一类 G-M 系统轮胎吊自动控制系统设计 徐雄炳 1。2 何星 1 张卫东 1 1。上海交通大学自动化系 2 上海海得控制系统股份有限公司摘要 本文结合某港口 G—M 系统轮胎吊的技术改造实例，在保持原有供电调速方案不变的基础上 ,采纳 PLC综合控制替代原有的继电器逻辑控制，以及数字式直流调速器替代原有的模拟式直流发电机励磁电流发生器，并利用两者之间的协调配合构成数字式调节器以替代原有的模拟式调节器.同时，就直流调速器控制方式的设置、运行机构预提力矩的控制和速度环积分分离 PID 闭环控制等几个与本系统自动化控制有关的核心问题进行了详细阐述。A design on automatic control of RTG of G—M system XU Xiong—bing1。2 HE Xing1 ZHANG Wei-dong11. Department of Automation, Shanghai Jiaotong University 2 Shanghai Hi-tech Control System Co。, ltdAbstract Taking a case of technical renewing G—M system in a port as research object and keeping the original scheme of speed regulation unchangeable, this dissertation focuses on adopting PLC integrated control instead of the original relay logic control, digital DC speed driver instead of the existing analog exciting current generating device for DC generator， and taking the new digital speed regulating device with the coordination of PLC and DC speed drive to replace the existing analog speed regulating device. Meanwhile ， it also expatiates on several core questions of this automatic control system such as the control mode setting of DC speed driver, pre—hold torque control and the integral—separated PID control of speed loop。关键词 轮胎吊 G—M 系统 PLC 直流调速器 预提力矩 PID 控制Key words： RTG, G—M system, PLC， DC speed drive, pre—hold torque， PID control一.引言可编程逻辑控制器（PLC)和交直流调速器在港口起重机领域的应用越来越广泛，应用 PLC 不仅能完成复杂的逻辑控制，而且其可靠性高、抗干扰能力强、维护量小，能方便地与计算机联网通信［1］。交直流调速器的推广应用，使得系统的效率...
