CN103746616B - Mobile CT synchronous scannings control system and method - Google Patents
Mobile CT synchronous scannings control system and method Download PDFInfo
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Abstract
The present invention relates to a kind of mobile CT synchronous scannings control system, wherein, the main controller runs command information for sending to synchronization control module;The synchronization control module is for the command information to be converted to the controlled quentity controlled variable of each driver, and the controlled quentity controlled variable is sent respectively to the driver of rotary frame electric rotating machine control module and rotary frame horizontal motor control module;The driver of the rotary frame electric rotating machine control module and rotary frame horizontal motor control module is used to be driven respective motor according to the controlled quentity controlled variable respectively;The encoder of the rotary frame electric rotating machine control module and rotary frame horizontal motor control module is for feeding back to synchronization control module by actual position, velocity information;The synchronization control module is additionally operable to the synchronous error and compensation rate that above-mentioned bi-motor is calculated according to the actual position of above-mentioned each motor, velocity information.The invention further relates to a kind of mobile CT synchronous scannings control method.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a mobile CT synchronous scanning control system and a method.
[ background of the invention ]
In the present CT helical scanning synchronous control system, a mechanical transmission chain mode is adopted, so that the number of internal parts is increased, the cost pressure is increased, the original purpose of moving a CT portable design is violated, and the inherent step loss problem of a stepping motor adopted by the horizontal movement of the CT is moved and the helical synchronization precision is reduced.
There are a number of imaging modes for mobile CT scanners, one of which is helical scanning. In this mode, the rotating frame carrying the main components of the image chain such as the X-ray tube, the detector, the data acquisition system and the like is driven by the direct drive motor to rotate continuously, and meanwhile, the rotating frame moves horizontally. The two movements have a positional correspondence to achieve uniform projection data acquisition. In fact, whether the direct drive motor or the alternating current motor is adopted, absolute uniform motion is difficult to guarantee in the motion process, and the fluctuation of the speed is difficult to avoid. Therefore, a synchronous control technology is needed in the implementation process to achieve the purpose of uniform sampling. The patent application with the application number of 201110273871.7 proposes a scheme for realizing dual-motor synchronous control by a master-slave synchronous control strategy, but the inherent defect of the master-slave synchronous control mode is that when a slave motor is influenced by interference, the master motor cannot sense and follow the change of the slave motor, the synchronization precision is poor, and certain limitation is caused.
In the mechanical structure of the current large-scale fixed CT scanner, a rotating rack and a horizontal moving bed are two separated and independent components, and the load difference between the rotating rack and the scanning bed is very different.
[ summary of the invention ]
In view of this, the present invention provides a mobile CT synchronous scanning control system, which includes a main controller, a rotating gantry rotation motor control module, a rotating gantry horizontal motor control module, and a synchronous control module, wherein the rotating gantry rotation motor control module and the rotating gantry horizontal motor control module each include a driver, a motor, and an encoder. The master controller is used for sending operation command information to the synchronous control module; the synchronous control module is used for receiving operation command information sent by the main controller, converting the command information into control quantities of all drivers in the rotating rack rotating motor control module and the rotating rack horizontal motor control module at the current moment, and respectively sending the control quantities to the rotating rack rotating motor control module and the rotating rack horizontal motor control module; the drivers of the rotating frame rotating motor control module and the rotating frame horizontal motor control module are used for driving the respective motors according to the control quantity; the encoders of the rotating frame rotating motor control module and the rotating frame horizontal motor control module are used for respectively collecting the actual position and speed information of each motor and feeding back the actual position and speed information to the synchronous control module; the synchronous control module is also used for calculating the synchronous error of the double motors according to the actual position and speed information of each motor and a synchronous error transfer function, then calculating the compensation amount according to the synchronous error, and compensating the compensation amount to the rotating rack rotating motor control module and the rotating rack horizontal motor control module in real time so as to realize the accurate synchronization of the double motors.
The control amount includes: position and speed information of each motor of the rotating frame rotating motor control module and the rotating frame horizontal motor control module.
The synchronization error transfer function is defined as:
wherein Gc is the synchronization error transfer function:
α=(1+GpyGy)(1+GpxGx)
the synchronous control module comprises an ARM synchronous control board.
The ARM synchronous control board comprises an MCU unit, a rotating rack rotating motor driver interface, a rotating rack horizontal motor driver interface, a digital-to-analog conversion unit, a serial interface, a JTAG interface and a CAN interface.
And the CAN interface is used for realizing the communication between the ARM synchronous control panel and the master controller.
The digital-to-analog conversion unit is used for converting the command information into an analog signal.
In view of the above, the present invention further provides a method for controlling synchronous scanning of mobile CT, which includes: the synchronous control module receives operation command information sent by the master controller; the synchronous control module converts the received operation command information into control quantities of all drivers in the rotating rack rotating motor control module and the rotating rack horizontal motor control module at the current moment, and respectively sends the control quantities to the drivers of the rotating rack rotating motor control module and the rotating rack horizontal motor control module; the drivers of the rotating frame rotating motor control module and the rotating frame horizontal motor control module respectively drive the motors according to the control quantity; encoders of the rotating frame rotating motor control module and the rotating frame horizontal motor control module respectively collect actual position and speed information of each motor, and feed the actual position and speed information back to the synchronous control module; the synchronous control module calculates the synchronous error of the double motors according to the actual position and speed information of each motor and a synchronous error transfer function, then calculates the compensation amount according to the synchronous error, and compensates the compensation amount to the rotating rack rotating motor control module and the rotating rack horizontal motor control module in real time so as to realize the accurate synchronization of the double motors.
The control quantity comprises: position and speed information of each motor of the rotating frame rotating motor control module and the rotating frame horizontal motor control module.
The synchronization error transfer function is defined as:
wherein Gc is the synchronization error transfer function:
α=(1+GpyGy)(1+GpxGx)
the synchronous control module comprises an ARM synchronous control board.
The mobile CT synchronous scanning control system and the method can realize the accurate synchronization of double motors in a mobile CT spiral synchronous scanning mode and improve the imaging quality in a CT spiral scanning mode.
[ description of the drawings ]
Fig. 1 is a schematic diagram of a scanning track of a rotating gantry rotating motor (motor 1) and a rotating gantry horizontal motor (motor 2) in a space.
Fig. 2 is a schematic view of the linear profile of the coupled motor 1 and motor 2.
Fig. 3 is a block diagram of a non-cross-coupled control system of the dual-motor synchronous control system.
Fig. 4 is a block diagram of a cross-coupling control system of the dual-motor synchronous control system.
Fig. 5 is a hardware architecture diagram of a mobile CT helical synchronous scanning control system.
FIG. 6 is a schematic diagram of the ARM synchronous control board hardware circuit.
FIG. 7 is a flowchart illustrating the operation of the system and method for controlling the synchronous scanning of mobile CT according to the present invention.
[ detailed description ] embodiments
The invention is described in further detail below with reference to the figures and specific examples.
To better explain the invention, the synchronization error and cross-coupled synchronization error transfer functions are first defined.
Synchronization error:
in the moving CT double-motor spiral motion synchronous control system, a rotating frame rotating motor (motor 1) performs continuous uniform-speed rotating motion along a vertical plane, and a rotating frame horizontal motor (motor 2) performs synchronous uniform-speed linear motion on a horizontal plane, so that the two motors advance spirally in the spatial scanning track. As shown in fig. 1. The two motors do continuous uniform motion on respective planes, and the synchronous relation of the two motors can be expressed by the following formula:
in the formula:
Lr1(t) -the rotational arc length of the rotational motion over the circumferential surface;
Lr2(t) -the distance of travel of the linear motion in the horizontal plane;
r-radius of rotation of the helix;
τ — pitch of the helix.
As can be seen from the synchronous relation (1), in the dual-motor helical motion synchronous control, the helical trajectory substantially appears as a straight line formed by coupling the rotational motion of the motor 1 and the linear motion of the motor 2 in the XY plane. The synchronous error is defined by the coupling relation, and the straight line profile after the motor 1 and the motor 2 are coupled is shown in fig. 2.
In fig. 2, P is an expected position input by any reference, P is an actual position of the system running at the moment, θ is an included angle between a straight line at the reference point and a horizontal left-side axis, Ey is a tracking error of uniform-speed continuous rotational motion of a vertical surface, Ex is a tracking error of synchronous linear motion of a horizontal surface, and is a system profile error, which is defined as a shortest distance between the expected position and the actual position, and the definition has the advantages that: the aim of cross coupling synchronous control and compensation is to make the expected position consistent with the actual position, and the synchronous error model constructed by the method is a real-time error model and has practical significance. According to the geometrical relationship of the variables shown in fig. 3, the synchronization error can be expressed as:
cross-coupling synchronous error transfer function:
the cross-coupled synchronous error transfer function is used to describe the dynamic relationship of the synchronous error between the non-cross-coupled control system and the cross-coupled control system. The design of the cross-coupled compensator can be simply viewed as a feedback control problem through this function.
FIG. 3 is a block diagram of a non-cross-coupled control system of a dual-motor synchronous control system, which defines0Synchronous scanning synchronous error in non-cross coupling control. A cross-coupling control system structure block diagram of the dual-motor synchronous control system is shown in FIG. 4, which definescSynchronous scanning synchronous error in cross coupling control.
For the sake of simplifying the analysis, let the speed loop and the integration loop of motor 1 and motor 2 be equivalent to Gy and Gx, respectively0、cRespectively as follows:
the synchronous error transfer function is obtained by combining the formula (3) and the formula (4):
wherein:
α=(1+GpyGy)(1+GpxGx)
in the formula: defining Gc as a synchronization error transfer function between the non-cross-coupled control system and the cross-coupled control system, CCThe controller is allocated for synchronization error compensation. From equation (5), by designing the appropriate compensator CCThe purpose of accurate synchronization of the motor 1 and the motor 2 can be achieved by allocating additional synchronization error compensation amounts to the speed loops of the respective control loops.
Fig. 5 shows a hardware architecture diagram of a mobile CT helical synchronous scanning control system. The system mainly comprises a master controller, a motor 1 control module, a motor 2 control module and a synchronous control module. The motor 1 control module and the motor 2 control module adopt the same control structure, and the motor 1 control module comprises a driver 1, a motor 1 and an encoder 1; the motor 2 control module comprises a driver 2, a motor 2 and an encoder 2; the synchronous control module comprises an ARM (Advanced RISCMAchine, Advanced reduced instruction set machine) synchronous control panel.
The master controller is used for sending operation command information to the synchronous control module.
And the synchronous control module is used for receiving the operation command information sent by the main controller, converting the command information into the control quantity of the motor 1 and the motor 2 at the current moment, and respectively sending the control quantity to the driver 1 and the driver 2.
And the driver 1 and the driver 2 are used for driving the motor 1 and the motor 2 according to the control quantity.
The encoder 1 and the encoder 2 are used for collecting the actual position and speed information of the motor 1 and the motor 2 and feeding back the actual position and speed information to the synchronous control module through the driver 1 and the driver 2 respectively.
The synchronous control module is used for calculating the synchronous errors of the motors 1 and 2 in real time according to the feedback actual position and speed information of the motors 1 and 2 and the definition of a synchronous error transfer function, and then the synchronous errors pass through a compensator CCAnd (4) compensation, namely finally calculating the compensation amount, and giving the compensation amount to the motor 1 control module and the motor 2 control module by a real-time compensator so as to realize the accurate synchronization of the double motors.
Fig. 6 is a schematic diagram of a hardware circuit of an ARM synchronous control board, where the ARM synchronous control board includes an MCU unit, a driver 1 interface, a driver 2 interface, a digital-to-analog conversion unit, a serial interface, a JTAG interface, and a CAN interface. The driver 1 interface and the driver 2 interface are respectively electrically connected with the MCU unit through a driving circuit, the ARM synchronous control board is communicated with the main controller through the CAN interface, the serial port interface mainly realizes communication and debugging with an upper computer, and the JTAG interface is mainly used for realizing programming.
The working process of the ARM synchronous control board of fig. 6 will be described with reference to fig. 5.
And the MCU unit receives the operation command information sent by the main controller and sends the command information to the digital-to-analog conversion unit.
The digital-to-analog conversion unit converts the command information into analog signals, namely, converts the command information into control quantities of the motor 1 and the motor 2 at the current moment, wherein the control quantities comprise position and speed information of the motor 1 and position and speed information of the motor 2.
The driver 1 interface sends the control quantity of the motor 1 to the driver 1, and the driver 2 interface sends the control quantity of the motor 2 to the driver 2.
And the driver 1 and the driver 2 perform position and speed loop double closed loop control according to the sent control quantity, namely, the driver 1 drives the motor 1 to move according to the corresponding speed and position, and the driver 2 drives the motor 2 to move according to the corresponding speed and position. The encoder 1 collects the actual position and speed information of the motor 1 at the moment, and feeds back the actual position and speed information of the motor 1 to the ARM synchronous control board through the driver 1; the encoder 2 collects the actual position and speed information of the motor 2 at the moment, and feeds back the actual position and speed information of the motor 2 to the ARM synchronous control board through the driver 2.
The MCU unit makes a difference between the actual position and speed information of the motor 1 fed back by the encoder 1 and the actual position and speed information of the motor 2 fed back by the encoder 2 and the control quantity converted by the digital-to-analog conversion unit to obtain the tracking errors of the motor 1 and the motor 2, and then sends the tracking errors of the motor 1 and the motor 2 to a synchronous error transfer function in real time.
The synchronous error transfer function calculates the synchronous error of the motor 1 and the motor 2 according to the tracking error of the motor 1 and the motor 2, and then the synchronous error passes through a compensator CCAnd (4) compensating, and finally calculating a compensation amount as a control amount of the next sampling period of the motor 1 and the motor 2. And the MCU unit sends the control quantity of the next sampling period to the master controller through the CAN interface.
FIG. 7 is a flowchart illustrating the operation of the control method for synchronous scanning of mobile CT according to the present invention.
The flowchart will be described by taking one sampling period as an example:
step S401: and the ARM synchronous control board receives the operation command information sent by the main controller.
Step S402: the ARM synchronous control board converts received command information of the main controller into analog signals through the digital-to-analog conversion unit, namely, the analog signals are converted into control quantities of the motor 1 and the motor 2 at the current moment, and the control quantities comprise position and speed information of the motor 1 and position and speed information of the motor 2. And then the ARM synchronous control board sends the control quantity of the motor 1 to the driver 1 through a driver 1 interface, and sends the control quantity of the motor 2 to the driver 2 through a driver 2 interface.
Step S403: the driver 1 and the driver 2 perform position and speed loop double closed loop control according to the control quantity sent by the ARM synchronous control board, namely, the driver 1 drives the motor 1 to move according to the corresponding speed and position, and the driver 2 drives the motor 2 to move according to the corresponding speed and position. Meanwhile, the encoder 1 collects the actual position and speed information of the motor 1 at the moment, and feeds back the actual position and speed information of the motor 1 to the ARM synchronous control board through the driver 1; the encoder 2 collects the actual position and speed information of the motor 2 at the moment, and feeds back the actual position and speed information of the motor 2 to the ARM synchronous control board through the driver 2.
Step S404: and the ARM synchronous control board makes a difference between the actual position and speed information of the motor 1 fed back by the encoder 1 and the actual position and speed information of the motor 2 fed back by the encoder 2 and the control quantity obtained after conversion in the step S402 to obtain tracking errors of the motor 1 and the motor 2, and then sends the tracking errors of the motor 1 and the motor 2 to a synchronous error transfer function in real time.
Step S405: and calculating the synchronous errors of the motor 1 and the motor 2 according to the tracking errors of the motor 1 and the motor 2 by the synchronous error transfer function, compensating the synchronous errors by a compensator, and finally calculating a compensation quantity to be used as a control quantity of the next sampling period of the motor 1 and the motor 2. And the ARM synchronous control board sends the control quantity of the next sampling period to the master controller through the CAN interface.
By repeating the steps, sampling time T is dividedSAnd a timer interrupt unit in the ARM synchronous control board performs timer interrupt processing, namely, the steps S401 to S405 are performed, the synchronous error between the motor 1 and the motor 2 is calculated in real time, then the control quantity of the motor 1 and the motor 2 in the next sampling period is calculated, and finally the accurate synchronization of the double motors is realized.
The invention provides a cross coupling synchronous control scheme based on a synchronous error transfer function for a controlled object by using a mobile CT scanner, designs a hardware and software system for realizing the synchronous strategy, and realizes the precise synchronization of double motors under a mobile CT spiral synchronous scanning mode, thereby improving the imaging quality under a CT spiral scanning mode.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. The utility model provides a remove CT synchronous scanning control system, its characterized in that, this system includes master controller, revolving rack rotating motor control module, revolving rack horizontal motor control module and synchronous control module, revolving rack rotating motor control module reaches revolving rack horizontal motor control module all includes respective driver, motor and encoder, wherein:
the master controller is used for sending operation command information to the synchronous control module;
the synchronous control module is used for receiving operation command information sent by the main controller, converting the command information into control quantities of all drivers in the rotating rack rotating motor control module and the rotating rack horizontal motor control module at the current moment, and respectively sending the control quantities to the rotating rack rotating motor control module and the rotating rack horizontal motor control module;
the drivers of the rotating frame rotating motor control module and the rotating frame horizontal motor control module are used for driving the respective motors according to the control quantity;
the encoders of the rotating frame rotating motor control module and the rotating frame horizontal motor control module are used for respectively collecting actual position and speed information of the rotating frame rotating motor and the rotating frame horizontal motor, and feeding back the actual position and speed information to the synchronous control module;
the synchronous control module is also used for calculating synchronous errors of the rotating rack rotating motor and the rotating rack horizontal motor according to the actual position and speed information of each motor and a synchronous error transfer function, then calculating compensation quantity according to the synchronous errors, and compensating the compensation quantity to the rotating rack rotating motor control module and the rotating rack horizontal motor control module in real time so as to realize the accurate synchronization of the double motors;
the synchronization error transfer function is defined as:
wherein Gc is the synchronization error transfer function:
wherein,0for synchronous scan synchronization errors in non-cross-coupled control,cfor synchronous scanning synchronization error in cross-coupling control, Gx is an integration loop, Gy is a velocity loop, CCThe controller is allocated for synchronization error compensation.
2. The system of claim 1, wherein the control variables comprise: position and speed information of each motor of the rotating frame rotating motor control module and the rotating frame horizontal motor control module.
3. The system of claim 1, wherein the synchronization control module comprises an ARM synchronization control board.
4. The system of claim 3, wherein the ARM synchronous control board includes an MCU unit, a rotating gantry rotary motor driver interface, a rotating gantry horizontal motor driver interface, a digital-to-analog conversion unit, a serial port interface, a JTAG interface, and a CAN interface.
5. The system of claim 4 wherein the CAN interface is configured to enable communication between an ARM synchronous control board and a master controller.
6. The system of claim 4, wherein the digital-to-analog conversion unit is configured to convert the command information into an analog signal.
7. A method of mobile CT synchronous scan control, comprising:
the synchronous control module receives operation command information sent by the master controller;
the synchronous control module converts the received operation command information into control quantities of all drivers in the rotating rack rotating motor control module and the rotating rack horizontal motor control module at the current moment, and respectively sends the control quantities to the drivers of the rotating rack rotating motor control module and the rotating rack horizontal motor control module;
the drivers of the rotating frame rotating motor control module and the rotating frame horizontal motor control module respectively drive the motors according to the control quantity;
encoders of the rotating frame rotating motor control module and the rotating frame horizontal motor control module respectively collect actual position and speed information of the rotating frame rotating motor and the rotating frame horizontal motor, and feed the actual position and speed information back to the synchronous control module;
the synchronous control module calculates synchronous errors of the rotating rack rotating motor and the rotating rack horizontal motor according to the actual position and speed information of each motor and a synchronous error transfer function, then calculates compensation quantity according to the synchronous errors, and compensates the compensation quantity to the rotating rack rotating motor control module and the rotating rack horizontal motor control module in real time so as to realize the accurate synchronization of the double motors;
the synchronization error transfer function is defined as:
wherein Gc is the synchronization error transfer function:
wherein,0for synchronous scan synchronization errors in non-cross-coupled control,cfor synchronous scanning synchronization error in cross-coupling control, Gx is an integration loop, Gy is a velocity loop, CCThe controller is allocated for synchronization error compensation.
8. The method of claim 7, wherein the control quantity comprises: position and speed information of each motor of the rotating frame rotating motor control module and the rotating frame horizontal motor control module.
9. The method of claim 7, wherein the synchronization control module comprises an ARM synchronization control board.
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CN104767427B (en) * | 2015-04-20 | 2017-12-05 | 赛诺威盛科技(北京)有限公司 | The synchronous control system and method for more motors in a kind of CT machines |
CN105320166B (en) * | 2015-12-04 | 2018-07-06 | 深圳华强智能技术有限公司 | Synchronous control system and equipment |
CN112612227A (en) * | 2020-12-09 | 2021-04-06 | 合肥中科离子医学技术装备有限公司 | Control method of particle rotating treatment room rotating rack |
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CN101364105A (en) * | 2008-09-26 | 2009-02-11 | 浙江大学 | Control method for enhancing kinematic accuracy by double-motor drive based on real-time control network |
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