JPS6226502A - Adaptive control device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] j [Field of Industrial Application] The present invention is applicable to, for example, a diesel main engine of a marine vessel.
tt[m f h MWb He1J *Regarding the position.

[Conventional technology]

i' The ship was navigating in a sway and in a slump, but the diesel main engine (hereinafter referred to as
The load applied to the main engine (abbreviated as the main engine) may suddenly increase or decrease, causing the main engine rotational speed to fluctuate greatly.

This is because the scree fa propeller is exposed above the sea surface, and this phenomenon is particularly called a racing phenomenon. When this racing phenomenon occurs, main engine overspeed and supercharger surging occur. Therefore, conventionally, as shown in FIG. 3, a PID (proportional-integral-derivative) speed governor 1 is provided to control the main engine rotational speed to a constant value. That is, main engine 2
The rotational speed output signal 8 affected by the disturbance g and the set rotational speed signal t are multiplied by 1 above the PIDID speed control.

P operation section 1- provided inside this PIDID speed regulator 1-
1. Calculate and find a control signal p such that the deviation between the rotational speed output signal 3 and the set rotational speed signal t is zero using the operating section 1-2 and the D operating section No. 3, and calculate this control signal p. Sends to actuator 3. As a result, the actuator 3 changes the injection period of fuel supplied to the main engine 2 and controls the amount of fuel supplied. In this way, the rotational speed signal layer of the main engine 2 is controlled to be the same as the set rotational speed signal t.

[Problem that the invention seeks to solve]

However, the above-mentioned device does not have sufficient responsiveness, and it is difficult to suppress over-speed fluctuations of the main engine 2 due to load fluctuations due to the racing phenomenon. Therefore, in order to prevent this excessive rotation speed fluctuation, control is performed by lowering the value of the set rotation speed signal t, but this has the problem of slowing down the ship speed and reducing the operational efficiency of the ship. Furthermore, the main engine 20 rotation speed and load fluctuations have an adverse effect on the main engine 2.

On the other hand, a method has been proposed in which the increase or decrease in load on the main engine 2 is estimated from the relative positional relationship between the hull of the ship near the scree propeller and the water surface, and the main engine 2 is predictively controlled. However, this method requires a separate new sensor to detect the relative position, and it is also difficult to determine the relationship between the relative position and the load increase/decrease.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an adaptive control device that can reliably prevent sudden increases and decreases in load in order to solve the above-mentioned problems.

[Means for solving problems]

In order to achieve the above object, the present invention provides an identifier for successively estimating the dynamic characteristics of a controlled object in response to a plant output signal of a controlled object having a PID control system and a setting signal of the PID control system; The control/parameter is determined from the dynamic characteristics obtained, and the PI is determined by this control/parameter.
The adaptive control device includes a setting signal control means for changing and setting a setting signal to a D control system.

[Effect]

The present invention includes the above-mentioned means, so that the dynamic characteristics of the controlled object are estimated based on the setting signal to the PID control system and the plant output signal, and the control parameters are determined based on the estimation results, and the setting signal is is changed according to load fluctuations.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of an adaptive control device. In addition.

The same parts as in FIG. 3 are given the same reference numerals.

That is, 1 is a PID v4 gearbox, 2 is a main engine, and 3 is an actuator. In addition, these PIDID speed regulators 1
The engine 2 and the actuator 3 constitute a controlled object. Now, in this device, the parameter identifier 10 and the control device 11 are optionally provided. The parameter identifier 10 receives a rotation speed output signal as a plant output and a set rotation speed signal t' from the control device 11.
From the already input rotational speed output signal 3 and the set rotational speed signal t', the main engine 20J? The parameter, that is, the dynamic characteristic, is sequentially estimated using an identification method, and the control parameters of the control device 11 are changed and set based on the estimated parameter, for example, an adaptive control law aiming at minimum variance. It's worth it. The control device 11tl'i receives a set rotational speed signal t and outputs one on the PIDID speed control as a set rotational speed signal tt-t' by changing settings of the control/main meter.

I will explain. Normally, when the groove is not rough, the main engine speed is controlled at 1p and 20 revolutions by PIDID speed control. here,
Assume that the sea is rough and the hull is shaken by waves, and the parameter identifier 10 and the control device 11 start operating. Then, the parameter identifier 10 inputs the rotation speed output signal including the disturbance g and the vibration of the hull and the set rotation speed signal t' sent from the control device 11 at a predetermined speed/f ring cycle. . Parameters for the controlled object are sequentially estimated based on the rotational speed output signal t' and the set rotational speed signal t', and the control device 11 controls the control device 11 from the estimated parameters.
Parameters are determined. As a result, the control device 11
This determined control parameter is changed and set, and the set rotation speed signal t' corresponding to the deviation is calculated and determined.
Outputs 1 above the ID speed control. The knob υ is this set rotational speed signal t'
is changed to a value corresponding to the main engine 20 rotational speed fluctuation. Thus, using this set rotational speed signal t' as a setting signal, a control signal is calculated and determined such that the inoculum of the PIDID speed controller becomes zero, and the actuator is Send to 3. As a result, the actuator 3 supplies the main engine 2 with an amount of fuel corresponding to the rotation speed fluctuation, and the rotation speed of the main engine 2 is controlled to be constant.

FIG. 2 is a diagram showing the shimmy range results of the apparatus shown in FIG. 1. That is, the parameter identifier 10 and the control device 11 start operating from time tg shown in FIG. 2 (period A). It shows a period of 1 mln. As is clear from this result, the rotational speed of the main engine 2 is controlled to be constant at the set rotational speed of 40 Orpm.

In this way, in the above-mentioned embodiment, the parameters of the controlled object are estimated based on the set rotational speed signal t' to the PID governor 1 and the rotational speed output signal S, and the control device 11 is controlled based on the estimation result. Since the configuration is such that the parameters are determined and the set rotational speed signal t' is changed in accordance with the rotational speed fluctuation, even if a racing phenomenon occurs, it is possible to reliably prevent sudden fluctuations in the rotational speed of the main engine 2 caused by this. , there is no adverse effect on the main engine 2. The controllability and the quality of the PID governor 1 are also improved.

Furthermore, since the value of the set rotational speed signal t' is not decreased, the speed of the ship does not decrease, and the efficiency of ship operation is reduced. Furthermore, this device has a meter identifier 10 and a control device 11 that are analogous to the conventional PID control system.
Since it is a configuration that adds , it can be easily added to ships that have already been built.

Note that the present invention is not limited to the above-mentioned embodiment, and may be modified without departing from the spirit thereof. For example, it can be applied not only to control of racing phenomena, but also to ship rolling control, temperature control, etc.

〔Effect of the invention〕

As described in detail above, according to the present invention, it is possible to provide an adaptive control device that can reliably prevent sudden increases and decreases in load.

[Brief explanation of the drawing]

Fig. 1 is a configuration diagram when an embodiment of the adaptive control device according to the present invention is applied to a ship, Fig. 2 is a diagram showing the simulation results of the device of the present invention, and Fig. 3 is a conventional rotation speed control. FIG. 1...PID l! IT gear, 2... Main engine, 3.
...Actuator, 10...No.4 parameter identifier,
11...Control device.

Claims (1)

[Claims] a plant and a controlled object having a PID control system of the plant; an identifier that receives a plant output signal of the plant and a setting signal of the PID control system and sequentially estimates the dynamic characteristics of the controlled object; and an identifier that estimates dynamic characteristics of the controlled object sequentially; 1. An adaptive control device comprising: a setting signal control means for determining a control parameter from the dynamic characteristics determined by the user, and changing and setting the setting signal according to the control parameter.