CN109932971B - Motion control method, device and system - Google Patents
Motion control method, device and system Download PDFInfo
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- CN109932971B CN109932971B CN201910228021.1A CN201910228021A CN109932971B CN 109932971 B CN109932971 B CN 109932971B CN 201910228021 A CN201910228021 A CN 201910228021A CN 109932971 B CN109932971 B CN 109932971B
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Abstract
The application discloses a motion control method, a device and a system, wherein the method is used for controlling a controlled object to run from a starting point to a target point according to a plurality of control cycles, and comprises the following steps: acquiring an actual value of a motion parameter at the initial moment of each control period; determining a projected value of a motion parameter over the control period; and controlling the controlled object to move in the current period according to the planning value and the actual value. By applying the embodiment of the application, the control quantity of the controlled object can be stably changed, the phenomena of overshoot, oscillation or divergence of internal parameters of the system are prevented, and a more comfortable motion track is provided for the controlled object.
Description
Technical Field
The present disclosure relates to the field of medical equipment, and in particular, to a method, an apparatus, and a system for motion control.
Background
Radiotherapy is one of three conventional means for treating tumors, and a medical linear accelerator is a common treatment device for radiotherapy, and according to different sensitivities of different types of cells to rays, the rays emitted by the accelerator are utilized to kill tumor tissues to a great extent and protect surrounding normal tissues as much as possible. This requires a high degree of matching between the field of irradiation and the tumour tissue when the high energy beam (beam) is directed towards the patient.
The basic principle of the motion control system of the linear accelerator is that a controller sends out a regulating signal to an actuator according to the difference value of a target set value and a feedback value of a sensor, and then the motion state of a controlled object is changed.
In the current motion control system of the linear accelerator, when the difference between the expected value and the actual value is too large, the control quantity of the actuator may be changed too much or fluctuate frequently, which causes the actuator to change frequently and violently, affects the service life of the actuator, and causes the controlled object to overshoot.
Disclosure of Invention
To overcome the problems in the related art, the present specification provides a motion control method, apparatus, and system.
Specifically, the method is realized through the following technical scheme:
in a first aspect, a motion control method is provided, where the method is applied to an MCU of a linear accelerator system, the system further includes a sensor and an actuator, and the method is used to control a controlled object to move from a starting point to a target point according to a plurality of control cycles, and includes:
acquiring an actual value of a motion parameter at the initial moment of each control period;
determining a projected value of a motion parameter over the control period;
and controlling the controlled object to move in the current period according to the planning value and the actual value.
In a second aspect, a motion control apparatus is provided, where the apparatus is applied to an MCU of a linear accelerator system, the system further includes a sensor and an actuator, and the apparatus is used to control a controlled object to move from a starting point to a target point according to a plurality of control cycles, and includes:
the obtaining unit is used for obtaining the actual value of the motion parameter at the initial moment of the control period aiming at each control period;
a planning unit for determining, for each control cycle, a planned value within the control cycle;
and the control unit is used for controlling the controlled object to move in the current period according to the planning value and the actual value aiming at each control period.
In a third aspect, an MCU is provided, comprising: the system comprises an internal bus, a memory, a processor and an external interface which are connected through the internal bus; wherein the content of the first and second substances,
the external interface is used for connecting an actuator of the linear accelerator system, and the system further comprises a sensor;
the memory is used for storing machine readable instructions corresponding to the motion control logic;
the processor is configured to read the machine-readable instruction on the memory, and execute the instruction to control a controlled object to run from a starting point to a target point according to a plurality of control cycles, where the following operations are specifically implemented:
acquiring an actual value of a motion parameter at the initial moment of each control period;
determining a programmed value within the control period;
and controlling the controlled object to move in the current period according to the planning value and the actual value.
In a fourth aspect, a linear accelerator system is provided, comprising: MCU, executor, sensor; wherein the content of the first and second substances,
the MCU is used for controlling and outputting control quantity according to a plurality of control cycles, specifically for acquiring an actual value of a motion parameter at the initial moment of the control cycle for each control cycle, determining a planned value in the control cycle, and outputting the control quantity based on the planned value and the actual value;
the actuator is used for driving the controlled object to move in the control period according to the control quantity output by the MCU;
and the sensor is used for detecting the actual value of the motion parameter and feeding back the actual value to the MCU.
The technical scheme provided by the embodiment of the specification can have the following beneficial effects:
in the embodiment of the description, the planned value of the motion parameter is periodically output, and the actual value and the planned value of the motion parameter in the current period are used for controlling the controlled object to move in the period, so that the controlled object is controlled to move from the starting point to the target point according to a plurality of control periods, the control quantity of the controlled object is controlled to change stably, the phenomena of overshoot, oscillation or divergence of the internal parameters of the system are prevented, and a more comfortable motion track is provided for the controlled object.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the specification.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present specification and together with the description, serve to explain the principles of the specification.
FIG. 1A is a schematic block diagram of a linear accelerator system according to an exemplary embodiment of the present application;
FIG. 1B is a schematic diagram illustrating operation of a linear accelerator system according to an exemplary embodiment of the present application;
FIG. 2 is a flow chart illustrating a method of motion control according to an exemplary embodiment of the present application;
FIG. 3 is a schematic diagram illustrating operation of a linear accelerator system according to an exemplary embodiment of the present application;
FIG. 4 is a schematic diagram illustrating operation of another linear accelerator system according to an exemplary embodiment of the present application;
FIG. 5A is a schematic illustration of the operation of a linear accelerator system during a preconditioning phase as disclosed herein in accordance with an exemplary embodiment;
FIG. 5B is a flow chart illustrating one method of obtaining correction parameters in a motion control method according to an exemplary embodiment of the present application;
FIG. 6A is a schematic illustration of another linear accelerator system shown in accordance with an exemplary embodiment of the present application during a preconditioning phase;
FIG. 6B is a flow chart illustrating another method of obtaining correction parameters in a motion control method according to an exemplary embodiment of the present application;
FIG. 7A is a schematic view of a motion control apparatus shown in an exemplary embodiment of the present application;
FIG. 7B is a schematic view of another motion control device shown in an exemplary embodiment of the present application;
fig. 8 is a schematic structural diagram of an MCU according to an exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present specification. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the specification, as detailed in the appended claims.
Referring to fig. 1A, which is a schematic structural diagram of a linear accelerator in an example of the present application, the linear accelerator system includes an MCU110, an actuator 120, and a sensor 130.
In the use stage, the linear accelerator system is a closed-loop control system. The actuator 120 drives the controlled object 140 to move according to the control amount output by the MCU110, the sensor 130 feeds back the detected actual value of the motion parameter of the controlled object 140 to the MCU110, and the MCU110 outputs the control amount according to the actual value, thereby completing the motion of the controlled object 140 from the start point to the target point.
Wherein the sensor 130 can be specifically set for the motion parameter to be detected. For example, when the detected motion parameters include position, the sensors 130 may include one or more position sensors; when the sensed motion parameter includes a speed of motion, sensor 130 may include one or more resolvers.
In the related art, the MCU always outputs the control amount of the actuator according to the final desired value of the motion parameter and the actual value fed back by the sensor. When the difference between the expected value and the actual value is too large, the control quantity output by the MCU may change too much or fluctuate frequently, the actuator may change frequently and drastically to affect the service life of the actuator, and the controlled object may overshoot.
Based on the above situation, in the embodiment of the present application, the MCU110 controls the controlled object to move from the starting point to the target point according to a plurality of control cycles, determines a planned value for each control cycle, and outputs the control amount of the control cycle based on the planned value and the actual value, thereby avoiding the problem of an excessively large difference between the expected value and the actual value of the motion parameter, and stabilizing the change of the control amount of the controlled object.
FIG. 1B shows a schematic diagram of the operation of the linear accelerator of FIG. 1A. The MCU110 of the linear accelerator operates for each control cycle, and moves the controlled object to the target point through a plurality of control cycles.
As shown in fig. 1B, in the MCU110, the motion planning module 111 determines a planned value of the motion parameter in the current control period by planning the motion trajectory, and transmits the planned value and an actual value of the motion parameter fed back by the sensor 130 to the controller 112, and the controller 112 outputs a control amount based on the planned value and the actual value to control the actuator 120 to drive the controlled object 140 to move. The actual value fed back by the sensor 130 is the value at the initial instant of the current control cycle.
The motion control method of the present application will be described in detail below with reference to the linac system shown in fig. 1A and 1B.
Referring to fig. 2, a flow chart of an embodiment of the motion control method of the present application is shown. The motion control method is applied to the MCU of the linear accelerator system shown in FIG. 1A and FIG. 1B, and the method is used for controlling the controlled object to run from the starting point to the target point according to a plurality of control cycles, and can comprise the following steps:
in step 201, for each control cycle, the actual value of the motion parameter at the initial instant of the control cycle is acquired.
In this step, the actual value of the motion parameter of the controlled object is collected at the initial time of the control period, and is used as the initial value of the motion parameter of the control period. The actual value of the motion parameter at the end of the control period is then the actual value of the motion parameter at the initial moment of the next control period.
The motion parameters of the controlled object may include position and motion speed. That is, at the initial time of the control cycle, the actual values of the position and the movement speed of the controlled object can be obtained at the same time; it is also possible to obtain only the actual value of the position of the controlled object or only the actual value of the speed of movement.
At the initial moment of the first control period, the actual value of the position is the starting position of the controlled object, and the actual value of the speed is zero; at the initial time of each subsequent control period, the actual values of the position and the movement speed are the actual values of the position and the movement speed at the end of the previous control period.
The plurality of control periods may be the same duration. That is, each control period may be a period having a fixed duration and the same duration. The duration of the control period may be specifically set as desired.
In step 202, the planned values in the control period are determined.
In this step, the motion trajectory is planned based on the performance requirements of system acceleration and deceleration, and the like, and the planned value of the motion parameter in the current control period is obtained. The movement trajectory may comprise a trajectory of positions and a trajectory of movement velocities, and the planned values may accordingly comprise planned values of positions and planned values of movement velocities.
The planned value of the motion parameter of the controlled object is planned according to each control period, and the planned value of each control period is made to continuously approach the final expected value, so that the planned value reaches the expected value in the last control period.
In the planning process, after the movement locus of the controlled object moving to the target point in the current control cycle is planned, the planning values of all the control cycles from the current control cycle to the end of the movement can be obtained, but in each control cycle, only the planning value of the current control cycle is used, and the planning value is changed when entering the next control cycle, so in the step, only the planning value of the subsequent control cycle or control cycles is obtained. During the planning process, the physical limiting parameters of the system should be taken into account to calculate the planned position and the planned movement speed for each control cycle.
In step 203, the controlled object is controlled to move in the current period according to the planning value and the actual value.
And in each control period, controlling the controlled object to move based on the actual value at the initial moment and the planned value of the control period, wherein at the end of the control period, the actual value of the motion parameter reaches or approaches the planned value, the actual value at the moment is regarded as the actual value at the initial moment of the next control period, and the actual value of the motion parameter approaches the planned value of the next control period at the end of the next control period. In this way, in each control cycle, the controlled object approaches the expected value of the motion parameter along the currently planned motion trajectory, and at the end of all control cycles, the controlled object reaches the target point.
In this embodiment, by controlling the controlled object to move from the starting point to the target point according to a plurality of control cycles, the difference between the planned value and the current actual value in each control cycle is small, so that the control amount for controlling the controlled object to move determined based on the difference is smaller than the variation amount of the previous control cycle, thereby preventing the overshoot, the oscillation or the divergence of the internal parameters. In addition, by the method, the motion parameters can be slowly changed in the motion process of the controlled object, particularly after the controlled object starts to move and when the motion is about to end, the uncomfortable feeling caused by sudden quick start or sudden stop is avoided, and a more comfortable motion track is provided for the controlled object.
In step 202, determining the projected value over the control period comprises: and planning the change track of the motion parameter according to the actual value of the motion parameter at the initial moment of the control period and the preset expected value of the motion parameter so as to determine the planned value in the control period.
See figure 3 for a schematic representation of the operation of the linear accelerator. The motion planning module 311 determines a planned value in the control period according to a preset expected value and an actual value at the initial time of the control period, and the controller 312 outputs a control quantity to control the actuator 320 to drive the controlled object 340 to move based on the planned value and the actual value of the motion parameter fed back by the sensor 330.
The expected value of the motion parameter refers to a value of the motion parameter expected to be reached when the controlled object finally moves to the target point. For a linac system, the desired value of position is the desired position of the controlled object in the treatment plan, and the desired value of motion speed is typically zero, i.e. the desired speed at which the controlled object is to reach the target point is zero.
According to the difference between the actual value and the final expected value of the current motion parameter, the motion trajectory of the controlled object 340 moving to the target point meeting the system performance requirement can be determined, and the value of the motion parameter which the controlled object should reach at the end of the current control period is used as a planning value in the control period; and on the next control cycle, the planning is re-performed in a similar manner. And by analogy, the planning value of the controlled object in each control period continuously approaches the final expected value, and the planning value is the expected value in the last control period.
Determining the programmed value during the control period may further include: and determining a planning value of the control period according to a preset change track.
See figure 4 for a schematic representation of the operation of the linear accelerator. The motion planning module 411 determines a planned value of the control period based on a preset variation trajectory of the motion parameter, and the controller 412 outputs a control amount to control the actuator 420 to drive the controlled object 440 to move based on the planned value and the actual value of the motion parameter fed back by the sensor 430.
The changing track of the position and the moving speed can be a preset gradual change process. For example, the change locus of the position may be a straight line, and the change locus of the movement speed may be a trapezoidal acceleration/deceleration locus or an S-shaped acceleration/deceleration locus. By setting the change track, the position and the movement speed of the controlled object can be slowly changed during the movement, particularly after the movement is started and when the movement is about to be ended.
Because the service life of the medical linear accelerator is greatly shortened after the radiation source is irradiated during the electron period, the moving part in the treatment head where the radiation source of the medical linear accelerator is located cannot be detected by an encoder, and a rotary transformer which is less affected by the radiation is generally adopted for measurement. A common scheme for resolver angle solution is to use a special resolver resolution chip (RDC chip) to perform hardware decoding, but the decoding accuracy of the chip is often arc classification (arc min), and the detection accuracy of the chip cannot meet the requirement for a high-precision system and a low-speed motion system; another common scheme is to construct a decoder by discrete devices such as an ADC chip and a microprocessor, and decode the decoder by a software algorithm, but the decoder constructed by the discrete devices has defects in system precision tracing and measurement stability, and components are necessarily added, and difficulty in material selection is also caused if the added components can work normally in a long-term radiation environment.
Based on the above situation, in the embodiment of the present application, the embodiment may further include: after the actual value of the motion parameter at the initial moment of the control period is obtained, the actual value of the motion speed is corrected by using the preset correction parameter, so that the speed measurement precision of the rotary transformer is improved under the condition of not increasing components and parts and cost.
The correction parameters may be obtained while the system is in the pre-conditioning phase.
Fig. 5A shows a schematic diagram of the operation of a linear accelerator in accordance with an example of the present application during a preconditioning phase. At this stage, the MCU 510 of the linear accelerator also operates for each control cycle, and moves the controlled object to the target point through a plurality of control cycles.
In the MCU 510, the motion planning module 511 plans the motion trajectory based on the preset desired value of the motion parameter and the actual value of the position fed back by the sensor 530 to obtain the planned value of the motion parameter, i.e., the planned value of the position and the planned value of the motion speed, in the current control period. Wherein the desired value may or may not include a desired value for position and a desired value for speed of movement. The actual value of the position fed back by sensor 530 is the value at the initial instant of the control cycle.
The controller 512 outputs a control quantity to control the actuator 520 to drive the controlled object 540 to move based on the planned values of the position and the movement speed in the control period and the actual value of the position.
Meanwhile, in each control period, the planned value of the movement speed during the period of the actual value of the movement speed fed back by the sensor 530 is stored in the data storage module 513, and after the controlled object completes the movement, the correction algorithm module 514 generates the correction parameter based on the stored actual value of the movement speed and the planned value of the movement speed in each control period.
One method of obtaining the correction parameter in the motion control method of the present application is described in detail below with reference to the linear accelerator system shown in fig. 5A.
Referring to fig. 5B, a flow chart illustrating a method of obtaining correction parameters in the motion control method may include the steps of:
in step 501, for each control cycle, actual values of the position and the movement speed at the initial time of the control cycle are acquired.
In the presetting phase, the specific value of the control period can be the same as or different from that of the use phase.
In step 502, planned values of position and movement speed during the control period are determined based on the actual value of the position and the desired value of the position.
In the presetting phase, the desired values of the positions and the specific values of the planning values may be the same as or different from those in the use phase.
In step 503, the controlled object is controlled to move in the current period according to the planned values of the position and the movement speed and the actual value of the position.
In step 504, after the controlled object completes the movement, a correction parameter is obtained according to the difference between the planned value of the movement speed in each control cycle and the actual value of the movement speed at the initial moment of the next control cycle.
After the movement is completed, the actual value of the movement speed at the initial time of each control cycle can be obtained, and the planned value of the movement speed in each control cycle can also be obtained. In an ideal case, at the end of each control period (i.e. at the start of the next control period), the actual value of the movement speed of the controlled object is the planned value. However, due to the insufficient detection precision of the movement speed, the actual value of the movement speed of the controlled object usually differs from the planned value at the end of each control period. Based on the difference between the actual value of the movement velocity and the planned value during the entire movement, a correction parameter can be derived to correct the actual value of the movement velocity to bring the detected movement velocity closer to the velocity that should theoretically be reached.
In one example, the planned value of the movement speed of each control period is fitted with the actual value of the movement speed at the initial moment of the next control period by a least square method or a neural network approximation method, and the correction parameter is obtained by obtaining a correction function between the actual value and the planned value.
In particular, after the movement is completed, a set of data can be obtained for the planned value of the movement speed for each control cycle; a set of data is also available for the actual value of the movement speed at the initial instant of the next control cycle (the end instant of the current control cycle). By fitting the two sets of data, for example by means of a least squares method or a neural network approximation, a correction function, i.e. a correction parameter, can be obtained. In the using stage of the system, the correction function is applied to the obtained actual value of the movement speed, and then the correction value of the movement speed can be obtained.
It will be appreciated by those skilled in the art that the above method is not limited to correction of the speed of movement, but may be used for correction of other movement parameters.
When the linear acceleration system includes a plurality of sensors, a plurality of sets of correction parameters may be obtained, and the empirical parameters may be obtained by averaging the plurality of sets of correction parameters. During the using stage of the system, the empirical parameters are used to correct the actual values of the motion parameters. In the case of subsequent maintenance, the presetting phase is no longer necessary even if one of the sensors is replaced.
In the pre-adjusting stage of the system, data processing software (such as matlab, python and the like) and an MCU interface can be used at the PC end to fit the planning value data and the corresponding actual value of each control period. The fitting method of the data processing software has high integration level and more abundant data processing means, so that the processing efficiency and the processing quality can be improved.
Fig. 6A shows a schematic diagram of the operation of a linear accelerator according to an example of the present application, which is operated in a pre-tuning phase. It differs from the embodiment shown in fig. 5A in that the controller 612 determines the output control amount based on the planned value of the movement speed, the actual value of the position fed back by the sensor 630, and the planned value of the determined position do not participate in the determination of the control amount of the actuator 620.
One method of obtaining the correction parameter in the motion control method of the present application is described in detail below with reference to the linear accelerator system shown in fig. 6A.
Referring to fig. 6B, a flow chart illustrating another method of obtaining correction parameters in the motion control method may include the steps of:
in step 601, for each control cycle, actual values of the position and the movement speed at the initial time of the control cycle are acquired.
In step 602, the planned values in the control period are determined based on the actual values of the positions and the desired values of the positions.
In step 603, the controlled object is controlled to move in the current period according to the planned value of the movement speed.
In step 604, after the controlled object completes the movement, a correction parameter is obtained according to the difference between the planned value of the movement speed in each control cycle and the actual value of the movement speed at the initial moment of the next control cycle.
In this embodiment, the specific process of obtaining the correction parameter according to the difference between the actual value and the planned value may be the same as the embodiment shown in fig. 5B.
Corresponding to the embodiment of the method, the application also provides a motion control device. MCU and linear accelerator system.
Referring to fig. 7A, a block diagram of an embodiment of a motion control apparatus according to the present application, the apparatus being applicable to an MCU of a linear accelerator system, the system further including a sensor and an actuator, the apparatus being configured to control a controlled object to move from a starting point to a target point according to a plurality of control cycles, the apparatus including: an obtaining unit 710, a planning unit 720 and a control unit 730.
The obtaining unit 710 is configured to obtain, for each control cycle, an actual value of a motion parameter at an initial time of the control cycle;
a planning unit 720, configured to determine, for each control period, a planned value within the control period;
and a control unit 730, configured to, for each control cycle, control the controlled object to move in the current cycle according to the planned value and the actual value.
Referring to fig. 7B, a block diagram of an embodiment of a motion control apparatus of the present application is shown, where the motion control apparatus in this embodiment may further include, on the basis of the foregoing embodiment shown in fig. 7A:
and a correcting unit 740 for correcting the actual value of the movement speed at the initial moment of the control cycle by the correction parameter when the system is in the pre-tuning stage.
Referring to fig. 8, which is a block diagram of an embodiment of an MCU of the present application, the MCU may include: a memory 820, a processor 830, and an external interface 840 connected by an internal bus 810.
Wherein, the external interface 840 is used for connecting the actuator of the linear accelerator system, and the system also comprises a sensor;
a memory 820 for storing machine readable instructions corresponding to motion control logic;
the processor 830 is configured to read the machine-readable instructions in the memory, and execute the instructions to control the controlled object to run from the starting point to the target point according to a plurality of control cycles, where the following operations are implemented:
acquiring an actual value of a motion parameter at the initial moment of each control period;
determining a projected value of a motion parameter over the control period;
and controlling the controlled object to move in the current period according to the planning value and the actual value.
In the embodiments of the present application, the computer readable storage medium may be in various forms, such as, in different examples: a RAM (random Access Memory), a volatile Memory, a non-volatile Memory, a flash Memory, a storage drive (e.g., a hard drive), a solid state drive, any type of storage disk (e.g., an optical disk, a dvd, etc.), or similar storage medium, or a combination thereof. In particular, the computer readable medium may be paper or another suitable medium upon which the program is printed. Using these media, the programs can be electronically captured (e.g., optically scanned), compiled, interpreted, and processed in a suitable manner, and then stored in a computer medium.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (9)
1. A motion control method is applied to an MCU (microprogrammed control Unit) of a linear accelerator system, the system also comprises a sensor and an actuator, and the method is used for controlling a controlled object to run from a starting point to a target point according to a plurality of control cycles and comprises the following steps:
acquiring an actual value of a motion parameter at the initial moment of each control period;
after the actual value of the motion parameter at the initial moment of the control cycle is obtained, correcting the actual value by using a preset correction parameter, and when the system is in a preset stage, obtaining the correction parameter in the following way: acquiring actual values of the initial time position and the movement speed of each control period; determining planned values of the position and the movement speed in the control period according to the actual value of the position and the expected value of the position; controlling the controlled object to move in the current period according to the planned values of the position and the movement speed and the actual value of the position, or controlling the controlled object to move in the current period according to the planned value of the movement speed; after the controlled object finishes moving, obtaining the correction parameter according to the difference between the planned value of the movement speed of each control period and the actual value of the movement speed at the initial moment of the next control period;
determining a projected value of a motion parameter over the control period;
and controlling the controlled object to move in the current period according to the planning value and the actual value.
2. The method of claim 1, wherein the motion parameters include position and motion speed, wherein,
at the initial moment of the first control period, the actual value of the position is the starting position of the controlled object, and the actual value of the speed is zero;
at the initial time of each subsequent control period, the actual values of the position and the movement speed are the actual values of the position and the movement speed at the end of the previous control period.
3. The method of claim 2, wherein determining the projected value over the control period comprises:
and planning the change track of the motion parameter according to the actual value of the motion parameter at the initial moment of the control period and the preset expected value of the motion parameter so as to determine the planned value in the control period.
4. The method of claim 2, wherein the determining the projected value over the control period comprises: and determining a planning value in the control period according to a preset change track.
5. The method according to claim 4, wherein the preset variation trajectory comprises a variation trajectory of a position and a variation trajectory of a movement speed, wherein the variation trajectory of the position is a straight line, and the variation trajectory of the movement speed is a trapezoid or an S shape.
6. The method of claim 1, wherein deriving the correction parameter from the difference between the projected value of the movement velocity for each control cycle and the actual value of the movement velocity at the initial instant of the next control cycle comprises: fitting the planned value of the movement speed of each control period with the actual value of the movement speed at the initial moment of the next control period by a least square method or a neural network approximation method, and obtaining the correction parameters by obtaining a correction function between the actual value and the planned value.
7. A motion control device is applied to an MCU (microprogrammed control Unit) of a linear accelerator system, the system further comprises a sensor and an actuator, the device is used for controlling a controlled object to run from a starting point to a target point according to a plurality of control cycles, and the motion control device comprises:
the obtaining unit is used for obtaining the actual value of the motion parameter at the initial moment of the control period aiming at each control period;
the correcting unit is used for correcting the actual value by using a preset correcting parameter after the obtaining unit obtains the actual value of the motion parameter at the initial moment of the control cycle, and when the system is in a preset stage, the correcting parameter is obtained in the following mode: acquiring actual values of the initial time position and the movement speed of each control period; determining planned values of the position and the movement speed in the control period according to the actual value of the position and the expected value of the position; controlling the controlled object to move in the current period according to the planned values of the position and the movement speed and the actual value of the position, or controlling the controlled object to move in the current period according to the planned value of the movement speed; after the controlled object finishes moving, obtaining the correction parameter according to the difference between the planned value of the movement speed of each control period and the actual value of the movement speed at the initial moment of the next control period;
a planning unit for determining, for each control cycle, a planned value within the control cycle;
and the control unit is used for controlling the controlled object to move in the current period according to the planning value and the actual value aiming at each control period.
8. An MCU, comprising: the system comprises an internal bus, a memory, a processor and an external interface which are connected through the internal bus; wherein the content of the first and second substances,
the external interface is used for connecting an actuator of the linear accelerator system, and the system further comprises a sensor;
the memory is used for storing machine readable instructions corresponding to the motion control logic;
the processor is configured to read the machine-readable instruction on the memory, and execute the instruction to control a controlled object to run from a starting point to a target point according to a plurality of control cycles, where the following operations are specifically implemented:
acquiring an actual value of a motion parameter at the initial moment of each control period;
after the actual value of the motion parameter at the initial moment of the control cycle is obtained, correcting the actual value by using a preset correction parameter, and when the system is in a preset stage, obtaining the correction parameter in the following way: acquiring actual values of the initial time position and the movement speed of each control period; determining planned values of the position and the movement speed in the control period according to the actual value of the position and the expected value of the position; controlling the controlled object to move in the current period according to the planned values of the position and the movement speed and the actual value of the position, or controlling the controlled object to move in the current period according to the planned value of the movement speed; after the controlled object finishes moving, obtaining the correction parameter according to the difference between the planned value of the movement speed of each control period and the actual value of the movement speed at the initial moment of the next control period;
determining a programmed value within the control period;
and controlling the controlled object to move in the current period according to the planning value and the actual value.
9. A linear accelerator system, comprising: MCU, executor, sensor; wherein the content of the first and second substances,
the MCU is configured to control an output control amount according to a plurality of control cycles, and specifically, to acquire an actual value of a motion parameter at an initial time of the control cycle for each control cycle, and after acquiring the actual value of the motion parameter at the initial time of the control cycle, correct the actual value by using a preset correction parameter, and when the system is in a preset stage, obtain the correction parameter in the following manner: acquiring actual values of the initial time position and the movement speed of each control period; determining planned values of the position and the movement speed in the control period according to the actual value of the position and the expected value of the position; controlling the controlled object to move in the current period according to the planned values of the position and the movement speed and the actual value of the position, or controlling the controlled object to move in the current period according to the planned value of the movement speed; after the controlled object finishes moving, obtaining the correction parameter according to the difference between the planned value of the movement speed of each control period and the actual value of the movement speed at the initial moment of the next control period; determining a planned value in the control period, and outputting a control amount based on the planned value and the actual value;
the actuator is used for driving the controlled object to move in the control period according to the control quantity output by the MCU;
and the sensor is used for detecting the actual value of the motion parameter and feeding back the actual value to the MCU.
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