752 results about "Speed loop" patented technology

The invention provides a driving device of a permanent magnetic brushless direct current (DC) servo motor, comprising a control unit, an interface unit and a driving unit; the control unit is connected with the driving unit by the interface unit; the control unit adopts a field programmable gate array (FPGA) and has high integration, low power dissipation and good operation real-time performance; the key point of the design of the control system is the control to three loops: a current loop, a speed loop and a position loop and the integral matching of the three loops so that three control modes of moment, speed and location can be realized; the control system can be used for simple speed regulation and also can be applied to high-precision positioning control situations; and when the brushless servo control system of the driving device is adopted, the current detection feedback signal and the magnetic pole detection feedback signal are directly obtained from the feedback element of the permanent magnetic brushless DC motor, thus being different from the traditional sampling method of the feedback signal of the servo system, thereby ensuring the signal sampling precision and reducing the cost.

The invention provides a field weakening control method for a built-in permanent magnet synchronous motor. The method comprises the following steps: motor speed closed-loop control in a field non-weakening region: the output of a speed loop is the current directive value i<*>q of an axis q, the current directive value i<*>d of an axis d is calculated from i<*>q according to an MTPA relation, and i<*>d, i<*>q and the actual feedback values id and iq thereof are subjected to closed-loop control to output the voltage directive values of the axis d and the axis q; difference value amplitude-limiting processing: whether to enter a field weakening region is judged, if yes, an output voltage amplitude value controls a PI (Proportional-Integral) controller to work and controls a PI adjustor to perform difference value amplitude-limiting processing and output Deltaiq, otherwise, the output voltage amplitude value controls the PI controller not to work, and the output is 0; in case of entering the field weakening region, the output i<*>q of the speed loop is only used as the current directive value of the axis d after MTPA calculation, and the sum of the output of the front beat of the speed loop before entering the field weakening region and Deltaiq serves as the current directive value of the axis q in the field weakening region.

A servo device of motor position based on DSP consists of brushless DC motor being used as servo motor as its servo device being suitably set on digital control system requiring position control response quickly, control circuit being designed independently by DSP and programming logic component for realizing closed loop servo control of current loop and speed loop as well as position loop.

The invention relates to an adaptive nonsingular terminal sliding model control method for permanent magnet synchronous motors on the basis of disturbance observers. An adaptive nonsingular terminal sliding model controller is introduced into speed loops of vector control systems for the permanent magnet synchronous motors. The adaptive nonsingular terminal sliding model control method is characterized in that an adaptive variable-speed exponential approach law is proposed, first-order norms of state variables are introduced into the approach law, index approach speeds and constant approach speeds are adaptively adjusted according to the distances from the state variables to balance points, accordingly, the approach time can be shortened, and system buffeting can be weakened; the disturbance observers are designed for solving the problems of external disturbance of existing systems and load perturbation, and observation values are fed into designs of the sliding mode controllers. Rotational speeds can be quickly tracked when the systems are disturbed or load fluctuates, accordingly, overshoot and steady-state static difference of the systems can be reduced, and the robustness of the systems can be greatly enhanced.

The invention discloses a control method and system of a compressor. The control method of the compressor comprises the following steps of obtaining the target rotational speed and the feedback rotational speed of the compressor, and generating a speed error fluctuation signal according to the target rotational speed and the feedback rotational speed; performing speed loop adjustment on the speed error fluctuation signal to generate an output load moment reference signal; generating a moment compensation angle signal according to an absolute speed error fluctuation signal, generating a moment compensation amplitude signal according to the absolute speed error fluctuation signal and the output load moment reference signal, and generating a feed-forward moment compensation signal according to the moment compensation angle signal and the moment compensation amplitude signal; generating an output moment according to the output load moment reference signal and the feed-forward moment compensation signal; performing electric current loop adjustment on the output moment to generate a motor control signal; controlling the compressor according to the motor control signal. According to the control method of the compressor, feed-forward compensation is performed on the output moment, and vibration during the low-frequency operation of the compressor can be effectively restrained.

The invention belongs to the technical field of controlling of power converters of driving motors, and relates to a current control method for improving the output torque of a permanent magnet synchronous motor overmodulation area. The method includes the steps that a PI controller is adopted to a rotating speed loop; a current controller based on resonance control is used for a dq shaft electric current loop, and parameter setting is carried out on the current controller; the PI controller is adopted in a field-weakening control link, and output of the PI controller serves as a d shaft current set value through an amplitude limiting link; according to set voltage vector dq shaft components output by the current controller, the duty ratio is calculated through an SVPWM overmodulation link, and a PWM signal driving motor is produced. The method suppresses current harmonics caused by flux weakening overmodulation, open-loop gains of the current loop are increased, and current, harmonic and torque fluctuation caused by overmodulation can be effectively suppressed.

The invention discloses a permanent magnet synchronous motor sliding-mode control strategy based on a novel reaching law. The permanent magnet synchronous motor control strategy adopts speed and current double-closed-loop control, a current loop adopts a PI (proportional-integral) controller, and a rotating speed loop adopts sliding-mode control based on the novel reaching law; a speed regulator adopts a novel speed change reaching law containing speed errors and sliding-mode surface information, deviation of a set rotor angular speed and a feedback rotor angular speed is used as the input quantity, and a q-axis current set value iq<*> is output through the sliding-mode control quantity. With the adoption of the strategy, the problems that a traditional reaching law is slow and large in steady-state buffeting are solved, the set rotating speed can be tracked quickly in a dynamic state, speed overshoot and current fluctuation are reduced, the harmonic content, produced by high-frequency buffeting, of a system can be decreased in a steady state, the performance of the system is greatly improved, and high-precision vector control on the permanent magnet synchronous motor speed regulating system is realized.

The invention provides a high-precision and large-load control system and method of a three-axis inertially stabilized platform for airborne remote sensing. The system comprises a DSP (digital signal processing) control unit, a PWM (pulse-width modulation) power drive unit, an interface circuit, a signal acquisition unit, an inertial device, an encoder and a direct current (DC) torque motor. The method comprises the following steps: acquiring data such as the attitude angle and angular speed of frameworks relative to an inertial space, coil current and relative corners among the frameworks through the signal acquisition unit; transferring the data into an internal register of the DSP control unit through the interface circuit so that the data is read by the DSP control unit; taking the data as signals to be input into the DSP control unit, and generating PWM controlled quantity by adopting a three-loop (a current loop, a speed loop and a position loop) compound control algorithm; and transferring PWM signals into an energy conversion circuit of an H-bridge DC motor through the power drive unit so as to drive the DC torque motor to change with reference instructions, and finally realizing active control of the inertially stabilized platform. The high-precision and large-load control system and method provided by the invention have the advantages that control precision and loading capability of the system are improved, the control algorithm is completed, and diversity and intellectualization of a platform operating mode are improved.

The invention discloses a frequency conversion driving control system and method based on an electrolysis-free capacitive inverter. The method comprises the following steps: detecting system input voltage current, bus voltage, motor phase current and rotating speed; carrying out Clark and Park conversion on three-phase current to obtain d and q axis current; carrying out error adjustment on a given rotating speed and an actual rotating speed; calculating q axis given current according to input voltage current, speed ring output and capacitance; calculating d axis given current according to voltage; calculating d and q axis error current and carrying out PI adjustment to obtain d and q axis actual voltage; limiting amplitude of actual voltage to obtain d and q axis calculated voltage; carrying out error adjustment on the actual voltage and the calculated voltage and taking the result as current ring feedback; carrying out Park inverse conversion on the d and q axis calculated voltage to obtain alpha and beta axis voltage; and modulating the inverter to control a motor. By the frequency conversion driving control system and method based on the electrolysis-free capacitive inverter, the motor can run at high speed in a flux weakening region, a network side high power factor is obtained, a control structure is simplified, and the reliability of the system is improved.

The invention discloses a neural-network self-correcting control method of a permanent magnet synchronous motor speed loop. The method is characterized by: taking a current loop and a motor as generalized objects; firstly, collecting information, such as a rotating speed, a current and the like; using an adaptive linear time-delay neural network to carry out off-line parameter identification to the motor; then, taking a weight obtained through off-line learning as an initial value of on-line learning; finally, carrying out on-line parameter identification to the system, calculating a load torque of the motor according to the identified parameter; designing a neural-network self-correcting control law according to the obtained parameter value and a load disturbance value, adjusting the network weight on line according to an error between a controlled object and an identification model, and then setting the parameter of the neural-network self-correcting controller on line so as to realize online adjustment of the controller parameter. Uncertainty of the system and influence brought by the external disturbance can be eliminated. Dynamic performance and an anti-disturbance ability of a servo system can be improved.

The invention relates to an improved active-disturbance-rejection and PID cascade control method. Regarding to the problem of large turning errors in position turning, the improved active-disturbance-rejection and PID cascade control method formed by applying active-disturbance rejection control to a speed loop of a precision servo system is provided, the control law of active-disturbance rejection is improved, and the essence of the improvement is as follows: the traditional control law of active-disturbance rejection is designed into PID. Since the design of a conventional non-linear active-disturbance-rejection controller is complicated, the parameters are large in number and difficult to adjust, the improved active-disturbance-rejection and PID cascade control method greatly reduces the number of parameters to be adjusted by adopting a linear active-disturbance-rejection structure, has the advantages of simple structure and easily adjusted parameters, can reduce position tracking errors, and improves the tracking accuracy of the system.

The invention discloses a PDFF-based AC servo driver control parameter self-tuning method. Firstly, current and speed signals required for identifying an AC servo system model are acquired; secondly, according to the acquired signals, a speed loop controlled object model of a permanent magnet synchronous motor AC servo driving system is identified and parameters of the model are identified; and finally, according to the parameters and performance indexes of the model, searching optimization tuning is performed on control parameters of a servo driver so that the optimal control parameter is acquired. According to the self-tuning method, a PDFF controller is utilized to substitute a conventional PI controller on a speed loop of the servo driver and the parameters of the controller are automatically tuned. The model of the controlled object is identified by the self-tuning method by utilizing a recursion least square method. Then according to the feasible performance indexes, searching optimization is performed on the parameters of the controller by utilizing a mode searching algorithm, and the optimal control parameter is obtained so that the servo driving system can be great in anti-disturbance capability, control precision and robustness.

The invention discloses a sensorless vector control device for a non-salient pole type permanent magnet synchronous motor. The sensorless vector control device comprises a sensorless closed-loop control module based on position self-adjusting voltage vector switching and the like. The permanent magnet synchronous motor is connected with a CLARK conversion nodule. The CLARK conversion nodule is respectively connected with the sensorless closed-loop control module based on position self-adjusting voltage vector switching and an IPARK conversion module. The IPARK conversion module is respectively connected with a first subtracter, a second subtracter and a third subtracter. The first subtracter and the second subtracter are connected with a speed ring integral separation PI module. A current ring integral separation PI module is connected with the sensorless closed-loop control module based on position self-adjusting voltage vector switching. The sensorless closed-loop control module based on position self-adjusting voltage vector switching is respectively connected with a phase-locked loop rotating speed estimation module and a PARK conversion module, and the PARK conversion module is connected with the sensorless closed-loop control module based on position self-adjusting voltage vector switching and a space vector modulation module. The space vector modulation module is connected with a rectification / three-phase inverter, and the rectification / three-phase inverter is connected with the permanent magnet synchronous motor.

The invention discloses a PMSM servo system control method based on an improved model compensation ADRC, aims at the problems that the system disturbance amplitude estimated by an extended state observer is high and changes sharply, estimation precision is difficult to guarantee and obtaining of better control performance of an active disturbance rejection controller is limited, and provides an improved model compensation active disturbance rejection control method. Firstly a second-order extended state observer (ESO) is adopted to observe a total disturbance compensation model of the system, and then the disturbance compensation model is utilized to be compensated to a speed loop active disturbance rejection controller in the design of the speed loop ADRC. According to the method, observation capacity of the ESO for system disturbance can be fully utilized so that the ESO in the ADRC is enabled not to estimate total disturbance quantity, estimation burden of the ESO in the active disturbance rejection controller can be reduced, estimation capacity of the system for total disturbance can be enhanced, compensation capacity of the system for various types of disturbance can be effectively enhanced and robustness and anti-disturbance capability of the system can be enhanced.

A fixed-position stop control apparatus ( 10 ) includes: a move-instruction generating means ( 22 ) for generating a move instruction for each control cycle; a position loop control means ( 25 ) for position controlling a rotation shaft ( 61 ) for each control cycle according to the move instruction generated by the move-instruction generating means; and a speed loop control means ( 35 ) for speed controlling the rotation shaft according to one of a speed instruction generated by a higher level control apparatus ( 45 ) and a predetermined speed instruction, thereby switching the speed control of the rotation shaft by the speed loop control means to the position control of the rotation shaft by the position loop control means. In this fixed-position stop control apparatus, the move instruction generated by the move-instruction generating means has acceleration smaller than the acceleration corresponding to the acceleration and deceleration ability of the rotation shaft. With this arrangement, time required for the rotation shaft to stop at a fixed position can be decreased.

The invention relates to a permanent magnet synchronous motor drive control system, in particular to the permanent synchronous motor drive control system used for a servo system. The permanent synchronous motor drive control system belongs to the technical field of motor control. The permanent synchronous motor drive control system consists of a power module, a central control unit, two analogue signal processing units, two digital signal processing units, a current measurement module, a rotating speed measurement module, an overcurrent protection processing unit, an isolation unit and a power amplification unit. A drive strategy of the central control unit adopts a space vector pulse width modulation technology, and a speed loop controller with an integral time-varying sliding mode variable structure is designed in a digital signal processor (DSP) controller of the central control unit. Compared with the conventional control system, the permanent magnet synchronous motor drive control system has higher speed, enhanced anti-jamming capability and enhanced system parameter perturbation robustness; and the sliding mode of sliding mode variable structure control can be designed, and is insensitive to disturbance to the system and parameter variations, so the sliding mode variable structure control has the characteristics of high robustness, quick response, easily implemented comprehensive method and the like.

The invention relates to a multi-motor synchronous coordination control method, which includes the following steps: acquiring the given value of torque current, acquiring exciting current and torque current feedback values, transmitting the given value of torque current, acquiring the current control quantity of each motor, controlling each motor with a pulse control signal and the like. Inverters are a master inverter and a slave inverter, the master inverter is a master motor inverter, and the slave inverter is a slave motor inverter; and master control and slave control are carried out between the inverters. By coordinatively controlling inverter control units, the method can ensure that a plurality of motors can operate in a synchronous state; a shared rotational speed loop is adopted in an algorithm to generate torque current tracked by each inverter, the value is transmitted via a CAN (Controller Area Network) bus, consequently, delay can be shortened, and thereby the coordinating performance and reliability of a system are enhanced; and the method not only ensures that the motors have the same rotational speed, but also ensures that load can be reasonably distributed between the motors.

The invention relates to a multishaft synchronous servo driving system and a synchronous control method thereof, and belongs to the technical field of control systems. In the system, any one of servo drivers is selected as a main servo driver for regularly sending a synchronous signal to synchronous communication buses, and the others are used as auxiliary servo drivers; the synchronous communication buses are connected among the servo drivers; and a synchronous interruption processing module is arranged in each servo driver. The method comprises the following steps of: regularly sending the synchronous signal from the synchronous interruption processing module of the main servo driver, generating the highest priority level on the auxiliary servo drivers so as to shield interruption, modifying a control period length set value of current loops of the auxiliary servo drivers by the synchronous interruption processing modules of the auxiliary servo drivers, and zeroing the execution frequency of the current loops in a speed loop. By the system and the method, the error among the control period lengths of the control loops of the servo drivers can be reduced greatly within a synchronous interruption interval, so the synchronism of the system is enhanced greatly, and the processing precision of the system is guaranteed.

The invention relates to an aerial three-level electric excitation motor starting control method and an aerial three-level electric excitation motor starting control device. The method comprises the following steps of: determining the controller output voltage vector in the mode of directly controlling the module value of the voltage vector and an included angle between the voltage vector and a main generator rotor, transmitting a switching signal of a three-phase full-bridge inverter in a mode of modulating a support vector machine (SVM) through a space vector, controlling the inverter to drive the main generator, and realizing the starting function of the three-level electric excitation synchronous motor. The aerial three-level electric excitation motor starting control method has the advantages that 1) the control links are fewer, a speed ring PI regulator and a current ring PI regulator are independent, and the parameters are conveniently adjusted; 2) real-time state information of the system is not required, the acquired original information of the main generator can be processed by using a complicated filtering algorithm, the information has certain robustness on transient interference, and the control performance of the system can be effectively improved; and 3) control objectives are fewer, and the comprehensive control error caused by electromagnetic interference of an exciter on the main generator can be effectively reduced.

The invention discloses an active disturbance rejection control method of a direct-driven permanent magnet synchronization wind power system. The invention relates to the technical field of wind power, in particular to the active disturbance rejection control method of the direct-driven permanent magnet synchronization wind power system. The direct-driven permanent magnet synchronization wind power system comprises a draught fan, a permanent magnet synchronous generator (PMSG), a machine side converter, a capacitor, a network side converter and a power network. According to the active disturbance rejection control method of the direct-driven permanent magnet synchronization wind power system, a rotor field orientation double-closed-loop vector control strategy is adopted, an outer loop is a speed loop, an inner loop is a current loop, and the machine side converter is controlled to operate. The active disturbance rejection control method can reasonably manage a transient process for a preset rotating speed signal according to the bearing capacity of the direct-driven permanent magnet synchronization wind power system, reduces the overshoot of the rotating speed of the PMSG when the direct-driven permanent magnet synchronization wind power system starts to respond, increases control accuracy and operational stability of the direct-driven permanent magnet synchronization wind power system, has a disturbance feedforward compensation function, and increases capacity, for resisting disturbance, of the direct-driven permanent magnet synchronization wind power system.

A control moment gyroscope (CMG) framework control system and a CMG framework control method for restraining dynamic unbalance disturbance of a rotor are provided. A feed-forward compensation module and an algorithm switching module are embedded on the basis of a double-loop PI control system. In preset Ng control cycles, the whole framework control system is set to a PI control mode; in each control cycle from the (Ng+1)th control cycle, the speed precision of a CMG framework in the current control cycle is calculated through the algorithm switching module, and whether there is a need to switch the control mode of the current control cycle is determined; if the control mode is a feed-forward compensation mode after switching, subtraction operation is carried out on a moment reference value output by a speed loop PI controller and a fed-back torque of a framework motor to get the mechanical torque error e(j+1) of the current control cycle, and the feed-forward compensation module calculates the current feed-forward compensation value Delta i(qref, j+1) of the current control cycle according to e(j+1) and adds Delta i(qref, j+1) to the double-loop PI control system; and if the control mode is a PI control mode after switching, current feed-forward compensation is blocked, and control is performed according to the double-loop PI control system.

The present invention is a novel device, system, and method for simultaneous selection of filters and loop proportional gain for a closed loop system. According to an exemplary embodiment of the present invention, a method provides an automated selection of the portion of the controller known as the speed loop compensator. The method may operate on a frequency response function that represents the dynamic response from an actuation force (e.g. motor torque) to the sensor used for feedback of speed control (e.g. motor encoder angle). The frequency response function may be represented as a series of complex numbers each with a corresponding frequency value. The tuning method determines the combination of filter parameters that allows the loop proportional loop gain (Kp) to be maximized while meeting a specified set of criteria for stability margins. Methods for selecting integral gain and reference model are also presented.

The invention relates to a double closed-loop control system of a permanent-magnet synchronous motor. The control system is in a double closed-loop structure which can be set as a rotation speed current double closed-loop structure or torque current double closed-loop structure as required. The control system uses a DSP (digital signal processor) as a core CPU (central processing unit) to perform directional vector control and SVPWM (space vector pulse width modulation) to a rotor field, modularized programming of rotor field detection, double closed-loop control structure and a PID (proportion-Integration-Differentiation) algorithm is achieved, the structure of the control system can flexibly select whether an outer loop is rotation speed loop or a torque loop according to application requirements and can even perform closed-loop parallel connection to rotation speed and torque to switch according to the requirements for production process. Response speed and control precision of the control system can be increased, interference resistance of the system is improved greatly, and the control system has high extensibility compared with those in the prior art.

The invention relates to a method for regulating a speed of a brushless direct current motor supplied with power by a four-switch three-phase inverter, and belongs to the field of speed regulation of a direct current motor. The method solves the problem that unfixed switch frequency of hysteresis loop modulation in the control of the conventional brushless direct current motor. The method is realized based on a speed loop PI regulator, a speed calculation unit, a current shape function unit, a given current coordinate conversion unit, an alpha-axis current PI regulator, a beta-axis current PI regulator, a flux linkage tracing PWM unit, a feedback current coordinate conversion unit, a four-switch three-phase inverter, a current sensor and a Hall pole sensor, and adopts rotational speed and current double closed-loop control; an outer loop is a rotational speed ring; the outputs of the rotational speed ring are given as current values; the method multiples the current values by the current shape function unit respectively to realize the preset of three-phase 120-degree symmetrical square-wave current, establishes a current closed loop in a two-phase stationary coordinate system by coordinate conversion, and realizes the control of the four-switch three-phase inverter through the flux linkage tracing PWM unit. The method is used for controlling the speed regulation of the brushless direct current motor.

The invention discloses an aircraft attitude fault-tolerant control method based on dynamic control redistribution. The method includes the steps that firstly, an attitude angle rate loop dynamic equation of a near-space aircraft X-33 is given, and a control surface jamming and damage fault model is established; then according to the control surface damage fault model of an attitude angle rate loop, a self-adaptive sliding-mode observer is designed; the attitude angle loop and the designed observer dynamic equation are combined, and an angle loop controller and an angular speed loop controller are designed. Accurate damage fault information, interference information and the like are not needed, the information is implied in the designed self-adaptive sliding-mode observer, the implicit information is fed back to a pseudo control law and online distribution algorithm LMI in real time, and then robust fault-tolerant control is achieved. Finally, the designed method is applied to attitude stability control and tracking control of the near-space aircraft under the control surface fault condition, flight attitude robust fault-tolerant control is achieved, and good control performance and effects are achieved.

The invention discloses an underwater robot attitude and position control method based on double-closed-loop active disturbance rejection. The method is characterized by firstly, for a underwater robot, using a momentum and moment theorem and using a conversion relation between a geodetic coordinate system and a body coordinate system to establish a dynamical model; designing the speed loop expansion state observer of the underwater robot to observe unmodeled and external disturbances and carrying out real-time compensation suppression so that the anti-disturbance performance of a speed loop is greatly increased and the robustness of a system is improved; aiming at the high frequency vibration characteristic of the speed loop, using a disturbance observation value to construct a speed loopactive disturbance rejection controller based on nonlinear function feedback; based on a non-linear function fhan, designing the tracking differentiator of a target position signal, giving the transition process and the target speed estimation value of a position signal, avoiding the sudden change of system response and solving the conflict of rapidity and overshoot; and designing a underwater robot position loop proportion-differential controller based on position deviation feedback, wherein the controller is suitable for engineering application.

A robot controller and a robot control method, by which each element constituting a robot is protected. An output of a rotary encoder attached to a servomotor is read, and the motor speed is obtained by calculating the difference between a current speed and another speed in a previous speed loop. Then, a processor of the servo controller of each link of a robot arm executes a normal speed loop control in order to calculate a torque command of the motor. Next, a load torque is estimated by using the obtained torque command and the motor speed, and the estimated load torque in each speed loop is compared with a predetermined threshold. If the load torque is larger than the threshold in at least one of the axes, the robot controller judges that an abnormality has occurred in the robot, generates an alarm or warning, and then controls the robot so as to protect the element.

The invention discloses a high-precision permanent magnetic servo motor three-closed-loop control system and a high-precision permanent magnetic servo motor three-closed-loop control method. The system comprises an upper computer, a control module, a detection driving module and a power module; the power module comprises a three-phase inverter and a permanent magnetic synchronous motor; three phases of outputs of the three-phase inverter are connected to the interior of the permanent magnetic synchronous motor; a software part comprises a position control module, a speed control module, a current control module and a voltage vector modulation module and is controlled by adopting a three-closed loop system comprising a position loop, a speed loop and a current loop; a speed error signal is regulated by fuzzy PI compound control of the control module; the fuzzy PI (Proportion Integration) compound control comprises fuzzy control and PI control which are combined by adopting a fuzzy conversion mode; and the voltage vector modulation module is a voltage vector pulse width modulation module on the basis of a Kohonen neural network. According to the invention, the dynamic performance, the steady accuracy and the robustness of a permanent magnetic synchronous motor controller can be effectively improved and the control rapidness and strong load disturbance resistance are achieved.

The invention provides a ship dual-fuel-engine speed control system and method. The speed control adopts the method to implement speed control of a ship diesel engine. The method includes in the dual fuel mode, adopting a speed loop to calculate the equivalent fuel injection quantity for each cycle of the engine, querying a fuel oil and fuel gas distribution ratio MAP graph to distribute the fuel oil and fuel gas, allowing the controller to control a fuel oil supply quantity adjusting executer and a fuel gas injection executer to perform quantitive fuel oil and fuel oil injection. The fuel oil and fuel gas distribution ratio MAP graph are different under steady condition and transient condition. The system is formed by optimizing an existing ship diesel engine, mechanical changes of a fuel oil system are omitted, and engine speed deviation can be eliminated rapidly; in the dual fuel mode, the engine is prevented from flameout during loading and overspeed during unloading, dynamic response is fast, and the engine operates stably in low load; energy-saving emission reduction effect is obvious as compared with an original diesel engine.

A parallel computation processor being capable of high-speed loop operation. When instruction decoders decode the VLOOP instruction, which triggers loop operation, an instruction buffer starts storing normal instructions. The instruction buffer dispatches a VLIW instruction composed of n pieces of normal instructions to execution units each time n pieces of instructions are stored therein. The execution units concurrently execute the instructions. After all instructions comprised in a loop have been stored in the buffer and once dispatched as VLIW instructions to be executed, the loop is executed repeatedly.