CN111384881A - High-precision collimat stepping motor control method capable of quickly eliminating shake - Google Patents
High-precision collimat stepping motor control method capable of quickly eliminating shake Download PDFInfo
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims abstract description 5
- 230000001629 suppression Effects 0.000 claims description 12
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01J—ELECTRIC DISCHARGE TUBES OR DISCHARGE LAMPS
- H01J35/00—X-ray tubes
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- H01J35/14—Arrangements for concentrating, focusing, or directing the cathode ray
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Abstract
The invention relates to a high-precision collimat stepping motor control method capable of quickly eliminating jitter, which comprises the following steps of: the CPU receives and analyzes a motion instruction sent by an upper computer to obtain initial parameters; dividing the displacement of the stepping motor into a plurality of stages, and obtaining the displacement of each stage according to initial parameters; converting the displacement of each stage into the number of steps of the movement required by the stepping motor in each stage, obtaining the acceleration and the speed of each step through initial parameters, and calculating by the CPU through the size, the acceleration and the speed of each step of the stepping motor to obtain the time length required by each step of the movement of the stepping motor; the CPU counter controls the action of the stepping motor through the time length, the acceleration and the speed required by each step; has the advantages that: the acceleration and deceleration process adopts S-shaped curve acceleration, and the acceleration is gradually changed from the minimum value to the maximum value in the acceleration and deceleration process, so that the moment is ensured not to change suddenly, and the jitter amplitude is reduced.
Description
Technical Field
The invention relates to the technical field of CT (computed tomography), in particular to a high-precision collimat stepping motor control method capable of quickly eliminating jitter.
Background
In the paying-off process of the CT system, the X-ray focus is changed, and a collimater (Collimator) is required to quickly follow the change of the focus to change the size of a slit. The common stepping motor algorithm cannot realize high-speed focus tracking (once adjustment is carried out for 20 ms), and the problem of jitter exists if the stepping motor is provided with an inertia load when the stepping motor is stopped. The amplitude of the dither is related to time, deceleration, mechanical load inertia and mechanical body stiffness, and is typically dithered in place for about 100 ms.
Based on this, the present disclosure is thus directed.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a high-precision collimat stepping motor control method for fast jitter elimination, which is used to reduce the vibration amplitude and vibration time of a stepping motor.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a high-precision collimat stepping motor control method capable of quickly eliminating jitter is characterized by comprising the following steps:
s10: the CPU receives and analyzes a motion instruction sent by an upper computer to obtain initial parameters;
s20: dividing the displacement of the stepping motor into a plurality of stages, and obtaining the displacement of each stage according to initial parameters;
s30: converting the displacement of each stage into the number of steps of the movement required by the stepping motor in each stage, obtaining the acceleration and the speed of each step through initial parameters, and calculating by the CPU through the size, the acceleration and the speed of each step of the stepping motor to obtain the time length required by each step of the movement of the stepping motor;
s40: the CPU counter controls the action of the stepping motor through the time length, the acceleration and the speed required by each step.
Further, the initial parameter includes an acceleration coefficient kaTarget acceleration amTarget velocity vmAnd target displacement SmThe stepping motor is divided into seven stages of an acceleration adding stage a, a uniform acceleration stage b, an acceleration reducing stage c, a uniform speed stage d, an acceleration and deceleration stage e, a uniform deceleration stage f and a deceleration reducing stage g;
the step of judging in S20 is as follows:
s21 if satisfied
Then
When S ism≥Sa+Sb+Sc+Se+Sf+SgThen, the process proceeds directly to step S30,
when S isa+Sc+Se+Sg≤Sm＜Sa+Sb+Sc+Se+Sf+SgThen get S d0, and recalculate SbAnd SfThen, the process proceeds to step S30 to recalculate
When S ism＜Sa+Sc+Se+SgThen get Sb＝Sf＝Sd0, and recalculate Sa、Sc、Se、SgThen, the process proceeds to step S30 to recalculate
If not satisfied with
Then
When S ism≥Sa+Sc+Se+SgThen, the process proceeds directly to step S30,
when S ism＜Sa+Sc+Se+SgThen get Sb＝Sf＝Sd0, and recalculate Sa、Sc、Se、SgThen, the process proceeds to step S30 to recalculate
Wherein Sa、Sb、Sc、Sd、Se、Sf、SgThe displacement values for each stage.
Further, the step S30 includes the following steps:
s31: determining the number of steps and the total number of steps of the stepping motor required to move in each stage according to the displacement of each stage;
s32: enabling TIMx matching interruption, wherein the step number i in a TIMx register is equal to 0;
s33: entering TIMx interruption and recording the number of times of entering interruption;
s34: if the number of times of entering the interrupt is even, the pulse pin is pulled to high level, the step number i in the TIMx register is i +1, and the process returns to step S33; if the number of times of entering the interrupt is odd, the pulse pin is pulled to a low level, and the step S35 is entered;
s35: if i is less than or equal to the total step number, the acceleration of the acceleration adding section a and the deceleration reducing section g is as follows: a is(i+1)＝ai+ka*TiThe acceleration of the uniform acceleration section b and the uniform deceleration section f is as follows: a is(i+1)＝aiThe accelerations of the deceleration and acceleration section c and the acceleration and deceleration section e are as follows: a is(i+1)＝ai-ka*TiThe acceleration of the constant velocity segment d is: a is(i+1)0 and proceeds to step S36, where aiThe acceleration required by the stepping motor in the ith step is shown; if i>If the total step number is greater than the preset value, closing TIMx interruption and enabling the step number i in the TIMx register to be 0;
s36: calculating the velocity v of step i +1(i+1)＝vi+ai*Ti(ii) a Calculating the time of step i +1, T(i+1)Step foot/(subdivision v)i) Wherein, the step pitch foot is subdivided into the parameter values of the stepping motor, which are constants;
in step S37, the number of steps i in the TIMx register is changed to i +1, and the process returns to step S33.
Further, the method includes step S50: vibration suppression is carried out at the moment of motion ending, and the vibration suppression comprises the following steps:
s51, the step motor encoder acquisition module acquires the current position information and feeds the position information back to the CPU;
s52: the CPU compares the feedback position information with the target position information, if the feedback position information is not at the target position, the step S53 is carried out, otherwise, the step S54 is carried out;
s53: calculating a compensation amount which is a difference value between the current position and the target position, adjusting the position of the stepping motor according to the compensation amount, and returning to S51 after the adjustment is finished;
s54: the encoder acquires the current position information of the stepping motor again and feeds the position information back to the CPU, the CPU compares the fed-back position information with the target position information, if the position information is not at the target position, the process proceeds to step S53, and if the position information is at the target position, the suppression adjustment is ended.
The invention has the advantages that:
1. the acceleration and deceleration process adopts S-shaped curve acceleration, and the acceleration is gradually changed from the minimum value to the maximum value in the acceleration and deceleration process, so that the moment is ensured not to change suddenly, and the jitter amplitude is reduced;
2. when the system stops, the collected encoder value is compared with the target position, and reverse adjustment is started to suppress vibration and reduce jitter time.
Drawings
FIG. 1 is a graph showing the following conditions
And Sm≥Sa+Sb+Sc+Se+Sf+SgThe acceleration, speed and displacement curve diagram of time;
FIG. 2(a) is a graph showing the results of the embodiment
And Sa+Sc+Se+Sg≤Sm＜Sa+Sb+Sc+Se+Sf+SgThe acceleration curve of the time is shown schematically;
FIG. 2(b) is a graph showing the results of the embodiment
And Sm＜Sa+Sc+Se+SgThe acceleration curve of the time is shown schematically;
FIG. 3(a) shows S in examplem≥Sa+Sc+Se+SgAnd do not satisfy
The acceleration curve of the time is shown schematically;
FIG. 3(b) shows S in examplem＜Sa+Sc+Se+SgAnd do not satisfy
The acceleration curve of the time is shown schematically;
FIG. 4 is a schematic diagram of the process of the embodiment when the CPU controls the stepping motor to perform S-shaped curve acceleration;
FIG. 5 is a schematic view of a spring loaded;
FIG. 6 is a schematic diagram of the vibration suppression process after the stop of the stepping motor in the embodiment;
fig. 7 is a schematic diagram of the overall control flow after adding the suppression flow in the present embodiment.
Detailed Description
The present invention will be described in further detail with reference to examples.
The embodiment provides a high-precision collimat stepping motor control method capable of rapidly eliminating jitter, which comprises the following steps of:
s10: the CPU receives and analyzes a motion instruction sent by the upper computer to obtain initial parameters, wherein the initial parameters comprise an acceleration coefficient kaTarget acceleration amTarget velocity vmStarting speed vsStopping speed veStarting acceleration asAnd a stopping acceleration aeAfter determining the above parameters, a unique S-shaped curve can be determined, and the starting speed v of the stepping motor can be determinedsStopping speed veStarting acceleration asAnd stop addingSpeed aeAre all 0, so the calculation is not needed in the control process;
s20: dividing the displacement of the stepping motor into seven stages of an acceleration section a, a uniform acceleration section b, an acceleration reduction section c, a uniform velocity section d, an acceleration and deceleration section e, a uniform deceleration section f and a deceleration reduction section g, and obtaining the displacement of each stage according to initial parameters, wherein the calculation process comprises the following steps:
s21 if satisfied
(the stepping motor reaches the maximum speed first), then
When S ism≥Sa+Sb+Sc+Se+Sf+SgThen, the displacement is calculated in each stage in the formula (1) to obtain the final result, the acceleration, velocity and displacement curves are shown in FIG. 1, and the process proceeds to step S30 directly according to the calculation result,
when S isa+Sc+Se+Sg≤Sm＜Sa+Sb+Sc+Se+Sf+SgThen get S d0, and recalculate SbAnd SfThen, the process proceeds to step S30 to recalculate
FIG. 2(a) is a schematic view of an acceleration curve at this time,
when S ism＜Sa+Sc+Se+SgThen get Sb＝Sf＝S d0, and recalculate Sa、Sc、Se、SgThen, the process proceeds to step S30 to recalculate
FIG. 2(b) is a schematic view of the acceleration curve at this time;
if not satisfied with
(the maximum acceleration of the stepping motor is reached first), then
When S ism≥Sa+Sc+Se+SgIf so, the displacement is calculated in each stage in the equation (2) to be the final result, the acceleration curve is as shown in FIG. 3(a), the process proceeds to step S30 directly according to the final calculation result,
when S ism＜Sa+Sc+Se+SgThen get Sb＝Sf＝S d0, and recalculate Sa、Sc、Se、SgThen, the process proceeds to step S30 to recalculate
The acceleration curve is shown in FIG. 3 (b); s in step S20a、Sb、Sc、Sd、Se、Sf、SgDisplacement values for each stage;
s30: converting the displacement of each stage into the number of steps of the movement required by the stepping motor in each stage, and obtaining the acceleration and the speed of each step through initial parameters, wherein the CPU calculates the time length required by each step of the stepping motor action through the size, the acceleration and the speed of each step of the stepping motor, as shown in FIG. 4, and S30 comprises the following steps:
s31: determining the number of steps and the total number of steps of the stepping motor required to move in each stage according to the displacement of each stage;
s32: enabling TIMx matching interruption, wherein the step number i in a TIMx register is equal to 0;
s33: entering TIMx interruption and recording the number of times of entering interruption;
s34: if the number of times of entering the interrupt is even, the pulse pin is pulled to high level, the step number i in the TIMx register is i +1, and the process returns to step S33; if the number of times of entering the interrupt is odd, the pulse pin is pulled to a low level, and the step S35 is entered, the pulse pin is at a high level when the stepping motor does not act, a complete pulse is divided into a high level and a low level which are equal in time, when the pulse pin is pulled to the high level, a value is immediately assigned to a matching interrupt register of the TIMx, and the time of entering the interrupt next time is half of the pulse time calculated in the step. When the pulse pin is pulled to a low level, the pulse pin indicates that half of the pulse is sent, the time of the next pulse needs to be calculated immediately at the moment, and the calculation amount of the S-shaped motion curve can be greatly reduced by calculating the matching value of the timer in the next step in the matching interruption of each timer by adopting an iteration method;
s35: if i is less than or equal to the total step number, the acceleration of the acceleration adding section a and the deceleration reducing section g is as follows: a is(i+1)＝ai+ka*TiThe acceleration of the uniform acceleration section b and the uniform deceleration section f is as follows: a is(i+1)＝aiThe accelerations of the deceleration and acceleration section c and the acceleration and deceleration section e are as follows: a is(i+1)＝ai-ka*TiThe acceleration of the constant velocity segment d is: a is(i+1)0 and proceeds to step S36, where aiThe acceleration required by the stepping motor in the ith step is shown; if i>If the total step number is greater than the preset value, closing TIMx interruption and enabling the step number i in the TIMx register to be 0;
s36: calculating the velocity v of step i +1(i+1)＝vi+ai*Ti(ii) a Calculating the time of step i +1, T(i+1)Step foot/(subdivision v)i) Wherein, the step pitch foot is subdivided into the parameter values of the stepping motor, which are constants;
s37, the step number i in the TIMx register is changed to i +1, and the process returns to the step S33;
s40: the CPU counter controls the action of the stepping motor through the time length, the acceleration and the speed required by each step.
The acceleration and deceleration process adopts S-shaped curve acceleration, and acceleration changes from the minimum value to the maximum value gradually in the acceleration and deceleration process, guarantees that moment does not change suddenly to reduce the shake amplitude, but when step motor drive revolution body motion, the moment of stopping because of inertia, can shake on the contained angle of the power that step motor A/B formed mutually. As shown in fig. 5, after a weight is mounted on the same spring, the weight vibrates up and down, and when the load falls from a certain height, the weight must vibrate up and down. To solve the problem, the embodiment performs vibration suppression to reduce the jitter time when the stepping motor stops, that is, when the load moves inertially, a reverse force is applied to the load to adjust the load in the reverse direction, so as to stop the vibration rapidly, and the vibration suppression process is shown in fig. 6, and includes the following steps:
s51, the step motor encoder acquisition module acquires the current position information and feeds the position information back to the CPU;
s52: the CPU compares the feedback position information with the target position information, if the feedback position information is not at the target position, the step S53 is carried out, otherwise, the step S54 is carried out;
s53: calculating a compensation amount which is a difference value between the current position and the target position, adjusting the position of the stepping motor according to the compensation amount, and returning to S51 after the adjustment is finished;
s54: the encoder acquires the current position information of the stepping motor again and feeds the position information back to the CPU, the CPU compares the fed-back position information with the target position information, if the position information is not at the target position, the process proceeds to step S53, and if the position information is at the target position, the suppression adjustment is ended.
As shown in fig. 7, the overall control flow of the present embodiment is shown after adding the suppression flow.
The above-mentioned embodiments are merely illustrative of the inventive concept and are not intended to limit the scope of the invention, which is defined by the claims and the insubstantial modifications of the inventive concept can be made without departing from the scope of the invention.
Claims (4)
1. A high-precision collimat stepping motor control method capable of quickly eliminating jitter is characterized by comprising the following steps:
s10: the CPU receives and analyzes a motion instruction sent by an upper computer to obtain initial parameters;
s20: dividing the displacement of the stepping motor into a plurality of stages, and obtaining the displacement of each stage according to initial parameters;
s30: converting the displacement of each stage into the number of steps of the movement required by the stepping motor in each stage, obtaining the acceleration and the speed of each step through initial parameters, and calculating by the CPU through the size, the acceleration and the speed of each step of the stepping motor to obtain the time length required by each step of the movement of the stepping motor;
s40: the CPU counter controls the action of the stepping motor through the time length, the acceleration and the speed required by each step.
2. The high-precision collimat stepping motor control method for rapidly eliminating the jitters according to claim 1, is characterized in that: the initial parameter comprises an acceleration coefficient kaTarget acceleration amTarget velocity vmAnd target displacement SmThe stepping motor is divided into seven stages of an acceleration adding stage a, a uniform acceleration stage b, an acceleration reducing stage c, a uniform speed stage d, an acceleration and deceleration stage e, a uniform deceleration stage f and a deceleration reducing stage g;
the step of judging in S20 is as follows:
s21 if satisfied
Then
When S ism≥Sa+Sb+Sc+Se+Sf+SgThen, the process proceeds directly to step S30,
when S isa+Sc+Se+Sg≤Sm＜Sa+Sb+Sc+Se+Sf+SgThen get Sd0, and recalculate SbAnd SfThen, the process proceeds to step S30 to recalculate
When S ism＜Sa+Sc+Se+SgThen get Sb＝Sf＝Sd0, and recalculate Sa、Sc、Se、SgThen, the process proceeds to step S30 to recalculate
If not satisfied with
Then
When S ism≥Sa+Sc+Se+SgThen, the process proceeds directly to step S30,
when S ism＜Sa+Sc+Se+SgThen get Sb＝Sf＝Sd0, and recalculate Sa、Sc、Se、SgThen, the process proceeds to step S30 to recalculate
Wherein Sa、Sb、Sc、Sd、Se、Sf、SgThe displacement values for each stage.
3. The high-precision collimat stepping motor control method for rapidly eliminating the jitter of claim 2, wherein the method comprises the following steps: the step S30 includes the steps of:
s31: determining the number of steps and the total number of steps of the stepping motor required to move in each stage according to the displacement of each stage;
s32: enabling TIMx matching interruption, wherein the step number i in a TIMx register is equal to 0;
s33: entering TIMx interruption and recording the number of times of entering interruption;
s34: if the number of times of entering the interrupt is even, the pulse pin is pulled to high level, the step number i in the TIMx register is i +1, and the process returns to step S33; if the number of times of entering the interrupt is odd, the pulse pin is pulled to a low level, and the step S35 is entered;
s35: if i is less than or equal to the total step number, the acceleration of the acceleration adding section a and the deceleration reducing section g is as follows: a is(i+1)＝ai+ka*TiThe acceleration of the uniform acceleration section b and the uniform deceleration section f is as follows: a is(i+1)＝aiThe accelerations of the deceleration and acceleration section c and the acceleration and deceleration section e are as follows: a is(i+1)＝ai-ka*TiThe acceleration of the constant velocity segment d is: a is(i+1)0 and proceeds to step S36, where aiThe acceleration required by the stepping motor in the ith step is shown; if i>If the total step number is greater than the preset value, closing TIMx interruption and enabling the step number i in the TIMx register to be 0;
s36: calculating the velocity v of step i +1(i+1)＝vi+ai*Ti(ii) a Calculating the time of step i +1, T(i+1)Step foot/(subdivision v)i) Wherein, the step pitch foot is subdivided into the parameter values of the stepping motor, which are constants;
in step S37, the number of steps i in the TIMx register is changed to i +1, and the process returns to step S33.
4. The high-precision collimat stepping motor control method for rapidly eliminating the jitters according to claim 1, is characterized in that: includes step S50: vibration suppression is carried out at the moment of motion ending, and the vibration suppression comprises the following steps:
s51, the step motor encoder acquisition module acquires the current position information and feeds the position information back to the CPU;
s52: the CPU compares the feedback position information with the target position information, if the feedback position information is not at the target position, the step S53 is carried out, otherwise, the step S54 is carried out;
s53: calculating a compensation amount which is a difference value between the current position and the target position, adjusting the position of the stepping motor according to the compensation amount, and returning to S51 after the adjustment is finished;
s54: the encoder acquires the current position information of the stepping motor again and feeds the position information back to the CPU, the CPU compares the fed-back position information with the target position information, if the position information is not at the target position, the process proceeds to step S53, and if the position information is at the target position, the suppression adjustment is ended.
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Application publication date: 20200707 |