CN106772134A - A kind of apparatus and method of automatic field compensation - Google Patents
A kind of apparatus and method of automatic field compensation Download PDFInfo
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- CN106772134A CN106772134A CN201710118620.9A CN201710118620A CN106772134A CN 106772134 A CN106772134 A CN 106772134A CN 201710118620 A CN201710118620 A CN 201710118620A CN 106772134 A CN106772134 A CN 106772134A
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention discloses a kind of device for automatic field compensation, including for measuring the first magnetoresistive chip, the second magnetoresistive chip, the 3rd magnetoresistive chip and the 4th magnetoresistive chip of magnetic field value in external environment, also include fixed cell and support unit, also include being used for three-dimensional Helmholtz coil, three-dimensional First-order Gradient coil and the second order gradient coil unit of shimming, also including collecting unit, feedback unit and rotary unit.Also disclose a kind of method in automatic compensation magnetic field.Field compensation scope of the present invention is big, and simple structure is easy to operate.Physical field research and atomic magnetic force meter application based on the detection of downfield ambient signal are applicable, it is significant.
Description
Technical field
The invention belongs to magnetic field shimming field, a kind of device of automatic field compensation is more particularly to, further relates to one kind certainly
The method of moving field compensation, it is adaptable to the related science research of downfield environment.
Background technology
Magnetic field is objective reality, for example, the magnetic field of earth surface is about 0.5 Gauss, geographical position and environment are not
Together, its size can change with direction.
Now many scientific researches need to be carried out in downfield or nearly zero magnetic field environment, such as SERF (spin-
Exchange-relaxation-free) atomic magnetic force meter, could effectively work under its probe is in 10nT environment, because
This, it needs to use the materials such as multilayer permalloy to shield the magnetic field in external environment.
The shielding cylinder that permalloy makes, in volume, weight, structure, limits the range of application of atomic magnetic force meter.Example
Such as, for the detection of different magnetic under water, the detection in earth's magnetic field, the detection of deep airborne magnetic, this is accomplished by one for satellite or aircraft
Plant the extraneous useless magnetic field of active shield, obtain the device of extraneous useful magnetic signal.
The method in some automatic compensation magnetic fields and measurement magnetic field had been developed in recent years.For example, S.J.Seltzer et al.
In " Unshielded three-axis vector operation of a spin-exchange-relaxation-free
Being proposed in atomic magnetometer " [Appl.Phys.Lett.85 (20), 4804 (2004)] can be by magnetic field modulation
Mode compensate magnetic field so that central area reaches nearly null field.Jiancheng Fang et al. are in " In situ triaxial
magnetic field compensation for the spin-exchange-relaxation-free atomic
Propose and can finally be detected by field sweep in magnetometer " [Rev.Sci.Instrum.83,103104 (2012)]
The mode of light intensity compensates magnetic field.
Although current field compensation mode can solve the problem that some problems of application aspect.But they still have certain
Limitation.For example, compensating magnetic field by way of modulation, this requires that the magnetic field of magnetometer probe working environment is less than 10nT.
Therefore, it is still problem demanding prompt solution to develop new technology and method, and the present invention will be for this problem, there is provided compensate magnetic automatically
The apparatus and method of field.
The content of the invention
A kind of problem it is an object of the invention to be directed to prior art presence, there is provided device of automatic field compensation,
Also proposed a kind of method of automatic field compensation.Solve the problems, such as that field compensation scope is small, also solve atomic magnetic force meter small
The problem of type.
To achieve these goals, apparatus of the present invention use following technical scheme：
A kind of device of automatic field compensation, including turntable, also including setting three-dimensional Helmholtz on a spinstand
Coil and three-dimensional First-order Gradient coil, are horizontally arranged with the lucite tube of tubular on turntable, be arranged with lucite tube
Supporting table is fixed with by support bar in Z2 gradient coils, lucite tube, four positioned at rectangular surfaces are provided with supporting table
First magnetoresistive chip of drift angle, the second magnetoresistive chip, the 3rd magnetoresistive chip and the 4th magnetoresistive chip, the folder of rectangular surfaces and horizontal plane
Angle is 45 degree, and three-dimensional Helmholtz coil includes X-axis Helmholtz coil, Y-axis Helmholtz coil and Z axis Helmholtz's line
Circle, three-dimensional First-order Gradient coil includes X-axis First-order Gradient coil, Y-axis First-order Gradient coil, Z axis First-order Gradient coil, Z2 gradients
The central axis of coil, lucite tube central axis, the central axis of Z axis Helmholtz coil, Z axis First-order Gradient coil
Central axes, Z2 gradient coils central point, three-dimensional Helmholtz coil central point, three-dimensional First-order Gradient hub of a spool point,
Lucite tube central point, rectangular surfaces central point overlap.
Also include being used to export the first magnetoresistive chip, the second magnetoresistive chip, the 3rd magnetoresistive chip and the 4th magnetoresistive chip
Signal carry out the differential amplifier circuit of differential amplification, differential amplifier circuit is connected by the first multi-way contral card with computer
Connect, computer is connected with the second multi-way contral card, the second multi-way contral card and X-axis First-order Gradient coil, Y-axis First-order Gradient
Coil, Z axis First-order Gradient coil, Z2 gradient coils connection, the second multi-way contral card also by power amplifier respectively with the X-axis last of the twelve Earthly Branches
The connection of Mu Huozi coils, Y-axis Helmholtz coil and Z axis Helmholtz coil.
Rectangle is provided with turntable as described above and places block, rectangle to be placed and offer bar shaped standing groove, bar shaped on block
The cross section of standing groove is del, and lucite tube is placed in bar shaped standing groove.
X-axis Helmholtz coil as described above, Y-axis Helmholtz coil, Z axis Helmholtz coil are included concentrically
A pair of coils of axis, X-axis Helmholtz coil, Y-axis Helmholtz coil, the central point of Z axis Helmholtz coil overlap, X
Axle Helmholtz coil, Y-axis Helmholtz coil, the central axis of Z axis Helmholtz coil are mutually perpendicular to, X-axis Helmholtz
Coil, Y-axis Helmholtz coil, Z axis Helmholtz coil external diameter it is equal, X-axis Helmholtz coil, Y-axis Helmholtz's line
Interfixed by acrylic plastic stent and plastic screw between circle, Z axis Helmholtz coil.
X-axis First-order Gradient coil as described above, Y-axis First-order Gradient coil, Z axis First-order Gradient coil are included concentrically
A pair of coils of axis, X-axis First-order Gradient coil, Y-axis First-order Gradient coil, the central point of Z axis First-order Gradient coil overlap, X
Axle First-order Gradient coil, Y-axis First-order Gradient coil, the central axis of Z axis First-order Gradient coil are mutually perpendicular to, X-axis First-order Gradient
Coil, Y-axis First-order Gradient coil, Z axis First-order Gradient coil external diameter it is equal, X-axis First-order Gradient coil, Y-axis First-order Gradient line
Circle, each pair coil of Z axis First-order Gradient coil apart from D and outside diameter d ratio are 0.886, X-axis First-order Gradient coil, Y-axis one
It is fixed by acrylic plastic stent and plastic screw between rank gradient coil, Z axis First-order Gradient coil.
Z2 gradient coils as described above include first annular coil pair and the second loop coil pair, first annular coil pair
Two loop coils distance and external diameter ratio be 1.2, the distance and external diameter of two loop coils of the second loop coil pair
Ratio is 0.3, the central axis of first annular coil pair and the second loop coil pair, lucite tube central axes.
First annular coil pair as described above and the second loop coil are to being arranged at the wire casing of lucite pipe outer wall
In.
A kind of method of automatic field compensation, comprises the following steps：
Step 1, for X-axis Helmholtz coil, Y-axis Helmholtz coil, Z axis Helmholtz coil respectively successively loading set
Each fixed given voltage, X-axis Helmholtz coil, Y-axis Helmholtz coil, Z axis are tested using the first magnetoresistive chip respectively
Helmholtz coil is fitted X-axis Helmholtz coil, Y-axis last of the twelve Earthly Branches nurse respectively in the corresponding magnetic field value size of each given magnitude of voltage
The hereby given voltage and the ratio relation in magnetic field of coil, Z axis Helmholtz coil suddenly；
For X-axis First-order Gradient coil, Y-axis First-order Gradient coil, Z axis First-order Gradient coil load each of setting successively respectively
Individual given electric current, X-axis First-order Gradient coil, Y-axis First-order Gradient coil, the ladder of Z axis one are tested using the first magnetoresistive chip respectively
Degree coil in the corresponding magnetic field value size of each given current value, linear fit X-axis First-order Gradient coil, the ladder of Y-axis one respectively
The ratio relation in degree coil, the given electric current of Z axis First-order Gradient coil and magnetic field；
For Z2 gradient coils load given electric current successively, tested under each given current condition using the first magnetoresistive chip
Corresponding magnetic field value size, the given electric current of linear fit Z2 gradient coils and the ratio relation in magnetic field；
The rotary speed of step 2, setting turntable, X-axis First-order Gradient coil, Y-axis First-order Gradient coil, the ladder of Z axis one
Degree coil, X-axis Helmholtz coil, Y-axis Helmholtz coil, Z axis Helmholtz coil, Z2 gradient coils, the first magnetic resistance core
Piece, the second magnetoresistive chip, the 3rd magnetoresistive chip, the 4th magnetoresistive chip are as turntable rotates in the horizontal plane；
Step 3, initialized target magnetic field value B0Matrix, magnetic field of the goal value B0Matrix is the matrix of 1 × 12；
Step 4, measure magnetic field using the first magnetoresistive chip, the second magnetoresistive chip, the 3rd magnetoresistive chip, the 4th magnetoresistive chip
Value Bn, the number of times of n representative measurements, acquisition measurement magnetic field value BnMatrix, measurement magnetic field value BnMatrix is 1 × 12 matrix, measurement
Magnetic field value BnElement in matrix correspond to respectively from top to bottom the first magnetoresistive chip measure X axis, Y-axis, Z axis to magnetic field
Value, the second magnetoresistive chip measure X axis, Y-axis, Z axis to magnetic field value, the 3rd magnetoresistive chip measures X axis, Y-axis, Z axis
To magnetic field value, and the 4th magnetoresistive chip measures X axis, Y-axis, Z axis to magnetic field value；
Step 5, judge magnetic field of the goal value B0Matrix subtracts measurement magnetic field value BnMatrix of differences e after matrixnModulus value whether
In error range, if in error range, going to step 8；If not in error range, going to step 6；
Step 6, by matrix of differences enCarry out PID arithmetic and obtain output matrix Pn, output matrix PnIt is 1 × 12 matrix；
Step 7, by output matrix Pn, X-axis Helmholtz coil given voltage and ratio relation, the Y-axis last of the twelve Earthly Branches nurse in magnetic field
Suddenly hereby the ratio relation in the given voltage of coil and magnetic field, the ratio relation of the given voltage of Z axis Helmholtz coil and magnetic field,
The ratio of the given electric current of X-axis First-order Gradient coil and the ratio relation in magnetic field, the given electric current of Y-axis First-order Gradient coil and magnetic field
Value relation, the ratio relation of the given electric current of Z axis First-order Gradient coil and magnetic field, the given electric current of Z2 gradient coils and magnetic field
Ratio relation, is input in the linprog functions in Matlab, uses the L1 norm programming evaluation min ∑s based on linear programming
Vi×wi+Ij×NjOptimization problem is minimized, optimization matrix is obtained, first three element in optimization matrix corresponds respectively to the X-axis last of the twelve Earthly Branches
Optimized loading voltage in Mu Huozi coils, Y-axis Helmholtz coil, Z axis Helmholtz coil, latter four in optimization matrix
Element is corresponded respectively in X-axis First-order Gradient coil, Y-axis First-order Gradient coil, Z axis First-order Gradient coil, Z2 gradient coils
Optimized loading electric current, goes to step 4, wherein, i ∈ { 1,2,3 }, j ∈ { 1,2,3,4 }, w1、w2、w3X-axis Hai Muhuo is represented respectively
The hereby voltage weight of coil, Y-axis Helmholtz coil, Z axis Helmholtz coil；V1、V2、V3X-axis Helmholtz's line is represented respectively
Circle, Y-axis Helmholtz coil, the on-load voltage of Z axis Helmholtz coil；N1、N2、N3、N4X-axis First-order Gradient line is represented respectively
Circle, Y-axis First-order Gradient coil, Z axis First-order Gradient coil, the current weights of Z2 gradient coils, I1、I2、I3、I4X-axis is represented respectively
First-order Gradient coil, Y-axis First-order Gradient coil, Z axis First-order Gradient coil, the loading current of Z2 gradient coils, linprog functions
Constraints be:10-3V≤|Vi|≤10V；10-6A≤|Ij|≤2×10-2A；Magnetic field error △ B=| Bn-B0|≤10nT；
Uniformity of magnetic field is less than or equal to 10-3。
The present invention has the advantages that relative to prior art：
Field compensation scope of the present invention is big, and simple structure is easy to operate.It is applicable the thing based on the detection of downfield ambient signal
Reason area research and atomic magnetic force meter application, it is significant.
Brief description of the drawings
Fig. 1 is general structure schematic diagram of the invention；
The program flow diagram of Fig. 2 field compensations of the present invention；
Fig. 3 is the front view that rectangle places block and lucite tube coupling part；
Fig. 4 is the left view that rectangle places block and lucite tube coupling part；
Fig. 5 is the right view that rectangle places block and lucite tube coupling part；
In figure：1-X axle First-order Gradient coils；2-Z axle First-order Gradient coils；3-Y axle First-order Gradient coils；4-Z axle last of the twelve Earthly Branches nurses
Hereby coil suddenly；5-X axle Helmholtz coils；6-Y axle Helmholtz coils；The magnetoresistive chips of 7- first；8-Z2 gradient coils；9-
Two magnetoresistive chips；10- supporting tables；11- rectangles place block；The fix bars of 12- first；The fix bars of 13- second；The fix bars of 14- the 3rd；
15- turntables；16- computers；The data wires of 17- first；18- the first multi-way contral cards；The data wires of 19- second；20- difference is put
Big circuit；The data wires of 21- the 3rd；The data wires of 22- the 4th；The data wires of 23- the 5th；24- power amplifiers；The data wires of 25- the 6th；
26- the second multi-way contral cards；The data wires of 27- the 7th；The pcb boards of 28- first；The pcb boards of 29- second；The magnetoresistive chips of 30- the 3rd；
The magnetoresistive chips of 31- the 4th；32- lucite tubes；33- steady arms；The fix bars of 34- the 4th；The fix bars of 35- the 5th；36- the 6th consolidates
Fixed pole；The fix bars of 37- the 7th；The fix bars of 38- the 8th；39- terminal boxes.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings：
Embodiment 1：
A kind of device of automatic field compensation, including turntable 15, the also three-dimensional last of the twelve Earthly Branches nurse including being arranged on turntable 15
Hereby coil and three-dimensional First-order Gradient coil, are horizontally arranged with the lucite tube 32 of tubular, lucite tube suddenly on turntable 15
It is arranged with 32 in Z2 gradient coils 8, lucite tube 32 and supporting table 10 is fixed with by support bar, is provided with supporting table 10
The first magnetoresistive chip 7, the second magnetoresistive chip 9, the 3rd magnetoresistive chip 30 and the 4th magnetic resistance core positioned at four drift angles of rectangular surfaces
Piece 31, rectangular surfaces are 45 degree with the angle of horizontal plane, and three-dimensional Helmholtz coil includes X-axis Helmholtz coil 5, Y-axis last of the twelve Earthly Branches nurse
Hereby coil 6 and Z axis Helmholtz coil 4 suddenly, three-dimensional First-order Gradient coil include X-axis First-order Gradient coil 1, Y-axis First-order Gradient
Coil 3, Z axis First-order Gradient coil 2, the central axis of Z2 gradient coils 8, the central axis of lucite tube 32, Z axis Helmholtz
The central axis of coil 4, the central axes of Z axis First-order Gradient coil 2, the central point of Z2 gradient coils 8, three-dimensional Helmholtz
Hub of a spool point, three-dimensional First-order Gradient hub of a spool point, the central point of lucite tube 32, rectangular surfaces central point overlap.
A kind of device of automatic field compensation, also including for the first magnetoresistive chip 7, the second magnetoresistive chip 9, the 3rd magnetic
Resistance chip 30 and the signal of the output of the 4th magnetoresistive chip 31 carry out the differential amplifier circuit 20 of differential amplification, differential amplifier circuit 20
It is connected with computer 16 by the first multi-way contral card 18, computer 16 is connected with the second multi-way contral card 26, more than second
Channel control card 26 and X-axis First-order Gradient coil 1, Y-axis First-order Gradient coil 3, Z axis First-order Gradient coil 2, Z2 gradient coils 8
Connection, the second multi-way contral card 26 also by power amplifier 24 respectively with X-axis Helmholtz coil 5, Y-axis Helmholtz coil
6 and Z axis Helmholtz coil 4 connect.X-axis, Y-axis, Z axis are mutually perpendicular to, and plane where X-axis, Z axis is horizontal plane.
Rectangle is provided with turntable 15 and places block 11, rectangle is placed and bar shaped standing groove is offered on block 11, and bar shaped is placed
The cross section of groove is del, and lucite tube 32 is placed in bar shaped standing groove.
X-axis Helmholtz coil 5, Y-axis Helmholtz coil 6, Z axis Helmholtz coil 4 are including concentrically axis
A pair of coils, X-axis Helmholtz coil 5, Y-axis Helmholtz coil 6, the central point of Z axis Helmholtz coil 4 overlap, the X-axis last of the twelve Earthly Branches
Mu Huozi coils 5, Y-axis Helmholtz coil 6, the central axis of Z axis Helmholtz coil 4 are mutually perpendicular to, X-axis Helmholtz's line
Circle 5, Y-axis Helmholtz coil 6, Z axis Helmholtz coil 4 external diameter it is equal, X-axis Helmholtz coil 5, Y-axis Helmholtz
Interfixed by acrylic plastic stent and plastic screw between coil 6, Z axis Helmholtz coil 4.
X-axis First-order Gradient coil 1, Y-axis First-order Gradient coil 3, Z axis First-order Gradient coil 2 are including concentrically axis
A pair of coils, X-axis First-order Gradient coil 1, Y-axis First-order Gradient coil 3, the central point of Z axis First-order Gradient coil 2 overlap, X-axis one
Rank gradient coil 1, Y-axis First-order Gradient coil 3, the central axis of Z axis First-order Gradient coil 2 are mutually perpendicular to, X-axis First-order Gradient line
Circle 1, Y-axis First-order Gradient coil 3, Z axis First-order Gradient coil 2 external diameter it is equal, X-axis First-order Gradient coil 1, Y-axis First-order Gradient
Coil 3, each pair coil of Z axis First-order Gradient coil 2 apart from D and outside diameter d ratio are 0.886, X-axis First-order Gradient coil 1,
It is fixed by acrylic plastic stent and plastic screw between Y-axis First-order Gradient coil 3, Z axis First-order Gradient coil 2.
Z2 gradient coils 8 include first annular coil pair and the second loop coil pair, two rings of first annular coil pair
The distance and external diameter ratio of shape coil are 1.2, and the distance and external diameter ratio of two loop coils of the second loop coil pair are
0.3, central axis, the central axes of lucite tube 32 of first annular coil pair and the second loop coil pair.
First annular coil pair and the second loop coil are to being arranged in the wire casing of the outer wall of lucite tube 32.
Embodiment 2：
A kind of device for automatic field compensation, including fixed cell, support unit, three-dimensional Helmholtz coil, three
Dimension First-order Gradient coil, second order gradient coil unit, collecting unit, feedback unit, rotary unit.
Fixed cell includes that rectangle places block 11, the first fix bar 12, the second fix bar 13, the 3rd fix bar the 14, the 4th
Fix bar 34, the 5th fix bar 35, the 6th fix bar 36, the 7th fix bar 37, the 8th fix bar 38, it is overall that rectangle places block 11
It is rectangle, is fixed on support bar 33, the top surface of rectangle placement block 11 is provided with the standing groove of strip, the cross section of standing groove
It is del, lucite tube 32 is placed on the standing groove that rectangle is placed on block 11, a diameter of 100mm on turntable 15
The first fix bar 12, the second fix bar 13, the 4th fix bar 34 and the 5th fix bar 35, Y-axis Hai Muhuo are symmetric on circle
Hereby coil 6 is supported on fixed turntable 15 by the second fix bar 13 and the 4th fix bar 34, and lucite tube 32 is by the
One fix bar 12 and the 5th fix bar 35 are supported on fixed turntable 15, are in phase on a diameter of 300mm circles on turntable 15
With the 3rd fix bar 14, the 6th fix bar 36, the 7th fix bar 37, the 8th fix bar 38 that symmetric mode is distributed, the 3rd fixes
Bar 14, the 6th fix bar 36, the 7th fix bar 37, the bottom of the 8th fix bar 38 are connected with turntable 15, the 3rd fix bar 14,
6th fix bar 36, the 7th fix bar 37, the top of the 8th fix bar 38 are connected with Y-axis First-order Gradient coil 3.
Support unit is included for placing the first pcb board 28, the supporting table 10 of the second pcb board 29, and cylindrical support
Bar 33, the length × width × height of supporting table 10 is 40 × 40 × 10mm3Rectangular block, the central point of the upper surface of supporting table 10 is located at three
10mm places immediately below dimension Helmholtz coil central point, the first pcb board 28 and the second pcb board 29 are consolidated by using plastic screw
The two ends of supporting table 10 are scheduled on, the two ends of cylindrical support bar 33 are connected through a screw thread supporting table 10 and turntable 15 respectively.
Signal gathering unit is included for surveying magnetic field the first magnetoresistive chip 7 in environment, the second magnetoresistive chip 9, the 3rd magnetic resistance
Chip 30, the 4th magnetoresistive chip 31, for transmitting the first magnetoresistive chip 7, the second magnetoresistive chip 9, the 3rd magnetoresistive chip the 30, the 4th
First pcb board 28, second pcb board 29 of the magnetic signal of the output of magnetoresistive chip 31, the first magnetoresistive chip 7 and the second magnetoresistive chip 9
It is welded on the first pcb board 28, the 3rd magnetoresistive chip 30 and the 4th magnetoresistive chip 31 are welded on the second pcb board 29, the first magnetic
Resistance chip 7, the second magnetoresistive chip 9, the 3rd magnetoresistive chip 30 and the rectangular distribution of the 4th magnetoresistive chip 31 and place plane and water
Plane is in 45 degree of angles, and the first pcb board 28, the length × wide of the second pcb board 29 are 40 × 40mm, the central point of the first pcb board 28
Line with the central point of the second pcb board 29 overlaps with the axis of Z axis Helmholtz coil 4, central point and the three-dimensional last of the twelve Earthly Branches nurse of line
Hereby the central point of coil overlaps suddenly.
Signal gathering unit also include the multi-way contral truck 18 of differential amplifier circuit 20 and first, the first magnetoresistive chip 7,
Second magnetoresistive chip 9, the collection of the 3rd magnetoresistive chip 30, the 4th magnetoresistive chip 31 magnetic signal respectively by the 3rd data wire 21 with
Differential amplifier circuit 20 is connected, and differential amplifier circuit 20 is connected by the second data wire 19 with the first multi-way contral truck 18,
First multi-way contral truck 18 is connected by the first data wire 17 with computer 16.
Signal feedback unit also includes the second multi-way contral card 26, power amplifier 24, and power amplifier 24 is logical by more than second
The output voltage of road control card 26 acts on X-axis Helmholtz coil 5, Y-axis Helmholtz coil 6, Z axis Helmholtz coil 4,
X-axis First-order Gradient coil 1, Y-axis First-order Gradient coil 3, Z axis First-order Gradient coil 2, Z2 gradient coils 8 are respectively by the 4th number
It is connected with the second multi-way contral card 26 according to line 22, X-axis Helmholtz coil 5, Y-axis Helmholtz coil 6, Z axis Helmholtz
Coil 4 is connected by the 5th data wire 23 with power amplifier 24 respectively, and power amplifier 24 passes through the 6th data wire more than 25 and second
Channel control card 26 is connected, and the second multi-way contral card 26 is connected by the 7th data wire 27 with computer 16.
X-axis, Y-axis, Z axis are mutually perpendicular to, and plane where X-axis, Z axis is horizontal plane.
Three-dimensional Helmholtz coil includes X-axis Helmholtz coil 5, Y-axis Helmholtz coil 6, Z axis Helmholtz coil
4, X-axis Helmholtz coil 5, Y-axis Helmholtz coil 6, Z axis Helmholtz coil 4 include a pair of lines of concentrically axis
Circle, X-axis Helmholtz coil 5, Y-axis Helmholtz coil 6, the central point of Z axis Helmholtz coil 4 overlap, X-axis Helmholtz
Coil 5, Y-axis Helmholtz coil 6, the central axis of Z axis Helmholtz coil 4 are mutually perpendicular to, X-axis Helmholtz coil 5, Y
Axle Helmholtz coil 6, Z axis Helmholtz coil 4 external diameter it is equal, X-axis Helmholtz coil 5, Y-axis Helmholtz coil 6,
It is fixed by acrylic plastic stent and plastic screw between Z axis Helmholtz coil 4.
Three-dimensional First-order Gradient coil includes X-axis First-order Gradient coil 1, Y-axis First-order Gradient coil 3, Z axis First-order Gradient coil
2, X-axis First-order Gradient coil 1, Y-axis First-order Gradient coil 3, Z axis First-order Gradient coil 2 include a pair of lines of concentrically axis
Circle, X-axis First-order Gradient coil 1, Y-axis First-order Gradient coil 3, the central point of Z axis First-order Gradient coil 2 overlap, X-axis First-order Gradient
Coil 1, Y-axis First-order Gradient coil 3, the central axis of Z axis First-order Gradient coil 2 are mutually perpendicular to, X-axis First-order Gradient coil 1, Y
Axle First-order Gradient coil 3, Z axis First-order Gradient coil 2 external diameter it is equal, the outside diameter d apart from D and coil between each pair coil meets
D=0.886d relations, by sub- gram between X-axis First-order Gradient coil 1, Y-axis First-order Gradient coil 3, Z axis First-order Gradient coil 2
Power plastic stent is fixed with plastic screw.The center of the central point of three-dimensional First-order Gradient coil and three-dimensional Helmholtz coil
Point overlaps.
Second order gradient coil unit includes the Z2 gradient coils 8 for producing second order gradient magnetic, and Z2 gradient coils include
First annular coil pair and the second loop coil pair, two loop coils of first annular coil pair apart from D1 and loop coil
Outside diameter d 1 meet D1=1.2d1 relations, the outside diameter d 2 apart from D2 and loop coil of the second loop coil pair meets D2=
The central axis of 0.3d2 relations, first annular coil pair and the second loop coil pair, the central axis of lucite tube 32, the Z axis last of the twelve Earthly Branches
The central axis of Mu Huozi coils 4, the central axes of Z axis First-order Gradient coil 2, it is the central point of Z2 gradient coils 8, organic
The central point of glass tube 32, the central point of three-dimensional Helmholtz coil, the central point of three-dimensional First-order Gradient coil overlap, first annular
Coil pair and the second loop coil are in the coil fixing groove that is each attached on lucite tube 32.
Rotary unit includes the turntable 15 without magnetic for one-dimensional rotation, and for connecting the signal of the 3rd data wire 21
Output end, connection the 4th data wire 22 signal input part, the terminal box 39 of the connection signal input part of the 5th data wire 23, turntable
Connected by bearing between 15 and terminal box 39.
First magnetoresistive chip 7, the second magnetoresistive chip 9, the 3rd magnetoresistive chip 30, the 4th magnetoresistive chip 31 measurement external environment
In magnetic field, magnetic signal is changed into voltage signal；Be amplified for voltage signal by differential amplifier circuit 20, the voltage letter of amplification
Number obtained by the first multi-way contral card 18.Computer determines voltage and current value in every group of coil；Voltage and electric current are by the
Two multi-way contral cards 26 are exported；The magnitude of voltage of output makees Z axis Helmholtz coil 4, X-axis Helmholtz by power amplifier 24
Coil 5, Y-axis Helmholtz coil 6, the current value of output directly act on X-axis First-order Gradient coil 1, Z axis First-order Gradient coil
2nd, Y-axis First-order Gradient coil 3, the coil of Z2 gradient coils 8.
Part is described as follows in apparatus of the present invention：
Z axis Helmholtz coil 4.Z axis Helmholtz coil 4 is constituted by two copper wire wound coils, Z axis are provided during work
Magnetic field.Model AIW/QZY+XY-2/220 external diameters are constituted for the enamel-covered wire of 0.67mm.
X-axis Helmholtz coil 5.With the identical structure of Z axis Helmholtz coil 4, same size, identical enamel-covered wire coiling,
X-axis magnetic field is provided during work.
Y-axis Helmholtz coil 6.With the identical structure of Z axis Helmholtz coil 4, same size, identical enamel-covered wire coiling,
Y-axis magnetic field is provided during work.Three-dimensional Helmholtz's line is collectively formed with Z axis Helmholtz coil 4 and X-axis Helmholtz coil 5
Circle, apparatus of the present invention are typically used：The central point of each pair coil overlaps, and the center line of three pairs of coils is mutually perpendicular to, each pair line
The external diameter of circle is equal.
Z axis First-order Gradient coil 2.Z axis First-order Gradient coil 2 is constituted by two copper wire wound coils, Z axis are provided during work
First-order Gradient magnetic field.Model AIW/QZY+XY-2/220 external diameters are constituted for the enamel-covered wire of 0.67mm.
X-axis First-order Gradient coil 1.With the identical structure of Z axis First-order Gradient coil 2, same size, identical enamel-covered wire coiling,
X-axis First-order Gradient magnetic field is provided during work.
Y-axis First-order Gradient coil 3.With the identical structure of Z axis First-order Gradient coil 2, same size, identical enamel-covered wire coiling,
Y-axis First-order Gradient magnetic field is provided during work.Three-dimensional one is constituted together with Z axis First-order Gradient coil 2 and X-axis First-order Gradient coil 1
Rank gradient coil, apparatus of the present invention are typically used：The central point of each pair coil overlaps, and three pairs of center lines of coil mutually hang down
Directly, the external diameter of each pair coil is equal.
Z2 gradient coils.Model AIW/QZY+XY-2/220 external diameters are constituted for the enamel-covered wire of 0.33mm, for compensating ring
Z2 gradient magnetics in border.
First magnetoresistive chip.Model HMC1053, for the magnetic field in measuring environment.
Second magnetoresistive chip.It is identical with the first magnetoresistive chip model, effect.
3rd magnetoresistive chip.It is identical with the first magnetoresistive chip model, effect.
4th magnetoresistive chip.It is identical with the first magnetoresistive chip, the second magnetoresistive chip model, effect.With the first magnetoresistive chip,
Second magnetoresistive chip, the 3rd magnetoresistive chip together, are placed in quadrangle.
Supporting table.Material is aluminium material, rectangle, for installing, placing the first magnetoresistive chip, the second magnetoresistive chip, the 3rd
Magnetoresistive chip, the 4th magnetoresistive chip.
Support bar.PEEK materials, cylinder, there is screw thread at two ends.
Rectangle places block.PEEK materials, the Z2 gradients for installing, on fixed branch lucite tube and lucite tube
Coil.
First fix bar.PEEK materials, for fixing Y-axis Helmholtz coil, fixed lucite tube and organic glass
The Z2 gradient coils that glass pipe is installed above, place.
Second fix bar.It is identical with the first fix bar material, and the 4th fix bar collective effect, for fixing Y-axis last of the twelve Earthly Branches nurse
Hereby coil suddenly.
3rd fix bar.It is identical with the first fix bar material, it is total to the 6th fix bar, the 7th fix bar, the 8th fix bar
Same-action, for fixing Y-axis First-order Gradient coil.
4th fix bar.It is identical with the first fix bar material, and the second fix bar collective effect, for fixing Y-axis last of the twelve Earthly Branches nurse
Hereby coil suddenly.
5th fix bar.It is identical with the first fix bar material, and the first fix bar collective effect, for fixing Y-axis last of the twelve Earthly Branches nurse
Hereby coil suddenly, fixed lucite tube and lucite tube are installed above, the Z2 gradient coils placed.
6th fix bar.It is identical with the first fix bar material, it is total to the 3rd fix bar, the 7th fix bar, the 8th fix bar
Same-action, for fixing Y-axis single order coil.
7th fix bar.It is identical with the first fix bar material, it is total to the 3rd fix bar, the 6th fix bar, the 8th fix bar
Same-action, for fixing Y-axis single order coil.
8th fix bar.It is identical with the first fix bar material, it is total to the 3rd fix bar, the 6th fix bar, the 7th fix bar
Same-action, for fixing Y-axis First-order Gradient coil.
Turntable without magnetic.Material is aluminium and stainless steel, nonmagnetic, one-dimensional precise electric controlled rotating.
Terminal box.For line connection.
Computer.Model apocalypse M7150.
First data wire.Computer-internal slot, for transmitting gathered data.
First multi-way contral card.Model PCIe6251, for data acquisition control.
Second data wire.Model SHC68-68-EPM Cable, for transmitting gathered data.
Differential amplifier circuit.Constituted by for amplifying the difference amplifier of voltage signal.
3rd data wire.Model BVR-1.5, transmits gathered data.
4th data wire.Model is identical with the 3rd data wire.
Power amplifier.Power amplification circuit, function is that voltage keeps invariable current to amplify.
5th data wire.Model is identical with the 3rd data wire.
6th data wire.Model SH68-68-D1Cable, for transmitting feedback voltage data.
Second multi-way contral card.Model PCI6704, exports for feedback voltage and electric current.
7th data wire.Model is identical with the first data wire.
Embodiment 3：
It is a kind of to utilize embodiment 1 or the embodiment 2 to carry out the method for automatic field compensation, comprise the following steps：
Step 1,
Loaded successively for X-axis Helmholtz coil 5 given voltage -2V, -1.5V, -1V, -0.5V, 0V, 0.5V, 1V,
1.5V, 2V, magnetic field value size corresponding in each given magnitude of voltage, linear fit X-axis last of the twelve Earthly Branches nurse are tested using the first magnetoresistive chip 7
The hereby ratio relation in the given voltage of coil 5 and magnetic field suddenly；
Loaded successively for Y-axis Helmholtz coil 6 given voltage -2V, -1.5V, -1V, -0.5V, 0V, 0.5V, 1V,
1.5V, 2V, magnetic field value size corresponding in each given magnitude of voltage, linear fit Y-axis last of the twelve Earthly Branches nurse are tested using the first magnetoresistive chip 7
The hereby ratio relation in the given voltage of coil 6 and magnetic field suddenly；
Loaded successively for Z axis Helmholtz coil 4 given voltage -2V, -1.5V, -1V, -0.5V, 0V, 0.5V, 1V,
1.5V, 2V, magnetic field value size corresponding in each given magnitude of voltage, linear fit Z axis last of the twelve Earthly Branches nurse are tested using the first magnetoresistive chip 7
The hereby ratio relation in the given voltage of coil 4 and magnetic field suddenly；
Loaded successively for X-axis First-order Gradient coil 1 given electric current -0.05A, -0.04A, -0.03A, 0A, 0.01A,
0.02A, 0.03A, 0.04A, 0.05A, test big in the corresponding magnetic field value of each given current value using the first magnetoresistive chip 7
It is small, the given electric current of linear fit X-axis First-order Gradient coil 1 and the ratio relation in magnetic field；
Loaded successively for Y-axis First-order Gradient coil 3 given electric current -0.05A, -0.04A, -0.03A, 0A, 0.01A,
0.02A, 0.03A, 0.04A, 0.05A, test big in the corresponding magnetic field value of each given current value using the first magnetoresistive chip 7
It is small, the given electric current of linear fit Y-axis First-order Gradient coil 3 and the ratio relation in magnetic field；
Loaded successively for Z axis First-order Gradient coil 2 given electric current -0.05A, -0.04A, -0.03A, 0A, 0.01A,
0.02A, 0.03A, 0.04A, 0.05A, test big in the corresponding magnetic field value of each given current value using the first magnetoresistive chip 7
It is small, the given electric current of linear fit Z axis First-order Gradient coil 2 and the ratio relation in magnetic field；
Loaded successively for Z2 gradient coils 8 given electric current -0.005A, -0.004A, -0.003A, 0A, 0.001A,
0.002A, 0.003A, 0.004A, 0.005A, the corresponding magnetic under each given current condition is tested using the first magnetoresistive chip 7
Field size, the given electric current of linear fit Z2 gradient coils 8 and the ratio relation in magnetic field.
The electric current of first annular coil pair is the setting times in the electric current of the second loop coil centering in Z2 gradient coils 8
Number, set multiple as 3.3 times, be the loading current I'(of Z2 gradient coils 8 give electric current I') show the second loop coil pair add
Carry the given electric current I' of electric current I'(), the first annular coil electric current I' given 3.3 times to loading 3.3 times of electric current I'().First
The distance and external diameter ratio of two loop coils of loop coil pair are 1.2, two loop coils of the second loop coil pair
Distance and external diameter ratio are 0.3.
Step 2, rotary speed of the setting without magnetic rotation turntable 15, X-axis First-order Gradient coil 1, Y-axis First-order Gradient coil 3, Z
Axle First-order Gradient coil 2, X-axis Helmholtz coil 5, Y-axis Helmholtz coil 6, Z axis Helmholtz coil 4, Z2 gradient coils
8th, the first magnetoresistive chip 7, the second magnetoresistive chip 9, the 3rd magnetoresistive chip 30, the 4th magnetoresistive chip 31 are with without magnetic rotation turntable 15
Rotate in the horizontal plane.
Step 3, initialized target magnetic field value B0Matrix, magnetic field of the goal value B0Matrix is the matrix of 1 × 12, target magnetic
Value B0Each element value is 10nT in matrix.
Step 4, surveyed using the first magnetoresistive chip 7, the second magnetoresistive chip 9, the 3rd magnetoresistive chip 30, the 4th magnetoresistive chip 31
Obtain magnetic field value Bn(magnetic field value BnFor the magnetic field value that n-th measurement is obtained), obtain measurement magnetic field value BnMatrix, measurement magnetic field value Bn
Matrix is 1 × 12 matrix, measurement magnetic field value BnElement in matrix corresponds to the first magnetoresistive chip 7 and measures respectively from top to bottom
X axis, Y-axis, Z axis to magnetic field value, the second magnetoresistive chip 9 measure X axis, Y-axis, Z axis to magnetic field value, the 3rd magnetic resistance
Chip 30 measure X axis, Y-axis, Z axis to magnetic field value, the 4th magnetoresistive chip 31 measures X axis, Y-axis, Z axis to magnetic field
Value.
Step 5, judge magnetic field of the goal value B0Matrix subtracts measurement magnetic field value BnThe modulus value e of the matrix of differences of matrixnWhether
In error range, if in error range, going to step 8；If not in error range, going to step 6.
Step 6, by magnetic field of the goal value B0Matrix subtracts magnetic field value BnThe matrix of differences e of matrixnCarry out PID arithmetic and obtain defeated
Go out matrix Pn, can be by matrix of differences enThe pid algorithm in computer 16 is input to, during pid algorithm can be by calling LabVIEW
PID modules realize that pid algorithm realizes data processing,Wherein en=
Bn-B0, en-1=Bn-1-B0(wherein Bn-1It is (n-1)th magnetic field value matrix for obtaining of sampling), by the first magnetoresistive chip 7, second
Magnetoresistive chip 9, the 3rd magnetoresistive chip 30, the 4th magnetoresistive chip 31 measure magnetic field value to adjust Proportional coefficient KP, integral coefficient KI、
Differential coefficient KD, scaling up COEFFICIENT KPThe response of system, but excessive K can be acceleratedP, larger overshoot can be produced, and produce
Concussion, makes stability degenerate, increase integral coefficient KIOvershoot is advantageously reduced, system is more stablized, while can also eliminate
Static error, increase differential coefficient KDBe conducive to the response of quickening system, increase stability, but system has more sensitive to disturbance
Response；Finally obtain output matrix Pn, output matrix PnIt is 1 × 12 matrix.
Step 7, by output matrix Pn, X-axis Helmholtz coil 5 given voltage and ratio relation, the Y-axis last of the twelve Earthly Branches nurse in magnetic field
Hereby the given voltage of coil 6 is closed with the ratio of the ratio relation, the given voltage of Z axis Helmholtz coil 4 and magnetic field in magnetic field suddenly
Ratio relation, the given electric current and magnetic of Y-axis First-order Gradient coil 3 in system, the given electric current of X-axis First-order Gradient coil 1 and magnetic field
Ratio relation, the ratio relation of the given electric current of Z axis First-order Gradient coil 2 and magnetic field, the given electric current of Z2 gradient coils 8 of field
In the linprog functions being input in Matlab with the ratio relation in magnetic field, using based on linear programming (linear
Programming, LP) L1 norm programming evaluation min ∑s Vi×wi+Ij×NjThis minimizes optimization problem, obtains optimization square
Battle array, magnetic field is compensated by optimizing voltage or current value in coil, and first three element in optimization matrix corresponds respectively to X
Optimized loading voltage in axle Helmholtz coil 5, Y-axis Helmholtz coil 6, Z axis Helmholtz coil 4, in optimization matrix
Rear four elements correspond respectively to X-axis First-order Gradient coil 1, Y-axis First-order Gradient coil 3, Z axis First-order Gradient coil 2, Z2 ladder
Optimized loading electric current in degree coil 8, goes to step 4.Wherein, i ∈ { 1,2,3 }, j ∈ { 1,2,3,4 }, w1、w2、w3Difference table
Show the voltage weight of X-axis Helmholtz coil 5, Y-axis Helmholtz coil 6, Z axis Helmholtz coil 4, taken in the present embodiment
1；V1、V2、V3The loading electricity of X-axis Helmholtz coil 5, Y-axis Helmholtz coil 6, Z axis Helmholtz coil 4 is represented respectively
Pressure；N1、N2、N3、N4X-axis First-order Gradient coil 1Y axle First-order Gradients coil 3, Z axis First-order Gradient coil 2, Z2 gradients is represented respectively
The current weights of coil 8, take 1 in the present embodiment.I1、I2、I3、I4The X-axis First-order Gradient coil 1, ladder of Y-axis one is represented respectively
Degree coil 3, the Z axis First-order Gradient coil 2, loading current of Z2 gradient coils 8.In experiment by calling Matlab in
Linprog functions, the constraints of linprog functions is:1、10-3V≤|Vi|≤10V, 2,10-6A≤|Ij|≤2×10-2A,
3rd, magnetic field error △ B=| Bn-B0|≤10nT, 4, uniformity of magnetic field be less than or equal to 10-3。
Step 8, whether halt system, if so, then halt system, if it is not, then going to step 4.
Claims (8)
1. a kind of device of automatic field compensation, including turntable (15), it is characterised in that also including being arranged on turntable (15)
On three-dimensional Helmholtz coil and three-dimensional First-order Gradient coil, the lucite tube of tubular is horizontally arranged with turntable (15)
(32), it is arranged with lucite tube (32) in Z2 gradient coils (8), lucite tube (32) and support is fixed with by support bar
Platform (10), is provided with the first magnetoresistive chip (7), second magnetoresistive chip of four drift angles positioned at rectangular surfaces in supporting table (10)
(9), the 3rd magnetoresistive chip (30) and the 4th magnetoresistive chip (31), rectangular surfaces are 45 degree with the angle of horizontal plane, three-dimensional Hai Muhuo
Hereby coil includes X-axis Helmholtz coil (5), Y-axis Helmholtz coil (6) and Z axis Helmholtz coil (4), three-dimensional single order
Gradient coil includes X-axis First-order Gradient coil (1), Y-axis First-order Gradient coil (3), Z axis First-order Gradient coil (2), Z2 gradient lines
Enclose central axis, lucite tube (32) central axis, the central axis of Z axis Helmholtz coil (4), the ladder of Z axis one of (8)
The central axes of degree coil (2), Z2 gradient coils (8) central point, three-dimensional Helmholtz coil central point, a three-dimensional ladder
Degree hub of a spool point, lucite tube (32) central point, rectangular surfaces central point overlap.
2. the device of a kind of automatic field compensation according to claim 1, it is characterised in that also including for the first magnetic
The signal of resistance chip (7), the second magnetoresistive chip (9), the 3rd magnetoresistive chip (30) and the 4th magnetoresistive chip (31) output is poor
Divide the differential amplifier circuit (20) for amplifying, differential amplifier circuit (20) is by the first multi-way contral card (18) and computer (16)
Connection, computer (16) is connected with the second multi-way contral card (26), the second multi-way contral card (26) and X-axis First-order Gradient line
Circle (1), Y-axis First-order Gradient coil (3), Z axis First-order Gradient coil (2), Z2 gradient coils (8) connection, the second multi-way contral
Card (26) also by power amplifier (24) respectively with X-axis Helmholtz coil (5), Y-axis Helmholtz coil (6) and Z axis last of the twelve Earthly Branches nurse
Hereby coil (4) connection suddenly.
3. the device of a kind of automatic field compensation according to claim 1, it is characterised in that on described turntable (15)
It is provided with rectangle and places block (11), rectangle is placed and bar shaped standing groove is offered on block (11), the cross section of bar shaped standing groove is for
Triangle, lucite tube (32) is placed in bar shaped standing groove.
4. a kind of device of automatic field compensation according to claim 1, it is characterised in that described X-axis Helmholtz
Coil (5), Y-axis Helmholtz coil (6), Z axis Helmholtz coil (4) include a pair of coils of concentrically axis, the X-axis last of the twelve Earthly Branches
Mu Huozi coils (5), Y-axis Helmholtz coil (6), the central point of Z axis Helmholtz coil (4) overlap, X-axis Helmholtz's line
Circle (5), Y-axis Helmholtz coil (6), the central axis of Z axis Helmholtz coil (4) are mutually perpendicular to, X-axis Helmholtz coil
(5), Y-axis Helmholtz coil (6), Z axis Helmholtz coil (4) external diameter it is equal, X-axis Helmholtz coil (5), the Y-axis last of the twelve Earthly Branches
Carried out by acrylic plastic stent and plastic screw between Mu Huozi coils (6), Z axis Helmholtz coil (4) mutually solid
It is fixed.
5. a kind of device of automatic field compensation according to claim 1, it is characterised in that described X-axis First-order Gradient
Coil (1), Y-axis First-order Gradient coil (3), Z axis First-order Gradient coil (2) include a pair of coils of concentrically axis, X-axis one
Rank gradient coil (1), Y-axis First-order Gradient coil (3), the central point of Z axis First-order Gradient coil (2) overlap, X-axis First-order Gradient line
Circle (1), Y-axis First-order Gradient coil (3), the central axis of Z axis First-order Gradient coil (2) are mutually perpendicular to, X-axis First-order Gradient coil
(1), Y-axis First-order Gradient coil (3), Z axis First-order Gradient coil (2) external diameter it is equal, X-axis First-order Gradient coil (1), Y-axis one
Rank gradient coil (3), each pair coil of Z axis First-order Gradient coil (2) apart from D and outside diameter d ratio are 0.886, X-axis single order
Pass through acrylic plastic stent and plastics between gradient coil (1), Y-axis First-order Gradient coil (3), Z axis First-order Gradient coil (2)
Screw is fixed.
6. a kind of device of automatic field compensation according to claim 1, it is characterised in that described Z2 gradient coils
(8) including first annular coil pair and the second loop coil pair, two distances of loop coil of first annular coil pair with it is outer
Footpath ratio is 1.2, and the distance and external diameter ratio of two loop coils of the second loop coil pair are 0.3, first annular coil pair
Central axis, lucite tube (32) central axes with the second loop coil pair.
7. a kind of device of automatic field compensation according to claim 6, it is characterised in that described first annular coil
Pair and the second loop coil to being arranged in the wire casing of lucite tube (32) outer wall.
8. the method that automatic field compensation is carried out using the device described in claim 1, it is characterised in that comprise the following steps：
Step 1, for X-axis Helmholtz coil (5), Y-axis Helmholtz coil (6), Z axis Helmholtz coil (4) respectively successively
Each given voltage of setting is loaded, X-axis Helmholtz coil (5), Y-axis last of the twelve Earthly Branches nurse are tested respectively using the first magnetoresistive chip (7)
Hereby coil (6), Z axis Helmholtz coil (4), in the corresponding magnetic field value size of each given magnitude of voltage, are fitted the X-axis last of the twelve Earthly Branches respectively suddenly
The ratio in Mu Huozi coils (5), Y-axis Helmholtz coil (6), the given voltage of Z axis Helmholtz coil (4) and magnetic field is closed
System；
For X-axis First-order Gradient coil (1), Y-axis First-order Gradient coil (3), Z axis First-order Gradient coil (2), loading sets successively respectively
Each fixed given electric current, X-axis First-order Gradient coil (1), Y-axis First-order Gradient line are tested using the first magnetoresistive chip (7) respectively
Circle (3), Z axis First-order Gradient coil (2) in the corresponding magnetic field value size of each given current value, linear fit X-axis single order respectively
The ratio relation in gradient coil (1), Y-axis First-order Gradient coil (3), the given electric current of Z axis First-order Gradient coil (2) and magnetic field；
Load given electric current successively for Z2 gradient coils (8), tested in each given current condition using the first magnetoresistive chip (7)
Under corresponding magnetic field value size, the given electric current of linear fit Z2 gradient coils (8) and the ratio relation in magnetic field；
Step 2, the rotary speed of setting turntable (15), X-axis First-order Gradient coil (1), Y-axis First-order Gradient coil (3), Z axis
First-order Gradient coil (2), X-axis Helmholtz coil (5), Y-axis Helmholtz coil (6), Z axis Helmholtz coil (4), Z2 ladders
Degree coil (8), the first magnetoresistive chip (7), the second magnetoresistive chip (9), the 3rd magnetoresistive chip (30), the 4th magnetoresistive chip (31) are
As turntable (15) rotates in the horizontal plane；
Step 3, initialized target magnetic field value B0Matrix, magnetic field of the goal value B0Matrix is the matrix of 1 × 12；
Step 4, use the first magnetoresistive chip (7), the second magnetoresistive chip (9), the 3rd magnetoresistive chip (30), the 4th magnetoresistive chip
(31) magnetic field value B is measuredn, the number of times of n representative measurements, acquisition measurement magnetic field value BnMatrix, measurement magnetic field value BnMatrix is one 1
× 12 matrixes, measurement magnetic field value BnElement in matrix corresponds to the first magnetoresistive chip (7) and measures X axis, Y-axis respectively from top to bottom
To, Z axis to magnetic field value, the second magnetoresistive chip (9) measure X axis, Y-axis, Z axis to magnetic field value, the 3rd magnetoresistive chip
(30) measure X axis, Y-axis, Z axis to magnetic field value, and the 4th magnetoresistive chip (31) measures X axis, Y-axis, Z axis to magnetic
Field value；
Step 5, judge magnetic field of the goal value B0Matrix subtracts measurement magnetic field value BnMatrix of differences e after matrixnModulus value whether by mistake
In difference scope, if in error range, going to step 8；If not in error range, going to step 6；
Step 6, by matrix of differences enCarry out PID arithmetic and obtain output matrix Pn, output matrix PnIt is 1 × 12 matrix；
Step 7, by output matrix Pn, X-axis Helmholtz coil (5) given voltage and ratio relation, the Y-axis Hai Muhuo in magnetic field
The hereby ratio of the ratio relation, the given voltage of Z axis Helmholtz coil (4) and magnetic field in the given voltage of coil (6) and magnetic field
Relation, the ratio relation of the given electric current of X-axis First-order Gradient coil (1) and magnetic field, the given electricity of Y-axis First-order Gradient coil (3)
Stream and ratio relation, the ratio relation of the given electric current of Z axis First-order Gradient coil (2) and magnetic field, the Z2 gradient coils (8) in magnetic field
Given electric current and magnetic field ratio relation, be input in the linprog functions in Matlab, use the L1 based on linear programming
Norm programming evaluation min ∑s Vi×wi+Ij×NjOptimization problem is minimized, optimization matrix is obtained, first three unit in optimization matrix
Element corresponds respectively to the optimization in X-axis Helmholtz coil (5), Y-axis Helmholtz coil (6), Z axis Helmholtz coil (4)
On-load voltage, rear four elements in optimization matrix correspond respectively to X-axis First-order Gradient coil (1), Y-axis First-order Gradient coil
(3), the Optimized loading electric current in Z axis First-order Gradient coil (2), Z2 gradient coils (8), goes to step 4, wherein, i ∈ 1,2,
3 }, j ∈ { 1,2,3,4 }, w1、w2、w3X-axis Helmholtz coil (5), Y-axis Helmholtz coil (6), Z axis last of the twelve Earthly Branches nurse are represented respectively
The hereby voltage weight of coil (4) suddenly；V1、V2、V3X-axis Helmholtz coil (5), Y-axis Helmholtz coil (6), Z are represented respectively
The on-load voltage of axle Helmholtz coil (4)；N1、N2、N3、N4X-axis First-order Gradient coil (1), Y-axis First-order Gradient are represented respectively
Coil (3), Z axis First-order Gradient coil (2), the current weights of Z2 gradient coils (8), I1、I2、I3、I4X-axis single order is represented respectively
Gradient coil (1), Y-axis First-order Gradient coil (3), Z axis First-order Gradient coil (2), the loading current of Z2 gradient coils (8),
The constraints of linprog functions is:10-3V≤|Vi|≤10V；10-6A≤|Ij|≤2×10-2A；Magnetic field error △ B=| Bn-
B0|≤10nT；Uniformity of magnetic field is less than or equal to 10-3。
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