CN105204417B - A kind of control drive system of medical accelerator frame - Google Patents
A kind of control drive system of medical accelerator frame Download PDFInfo
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- CN105204417B CN105204417B CN201510678701.5A CN201510678701A CN105204417B CN 105204417 B CN105204417 B CN 105204417B CN 201510678701 A CN201510678701 A CN 201510678701A CN 105204417 B CN105204417 B CN 105204417B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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Abstract
The invention discloses a kind of control drive system of medical accelerator frame, including：Main control computer, RS485 serial communication modules, frequency converter, motor, photoelectric encoder, photoelectric encoder parsing module, motor brake module and frame rotate accurate control module, and controlled device is frame；The RS485 serial communication modules, it includes：First RS485 standard serial ports and the 2nd RS485 standard serial ports；The main control computer, accurate control module is rotated with frame by the first RS485 standard serial ports and communicated, the rotation control instruction of frame is sent, receives the angle information of simultaneously real-time display frame；The frame rotates accurate control module, including judging unit, frame mark zero location, converter unit, brake units, Host Command response unit and V/F output units.The present invention has the advantages such as good reliability, frame rotation control accuracy height.
Description
Technical field
The invention belongs to the electron linear accelerator technical field of medical treatment and industrial irradiation application, and in particular to a kind of medical
The control drive system of accelerator frame.
Background technology
In the application of middle high energy medical computerized linear accelerator, automatic radian treatment function is the important and characteristic work(of system
One of can.
In order to ensure the realization of automatic radian treatment function, it is necessary to be accurately controlled to frame rotation realization, ensure frame
The in-placing precision of rotation is high, reaches system index.The speed of service of frame, the rotation of frame can be adjusted at any time during treatment
Rotary speed should be able to be controllable in defined velocity interval.Frame rotation requires the function of having brake, can be in emergency situations
Stop the motion of frame within the extremely short time.
Medical accelerator mill stand control driving system structure is more complicated at present, and the in-placing precision of frame is poor, easily by
To interference, job insecurity, safeguard measure imperfection under abnormality, automatic radian treatment task can not be completed in high quality.
The content of the invention
In view of this, it is an object of the invention to provide a kind of control drive system of medical accelerator frame, have reliable
Property the advantage such as good, frame rotation control accuracy height.
The control drive system of the medical accelerator frame of the present invention, it includes：Main control computer, RS485 serial communication modules,
Frequency converter, motor, photoelectric encoder, photoelectric encoder parsing module, motor brake module and frame rotate accurate control module,
Controlled device is frame；
The RS485 serial communication modules, it includes：First RS485 standard serial ports and the 2nd RS485 standard serial ports；
The main control computer, accurate control module is rotated with frame by the first RS485 standard serial ports and communicated, transmitter
The rotation control instruction of frame, receive the angle information of simultaneously real-time display frame；
The frame rotates accurate control module, including judging unit, frame mark zero location, converter unit, brake units,
Host Command response unit and V/F output units, wherein, Host Command response unit is received by the first RS485 standard serial ports
The rotation control instruction of main control computer, and according to the rotation control instruction produce realize frame rotation needed for frame mark zero instruct,
Rotation instruction and brake instruction, send it to corresponding frame mark zero location, converter unit and brake units respectively；Frame mark
Zero location according to the frame mark zero instruct using frame current angular as initial angle position to realize frame mark Z-operation, i.e.,
Realize the setting work of 0 ° of frame；Converter unit realizes frequency converter according to the rotation instruction by the 2nd RS485 standard serial ports
Driving to motor, so as to realize the three-step gear shift control of frame rotation；The frame that judging unit is sent according to main control computer rotates
Set angle and frame current angle position automatic decision frame in place when produce brake instruction；Brake units are ordered according to from main frame
The brake instruction for making response unit or judging unit receive starts the band-type brake that motor brake module realizes motor, so as to realize frame
Stopping；V/F output units are converted to the frame angle information that photoelectric encoder parsing module obtains after frequency values by
One RS485 standard serial ports export to main control computer in real time；
The photoelectric encoder, using absolute value photoelectric code disk real-time sampling frame angle information, and by the frame angle
Sent after information coding to photoelectric encoder parsing module；
The photoelectric encoder parsing module, for parsing the frame angle information of photoelectric encoder, and send it to
V/F output units and judging unit.
Further, brake instruction caused by the judging unit includes first brake instruction and the second brake instruction：
The first threshold value and the second threshold value are set in the judging unit, and the first threshold value is more than the second thresholding
Threshold value, and compared with the frame angle of real-time reception：If main control computer set angle position and frame current angle position it
When the absolute value of difference is less than or equal to the first threshold value, produces first brake and instruct to brake units；If main control computer is set
When the absolute value of the difference of angle position and frame current angle position is less than or equal to the second threshold value, produces the second brake and refer to
Make to brake units；
When the motor brake module receives any one in first brake instruction and the second brake instruction, electricity is produced
The brake signal of machine.
Further, the communication baud rate of the first RS485 standard serial ports is 9600bit/s, the 2nd RS485 standard serial ports
Communication baud rate is 19200bit/s.
Further, the first threshold value T1=0.1 °, the second threshold value T2=0.04 °.
The present invention has the advantages that：
1st, the control drive system uses photoelectric encoder, ensure that the precision of coded sample, than the digital quantity of A/D chip
It is much higher to change precision, it is not affected by noise, realize the accurate feedback of frame position information.
2nd, control accuracy is high.Photoelectric encoder realizes the accurate feedback of frame position information, the accurate control of frame rotation first
Three-step gear shift control in molding block realizes the speed of service of adjust automatically frame, is carried out in the error range of very little automatic
Brake so that the in-placing precision of frame reaches 0.06 ° or so, and variance is 0.01 °.
3rd, double threshold brake is designed, is due to the inertia reason of frame rotary motion, has done brake duplicate protection.When crossing
First threshold value T1At=0.1 °, first order brake is produced, but because motional inertia frame continues to rotate minute angle, now
Frame is rotated in place precision as 0.06 ° or so, and variance is 0.01 °.If first order brake failure (substantially will not), when crossing
Two threshold value T2At=0.04 °, second level brake is produced, similarly because motional inertia, frame are rotated in place precision as 0 °
Left and right, variance are 0.01 °.So actual upper spider is rotated in place precision as 0.06 ° or so, variance is 0.01 °.
Brief description of the drawings
Fig. 1 is the control drive system schematic diagram of the medical accelerator frame of the present invention；
Fig. 2 is that the frame of the control drive system of the medical accelerator frame of the present invention rotates the flow of accurate control module
Figure.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
As shown in figure 1, the control drive system of the medical accelerator frame of the present invention, it includes：Main control computer, RS485 strings
Mouth communication module, frequency converter, motor, photoelectric encoder, photoelectric encoder parsing module, motor brake module and frame rotation essence
True control module, controlled device are frame；
The RS485 serial communication modules, it includes：First RS485 standard serial ports and the 2nd RS485 standard serial ports.
The main control computer, accurate control module is rotated with frame by the first RS485 standard serial ports and communicated, transmitter
The rotation control instruction of frame, receive the angle information of simultaneously real-time display frame；
The frame rotates accurate control module, including judging unit, frame mark zero location, converter unit, brake units,
Host Command response unit and V/F output units, wherein, Host Command response unit is received by the first RS485 standard serial ports
The rotation control instruction of main control computer, and according to the rotation control instruction produce realize frame rotation needed for frame mark zero instruct,
Rotation instruction and brake instruction, send it to corresponding frame mark zero location, converter unit and brake units respectively；Frame mark
Zero location according to the frame mark zero instruct using frame current angular as initial angle position to realize frame mark Z-operation, i.e.,
Realize the setting work of 0 ° of frame；Converter unit realizes frequency converter according to the rotation instruction by the 2nd RS485 standard serial ports
Driving to motor, so as to realize senior middle school's low speed three-step gear shift control of frame rotation；Judging unit is sent according to main control computer
Frame produces brake instruction when rotating set angle and frame current angle position automatic decision frame in place；Brake units according to
The brake instruction received from Host Command response unit or judging unit starts the band-type brake that motor brake module realizes motor, so as to
Realize the stopping of frame；The frame angle information that photoelectric encoder parsing module obtains is converted to frequency values by V/F output units
Exported in real time to main control computer by the first RS485 standard serial ports afterwards；
The photoelectric encoder, using absolute value photoelectric code disk real-time sampling frame angle information, and by the frame angle
Sent after information coding to photoelectric encoder parsing module；
The photoelectric encoder parsing module, for parsing the frame angle information of photoelectric encoder, complete frame angle
Information corresponds to the mapping of 25bit absolute coding digital quantities, obtains frame angle information and sends it to V/F output units and sentence
Disconnected unit.
The motor brake module receives first brake command signal, the second brake instruction signal or first brake instruction letter
Number and during the second brake instruction signal, produce the brake signal of motor, make motor internal contracting brake.
Brake instruction caused by the judging unit includes first brake instruction and the second brake instruction：
The first threshold value and the second threshold value are set in the judging unit, and the first threshold value is more than the second thresholding
Threshold value, and compared with the frame angle of real-time reception：If main control computer set angle position and frame current angle position it
When the absolute value of difference is less than or equal to the first threshold value, first brake command signal is produced to brake units；If main control computer
When the absolute value of the difference of set angle position and frame current angle position is less than or equal to the second threshold value, produces second and stop
Car command signal is to brake units；
When the motor brake module receives any one in first brake instruction and the second brake instruction, electricity is produced
The brake signal of machine.
The communication baud rate of first RS485 standard serial ports is 9600bit/s, the communication baud of the 2nd RS485 standard serial ports
Rate is 19200bit/s.First threshold value T1=0.1 °, the second threshold value T2=0.04 °.
The differential clocks clock ± and differential serial data line data ± of photoelectric encoder output is input to photoelectric encoder
Parsing module, photoelectric encoder parsing module complete the serioparallel exchange of coded sample data according to timing requirements, extract 25bit
Absolute coding digital information (wherein high 13bit is the number of turns, and low 12bit is often to enclose resolution ratio, i.e. 1-4096), completes rack position
The mapping of the corresponding coding digital quantity of confidence breath.
Because the absolute coding value of gantry rotation angle value and frame position information is linear, referred to as frame is transported
Dynamic reduction formula, is described with formula the following (1).
Y=kx+b (1)
Above in formula, y is gantry rotation angle value, unit degree of being (°)；X is the absolute coding value of frame position information；
K is constant, is slope；B is constant, is intercept.
First, be by testing multigroup sampling point value (x before being controlled to frame rotationi,yi) calculate frame
Slope value k in motion conversion formula.(2) slope calculations value k as follows：
Above in formula, yi, yjFor gantry rotation angle value, unit degree of being (°)；xi, xjFor the absolute of frame position information
Encoded radio；kmIt is slope for constant, is m-th obtained of slope value.It is that the group of 2 is taken in n test sample point
Close number.K is above-mentioned slope value kmAverage.In addition, before rower zero is not entered to frame, intercept b=0, frame rotation are set
Corresponding absolute coding value maximum x_max=0x1FFFFFF and minimum value x_min=0 in the range of one circle, absolute coding value
Maximum and minimum value are 16 system photoelectric coding values.
Then, the control flow of accurate control module is rotated into frame.
As shown in Fig. 2 the figure illustrates the detailed process that the core control portions of whole system are realized.
Step 1, V/F is exported：Compiled using photoelectric encoder real-time sampling frame angle information, and by the frame angle information
Sent after code to photoelectric encoder parsing module；The frame angle that photoelectric encoder is carried out using photoelectric encoder parsing module is believed
The parsing of breath, complete frame position information and correspond to the mappings of 25bit absolute coding digital quantities, by it after acquisition frame angle information
It is sent to V/F output units and judging unit；The frame angle information that V/F output units obtain photoelectric encoder parsing module
Exported in real time to main control computer by the first RS485 standard serial ports after being converted to frequency values；
Step 2, main control computer calculates the current angular of frame according to gantry motion reduction formula, then judges that frame mark zero is single
Whether member completes frame mark Z-operation, and step 4 is performed if frame mark Z-operation has been completed；If not completing frame mark Z-operation,
Then perform step 3；
The absolute coding value of frame position information in photoelectric encoder parsing module is first read, is converted according to gantry motion public
Formula (i.e. formula (1)) calculates the angle of frame；According to V/F reduction formulas, frame angle is converted into after frequency information (now
For 250KHz), give main control computer by RS485 serial ports 1；Shown in V/F reduction formulas such as formula (3).
VF=a+250 (3)
Above in formula, VFFor frequency values corresponding to frame angle, unit KHz；A is frame angle, unit degree of being
(°)。
Step 3, main control computer is instructed by the first RS485 standard serial ports transmission mark zero and gives Host Command response unit, main frame
Command response unit responds the mark zero and instructs and send it to frame mark zero location, and frame mark zero location refers to according to the mark zero
Order to realize frame mark Z-operation, that is, realizes the setting work of 0 ° of frame using frame current angular as initial angle position；So
Step 4 is performed afterwards.
Main control computer command response, the software flow circulation of whole system ceaselessly receive main control computer life from RS485 serial ports 1
Order.If receiving frame rotation order, carry out the hair frequency converter instruction in frame three-step gear shift control, brake instruction etc. and grasp
Make.If receiving frame mark zero to order, the frame mark Z-operation in frame three-step gear shift control is carried out.If receive frame to stop
Only order, then the frame carried out in frame three-step gear shift control stops operation.
Step 4, main control computer sends rotation instruction and gives Host Command response unit, and Host Command response unit responds the rotation
Instruction sends it to converter unit, and converter unit instructs the three-step gear shift for carrying out frame to control according to the rotation：
Step 41, the absolute coding value of frame angle information in photoelectric encoder parsing module is read, by absolute coding value
Frame current angle value is converted into, then judges whether frame current angle value is more than or equal to main control computer set angle, if greatly
In or equal to then rotate forward branch's flow into the frame of step 42, less than the frame reversion branch flow for then entering step 43；
According to the variation (b=y-kx) of gantry motion reduction formula (formula (1)), by known slope k and
The absolute coding value x of frame position information calculates values of intercept b；Because now y=0, b=-kx；Draw frame in succession
Revolve the corresponding absolute coding value maximum x_max (i.e. x_max=(180-b)/k) and minimum value x_min in the range of turning around
(i.e. x_min=(- 180-b)/k), while preservation in obtained b, x_max, x_min value write-in nonvolatile memory (such as
FLASH), so that upper electricity next time is reused, system is restarted after shutdown and does not have to mark zero again.
Step 42, in branch's flow is rotated forward, now frame current angle value, which is gradually reduced, approaches with reference to angle.Work as frame
Current angle value subtract with reference to angle difference be more than 10 degree when, control gantry motor with a high speed be 30Hz rotate forward (now to frequency conversion
Device transmission frequency is 30Hz instructions, rotates forward instruction, and frequency converter is given by the 2nd RS485 serial ports), it is less than or equal to 10 degree but big
When 5 degree, control gantry motor using middling speed as 15Hz rotate forward (now to frequency converter transmission frequency be 15Hz instruction, rotate forward instruction,
Frequency converter is given by the 2nd RS485 serial ports), less than or equal to 5 degree but when being more than 0.1 degree (threshold value T is not arrived1=
0.1 °), control gantry motor to be rotated forward using low speed as 5Hz and (be now 5Hz instructions to frequency converter transmission frequency, rotate forward instruction, pass through
2nd RS485 serial ports gives frequency converter), here it is the control of so-called three-step gear shift.When frame current angle value subtracts reference angle
Degree reaches threshold value T1At=0.1 °, step 44 is performed.
Step 43, in reversion branch flow, now gradually increase approaches with reference to angle frame current angle value.Work as reference
When the difference that angle subtracts frame current angle value is more than 10 degree, gantry motor is controlled to be that 30Hz is inverted (now to frequency conversion at a high speed
Device transmission frequency is 30Hz instructions, toggling command, and frequency converter is given by the 2nd RS485 serial ports), it is less than or equal to 10 degree but big
When 5 degree, control gantry motor using middling speed as 15Hz reversion (now to frequency converter transmission frequency be 15Hz instruct, toggling command,
Frequency converter is given by the 2nd RS485 serial ports), less than or equal to 5 degree but when being more than 0.1 degree (threshold value T is not arrived1=
0.1 °), control gantry motor (to be now 5Hz instructions, toggling command to frequency converter transmission frequency, pass through by 5Hz reversions of low speed
2nd RS485 serial ports gives frequency converter).Reach threshold value T when subtracting frame current angle value with reference to angle1At=0.1 °,
Perform step 44.
Step 44, the rotation set angle and frame current angle position automatic decision that judging unit is sent according to main control computer
Frame in place when produce first brake instruct to brake units, the brake units according to first brake instruct start motor brake
Module realizes the band-type brake of motor, and after motor stopping, gantry motion is in place.
Wherein, when frame rotating operation, its stop motion can be allowed at any time.Now gantry motor is controlled to stop, to frequency conversion
Device sends halt instruction, gives frequency converter by RS485 serial ports 2, and send brake instruction 1 and give motor brake module.
Further, in step 44, in the moderating process after frame starts execution band-type brake according to first brake instruction, when
The difference that frame current angle value subtracts main control computer set angle reaches the second threshold value T2At=0.04 °, judging unit is automatic
Produce the second brake instruction and motor brake mould is again started up according to the second brake instruction signal to brake units, the brake units
Block realizes the band-type brake of motor, and after motor stopping, gantry motion is in place.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., it should be included in the present invention's
Within protection domain.
Claims (3)
- A kind of 1. control drive system of medical accelerator frame, it is characterised in that including：Main control computer, RS485 serial communication moulds Block, frequency converter, motor, photoelectric encoder, photoelectric encoder parsing module, motor brake module and the accurate control mould of frame rotation Block, controlled device are frame；The RS485 serial communication modules, it includes：First RS485 standard serial ports and the 2nd RS485 standard serial ports；The main control computer, accurate control module is rotated with frame by the first RS485 standard serial ports and communicated, sends frame Control instruction is rotated, receives the angle information of simultaneously real-time display frame；The frame rotates accurate control module, including judging unit, frame mark zero location, converter unit, brake units, main frame Command response unit and V/F output units, wherein, Host Command response unit receives master control by the first RS485 standard serial ports The rotation control instruction of machine, and produced according to the rotation control instruction and realize that the frame mark zero needed for frame rotation is instructed, rotated Instruction and brake instruction, send it to corresponding frame mark zero location, converter unit and brake units respectively；Frame mark zero is single Member according to the frame mark zero instruct using frame current angular as initial angle position to realize frame mark Z-operation, that is, realize Frame 0°Setting work；Converter unit realizes frequency converter to electricity according to the rotation instruction by the 2nd RS485 standard serial ports The driving of machine, so as to realize the three-step gear shift control of frame rotation；The frame that judging unit is sent according to main control computer rotates setting Angle and frame current angle position automatic decision frame in place when produce brake instruction；Brake units are rung according to from Host Command The brake instruction for answering unit or judging unit to receive starts the band-type brake that motor brake module realizes motor, so as to realize stopping for frame Only；V/F output units are converted to the frame angle information that photoelectric encoder parsing module obtains after frequency values by first RS485 standard serial ports export to main control computer in real time；The photoelectric encoder, using absolute value photoelectric code disk real-time sampling frame angle information, and by the frame angle information Sent after coding to photoelectric encoder parsing module；The photoelectric encoder parsing module, for parsing the frame angle information of photoelectric encoder, and it is defeated to send it to V/F Go out unit and judging unit；Brake instruction caused by the judging unit includes first brake instruction and the second brake instruction：The first threshold value and the second threshold value are set in the judging unit, and the first threshold value is more than the second thresholding threshold Value, and compared with the frame angle of real-time reception：If main control computer set angle position and the difference of frame current angle position Absolute value when being less than or equal to the first threshold value, produce first brake and instruct to brake units；If main control computer set angle When the absolute value of the difference of degree position and frame current angle position is less than or equal to the second threshold value, the second brake instruction is produced To brake units；When the motor brake module receives any one in first brake instruction and the second brake instruction, motor is produced Brake signal.
- 2. the control drive system of medical accelerator frame as claimed in claim 1, it is characterised in thatThe communication baud rate of first RS485 standard serial ports is 9600bit/s, and the communication baud rate of the 2nd RS485 standard serial ports is 19200bit/s。
- 3. the control drive system of medical accelerator frame as claimed in claim 1, it is characterised in thatFirst threshold value T1=0.1 °, the second threshold value T2=0.04 °.
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| CN201510678701.5A CN105204417B (en) | 2015-10-19 | 2015-10-19 | A kind of control drive system of medical accelerator frame |
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| CN111082396B (en) * | 2019-12-11 | 2021-09-24 | 江苏海明医疗器械有限公司 | Motor rotating speed safety regulation control method |
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