軸(曲柄軸)的間距角度分量的迴轉。As shown in the second figure, the 6-cylinder 2-stroke diesel is the crankshaft 1 revolution (1 cycle), and each cylinder bursts once in a row, a total of 6 bursts. The crankshaft supplies a torsion to the combustion stroke in which each cylinder is exploded. Therefore, the angular velocity of the crankshaft becomes faster at the timing after the occurrence of the explosion of each cylinder, so that the periodic fluctuation (pulsation) of the explosion occurs. In this way, the rotation (angular velocity) of the rotating gear 16 (refer to the first figure) also changes between one cycle, and also the pulse wave amplitude and pulse wave interval of the pulse wave signal generated by the pulse wave generating device 18. Denseness occurs in conjunction with the interval of the explosion. Further, the pulse wave interval corresponds to the pitch (constant value) of the rotating gear 16 and corresponds to the rotation of the angular component of the pitch of the main shaft (crankshaft).

如同前述，經由調速器控制所回授之主機的實際轉速係根據脈波訊號所算出，例如測量檢測特定數量的脈波為止的時間而獲得。又，轉速也能夠從相鄰2個脈波的時間間隔算出，此情況，可以反映在被算出很短週期的變動之轉速。但是，每個脈波算出轉速，則會有受到轉動齒輪或感測器之精度、誤脈波、雜訊等的影響之可能性。又，通常脈波訊號係以小於氣缸間之爆發間隔的週期產生，所以每個脈波算出轉速，則會成為被算出的轉速中含有引擎的爆發所導致的脈動。As described above, the actual rotational speed of the host that is fed back via the governor control is obtained from the pulse wave signal, for example, by measuring the time until a specific number of pulse waves are detected. Further, the number of revolutions can be calculated from the time interval between two adjacent pulse waves, and in this case, it can be reflected in the number of revolutions in which the fluctuation is calculated in a short period. However, if the pulse speed is calculated for each pulse wave, there is a possibility that it is affected by the accuracy of the rotating gear or the sensor, the erroneous pulse wave, the noise, and the like. Further, since the pulse signal is usually generated at a period smaller than the burst interval between the cylinders, the calculated number of revolutions per pulse wave is a pulsation caused by an explosion of the engine in the calculated number of revolutions.

內燃機引擎本身的脈動係與引擎轉速控制無關，也不是利用調整燃料噴射量來控制，所以於調速器控制回授含有引擎的脈動之轉速，則如同習知技術的項目所說明過進行非必要的燃料調整，導致對於燃料供應系統的機構並不理想的結果。因此，就輸入引擎轉速之調速器控制而言，期望可以從被回授之主機的實際轉速消除引擎脈動的影響。The pulsation system of the internal combustion engine itself is independent of the engine speed control, and is not controlled by adjusting the fuel injection amount. Therefore, when the governor control feedbacks the pulsation speed of the engine, it is not necessary as described in the prior art project. The fuel adjustments lead to unsatisfactory results for the fuel supply system. Therefore, in terms of governor control for input engine speed, it is desirable to eliminate the effects of engine pulsation from the actual speed of the host being fed back.

為了要從轉速消除引擎的脈動，也考慮到用濾清器，用濾清器的情況，例如導致變更主機轉速的設定也必須變更濾清器的設定而使構成變複雜。又，形成為不論設定轉速仍可以充分消除脈動的影響之構成，則會使對負載扭力變動的追隨性惡化。In order to eliminate the pulsation of the engine from the rotation speed, it is also considered that when the filter is used and the filter is used, for example, the setting of the filter is changed, and the filter setting must be changed to complicate the configuration. Further, the configuration is such that the influence of the pulsation can be sufficiently eliminated regardless of the set number of revolutions, and the followability to the load torque fluctuation is deteriorated.

由於這樣的事態，本實施形態中，從脈波訊號算出轉速時，直接從算出轉速消除脈動的影響。即是本實施形態中，設定為對應於內燃機引擎的脈動週期進行取樣之構成，由以脈動週期為單位的移動平均來算出引擎轉速。Due to such a situation, in the present embodiment, when the number of revolutions is calculated from the pulse wave signal, the influence of the pulsation is directly removed from the calculated number of revolutions. In other words, in the present embodiment, the sampling is performed in accordance with the pulsation cycle of the internal combustion engine, and the engine rotation speed is calculated from the moving average in units of the pulsation cycle.

例如氣缸數Z的2行程引擎的情況，脈動週期(爆發的間隔)設為TP (sec)，則脈動為1/Z迴轉發生1次，所以脈動週期TP 為對應於1/Z迴轉時的時間間隔。因此，經過脈動週期之引擎的平均轉速(RPM)以60×(1/Z)/TP 求出，經由隨時測量1/Z迴轉所需要的時間間隔，代入前式，則由以內燃機引擎的脈動週期為單位的移動平均直接求出引擎轉速。For example, in the case of a 2-stroke engine with the number of cylinders Z, the pulsation period (interval of explosion) is T P (sec), and the pulsation is 1/Z rotation once, so the pulsation period T P corresponds to 1/Z rotation. Interval. Therefore, the average rotational speed (RPM) of the engine after the pulsation cycle is obtained by 60×(1/Z)/T P , and the time interval required for measuring the 1/Z revolution at any time is substituted into the former equation, and The pulsation period is the unit moving average to directly determine the engine speed.

但是，主軸的相位(迴轉角)係透過斷續的脈波訊號進行檢測，不是以連續的值進行檢測。因此，必須從脈波訊號的時間間隔來推定脈動週期TP 。以下，表示本實施形態所採用之脈動週期TP 的計算式之例子。此外，以下的說明中，以氣缸數為Z的2行程引擎為例子，1迴轉(1循環)的脈波數設為N，N/Z的整數部設為Q，小數部設為D(0≦D＜1)，經過四捨五入的整數設為R。另外，以Ti (sec)表示脈波的各時間間隔，附屬的i字母係i=0對應於被測量過之最新的時間間隔，i=-1對應於該前1個被測量過的時間間隔，i=-2對應於前2個被測量過的時間間隔，i=-n對應於前n個被測量過的時間間隔。However, the phase (swing angle) of the spindle is detected by intermittent pulse signals, not by continuous values. Therefore, the pulsation period T P must be estimated from the time interval of the pulse signal. Hereinafter, an example of a calculation formula of the pulsation period T P used in the present embodiment will be described. In the following description, the two-stroke engine with the number of cylinders Z is taken as an example. The number of pulses in one revolution (one cycle) is N, the integer part of N/Z is Q, and the fractional part is D (0). ≦D<1), the rounded integer is set to R. In addition, each time interval of the pulse wave is represented by T i (sec), the attached i letter system i=0 corresponds to the latest time interval measured, and i=-1 corresponds to the previous measured time. The interval, i=-2 corresponds to the first two measured time intervals, and i=-n corresponds to the first n measured time intervals.

N/Z係對應於從爆發至下一次爆發為止之間被檢測的脈波數，所以累計N/Z(=Q+D)個的脈波間隔的話，可以算出脈動週期TP 。因此，第一例中，在Q個脈波間隔Ti (i=0至-(Q-1))的累計值中加入已在Q個前的脈波間隔T-Q 乘上小數部D之值而為脈動週期TP 。The N/Z system corresponds to the number of pulse waves detected between the explosion and the next explosion. Therefore, when the pulse interval of N/Z (= Q + D) is accumulated, the pulsation period T P can be calculated. Therefore, in the first example, the pulse interval T -Q before Q is multiplied by the fractional portion D in the cumulative value of the Q pulse interval T i (i=0 to -(Q-1)). The value is the pulsation period T P .

TP =To+T-1 +T-2 +‧‧‧+T-(Q-1) +D‧T-Q 　(1)T P =To+T -1 +T -2 +‧‧‧+T -(Q-1) +D‧T -Q (1)

此時，轉速(RPM)由以下的式子(2)求出。At this time, the number of revolutions (RPM) is obtained by the following formula (2).

轉速(RPM)=60/{Z×(To+T-1 +‧‧‧T-(Q-1) +D‧T-Q )}　(2)Speed (RPM)=60/{Z×(To+T -1 +‧‧‧T -(Q-1) +D‧T -Q )} (2)

第三圖為表示N=46、Z=6時為例子由式子(1)所求出之脈動週期TP 的內容之示意圖。即是表示Q=7、D=2/3(0.66...)，以TP =T0 +T-1 +T-2 +...+T-6 +(2/3)T-7 求出脈動週期TP 的情況。The third graph is a diagram showing the contents of the pulsation period T P obtained by the equation (1) as an example when N=46 and Z=6. That is, it means that Q=7, D=2/3 (0.66...), and T P =T 0 +T -1 +T -2 +...+T -6 +(2/3)T -7 The case of the pulsation period T P is obtained.

第三圖中，經過1迴轉(1循環)的脈波訊號(46個)及爆發的時序一起被畫出，各脈波附註1至46的號碼。TP (9)為代表偵測出第九號的脈波時由式子(1)所計算的脈波週期，TP (10)為代表偵測出第十號的脈波時的TP 。同樣，第三圖中顯示TP (11)至TP (16)。TP (9)至TP (16)各個中，各長方形的寬分別從右起對應於脈波間隔T0 至T-6 ，最左邊顯示脈波間隔T-7 的2/3。此外，在各長方形內顯示脈波間隔Ti 的附屬字母之值。In the third figure, the pulse signals (46) of one revolution (one cycle) and the timing of the burst are drawn together, and the numbers of the pulses 1 to 46 are noted. T P (9) is the pulse period calculated by the equation (1) when the pulse wave of the ninth is detected, and T P (10) is the T P when the pulse wave of the tenth is detected. . Similarly, T P (11) to T P (16) are shown in the third figure. In each of T P (9) to T P (16), the width of each rectangle corresponds to the pulse wave interval T 0 to T -6 from the right, and the leftmost side shows 2/3 of the pulse wave interval T -7 . Further, the value of the subsidiary letter of the pulse wave interval T i is displayed in each rectangle.

第一圖的轉速運算部19係如第三圖所示，每次重新檢測脈波，脈動週期TP 則例如更新成從TP (9)起依序至TP (16)，這時候算出根據式子(2)的轉速(RPM)並予以回授。As shown in the third figure, the rotation speed calculation unit 19 of the first diagram re-detects the pulse wave every time, and the pulsation period T P is updated, for example, from T P (9) to T P (16), at which time According to the speed (RPM) of equation (2) and feedback.

轉速並沒有引擎脈動以外的變動時，被算出脈動週期TP (9)至TP (16)為大致相同長度，式子(2)所求出的轉速也大致一定。藉由此方式，由轉速基本的調速器控制消除脈動導致的影響。一方面，由於螺旋槳負載扭力的影響而對轉速造成變動時，TP (9)至TP (16)的長度也變化，以轉速的變化予以回授。When the rotational speed does not change other than the engine pulsation, the calculated pulsation periods T P (9) to T P (16) are substantially the same length, and the rotational speed obtained by the equation (2) is also substantially constant. In this way, the effect of the pulsation is eliminated by the basic speed governor control. On the one hand, when the rotational speed is changed due to the influence of the propeller load torque, the lengths of T P (9) to T P (16) also change, and are fed back as a change in the rotational speed.

又，其次針對修正了式子(1)的第二例子之脈動週期TP 的計算方法進行說明。如同第三圖所示，用式子(1)的第一例子係只從計算所加入之最過去脈波間隔T-7 的長度來求出N/Z中小數D的影響，第二例子則是將脈波間隔劃分成最新的脈波間隔T0 及最過去的脈波間隔T-7 的兩者，由以下的式子(3)算出，使推定精度提高。Further, a method of calculating the pulsation period T P of the second example of the equation (1) will be described next. As shown in the third figure, the first example of equation (1) is used to calculate the influence of the decimal D in N/Z from the calculation of the length of the most past pulse interval T -7 added. The second example is The pulse interval is divided into the latest pulse interval T 0 and the most recent pulse interval T -7 , and is calculated by the following equation (3) to improve the estimation accuracy.

TP =(0.5+D/2)To+T-1 +T-2 +‧‧‧+T-(Q-1) +(0.5+D/2)T-Q 　(3)T P =(0.5+D/2)To+T -1 +T -2 +‧‧‧+T -(Q-1) +(0.5+D/2)T -Q (3)

此時，轉速(RPM)以60/(Z×TP )求出。At this time, the number of revolutions (RPM) was obtained at 60 / (Z × T P ).

此外，也可以將小數D的影響分配在T0 至T-Q 的全體中，例如均等地分配的話，將(1+D)/Q乘在各項中。又，也能夠使各項的加權值不同。Further, the influence of the decimal number D may be allocated to the entirety of T 0 to T -Q , for example, if equally distributed, (1 + D) / Q is multiplied in each item. Also, the weighting values of the items can be made different.

其次，針對修正了式子(2)的第三例子之脈動週期TP 的計算方法進行說明。第三例子係將用於算出脈動週期TP 之項數(脈波間隔數)予以減少，提高對轉速變化的追隨性。即是第三例子係只用Q個脈波間隔T0 至T-(Q-1) ，由式子(4)來求出脈動週期TP 。Next, a method of calculating the pulsation period T P of the third example of the equation (2) will be described. In the third example, the number of items (pulse interval) for calculating the pulsation period T P is reduced, and the followability to the change in the number of revolutions is improved. That is, in the third example, the pulsation period T P is obtained from the equation (4) using only Q pulse interval T 0 to T - (Q-1) .

TP =(1+D/2)To+T-1 +T-2 +‧‧‧+T-(Q-2) +(1+D/2)T-(Q-1) 　(4)T P =(1+D/2)To+T -1 +T -2 +‧‧‧+T -(Q-2) +(1+D/2)T -(Q-1) (4)

此時，轉速(RPM)以60/(Z×TP )求出。At this time, the number of revolutions (RPM) was obtained at 60 / (Z × T P ).

此外，式子(1)所示的第一例子中，也考慮到將項數設為T-(Q-1) 為止，在該項中乘上(1+D)的方法。Further, in the first example shown by the equation (1), a method of multiplying (1 + D) by multiplying the number of items to T - (Q - 1) is also considered.

其次，針對第四例子之脈動週期TP 的計算方法進行說明。第四例子係根據已將N/Z四捨五入的值R，累計R個脈波間隔T0 至T-(R-1) 而為近似的脈動週期TP ，並且將週期TP 的迴轉設為R/N(對應於1/N)迴轉，利用以下的式子(5)求出轉速。Next, a method of calculating the pulsation period T P of the fourth example will be described. The fourth example is based on the value R that has been rounded off by N/Z, accumulates R pulse interval T 0 to T - (R-1) to be an approximate pulsation period T P , and sets the rotation of the period T P to R. /N (corresponding to 1/N) rotation, the rotation speed is obtained by the following formula (5).

轉速(RPM)=60‧(R/N)/(To+T-1 +‧‧‧+T-(R-1) )　(5)Speed (RPM)=60‧(R/N)/(To+T -1 +‧‧‧+T -(R-1) ) (5)

如同以上，依據本實施形態，因於算出轉速的過程(取樣)，求出對應於內燃機引擎的脈動週期之移動平均，所以以極簡單的構成即可以消除引擎脈動的影響。又，因以對應於脈動間隔(週期)的方式進行取樣，所以即使目標轉速的設定變更，仍不必變更參數等變更計算處理。又，轉速的順暢化係因被抑制在必要的最小限度，所以即使消除引擎脈動的影響，對於螺旋槳等的負載扭力變動等所導致的轉速變動仍可以充分追隨。As described above, according to the present embodiment, since the moving average corresponding to the pulsation period of the internal combustion engine is obtained by the process (sampling) for calculating the number of revolutions, the influence of the engine pulsation can be eliminated with an extremely simple configuration. Further, since the sampling is performed so as to correspond to the pulsation interval (period), even if the setting of the target rotational speed is changed, it is not necessary to change the calculation processing such as the parameter change. In addition, since the smoothing of the number of revolutions is suppressed to the minimum necessary, even if the influence of the engine pulsation is eliminated, the fluctuation of the number of revolutions due to fluctuations in the load torque such as the propeller or the like can be sufficiently followed.

此外，由這些事態，涵蓋運轉全面來使轉速的控制性、操作性穩定，可以防止非必要之燃料噴射量的調整，所以得以改善油耗量，並且也可以減少從調速制動器至燃料泵的機構之機械耗損。In addition, these events cover the entire operation to stabilize the controllability and operability of the rotational speed, prevent the adjustment of the unnecessary fuel injection amount, thereby improving the fuel consumption, and also reducing the mechanism from the speed control brake to the fuel pump. Mechanical wear and tear.

此外，實測則是依照式子(3)＞式子(1)＞式子(4)的順序，提高脈動成分的消除精度，不過於TP 的推定，最新的脈波間隔T0 所佔的比例或由T0 起的項所佔比例愈高，對轉速變動的追隨性則愈高。In addition, the actual measurement is based on the equation (3)>formula (1)>formula (4), to improve the accuracy of the pulsation component elimination, but the estimation of T P , the latest pulse interval T 0 The higher the proportion of the proportion or the term from T 0 , the higher the followability to the change in the rotational speed.

又，本實施形態中已以2行程引擎為例進行說明過，但也可以適用於4行程引擎。此情況，轉速成為2行程時的2倍。Although the two-stroke engine has been described as an example in the present embodiment, it is also applicable to a four-stroke engine. In this case, the number of revolutions is twice that of 2 strokes.

本實施形態中已以船舶引擎為例進行說明過，不過即使是工業用的動力源或發電機等陸用的內燃機引擎也可以適用本發明。即是進行維持一定轉速的控制，並且於伴隨負載變動的用途所採用的內燃機引擎，1迴轉(1循環)產生複數個脈波訊號，用該訊號來算出轉速的情況，可以適用本發明。Although the ship engine has been described as an example in the present embodiment, the present invention can be applied to an internal combustion engine such as an industrial power source or a generator. In other words, the present invention can be applied to an engine engine that maintains a constant number of revolutions and that uses a plurality of pulse signals to generate a plurality of pulse signals in one revolution (one cycle) for use in an engine with a load fluctuation.

又，有關控制方法並不侷限於PID控制，也能夠應用現代控制理論、應用控制、學習控制等。Moreover, the control method is not limited to PID control, and can also apply modern control theory, application control, learning control, and the like.

10‧‧‧調速器控制系統10‧‧‧ Governor Control System

11‧‧‧內燃機引擎(主機)11‧‧‧ Internal combustion engine (host)

12‧‧‧轉速設定部12‧‧‧Speed setting department

13‧‧‧PID控制部13‧‧‧PID Control Department

14‧‧‧燃料泵14‧‧‧ fuel pump

15‧‧‧主軸15‧‧‧ Spindle

16‧‧‧轉動齒輪16‧‧‧Rotating gear

17‧‧‧螺旋槳17‧‧‧propeller

18‧‧‧脈波訊號產生裝置(接近開關)18‧‧‧ Pulse signal generating device (proximity switch)

19‧‧‧轉速運算部19‧‧‧Speed calculation department

第一圖為表示本發明的一個實施形態中船舶用引擎之調速器控制系統的全體構成之方塊圖。The first figure is a block diagram showing the overall configuration of a governor control system for a marine engine according to an embodiment of the present invention.

第二圖為表示各氣缸的活塞位置、爆發的時序、及引擎轉速(角速度)的變動與脈訊號的關係之圖。The second graph is a graph showing the relationship between the piston position of each cylinder, the timing of the explosion, and the fluctuation of the engine speed (angular velocity) and the pulse signal.

第三圖為表示N=46、Z=6時式子(1)的內容之示意圖。The third figure is a schematic diagram showing the contents of the equation (1) when N=46 and Z=6.

11．．．內燃機引擎11. . . Internal combustion engine

12．．．轉速設定部12. . . Speed setting unit

13．．．PID控制部13. . . PID control unit

14．．．燃料泵14. . . Fuel pump

15．．．主軸15. . . Spindle

16．．．轉動齒輪16. . . Rotating gear

17．．．螺旋槳17. . . propeller

18．．．脈波產生裝置18. . . Pulse wave generating device

19．．．轉速運算部19. . . Speed calculation unit

Claims (5)

一種引擎轉速計算裝置，其特徵為：具備有對應於內燃機引擎1循環的迴轉來檢測複數個脈波訊號之脈波檢測手段、及從前述脈波訊號算出引擎轉速之轉速計算手段；由以前述內燃機引擎的脈動週期為單位的移動平均算出前述引擎轉速；前述轉速計算手段係將相鄰脈波間的時間間隔Ti 對應於前述脈動週期的特定數量連續予以累計以求出前述脈動週期；當前述1循環的迴轉被檢測之脈波訊號數為N，前述內燃機引擎的氣缸數為Z時，前述特定個數對應於N/Z；當N/Z的整數部為Q時，用Q個或Q+1個時間間隔Ti 的累計來算出前述脈動週期；當N/Z的小數部為D時，於前述時間間隔Ti 的累計進行對應於前述小數部D的修正來算出前述脈動週期；對應於前述小數部D的修正值係用被累計的前述時間間隔Ti 當中最過去的時間間隔算出。An engine speed calculation device comprising: a pulse wave detecting means for detecting a plurality of pulse wave signals corresponding to a rotation of a cycle of the internal combustion engine 1; and a rotational speed calculating means for calculating an engine rotational speed from the pulse wave signal; Calculating the engine rotation speed in units of a pulsation period of the internal combustion engine engine; the rotation speed calculation means continuously accumulating the time interval T i between adjacent pulse waves corresponding to the specific number of the pulsation cycles to obtain the pulsation period; The number of pulse signals detected by one cycle of rotation is N. When the number of cylinders of the internal combustion engine engine is Z, the specific number corresponds to N/Z; when the integer part of N/Z is Q, Q or Q is used. +1 the time interval T i is integrated to calculate the pulsation period; when the decimal portion of N/Z is D, the pulsation period is calculated by the correction of the decimal portion D at the integration of the time interval T i ; The correction value in the decimal portion D is calculated using the most recent time interval among the accumulated time intervals T i . 如申請專利範圍第1項之引擎轉速計算裝置，其中，前述修正係用被累計的前述時間間隔Ti 當中，進一步將最新的時間間隔算出。The engine speed calculation device according to claim 1, wherein the correction is further calculated from the latest time interval among the accumulated time intervals T i . 一種調速器控制系統，其特徵為：用申請專利範圍第1或2項所述之引擎轉速計算裝置。 A governor control system characterized by the use of an engine speed calculation device according to claim 1 or 2. 一種內引擎轉速計算方法，其特徵為：對應於內燃機引擎1循環的迴轉檢測複數個脈波訊號，從前述脈波訊號算出引擎轉速，由以前述內燃機引擎的脈動週期為單位的移動平均來算出前述引擎轉速；將相鄰脈波間的時間間隔Ti 對應於前述脈動週期的特定數量連續予以累計以求出前述脈動週期；當前述1循環的迴轉被檢測之脈波訊號數為N，前述內燃機引擎的氣缸數為Z時，前述特定個數對應於N/Z； 當N/Z的整數部為Q時，用Q個或Q+1個時間間隔Ti 的累計來算出前述脈動週期；當N/Z的小數部為D時，於前述時間間隔Ti 的累計進行對應於前述小數部D的修正來算出前述脈動週期；對應於前述小數部D的修正值係用被累計的前述時間間隔Ti 當中最過去的時間間隔算出。An internal engine speed calculation method is characterized in that: a plurality of pulse signals are detected corresponding to the rotation of the engine 1 cycle, and the engine speed is calculated from the pulse signal, and is calculated from a moving average of the engine cycle of the engine. The engine speed is obtained by continuously accumulating the time interval T i between adjacent pulse waves corresponding to the specific number of the pulsation periods to obtain the pulsation period; when the number of pulse signals detected by the rotation of the first cycle is N, the foregoing internal combustion engine When the number of cylinders of the engine is Z, the specific number corresponds to N/Z; when the integer part of N/Z is Q, the pulsation period is calculated by the accumulation of Q or Q+1 time intervals T i ; When the fractional part of N/Z is D, the pulsation period is calculated in accordance with the correction of the decimal portion D at the integration of the time interval T i , and the correction value corresponding to the decimal portion D is used for the aforementioned time interval. The most recent time interval among T i is calculated. 一種船舶，其特徵為：具備有船體、及前述船體上搭載之內燃機引擎、及算出前述內燃機引擎的引擎轉速之引擎轉速計算裝置；前述引擎轉速計算裝置具備有對應於內燃機引擎1循環的迴轉檢測複數個脈波訊號之脈波檢測手段、及從前述脈波訊號算出引擎轉速之轉速計算手段；由以前述內燃機引擎的脈動週期為單位的移動平均來算出前述引擎轉速；前述轉速計算手段係將相鄰脈波間的時間間隔Ti 對應於前述脈動週期的特定數量連續予以累計以求出前述脈動週期；當前述1循環的迴轉被檢測之脈波訊號數為N，前述內燃機引擎的氣缸數為Z時，前述特定個數對應於N/Z；當N/Z的整數部為Q時，用Q個或Q+1個時間間隔Ti 的累計來算出前述脈動週期；當N/Z的小數部為D時，於前述時間間隔Ti 的累計進行對應於前述小數部D的修正來算出前述脈動週期；對應於前述小數部D的修正值係用被累計的前述時間間隔Ti 當中最過去的時間間隔算出。A ship comprising: a hull; an internal combustion engine mounted on the hull; and an engine rotational speed calculating device that calculates an engine speed of the internal combustion engine; the engine rotational speed calculating device is provided with a cycle corresponding to the internal combustion engine 1 a pulse wave detecting means for detecting a plurality of pulse wave signals, and a rotational speed calculating means for calculating an engine rotational speed from the pulse wave signal; wherein the engine rotational speed is calculated from a moving average of a pulse cycle of the internal combustion engine; the rotational speed calculating means The time interval T i between adjacent pulse waves is continuously accumulated corresponding to the specific number of the pulsation periods to obtain the pulsation period; when the number of pulse signals detected by the rotation of the first cycle is N, the cylinder of the internal combustion engine engine When the number is Z, the specific number corresponds to N/Z; when the integer part of N/Z is Q, the pulsation period is calculated by the accumulation of Q or Q+1 time intervals T i ; when N/Z decimal portion as D, in the time interval, T i corresponding to the total correction for the fractional portion D calculates the pulsation cycle; corresponds to the decimal The correction value of D is based with the accumulated time interval calculation interval, T i among the most past time.
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