Electric balancer control method and control device

Abstract

The phase control of the electric balancer device is performed stably and simply by offsetting the detected phase difference signal and the target phase difference signal. [Solution] If at least one of the phase difference signal C detected based on the phase signals from the propulsion engine 1 and the electric balancer device 2, and the target phase difference signal input from the phase setter 9, is located inside a specific region z1 set near the switching point G when the phase signals are displayed as rotation angles, a predetermined offset operation is performed so that both the detected phase difference signal and the target phase difference signal are located outside the specific region.

Description

【Technical Field】 【0001】 Embodiments of the present invention relate to an electric balancer control method and a control device installed in a propulsion prime mover used in, for example, a ship. 【Background Art】 【0002】 It is known that a propulsion prime mover used in a ship or the like generates mechanical vibration during operation, which has an adverse effect on equipment and habitability inside the ship. Therefore, in order to cancel out the vibration generated from the propulsion prime mover, an electric balancer device equipped with a balancer is often installed in parallel with the propulsion prime mover. 【0003】 This electric balancer device is driven by an electric motor, and generates a force with a reverse phase to the vibration generated by the propulsion prime mover in synchronization with the rotational speed of the propulsion prime mover. 【Prior Art Documents】 【Patent Documents】 【0004】 【Patent Document 1】 Japanese Patent Laid-Open No. 50-7292 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0005】 Conventional electric balancer control means detects the phase difference between the propulsion prime mover and the electric balancer device, and controls the electric motor of the electric balancer device so that the phase difference becomes zero. 【0006】 FIGS. 6(a) and (b) show examples of phase difference detection. FIG. 6(a) shows a phase signal A from a phase detector installed close to the propulsion prime mover and a phase signal B from a phase detector installed close to the balancer of the electric balancer device, and FIG. 6(b) shows the waveform and the phase difference over time. 【0007】 In such a phase difference detection means, as illustrated in Figure 5(a) where the phase signal is displayed as a rotation angle, the value of the phase signal may change significantly during the calculation process when the phase signal passes through 360° (0°), potentially leading to large errors and reduced reliability. 【0008】 In other words, when the phase signal reaches 360°, it needs to be reinterpreted as 0° (hereinafter referred to as "switching point G"), but there is a problem in that errors are likely to occur during the calculation process. 【0009】 The process by which this phase signal passes through the switching point G is called "peak crossing," and if the aforementioned error occurs in this region, the electric balancer control becomes unstable. Figure 5(b) shows an example where the switching point G is at ±180°. 【0010】 To address this, one could consider adjusting the position of the gears or phase detectors, but this would require precise positioning and increase the workload. 【0011】 Alternatively, it is conceivable to perform phase control without using a switching point by using the absolute values ​​of the phases of both, but this presents challenges such as increased complexity in the calculation process, including polarity determination. 【0012】 Embodiments of the present invention have been made to solve the above problems, and aim to provide an electric balancer control method and control device that can stably and easily perform phase control of an electric balancer device without requiring complicated position adjustments of detection equipment or complex calculation processing. [Means for solving the problem] 【0013】 To solve the above problems, the electric balancer control method according to this embodiment is such that at least one of the detected phase difference signal detected based on the phase signals from the propulsion engine and the electric balancer device and the target phase difference signal input from the phase setter is used as the switching point when the phase signals are displayed as rotation angles. sandwiching If located within a defined area, both the detected phase difference signal and the target phase difference signal butSo as to be located outside the specific area Until it becomes perform a predetermined offset operation Once or multiple times characterized by doing so. 【0014】 Also, the electric balancer control device according to the present embodiment is an electric balancer control device for implementing the above electric balancer control method, and is characterized by performing a predetermined offset operation based on the positional relationship with a specific area between the detected phase difference signal detected by the phase difference detector and the target phase difference signal input from the phase setter. 【Effect of the Invention】 【0015】 According to the present embodiment, the phase control of the electric balancer device can be performed stably and simply without requiring complicated position adjustment or complex arithmetic processing of the detection device. 【Brief Description of the Drawings】 【0016】 [Figure 1] System configuration diagram of the electric balancer device according to the present invention. [Figure 2] Explanation diagram of the electric balancer control method according to the first embodiment. [Figure 3] Explanation diagram of the electric balancer control method according to the second embodiment. [Figure 4] Explanation diagram of the electric balancer control method according to the third embodiment. [Figure 5] (a), (b) are explanatory diagrams of the switching point according to the present invention. [Figure 6] (a), (b) are explanatory diagrams of the phase signal and the phase difference signal according to the present invention. 【Modes for Carrying Out the Invention】 【0017】 <00​​​​​​FIG. 1 is a system configuration diagram of an electric balancer device according to the present embodiment, including a propulsion prime mover (main engine) 1 that drives a propulsion propeller 1a and a gear 1b, an electric balancer device 2 including a balancer 2a and an electric motor 2b, a first phase detector 4 including a speed detector 3 and a pulse oscillator disposed near the gear 1b of the propulsion prime mover, a second phase detector 5 provided near the balancer 2a, a phase difference detector 6 that calculates a phase difference signal C from a phase signal A output from the first phase detector 4 and a phase signal B output from the second phase detector, an inverter 7 provided between the shipboard system 10 and the electric motor 2b, and an electric balancer control device 8 that inputs a speed signal D, a phase difference signal C, an offset signal E from a phase setting device 9, and a set phase difference signal H and outputs a rotational speed command signal F to the inverter 7. 【0019】 [Electric Balancer Control Method] Hereinafter, embodiments of an electric balancer control method and a control device according to the present invention will be described with reference to the drawings. 【0020】 (First Embodiment) The electric balancer control method according to the first embodiment will be described with reference to FIG. 2. FIG. 2 is a diagram for explaining the phase difference by the rotation angle. 【0021】 In FIG. 2, a specific region z1 set across a switching point G indicates a region where there is a high possibility of occurrence of the problem of climbing over a mountain where the above-described error is likely to occur, and its range is set according to the types and specifications of the devices and arithmetic processing units used, and the surrounding environment. 【0022】 In the example of FIG. 2, it shows a case where the target phase difference x1 input from the phase setting device 9 is outside the specific region z1 near the switching point G, and the detected phase difference y1 input from the phase difference detector 6 is inside the specific region z1. 【0023】 In this example, the electric balancer control device 8 offsets the detected phase difference y1 to the position y1' by an offset amount (angle) of α1 based on the phase difference signal C, the offset signal E set by the phase setter 9, and the set phase difference signal H, and similarly offsets the target phase difference x1 to the position x1' by α1. This offset operation is called the first offset. 【0024】 This first offset operation offsets both the detected phase difference y1 and the target phase difference x1 outside the specific region z1, enabling calculation processing that is less prone to errors, and allowing for stable and simple phase control of the electric balancer device. 【0025】 (Second embodiment) A second embodiment of the electric balancer control method will be explained with reference to Figure 3. 【0026】 In Figure 3, the specific region z2 set across the switching point G indicates a region where the aforementioned mountain-crossing problem is highly likely to occur, similar to the first embodiment. 【0027】 In the example in Figure 3, the target phase difference x2 is inside the specific region z2, and the detected phase difference y2 is outside the specific region z2. 【0028】 In this example, the electric balancer control device 8 offsets its detected phase difference y2 to the position y2' by α2, and similarly offsets the target phase difference x2 to the position x2' by α2. This offset operation is called the second offset. 【0029】 This second offset operation offsets both the detected phase difference y2 and the target phase difference x2 outside the specific region z2, enabling calculations that are less prone to errors and allowing for stable and simple phase control of the electric balancer device. 【0030】 (Third embodiment) A third embodiment of the electric balancer control method and control device method will be explained with reference to Figure 4. 【0031】 In Figure 4, the specific region z3, which is set across the switching point G, represents a region where the mountain-crossing problem is likely to occur. However, considering the type and specifications of the equipment and computing device, as well as the surrounding environment, it is set wider than z1 and z2 in the first and second embodiments. 【0032】 In the example in Figure 4, both the target phase difference x3 and the detected phase difference y3 are shown to be inside the specific region z3. 【0033】 In this example, the electric balancer control device first offsets the target phase difference x3 to position x3' by α3, and similarly offsets the detected phase difference y3 to position y3' by α3. 【0034】 However, as shown in Figure 4, the offset target phase difference x3' is still inside the specific region z3, so the target phase difference is further offset by α4 from x3' to x3'', and similarly the detected phase difference y3' is also offset by α4 to y3''. 【0035】 Here, this two-stage offset operation is called the third offset, but in some cases, there may be three or more stages. 【0036】 This multi-stage third offset operation offsets both the detected phase difference y3 and the target phase difference x3 outside the specific region z3, enabling calculations that are less prone to errors and allowing for stable and simple phase control of the electric balancer device. 【0037】 (modified version) The above-described embodiment shows an example in which the target phase difference and the detected phase difference are offset in the forward rotation direction (clockwise rotation). However, it is not limited to this, and depending on the positional relationship between the target phase difference and the detected phase difference, the offset operation may be performed in the reverse rotation direction (counterclockwise rotation) (not shown). 【0038】 In other words, by adjusting the rotation direction of the offset so that the amount of offset manipulation is small, the computational processing load can be reduced. 【0039】 (effect) As explained above, when the target phase difference and / or detected phase difference are in an area where errors are likely to occur, i.e., an area where peak-crossing problems are likely to occur, the above-described offset operation makes it possible to perform calculation processing that is less prone to errors, thereby enabling stable and simple phase control of the electric balancer device. 【0040】 Although embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be combined or implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. [Explanation of Symbols] 【0041】 1…Propulsion engine (main engine), 1a…Propulsion propeller, 1b…Gears, 2…Electric balancer device, 2a…Balancer, 2b…Electric motor, 3…Speed ​​detector, 4, 5…Phase detector, 6…Phase difference detector, 7…Inverter, 8…Electric balancer control device, 9…Phase setter, 10…Onboard system, A, B…Phase signal, C…Phase difference signal, D…Speed ​​signal, E…Offset signal, F…Rotation speed command signal, G…Switching point, H…Set phase difference signal, x1~x3…Target phase difference, y1~y3…Detected phase difference, z1~z3…Specific area (mountain crossing area)

Claims

[Claim 1] An electric balancer control method characterized in that, if at least one of a detected phase difference signal detected based on phase signals from a propulsion engine and an electric balancer device, and a target phase difference signal input from a phase setter, is located within a specific region set across a switching point when the phase signals are expressed as rotation angles, a predetermined offset operation is performed once or multiple times until both the detected phase difference signal and the target phase difference signal are located outside the specific region. [Claim 2] The electric balancer control method according to claim 1, characterized in that an offset operation is performed in the forward or reverse direction according to the positions of the detected phase difference signal and the target phase difference signal. [Claim 3] The electric balancer control method according to claim 1, characterized in that the specified area is set according to the type or specifications of the detection device, signal processing circuit, or environmental conditions. [Claim 4] An electric balancer control device for implementing the electric balancer control method described in claim 1, An electric balancer control device characterized by performing a predetermined offset operation based on a detected phase difference signal detected by a phase difference detector and a target phase difference signal input from a phase setter.

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