JPH02256802A - Speed control method for underwater traveling body - Google Patents

Abstract

PURPOSE:To hasten a speed response at an underwater traveling body equipped with a Rankine cycle type engine by controlling a fuel supply quantity through the use of the differential value of a speed control signal. CONSTITUTION:A control signal 21 to a water feed pump return flow regulation valve 5, is synthesized from a signal obtained by means of a PID controller 19 through the variation of a pressure set value 15 and a turbine entrance pressure 8, and the signal of a water feed pump return flow regulation valve opening set value 17. Also, a control signal 22 to a fuel flow regulation valve 6, is synthesized from a signal obtained by means of a PID controller 20 through the variation of a temperature set value 16 and a turbine entrance temperature 7, and the signal of a fuel flow regulation valve opening set value 18, and a signal obtained by multiplying the differential value of a speed command 9 by means of a differential device 23 by a gain 24. As a result, the control signal 22 of the fuel flow changes faster than the control signal 21 of the water feed flow, so the ascent of the turbine entrance temperature 7 is restrained, and the speed response of an underwater traveling body can be made faster.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for controlling the speed of an underwater vehicle equipped with a Rankine cycle engine.

[Conventional technology]

In the conventional speed control method, as shown in FIG. 2, when a speed command 9 is issued, each set value 15.16 of turbine inlet pressure and temperature 8.7 is calculated to achieve the speed. Then, the opening degree of the feed water pump return flow rate control valve 5 is adjusted so that the actual turbine inlet pressure 8 becomes the pressure set value 15, and the fuel flow rate control valve 6 is adjusted so that the turbine inlet temperature 7 becomes the temperature set value 16. Adjust the opening. The control signals at this time are synthesized as follows.

First, the water supply flow rate and fuel flow rate to achieve the set pressure and temperature are determined by static balance calculation. A valve opening signal for flowing this flow rate is determined. The control signal is obtained by adding to this signal a signal output from the PID controller 19, 20 after calculating the deviation between the set value and the actual measurement value.

At this time, more weight is given to the valve opening signal, and the PID gain is made as small as possible.

In Fig. 2, 1 is a combustor, 2 is a turbine, and 3 is a combustor.
is a capacitor, 4 is a water supply pump, 5 is a water supply pump return flow rate control valve, 6 is a fuel flow rate control valve, 7 is a turbine inlet temperature, 8 is a turbine inlet pressure, 9 is a speed command, 10
is a ramp function generator, 11, 12, 13.14 is a function generator, 15 is a pressure setting value, 16 is a temperature setting value, 17 is a water pump return flow rate adjustment valve opening setting value, 18 is a fuel flow rate adjustment valve opening value. degree setting value, 19.20 is PID controller,
Reference numeral 21 indicates a water supply pump return flow rate control valve control signal, and 22 indicates a fuel flow rate control valve control signal.

simultaneously decreases to 1, and almost static balance point t\
It gradually decreases. The speed will decrease accordingly, but since the heat capacity inside the combustor furnace is very large, the temperature inside the furnace will not drop immediately even if the fuel is reduced, and the water supply will decrease. The turbine inlet temperature will rise. Therefore, the pressure decreases at a slow rate, and it takes a long time to settle, resulting in a slow speed control response. Conversely, when shifting from low speed to high speed, even if the fuel is increased, the temperature inside the furnace does not rise immediately, and the water supply increases, so the temperature at the inlet of the tough bin is kept low, and in this case too, the speed response is Become slow.

An object of the present invention is to provide a speed control method for an underwater vehicle that can solve the above-mentioned conventional problems and increase speed response.

[Means to solve the problem]

A method for controlling the speed of an underwater vehicle according to the present invention includes: a turbine that rotates a propeller of an underwater vehicle; a combustor that heats a heat medium supplied to the turbine; and a combustor that heats a heat medium supplied to the turbine; In a method comprising a Rankine cycle engine consisting of a circulating fluid pump, and controlling the speed by adjusting the amount of fuel supplied to the combustor and the amount of heat medium supplied to the turbine based on a speed control signal. , the fuel supply amount is controlled using the differential value of the speed control signal. That is, in the present invention, in order to change the fuel flow rate faster than the water supply flow rate, and to make it smaller during deceleration and larger during acceleration than the static balance point, a gain is added to the differential value of the speed command in the fuel control signal. It is designed to add the product multiplied by .

[For production]

According to the method of the present invention, since the fuel flow rate signal changes faster than the feed water flow rate signal, an increase in turbine inlet temperature can be suppressed and response can be made faster. This is a block diagram showing an example of a device in which the differential value of the speed command is applied only during gear shifting, and the same parts as those shown in FIG. 2 will be described with the same reference numerals.

In FIG. 1, a differentiator 23 and a gain 24 are added to those shown in FIG. In FIG. 1, a speed command 9 passes through a ramp function generator 10, and each setting value is obtained from this signal by function generators 11-14. A control signal 21 to the feedwater pump return flow rate control valve 5 is generated from the PID controller 1 based on the deviation between the pressure setting value 15 and the turbine inlet pressure 8.
9 and the signal of the water supply pump return flow rate control valve opening setting value 17. The control signal 22 to the fuel flow control valve 6 includes a signal obtained by the PID controller 20 from the deviation between the temperature set value 16 and the turbine inlet temperature 7, and a fuel flow ffi control valve opening set value 18.
and a signal obtained by multiplying the differential value of the speed command 9 by the differentiator 23 by the gain 24.

The above-mentioned valve opening set values 17 and 18 are obtained from static balance, and if this signal is changed, the speed will change according to the command.

At that time, since there are some fluctuations, the PID controller 19.2
Correct it with 0. However, as mentioned before, since the heat capacity in the furnace of the combustor 1 is large, if the fuel flow rate control valve 6 and the feed water pump return flow rate control valve 5 are varied along the static balance point, the turbine inlet temperature 7 deviates significantly from the temperature set value 16. Therefore, by adding the differential value of the speed command 9 by the differentiator 23 to the control signal to the fuel flow rate control valve 6, the fuel change can be made faster than the water supply change, and the static balance point can be made faster. Since less is supplied during deceleration and more is supplied during acceleration, temperature deviation can be suppressed and speed response can be made faster. This differential value signal is used only when changing gears and has no effect when cruising at a constant speed.

Since it can be suppressed, the burden on metal materials can be reduced.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an example of a device used to carry out the method of the present invention, and FIG. 2 is a block diagram of a conventional speed control device. 5... Water supply pump return flow rate control valve, 6... Fuel flow rate control valve, 19.20... PID controller, 23
...differentiator, 24...gain.

Claims (1)

[Claims] It is equipped with a Rankine cycle engine consisting of a turbine that rotates a propeller of an underwater vehicle, a combustor that heats a heat medium supplied to the turbine, and a fluid pump that circulates the heat medium from the turbine to the combustor. , a method of performing speed control by adjusting the amount of fuel supplied to the combustor and the amount of heat medium supplied to the turbine based on a speed control signal, in which the differential value of the speed control signal is used to control the amount of fuel. A method for controlling the speed of an underwater vehicle, characterized by controlling the amount of supply.