JP7368401B2 - Fuel cell control device, fuel cell control method and computer program - Google Patents

Description

The present invention relates to a fuel cell control device, a fuel cell control method, and a computer program.

Conventionally, the technology described in Patent Document 1, for example, is known as a fuel cell control technology. In the fuel cell control technology described in Patent Document 1, when a ship capsizes, methanol, which is the raw fuel, leaks, so the fuel cell reaction is stopped when the tilt of the ship is detected before the methanol leak occurs. I'm letting you do it.

Japanese Patent Application Publication No. 2004-111212

However, with the fuel cell control technology described in Patent Document 1 mentioned above, although it is possible to prevent accidents when a ship capsizes by detecting the inclination of the ship, it is not possible to prevent accidents to the ship due to wave height. Even if a manned vessel with a helmsman on board steers the ship according to the wave height and can navigate without any problems even at a certain level of wave height, an unmanned vessel with automatic steering without a helmsman on board, especially a small unmanned vessel, may capsize. There is sex. Therefore, it is desirable to be able to adapt to ship accidents caused by high waves.

The present invention has been made in consideration of such circumstances, and its purpose is to adapt to ship accidents caused by high waves when controlling a fuel cell mounted on a ship.

(1) One aspect of the present invention is a fuel cell control device that controls a fuel cell mounted on a ship, in which wave height is determined based on an acceleration sensor mounted on the ship and gravitational acceleration detected by the acceleration sensor. The present invention is a fuel cell control device including a wave height calculation unit that calculates a wave height, and a control unit that stops the fuel cell based on the wave height.
(2) One aspect of the present invention is the fuel cell control device according to (1) above, wherein the control unit stops the fuel cell when determining that the wave height is equal to or higher than a predetermined value.
(3) One aspect of the present invention is the fuel cell control according to (2) above, wherein the control unit stops the fuel cell when it is determined that a wave height of a predetermined value or more continues for a predetermined time or longer. It is a device.
(4) One aspect of the present invention is the fuel cell control device according to (1) above, wherein the control unit restarts the fuel cell based on the wave height.
(5) One aspect of the present invention is the fuel cell according to (4) above, wherein the control unit restarts the fuel cell when determining that a wave height of a predetermined value or less continues for a predetermined time or more. It is a control device.
(6) One aspect of the present invention further includes an inclination calculation unit that calculates the inclination of the ship based on the longitudinal and lateral accelerations of the ship detected by the acceleration sensor, and the control unit The fuel cell control device according to any one of (1) to (5) above, which stops the fuel cell based on the inclination.
(7) One aspect of the present invention is the fuel cell control device according to (6) above, wherein the control unit stops the fuel cell when determining that the slope is greater than or equal to a predetermined value.
(8) One aspect of the present invention is the fuel cell control according to (7) above, wherein the control unit stops the fuel cell when it is determined that a slope of a predetermined value or more continues for a predetermined time or longer. It is a device.
(9) One aspect of the present invention is the fuel cell control device according to (6) above, wherein the control unit restarts the fuel cell based on the inclination.
(10) One aspect of the present invention is the fuel cell according to (9) above, wherein the control unit restarts the fuel cell when it is determined that the slope below a predetermined value continues for a predetermined time or more. It is a control device.

(11) One aspect of the present invention is a fuel cell control method for a fuel cell control device that controls a fuel cell mounted on a ship, wherein the fuel cell control device detects a fuel cell using an acceleration sensor mounted on the ship. This fuel cell control method includes a wave height calculation step of calculating a wave height based on the calculated gravitational acceleration, and a control step in which the fuel cell control device stops the fuel cell based on the wave height.

(12) One aspect of the present invention is to provide a wave height that calculates a wave height based on gravitational acceleration detected by an acceleration sensor mounted on the ship, in a computer of a fuel cell control device that controls a fuel cell installed on the ship. This is a computer program for executing a calculation step and a control step of stopping the fuel cell based on the wave height.

According to the present invention, when controlling a fuel cell mounted on a ship, it is possible to obtain the effect of being able to adapt to ship accidents caused by high waves.

FIG. 1 is a block diagram illustrating a configuration example of a ship and a fuel cell control device according to an embodiment. 1 is a flowchart illustrating an example of a procedure of a fuel cell stop control method according to an embodiment. 1 is a flowchart illustrating an example of a procedure of a fuel cell stop control method according to an embodiment. 1 is a flowchart illustrating an example of a procedure of a fuel cell restart control method according to an embodiment. 1 is a flowchart illustrating an example of a procedure of a fuel cell restart control method according to an embodiment.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing a configuration example of a ship and a fuel cell control device according to an embodiment. The vessel 1 may be an unmanned vessel or a manned vessel. The ship 1 is, for example, an unmanned small ship.

In the ship 1 shown in FIG. 1, the acceleration sensor 11 detects gravitational acceleration, acceleration in the longitudinal direction (bow and stern direction) of the ship 1, and acceleration in the left-right direction (starboard and port directions) of the ship 1.

The distance calculation circuit 12 has a wave height calculation function (wave height calculation section) and an inclination calculation function (inclination calculation section). The distance calculation circuit 12 calculates the wave height based on the gravitational acceleration detected by the acceleration sensor 11. The distance calculation circuit 12 calculates the inclination of the ship 1 based on the longitudinal and lateral accelerations of the ship 1 detected by the acceleration sensor 11 .

The control device 13 (control unit) controls the fuel cell 14 mounted on the ship 1. The control device 13 controls the fuel cell 14 based on the wave height calculated by the distance calculation circuit 12. Further, the control device 13 controls the fuel cell 14 based on the inclination of the ship 1 calculated by the distance calculation circuit 12.

The fuel cell 14 generates electricity using hydrogen gas supplied from a hydrogen gas cylinder 16 via a hydrogen gas regulator 15 and oxygen in the air. The fuel cell 14 is the main power source of the ship 1, and constantly supplies power to various electrical devices such as the screw motor 18 that drives the screw 19. The control device 13 controls the fuel cell 14 by outputting control signals to the hydrogen gas regulator 15 and the fuel cell 14 .

The lithium ion battery 17 is a backup power source for the ship 1, and serves as a power supply source when the fuel cell 14 stops. Note that the lithium ion battery 17 may be a storage battery other than a lithium ion battery.

In this embodiment, the acceleration sensor 11, the distance calculation circuit 12, and the control device 13 correspond to a fuel cell control device.

Next, the fuel cell control method according to this embodiment will be explained with reference to FIGS. 2 to 5.

[Fuel cell stop control method]
2 and 3 are flowcharts illustrating an example of the procedure of the fuel cell stop control method according to the present embodiment.

First, with reference to FIG. 2, a fuel cell stop control method based on wave height will be described.
(Step S11) The fuel cell 14 is in an activated state.

(Step S12) The distance calculation circuit 12 acquires the gravitational acceleration detected by the acceleration sensor 11.

(Step S13) The distance calculation circuit 12 calculates the wave height based on the gravitational acceleration detected by the acceleration sensor 11.

(Step S14) The control device 13 determines whether the wave height calculated by the distance calculation circuit 12 is equal to or greater than a predetermined value (X centimeters (cm)). As a result of this judgment, if it is equal to or greater than Xcm, the process advances to step S15, and if not, the process returns to step S12.

(Step S15) The control device 13 counts the number of wave heights.

(Step S16) The control device 13 determines whether the count value of the wave height count is greater than or equal to a certain number of times (Z times) in a certain period of time (Y seconds). As a result of this determination, if the number of times the wave height calculated by the distance calculation circuit 12 is equal to or greater than X cm is equal to or greater than Z times in Y seconds, the process advances to step S17; otherwise, the process returns to step S12.

(Step S17) The control device 13 stops the fuel cell 14. As a result, the fuel cell 14 can be stopped in a situation where the hull is damaged due to high waves, such as capsizing, so it is possible to prevent accidents such as the fuel cell 14 catching fire.

In addition, if the wave height calculated by the distance calculation circuit 12 is equal to or higher than a very large predetermined value (for example, a wave height so large that the ship 1 capsizes with one wave), the control device 13 starts counting the number of wave heights. Regardless, the fuel cell 14 may be stopped immediately.

In addition, the control device 13 is provided with a threshold table in which sets of Y and Z are stored for each stepwise value of The set may be obtained from a threshold table and used.

Next, with reference to FIG. 3, a fuel cell stop control method based on the inclination of the ship 1 will be described.
(Step S21) The fuel cell 14 is in an activated state.

(Step S22) The distance calculation circuit 12 acquires the longitudinal and lateral accelerations of the ship 1 detected by the acceleration sensor 11.

(Step S23) The distance calculation circuit 12 calculates the inclination of the ship 1 based on the longitudinal and lateral accelerations of the ship 1 detected by the acceleration sensor 11.

(Step S24) The control device 13 determines whether the inclination of the ship 1 calculated by the distance calculation circuit 12 is equal to or greater than a predetermined value (P degrees). As a result of this determination, if the degree is equal to or greater than P, the process advances to step S25, and if not, the process returns to step S22.

(Step S25) The control device 13 counts the slope time.

(Step S26) The control device 13 determines whether the count time of the slope time count is equal to or longer than a certain period (Q seconds). As a result of this determination, if the time during which the inclination of the ship 1 calculated by the distance calculation circuit 12 is P degrees or more is Q seconds or more, the process advances to step S27, and if not, the process returns to step S22.

(Step S27) The control device 13 stops the fuel cell 14. As a result, the fuel cell 14 can be stopped in a situation where the hull is damaged due to rough waves such as high waves, such as capsizing, so it is possible to prevent accidents such as the fuel cell 14 catching fire. .

In addition, when the inclination of the ship 1 as a result of calculation by the distance calculation circuit 12 is equal to or greater than a very large predetermined value (for example, the inclination is so large that the ship 1 capsizes in one heel), the control device 13 The fuel cell 14 may be stopped immediately regardless of the slope time count.

Further, the control device 13 is provided with a threshold table in which Q is stored for each stepwise value of P, and the set of "P, Q" corresponding to the inclination of the ship 1 calculated by the distance calculation circuit 12 is set as the threshold value. It may be obtained from the table and used.

In addition, when the distance calculation circuit 12 calculates the longitudinal inclination and the lateral inclination separately, the set of "P, Q" is divided into the longitudinal direction inclination and the horizontal direction inclination, and is provided respectively. Good too.

The fuel cell stop control method based on the wave height described above and the fuel cell stop control method based on the inclination of the ship 1 may be applied in combination.

[Fuel cell restart control method]
4 and 5 are flowcharts illustrating an example of the procedure of the fuel cell restart control method according to the present embodiment.

First, a fuel cell restart control method based on wave height will be described with reference to FIG.
(Step S31) The fuel cell 14 is in a stopped state.

(Step S32) The distance calculation circuit 12 acquires the gravitational acceleration detected by the acceleration sensor 11.

(Step S33) The distance calculation circuit 12 calculates the wave height based on the gravitational acceleration detected by the acceleration sensor 11.

(Step S34) The control device 13 determines whether the wave height calculated by the distance calculation circuit 12 is less than or equal to a predetermined value (Xacm). Xa is a value less than X. For example, Xa is a value sufficiently smaller than X. As a result of this judgment, if it is less than or equal to Xacm, the process advances to step S35, and if not, the process returns to step S32.

(Step S35) The control device 13 counts the number of wave heights.

(Step S36) The control device 13 determines whether the count value of the wave height count is greater than or equal to a certain number of times (Za times) in a certain period of time (Ya seconds). As a result of this determination, if the number of times that the wave height calculated by the distance calculation circuit 12 is less than or equal to Xacm is more than Za times in Ya seconds, the process advances to step S37; otherwise, the process returns to step S32.

(Step S37) The control device 13 restarts the fuel cell 14.

In addition, the control device 13 is provided with a threshold table in advance that stores sets of Ya and Za for each stepwise value of The set may be obtained from a threshold table and used.

Next, a fuel cell restart control method based on the inclination of the ship 1 will be described with reference to FIG.
(Step S41) The fuel cell 14 is in a stopped state.

(Step S42) The distance calculation circuit 12 acquires the longitudinal and lateral accelerations of the ship 1 detected by the acceleration sensor 11.

(Step S43) The distance calculation circuit 12 calculates the inclination of the ship 1 based on the longitudinal and lateral accelerations of the ship 1 detected by the acceleration sensor 11.

(Step S44) The control device 13 determines whether the inclination of the ship 1 calculated by the distance calculation circuit 12 is less than or equal to a predetermined value (Pa degrees). Pa is a value less than P. For example, Pa is a value sufficiently smaller than P. As a result of this determination, if the temperature is less than or equal to Pa degrees, the process proceeds to step S45, and if not, the process returns to step S42.

(Step S45) The control device 13 counts the tilt time.

(Step S46) The control device 13 determines whether the count time of the slope time count is equal to or longer than a certain period (Qa seconds). As a result of this determination, if the time during which the inclination of the ship 1 calculated by the distance calculation circuit 12 is Pa degrees or more is Qa seconds or more, the process advances to step S47, and if not, the process returns to step S42.

(Step S47) The control device 13 restarts the fuel cell 14.

The control device 13 also includes a threshold table storing Qa for each stepwise value of Pa, and sets the set of "Pa, Qa" corresponding to the inclination of the ship 1 calculated by the distance calculation circuit 12 as the threshold value. It may be obtained from the table and used.

In addition, when the distance calculation circuit 12 calculates the inclination in the longitudinal direction and the inclination in the left and right directions separately, the set of "Pa, Qa" is divided into the inclination in the longitudinal direction and the inclination in the left and right directions. Good too.

The fuel cell restart control method based on the wave height and the fuel cell restart control method based on the inclination of the ship 1 described above may be applied in combination.

[Wave height calculation method]
A wave height calculation method according to this embodiment will be explained. The distance calculation circuit 12 calculates the wave height H using the following equations (1), (2), and (3). Note that, for example, the subscript "a" may be written as "_a".

Equation (1) is a coordinate conversion formula that uses a rotation matrix to convert the acceleration sensor value in the sensor coordinate system to the absolute coordinate system, and is a coordinate conversion formula that uses a rotation matrix to convert the acceleration sensor value in the sensor coordinate system to the Z-axis direction in the absolute coordinate system. This is to calculate the acceleration value. Equation (2) is a calculation formula for removing the gravity component from the acceleration value in the Z-axis direction of the absolute coordinate system, and calculates the acceleration A_Z by removing the gravity component from the acceleration value in the Z-axis direction of the absolute coordinate system. It is something. Equation (3) calculates the displacement (wave height H) by integrating the vertical acceleration value A_Z twice. The distance calculation circuit 12 converts the detected value of the acceleration sensor 11 into an absolute coordinate system using a rotation matrix according to equations (1), (2), and (3), and calculates the value from the Z-axis (vertical direction) acceleration. Calculate the vertical displacement (wave height H).

According to this embodiment, when controlling the fuel cell 14 mounted on the ship 1, it is possible to adapt to an accident of the ship 1 due to high waves. Specifically, the fuel cell 14 can be stopped in a situation where the hull is damaged due to high waves, such as capsizing, so it is possible to prevent accidents such as the fuel cell 14 catching fire. This can contribute to the safe operation of the ship 1 equipped with the fuel cell 14.

Furthermore, as this can improve the quality of services in ship navigation services, for example, it is possible to achieve Goal 9 of the Sustainable Development Goals (SDGs) led by the United Nations: Build resilient infrastructure and achieve sustainable industrialization. It will be possible to contribute to "promoting innovation and expanding innovation."

Although the embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like may be made without departing from the gist of the present invention.

For example, the control device 13 may detect the water level that has entered the interior of the ship 1, and may perform control such as stopping or restarting the fuel cell 14 based on the detected value.

Further, a computer program for realizing the functions of each device described above may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed. Note that the "computer system" here may include hardware such as an OS and peripheral devices.
Furthermore, "computer-readable recording media" refers to flexible disks, magneto-optical disks, ROMs, writable non-volatile memories such as flash memory, portable media such as DVDs (Digital Versatile Discs), and media built into computer systems. A storage device such as a hard disk.

Furthermore, "computer-readable recording medium" refers to volatile memory (for example, DRAM (Dynamic It also includes those that retain programs for a certain period of time, such as Random Access Memory).
Further, the program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in a transmission medium. Here, the "transmission medium" that transmits the program refers to a medium that has a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Moreover, the above-mentioned program may be for realizing a part of the above-mentioned functions. Furthermore, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

DESCRIPTION OF SYMBOLS 1... Ship, 11... Acceleration sensor, 12... Distance calculation circuit, 13... Control device, 14... Fuel cell, 15... Hydrogen gas regulator, 16... Hydrogen gas cylinder, 17... Lithium ion battery, 18... Screw motor, 19... screw

Claims (12)

In a fuel cell control device that controls a fuel cell installed on a ship,
an acceleration sensor mounted on the ship;
a wave height calculation unit that calculates a wave height based on the gravitational acceleration detected by the acceleration sensor;
a control unit that stops the fuel cell based on the wave height;
A fuel cell control device comprising: The control unit stops the fuel cell when determining that the wave height is equal to or higher than a predetermined value.
The fuel cell control device according to claim 1. The control unit stops the fuel cell when determining that a wave height of a predetermined value or more continues for a predetermined time or more.
The fuel cell control device according to claim 2. The control unit restarts the fuel cell based on the wave height.
The fuel cell control device according to claim 1. The control unit restarts the fuel cell when determining that a wave height of a predetermined value or less continues for a predetermined time or more.
The fuel cell control device according to claim 4. further comprising an inclination calculation unit that calculates the inclination of the ship based on the longitudinal and lateral accelerations of the ship detected by the acceleration sensor,
The control unit stops the fuel cell based on the slope.
The fuel cell control device according to any one of claims 1 to 5. The control unit stops the fuel cell when determining that the slope is greater than or equal to a predetermined value.
The fuel cell control device according to claim 6. The control unit stops the fuel cell when determining that a slope of a predetermined value or more continues for a predetermined time or more.
The fuel cell control device according to claim 7. The control unit restarts the fuel cell based on the slope.
The fuel cell control device according to claim 6. The control unit restarts the fuel cell when determining that the slope is below a predetermined value for a predetermined period of time or more.
The fuel cell control device according to claim 9. A fuel cell control method of a fuel cell control device for controlling a fuel cell mounted on a ship, the method comprising:
a wave height calculation step in which the fuel cell control device calculates a wave height based on gravitational acceleration detected by an acceleration sensor mounted on the ship;
a control step in which the fuel cell control device stops the fuel cell based on the wave height;
A fuel cell control method including. In the computer of the fuel cell control device that controls the fuel cells installed on the ship,
a wave height calculation step of calculating a wave height based on gravitational acceleration detected by an acceleration sensor mounted on the ship;
a control step of stopping the fuel cell based on the wave height;
A computer program for running.

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