CN111632281B - Fast response scanning control system and method of active variable energy point scanning power supply - Google Patents
Fast response scanning control system and method of active variable energy point scanning power supply Download PDFInfo
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- A61N5/1042—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy with spatial modulation of the radiation beam within the treatment head
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Abstract
The invention relates to a fast response scanning control system and a method of an active energy point-changing scanning power supply, which are characterized in that the fast response scanning control system comprises an AD board, a fast interlocking interface board, a state board, an FPGA controller and a PWM back board; the AD board is used for acquiring the feedback current of each branch in the active energy-changing point scanning power supply; the quick-chain interface board is used for receiving quick-chain signals sent by the treatment terminal; the state board is used for judging whether the interior of the active energy-changing point scanning power supply fails or not, and if the interior of the active energy-changing point scanning power supply fails, a fault signal is fed back to the FPGA controller in real time; the FPGA controller is used for monitoring and determining an output current control signal of the active variable energy point scanning power supply in real time; the PWM backboard is used for outputting current control signals determined by the FPGA controller in real time, generating multi-path PWM optical signals in real time and sending the multi-path PWM optical signals to the active energy-changing point scanning power supply.
Description
Technical Field
The invention relates to a fast response scanning control system and method of an active variable energy point scanning power supply, belonging to the field of ion accelerators.
Background
The ion accelerator therapeutic equipment is a large-scale radiotherapy equipment using ion ray to make radiotherapy, the charged ions are accelerated to a certain energy by means of synchrotron, and are led out and injected into human body, before the charged ions are reached to the tumor focus, the ray energy is not released much, but after the charged ions are reached to the focus, a large quantity of energy can be instantaneously released so as to form pulse peak of "Bragg" energy. The whole irradiation process is similar to 'three-dimensional directional blasting' on tumors, can carry out powerful shooting and killing on tumor focuses, avoids irradiating normal tissues at the same time, and achieves the maximization of curative effect. The beam distribution system is a hardware facility for realizing ion beam radiotherapy, and is also an important component of an ion accelerator treatment device, and comprises beam distribution, monitoring, debugging, collimation, metering monitoring and the like. The beam distribution system guides the accelerated beam to a treatment terminal, and then guides the beam to treat the tumor by controlling a scanning power supply to generate a scanning magnetic field. At present, beam formula of ion beam applied to tumor clinical treatment mainly comprises two types of passive beam distribution and active variable energy beam distribution. In a passive beam distribution system, an accelerator provides a beam with fixed energy, a range shifter is arranged on a path through which the beam passes, so that the energy of an ion beam is changed to reach different incident depths, the beam is transversely expanded to obtain a larger irradiation field, and the irradiation field is intercepted by a collimator to carry out real-time irradiation treatment; in an active beam distribution system, an accelerator actively changes the energy of ions, so as to change the incident depth of an ion beam, and a magnetic scanning system is used for guiding a pencil beam (pencil beam) to perform conformal or intensity modulated irradiation treatment on a tumor target area. Compared with passive uniform scanning, active variable energy point scanning is accurate scanning, and has higher requirements on beam current and beam current distribution system equipment. The active variable energy point scanning power supply is key equipment for realizing active variable energy point scanning, and has the main function of generating required exciting current in real time so as to quickly guide beam current to reach a set position. If an analog power supply scheme is adopted, the scanning process is controlled by changing the current given reference voltage in real time, so that the scanning process is mainly completed by changing the analog given reference by an external controller, but the reliability, the real-time performance and the flexibility of the control method are limited. With the development of digital technology, digital scan power supplies are gradually replacing analog scan power supplies.
Hardware, data communication, software, control strategies and the like of the active scanning power supply controller should be kept to work fast, in real time and reliably, if abnormity occurs in the scanning process, the scanning process is stopped, so that not only can the treatment effect be influenced, but also the scanning process is not easy to recover, and finally the treatment efficiency of point scanning is influenced. Therefore, the control of the scan power should reduce the failure rate as much as possible and improve the reliability, which is a difficulty in the scan power control method. When the failure of the active scanning power supply occurs, how to quickly, effectively and timely inform the treatment terminal control system is a key and difficult problem in the point scanning power supply control process. The active scanning treatment process has a strict treatment sequence, firstly, doctors divide the tumor into a plurality of layers according to a treatment prescription to carry out irradiation treatment, firstly, the outermost layer is treated, and then, the treatment is carried out on the nearest layer in sequence. Because the tumor is generally irregular in shape and the treatment data of each layer is different, the power supply needs to receive position current data of a plurality of layers and generate a constrained magnetic field to guide the beam current to reach a preset position accurately in each layer. In the event of a failure, the power supply should ensure a real-time preservation of the state of the treatment and notify the terminal in real-time to the scan control system so that the system can be restored back to the treatment state. During the treatment process, the power controller should keep communicating with the terminal treatment system in real time to ensure the safety and reliability of the treatment process. This has high requirements for the reliability design of the hardware and software of the power supply controller, and therefore, the active scanning power supply controller needs to consider the reliability of operation while satisfying the functions.
Active scan therapy is an accurate scan and is commonly used to treat tumors that cannot be done by hand and that cannot be resected, such as tumors in the brain, liver, lung, prostate, etc., where it is important for the human body to minimize damage to normal tissues during treatment. The active scanning power supply is a key device for controlling the beam position in the treatment process, if the active scanning power supply is abnormal in the treatment process, or the current position has a large error, or the response time of the power supply output current is prolonged, the treatment position of the beam can be deflected, and cells of normal tissues can be damaged under severe conditions, so that great damage can be caused to a patient to be treated, and the treatment failure can be caused. Therefore, the scanning control method of the active scanning power source has a very critical role in the heavy ion tumor therapy device. However, there is no feasible scanning control method for the active scanning power source in the prior art to ensure that the ion accelerator treatment device can flexibly, reliably and safely complete the active scanning treatment.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a fast response scan control system and method for an active variable energy point scan power supply, which can ensure that an ion accelerator treatment device flexibly, reliably and safely completes active scan treatment.
In order to achieve the purpose, the invention adopts the following technical scheme: a fast response scanning control system of an active energy point-changing scanning power supply comprises an AD board, a fast interlocking interface board, a state board, an FPGA controller and a PWM back board; the AD board is used for acquiring the feedback current of each branch in the active energy-changing point scanning power supply; the quick-interlocking interface board is used for receiving a quick-interlocking signal sent by the treatment terminal and feeding back a quick-interlocking running state of the active energy-changing point scanning power supply to the treatment terminal; the state board is used for synchronizing the fast interlocking signal and the feedback current in real time; judging whether the interior of the active energy-changing point scanning power supply fails or not according to a state signal fed back by a circuit sensor in the active energy-changing point scanning power supply, and feeding back a failure signal to the FPGA controller in real time if the interior of the active energy-changing point scanning power supply fails; the FPGA controller is used for receiving an active scanning requirement sent by the treatment terminal at one time and multi-layer treatment data of an object to be scanned, and monitoring and determining an output current control signal of the active energy-changing point scanning power supply in real time according to the active scanning requirement, the multi-layer treatment data of the object to be scanned, a point changing or layer changing case, a fast interlock signal, a fault signal and a real-time synchronization result of the state board when the point changing or layer changing case sent by the treatment terminal is received; the PWM back plate is used for generating a plurality of paths of PWM optical signals in real time according to the output current control signals determined by the FPGA controller in real time and sending the signals to the active variable energy point scanning power supply so as to control a main circuit of the active variable energy point scanning power supply and realize layer change control and point change control of an object to be scanned.
Furthermore, the fast interlock signal comprises an interlock level signal and a point-changing pulse signal, the interlock level signal is used for the safe interlock control of the treatment process, and the point-changing pulse signal is used for controlling the real-time switching of the current value in the treatment process.
Further, the active scanning requirement comprises a treatment starting position, a treatment ending position, treatment pause and treatment resumption, and the multi-layer treatment data of the object to be scanned comprises position current data, point number, layer number and layer changing data of each layer of treatment of the object to be scanned.
Further, the FPGA controller comprises a bottom plate, an FPGA core control board and an EPCS chip, wherein the system on chip of the FPGA core control board comprises a first CPU, a second CPU, a layer-changing controller, an active point scanning control module, a current composite regulator, an EPCS controller, a FLASH controller, a UART controller, a timer controller and an Ethernet controller; the bottom plate is provided with an optical fiber interface, the state plate, a quick-interlocking interface plate, a PWM (pulse width modulation) back plate and an FPGA (field programmable gate array) core control plate; the first CPU is used for receiving and storing an active scanning requirement sent by a treatment terminal at one time and multi-layer treatment data of an object to be scanned through an Ethernet interface, selecting the multi-layer treatment data according to a layer number of the object to be scanned and the active scanning requirement indicated in a hardware signal sent by the layer changing controller, and sending the multi-layer treatment data to the second CPU; feeding back the fast interlocking running state of the active energy-changing point scanning power supply to the treatment terminal through the fast interlocking interface board; sending a power-on/off or fault reset command sent by the treatment terminal to the status board; receiving an output current control signal fed back by the second CPU; the second CPU is used for selecting a certain treatment data value from the treatment data of the selected layer according to the point changing pulse signal in the fast chain signal and sending the treatment data value to the current composite regulator; monitoring an output current control signal in real time according to a real-time synchronization result of the state board and sending the output current control signal to the first CPU; the layer changing controller is used for receiving a layer changing point or a layer changing case sent by the treatment terminal through the optical fiber interface, generating a hardware signal and sending the hardware signal to the first CPU; the active point scanning control module is used for controlling the output of the current control signal of the current composite regulator in real time according to a preset interlocking requirement, an interlocking level signal in a fast interlocking signal and a fault signal sent by the state board; the current composite regulator is used for feeding back and regulating an output current control signal according to a preset output current threshold value, a treatment data value, a point changing pulse signal in a fast interlock signal and a control signal of the active point scanning control module; the EPCS controller is used for controlling the work of the EPCS chip; the FLASH controller is used for storing application program codes used by the first CPU and the second CPU; the UART controller is used for realizing data communication between the state board and the FPGA core control board; the timer controller is used for carrying out timing control on the application programs used by the first CPU and the second CPU; the Ethernet controller is used for providing an Ethernet interface on the FPGA core control board.
Further, the current compound regulator comprises a current feedback regulation module and a point-changing accelerator module, wherein a filtering unit, an amplitude limiting unit, a PI regulator and a PWM output unit which are processed in parallel are arranged in the current feedback regulation module; the filtering unit is used for filtering the output current control signal monitored by the second CPU in real time; the amplitude limiting unit is used for limiting the output current control signal exceeding the output current threshold according to a preset output current threshold and the filtered output current control signal; the PI regulator is used for performing proportional-integral regulation on the output current control signal which does not exceed the output current threshold; the PWM output unit is used for determining an output current control signal of the active variable energy point scanning power supply according to the output current control signal after proportional-integral adjustment; the point changing accelerator module is used for triggering work according to a point changing pulse signal in the fast chain signal and pre-emphasizing an output current control signal at the point changing moment.
Furthermore, the AD board is provided with 9 paths of data acquisition channels, wherein 8 paths of data acquisition channels are 12bit and 100Kbps low-precision channels and are used for voltage feedback and real-time protection; the 1-path data acquisition channel is an 18-bit 500Kbps high-precision channel and is used for outputting current feedback.
Furthermore, the FPGA core control board adopts an FPGA core control board which can be embedded into an SoC and is manufactured by Intel corporation.
A fast response scanning control method of an active variable energy point scanning power supply comprises the following steps: 1) the quick-interlocking interface board receives a quick-interlocking signal sent by the treatment terminal and sends the quick-interlocking signal to the state board and the FPGA controller, and meanwhile, the quick-interlocking interface board feeds back the quick-interlocking state of the active energy-changing point scanning power supply to the treatment terminal; 2) the AD board acquires the feedback current of each branch in the active energy-changing point scanning power supply and sends the feedback current to the FPGA controller; 3) the state board synchronizes the fast interlocking signal with the feedback current acquired by the AD board in real time; 4) the state board judges whether the interior of the active energy-changing point scanning power supply fails or not according to state signals fed back by a circuit sensor in the active energy-changing point scanning power supply, and if the interior of the active energy-changing point scanning power supply fails, the state board feeds back failure signals to the FPGA controller in real time; 5) the FPGA controller receives an active scanning requirement sent by a treatment terminal at one time and multilayer treatment data of an object to be scanned, and when a point changing or layer changing case sent by the treatment terminal is received, an output current control signal of an active energy-changing point scanning power supply is monitored and determined in real time according to the active scanning requirement, the multilayer treatment data of the object to be scanned, the point changing or layer changing case, a fast interlock signal, a fault signal and a real-time synchronization result of a state board; 6) the PWM backboard generates a plurality of paths of PWM optical signals in real time according to the output current control signals determined by the FPGA controller in real time and sends the signals to the active energy-variable point scanning power supply so as to control the main circuit of the active energy-variable point scanning power supply and realize layer change control and point change control of an object to be scanned.
Further, the specific process of step 5) is as follows: 5.1) the first CPU receives and stores the active scanning requirement and the treatment data which are sent by the treatment terminal at one time through the Ethernet interface; 5.2) the layer changing controller receives a layer changing point or a layer changing case sent by the treatment terminal through the optical fiber interface, generates a hardware signal and sends the hardware signal to the first CPU; 5.3) the first CPU selects the multi-layer treatment data according to the layer number of the object to be scanned and the active scanning requirement indicated in the hardware signal and sends the multi-layer treatment data to the second CPU; 5.4) the second CPU selects a certain treatment data value from the treatment data of the selected layer according to the point changing pulse signal in the fast chain signal and sends the treatment data value to the current composite regulator; 5.5) simultaneously, the second CPU monitors the output current control signal in real time according to the real-time synchronization result of the state board and feeds the output current control signal back to the first CPU; 5.6) the active point scanning control module controls the output of the current control signal of the current composite regulator in real time according to the preset interlocking requirement, the interlocking level signal in the fast interlocking signal and the fault signal sent by the state board; 5.7) the current composite regulator feeds back and regulates the output current control signal according to the preset output current threshold, the treatment data value, the point changing pulse signal in the fast chain signal and the control signal of the active point scanning control module; 5.8) the first CPU sends the fast chain running state of the active energy-changing point scanning power supply to the treatment terminal through the fast chain interface board.
Further, the specific process of step 6) is as follows: the PWM backboard generates 16 paths of PWM optical signals in real time according to output current control signals determined by the FPGA controller in real time, and sends the PWM optical signals to a driving circuit of an IGBT in the active energy-changing point scanning power supply main circuit to be used as control signals of a driving circuit switch of the IGBT, the PWM optical signals are a group of digital signals with a time sequence relation, and when the PWM optical signals are high level, the IGBT is switched on; when low, the IGBT turns off.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the invention can effectively realize the accurate treatment of the active point scanning treatment device by controlling the active variable energy point scanning power supply due to the arrangement of the FPGA (field programmable gate array) controller, and meets the requirements of the treatment terminal on the reliability, the safety and the real-time control of the active variable energy point scanning power supply.
2. The state of the active energy-variable point scanning power supply has important influence on the active scanning process of the active point scanning treatment device.
3. The main circuit of the active energy-changing point scanning power supply adopts an H-bridge multistage series structure of an IGBT (insulated gate bipolar transistor), the structure is complex, the response speed of the power supply is improved in a frequency doubling mode, and therefore, multiple paths of PWM (pulse width modulation) are needed to complete the control of the main circuit.
4. The invention relates to a rapid interlocking device for a medical treatment terminal, which comprises a rapid interlocking interface board, a FPGA controller, a state board, an active energy-changing point scanning power supply, a rapid interlocking interface board, an AD board, a rapid interlocking signal scanning power supply, a rapid interlocking interface board, a rapid interlocking board, a.
5. The FPGA core control board of the FPGA controller is provided with the first CPU and the second CPU, so that the layer changing and the point changing are independently controlled through the optical fiber interface, the treatment terminal issues multi-layer treatment data at one time, then sends the point changing or layer changing case to select the next layer of treatment data, and finally receives the point changing pulse signal to perform single-layer treatment until all layers of treatment are finished.
6. In the invention, the treatment terminal can output periodic current waveforms such as triangular waves and the like by issuing the multi-layer treatment data and the active scanning requirement of the object to be scanned which meet the requirement at one time, and realize the active and passive mode switching of the scanning mode, so that a single terminal has the active and passive treatment capacity, and can be widely applied to the field of ion accelerators.
Drawings
FIG. 1 is a schematic diagram of the working principle of active scanning therapy;
FIG. 2 is a schematic diagram of the system of the present invention;
FIG. 3 is a schematic diagram of the structure of the FPGA controller in the system of the present invention;
FIG. 4 is a schematic structural diagram of a system on a control board of an FPGA core in the FPGA controller of the present invention.
Detailed Description
The present invention is described in detail below with reference to the attached drawings. It is to be understood, however, that the drawings are provided solely for the purposes of promoting an understanding of the invention and that they are not to be construed as limiting the invention.
Since the fast response scanning control system and method of the active energy-changing point scanning power supply provided by the invention relate to the relevant contents of the active point scanning treatment device, the active energy-changing point scanning power supply and the like, the relevant contents are introduced below, so that the contents of the invention will be more clear to those skilled in the art.
The working principle of the active point scanning treatment device is shown in fig. 1, a tumor (tumor) is treated mainly according to a treatment prescription, and a beam current (beam) is restrained to move rapidly in the x and y directions of the cross section of the beam current by a real-time variable magnetic field generated by a vertical scanning magnet (vertical scanning magnet) and a horizontal scanning magnet (horizontal scanning magnet) to perform scanning treatment. The outermost beam is treated firstly, and then the treatment is carried out from outside to inside (last slice Emin to first slice Emax) in sequence. The active energy-changing point scanning power supply is responsible for providing rapidly-changing exciting current for the vertical scanning magnet and the horizontal scanning magnet to generate a positioning magnetic field, so that the scanning constraint beam spot rapidly moves on a treatment irradiation field plane to complete treatment.
The active energy-changing point scanning power supply requires switching current in a short time, the holding time of each current value is short, usually several milliseconds, and meanwhile, certain stability of the current is required to be ensured, which has high requirements on a power supply current regulator. Because the load inductance and the resistance of the active energy-changing point scanning power supply are large, and the point current changes relatively little under most conditions, if the point current changes relatively long by adopting a conventional control algorithm for adjustment. The algorithm is optimized, and the point changing time of point scanning can be obviously improved. Therefore, the invention optimizes links such as filtering, rising time and the like of the current regulator so as to ensure the real-time performance and the accuracy of point changing.
The active scanning process is a process that a plurality of chained signals of the treatment terminal are interacted with the scanning power supply. In general, an active variable energy point scanning power supply performs current switching according to a switching pulse signal from a terminal. When the energy needs to be adjusted in the treatment process, the controller of the active energy-variable point scanning power supply is controlled in real time to change the layers through the optical fiber control signal from the terminal. The whole layer changing and point changing process has strict time sequence control, which are all the problems to be considered in the point scanning control. The invention sets an active point scanning control module in an FPGA (field programmable gate array) core control board to complete the real-time control functions of layer changing, point changing, interlocking and the like on the current, thereby ensuring that the current completes the whole active scanning treatment process according to the active scanning requirement of a treatment terminal.
Based on the above description, as shown in fig. 2, the fast response scan control system of the active variable energy point scan power supply provided by the present invention includes an AD (analog to digital conversion) board 1, a fast interlock interface board 2, a state board 3, an FPGA controller 4, and a PWM backplane 5.
The AD board 1 is used for obtaining feedback current and voltage of each branch in the active energy-changing point scanning power supply and sending the feedback current and voltage to the FPGA controller 4, so that real-time feedback adjustment and monitoring can be carried out on the current, and rapidity and accuracy of output current are guaranteed.
The fast interlock interface board 2 is used for receiving fast interlock signals sent by the treatment terminal, wherein the fast interlock signals comprise interlock level signals and point changing pulse signals, the interlock level signals are used for controlling the safe interlock of the treatment process, and the point changing pulse signals are used for controlling the real-time switching of the current value in the treatment process.
The state board 3 is used for synchronizing the fast interlocking signal and the feedback current acquired by the AD board 1 in real time so as to ensure that the current of the active variable energy point scanning power supply is effectively controlled when a fault interlocking occurs; judging whether a fault caused by circuit hardware occurs in the active energy-changing point scanning power supply or not according to a state signal fed back by a circuit sensor in the active energy-changing point scanning power supply, and feeding back a fault signal to the FPGA controller 4 in real time if the fault occurs; and controlling the on-off or fault resetting of the active energy-variable point scanning power supply according to a command sent by the treatment terminal.
The FPGA controller 4 is used for receiving an active scanning requirement sent by the treatment terminal at one time and multi-layer treatment data of an object to be scanned through an Ethernet interface, and monitoring and determining an output current control signal of the active energy-changing point scanning power supply in real time according to the active scanning requirement, the multi-layer treatment data of the object to be scanned, a point changing or layer changing case, a fast interlocking signal, a fault signal and a real-time synchronization result of the state board 3 when the point changing or layer changing case sent by the treatment terminal through the optical fiber interface is received; and sending the fast-chain running state of the active variable-energy-point scanning power supply to a treatment terminal through a fast-chain interface board 2, wherein the active scanning requirements comprise control requirements such as treatment starting position, treatment ending position, treatment pause and treatment recovery, and the multi-layer treatment data of the object to be scanned comprise position current data, points, layers, layer changing data and the like of each layer of treatment of the object to be scanned.
The PWM backplane 5 is configured to generate 16 paths of PWM optical signals in real time according to an output current control signal determined in real time by the FPGA controller 4, and send the PWM optical signals to the active variable energy point scanning power supply to control a main circuit of the active variable energy point scanning power supply, so as to implement layer change control and point change control on an object to be scanned, where the main circuit of the active variable energy point scanning power supply is a serial-parallel structure of an IGBT (insulated gate bipolar transistor).
In a preferred embodiment, as shown in fig. 3 and 4, the FPGA controller 4 includes a backplane 41, an FPGA core control board 42, and an EPCS (serial memory) chip, wherein the system on chip of the FPGA core control board 42 includes a first CPU420, a second CPU421, a layer change controller 422, an active point scan control module 423, a current composition regulator 424, an EPCS controller 425, a FLASH (FLASH) controller 426, a UART (universal asynchronous receiver transmitter) controller 427, a timer controller 428, and an ethernet controller 429.
The bottom plate 41 is provided with a Max485 interface, a 96-pin bus interface, an Ethernet interface, an optical fiber interface and an FPGA core control panel 42, the Max485 interface is connected with a state plate 3 through an SPI bus, the 96-pin bus interface is connected with a PWM back plate 5 and a fast interlocking interface plate 2 through the SPI bus, the Ethernet interface is connected with a treatment terminal and used for receiving active scanning requirements and multi-layer treatment data of an object to be scanned, the optical fiber interface is connected with the treatment terminal and used for receiving point changing or layer changing cases, and the FPGA core control panel 42 is further connected with an AD plate 1 through the SPI bus.
The first CPU420 is configured to receive and store an active scanning request and multi-layer treatment data of an object to be scanned, which are sent by the treatment terminal at one time through the ethernet interface, select the multi-layer treatment data according to a layer number of the object to be scanned and the active scanning request, which are indicated in the hardware signal sent by the layer changing controller 422, and send the selected multi-layer treatment data to the second CPU 421; the fast interlocking running state of the active energy-changing point scanning power supply is fed back to the treatment terminal through the fast interlocking interface board 2; sending a power-on/off or fault reset command sent by the treatment terminal to the status board 3; and receives an output current control signal of the current complex regulator 424 fed back by the second CPU 421.
The second CPU421 is configured to select a certain therapeutic data value from the therapeutic data of the selected layer according to the dot changing pulse signal in the fast chain signal, and send the selected therapeutic data value to the current complex regulator 424; and according to the real-time synchronization result of the status board 3, monitoring the output current control signal of the current composite regulator 424 in real time and sending the output current control signal to the first CPU420, and feeding back the current change in the point changing process in real time.
The layer-changing controller 422 is configured to receive a layer-changing point or a layer-changing instance sent by the therapy terminal through the optical fiber interface, generate a hardware signal, and send the hardware signal to the first CPU420, so as to interrupt the selection of therapy data of a next layer and prepare for therapy of the next layer.
The active point scanning control module 423 is configured to perform real-time control on the output of the current control signal of the current combination regulator 424 according to a preset interlock requirement, an interlock level signal in the fast interlock signal, and a fault signal sent by the status board 3, so as to ensure sufficient real-time performance.
The current complex regulator 424 is used for feedback-regulating the output current control signal according to a preset output current threshold, a treatment data value, a point-changing pulse signal in the fast interlock signal and a control signal of the active point scanning control module 423, so as to ensure that the output current reaches the required precision, response speed and stability, and meet the special requirement of real-time scanning of the active point scanning treatment device.
The EPCS chip is used to store a configuration file of the FPGA core control board 42 circuit, wherein the configuration file is compiled by a hardware description language and stored to the EPCS chip after compiling, and when the FPGA core control board 42 is powered on, the circuit structure is firstly read into the FPGA core control board 42 from the EPCS chip to complete the circuit configuration of the FPGA core control board 42.
The EPCS controller 425 is used to control the operation of the EPCS chip.
The FLASH controller 426 is used to store application program codes used by the first CPU420 and the second CPU 421.
The UART controller 427 is used to enable data communication between the status board 3 and the FPGA core control board 42.
The timer controller 428 is used to control the timing of the application programs used by the first CPU420 and the second CPU 421.
Ethernet controller 429 is used to provide an ethernet interface on the FPGA core control board for data transmission and status feedback communication.
In a preferred embodiment, the current complex regulator 424 includes a current feedback regulation module and a commutation accelerator module, wherein the current feedback regulation module is internally provided with a filtering unit, a limiting unit, a PI (proportional integral) regulator and a PWM output unit which are processed in parallel.
The filtering unit is used for filtering the output current control signal monitored by the second CPU421 in real time.
The amplitude limiting unit is used for limiting the output current control signal exceeding the output current threshold according to the preset output current threshold and the filtered output current control signal.
The PI regulator is used for performing proportional integral regulation on the output current control signal which does not exceed the output current threshold value.
And the PWM output unit is used for determining an output current control signal of the active variable energy point scanning power supply according to the output current control signal after proportional-integral adjustment so as to control the IGBT of the active variable energy point scanning power supply in real time.
The switching point accelerator module is used for triggering work according to a switching point pulse signal in the fast chain signal, and pre-emphasizing the output current control signal at the switching point moment so as to shorten the control process of rising or falling of the output current.
In a preferred embodiment, the FPGA core control board 42 may be an FPGA core control board 42 of an System-on-a-Chip (SoC) of Intel corporation.
In a preferred embodiment, the PCB board of the FPGA core control board 42 is 6 layers to ensure the stability of the circuit.
In a preferred embodiment, the backplane 41 and the FPGA core control board 42 are connected by using 3 groups of 64-pin stacked board linkers to ensure reliable transmission of high-speed digital signals.
In a preferred embodiment, the AD board 1 is provided with 9 data acquisition channels, wherein 8 data acquisition channels are 12bit and 100Kbps low-precision channels, and signals of the 8 low-precision channels are independently acquired and are respectively used for voltage feedback and real-time protection; the 1-path data acquisition channel is a high-precision channel with 18 bits and 500Kbps, and signals acquired by the high-precision channel are used for outputting current feedback.
In a preferred embodiment, the fast interlock interface board 2 may employ an Avago fiber transceiver model HFBR1624 or HFBR2624 to enable the FPGA controller 4 to reliably receive external fast changing fiber signals.
In a preferred embodiment, the data communication between the FPGA controller 4 and the therapeutic terminal is transmitted by using an ethernet TCP/IP protocol based on 100Mbps, and the communication protocol uses a custom standard protocol to ensure that the therapeutic data can be reliably and effectively transmitted to the main circuit of the active variable energy point scanning power supply.
Based on the fast response scanning control system of the active variable energy point scanning power supply, the invention also provides a fast response scanning control method of the active variable energy point scanning power supply, which comprises the following steps:
1) the fast interlocking interface board 2 receives the fast interlocking signal sent by the treatment terminal and sends the fast interlocking signal to the state board 3 and the FPGA controller 4, so that the interaction between the fast interlocking signal of the treatment terminal and the FPGA controller 4 is realized, and meanwhile, the fast interlocking interface board 2 feeds back the fast interlocking state of the active energy-changing point scanning power supply to the treatment terminal.
2) The AD board 1 acquires the feedback current and voltage of each branch in the active energy-changing point scanning power supply and sends the feedback current and voltage to the FPGA controller 4.
3) The state board 3 synchronizes the fast interlock signal with the feedback current obtained by the AD board 1 in real time to ensure that the output current of the active variable energy point scanning power supply is effectively controlled when a fault interlock occurs.
4) The state board 3 judges whether a fault caused by circuit hardware occurs in the active energy-changing point scanning power supply according to a state signal fed back by a circuit sensor in the active energy-changing point scanning power supply, and if the fault occurs, a fault signal is fed back to the FPGA controller 4 in real time.
5) The FPGA controller 4 receives an active scanning requirement sent by a treatment terminal at one time and multilayer treatment data of an object to be scanned through an Ethernet interface, and when a point changing or layer changing case sent by the treatment terminal through an optical fiber interface is received, an output current control signal of an active energy-changing point scanning power supply is monitored and determined in real time according to the active scanning requirement, the multilayer treatment data of the object to be scanned, the point changing or layer changing case, a fast interlock signal, a fault signal and a real-time synchronization result of the state board 3, and the method specifically comprises the following steps:
5.1) the first CPU420 receives and stores the active scanning requirement and the multi-layer treatment data of the object to be scanned, which are sent by the treatment terminal once, through the Ethernet interface.
5.2) the layer changing controller 422 receives the layer changing point or the layer changing case sent by the treatment terminal through the optical fiber interface, generates a hardware signal, and sends the hardware signal to the first CPU 420.
5.3) the first CPU420 selects the multi-layer treatment data according to the layer number of the object to be scanned and the active scanning requirement indicated in the hardware signal, and sends the multi-layer treatment data to the second CPU 421.
5.4) the second CPU421 selects a certain therapeutic data value from the therapeutic data of the selected layer according to the dot changing pulse signal in the fast chain signal, and sends the selected therapeutic data value to the current complex regulator 424.
5.5), the second CPU421 monitors the output current control signal of the current complex regulator 424 in real time according to the real-time synchronization result of the status board 3 and feeds the output current control signal back to the first CPU420, and feeds the current change in the point changing process back in real time.
5.6) the active point scanning control module 423 controls the output of the current control signal of the current complex regulator 424 in real time according to the preset interlocking requirement, the interlocking level signal in the fast interlocking signal and the fault signal sent by the state board 3.
5.7) the current complex regulator 424 feedback regulates the output current control signal according to the preset output current threshold, the therapeutic data value, the dot changing pulse signal in the fast interlock signal and the control signal of the active dot scanning control module 423.
5.8) the first CPU420 sends the fast chain running state of the active energy-changing point scanning power supply to the treatment terminal through the fast chain interface board 2.
6) The PWM backplate 5 generates 16 paths of PWM optical signals in real time according to an output current control signal determined by the FPGA controller 4 in real time, and sends the PWM optical signals to the active variable energy point scanning power supply to control a main circuit of the active variable energy point scanning power supply, so that layer changing control and point changing control of an object to be scanned are realized, and the method specifically comprises the following steps:
the PWM backboard 5 generates 16 paths of PWM optical signals in real time according to output current control signals determined by the FPGA controller 4 in real time, the PWM optical signals are sent to a driving circuit of an IGBT in the active energy-changing point scanning power supply main circuit and used as control signals of a driving circuit switch of the IGBT, the PWM optical signals are a group of digital signals with a time sequence relation, and when the PWM optical signals are high level, the IGBT is switched on; when the voltage is in a low level, the IGBT is closed, the output current of the main circuit is controlled through the duration time of the high level, the current is larger when the duration time is longer, and the current is smaller when the duration time is shorter.
7) The state board 3 controls the on-off or fault resetting of the active energy-changing point scanning power supply according to the command sent by the treatment terminal.
The above embodiments are only used for illustrating the present invention, and the structure, connection mode, manufacturing process, etc. of the components may be changed, and all equivalent changes and modifications performed on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention.
Claims (7)
1. A fast response scanning control system of an active energy point-changing scanning power supply is characterized by comprising an AD board, a fast interlocking interface board, a state board, an FPGA controller and a PWM back board;
the AD board is used for acquiring the feedback current of each branch in the active energy-changing point scanning power supply;
the quick-interlocking interface board is used for receiving quick-interlocking signals sent by the treatment terminal and feeding back a quick-interlocking running state of the active energy-changing point scanning power supply to the treatment terminal, the quick-interlocking signals comprise interlocking level signals and point-changing pulse signals, the interlocking level signals are used for performing safe interlocking control on the treatment process, and the point-changing pulse signals are used for controlling the real-time switching of current values in the treatment process;
the state board is used for synchronizing the fast interlocking signal and the feedback current in real time; judging whether the interior of the active energy-changing point scanning power supply fails or not according to a state signal fed back by a circuit sensor in the active energy-changing point scanning power supply, and feeding back a failure signal to the FPGA controller in real time if the interior of the active energy-changing point scanning power supply fails;
the FPGA controller is used for receiving an active scanning requirement sent by the treatment terminal at one time and multi-layer treatment data of an object to be scanned, and monitoring and determining an output current control signal of the active energy-changing point scanning power supply in real time according to the active scanning requirement, the multi-layer treatment data of the object to be scanned, a point changing or layer changing case, a fast interlock signal, a fault signal and a real-time synchronization result of the state board when the point changing or layer changing case sent by the treatment terminal is received;
the PWM back plate is used for generating a plurality of paths of PWM optical signals in real time according to the output current control signals determined by the FPGA controller in real time and sending the PWM optical signals to the active variable energy point scanning power supply so as to control a main circuit of the active variable energy point scanning power supply and realize layer change control and point change control of an object to be scanned;
the FPGA controller comprises a bottom plate, an FPGA core control plate and an EPCS chip, wherein a system on chip of the FPGA core control plate comprises a first CPU, a second CPU, a layer-changing controller, an active point scanning control module, a current composite regulator, an EPCS controller, a FLASH controller, a UART controller, a timer controller and an Ethernet controller;
the bottom plate is provided with a Max485 interface, a 96-pin bus interface, an Ethernet interface, an optical fiber interface and the FPGA core control panel, the Max485 interface is connected with the state board through an SPI bus, and the 96-pin bus interface is connected with the PWM back plate and the fast interlock interface board through the SPI bus;
the first CPU is used for receiving and storing an active scanning requirement sent by a treatment terminal at one time and multi-layer treatment data of an object to be scanned through an Ethernet interface, selecting the multi-layer treatment data according to a layer number of the object to be scanned and the active scanning requirement indicated in a hardware signal sent by the layer changing controller, and sending the multi-layer treatment data to the second CPU; feeding back the fast interlocking running state of the active energy-changing point scanning power supply to the treatment terminal through the fast interlocking interface board; sending a power-on/off or fault reset command sent by the treatment terminal to the status board; receiving an output current control signal fed back by the second CPU;
the second CPU is used for selecting a certain treatment data value from the treatment data of the selected layer according to the point changing pulse signal in the fast chain signal and sending the treatment data value to the current composite regulator; monitoring an output current control signal in real time according to a real-time synchronization result of the state board and sending the output current control signal to the first CPU;
the layer changing controller is used for receiving a layer changing point or a layer changing case sent by the treatment terminal through the optical fiber interface, generating a hardware signal and sending the hardware signal to the first CPU;
the active point scanning control module is used for controlling the output of the current control signal of the current composite regulator in real time according to a preset interlocking requirement, an interlocking level signal in a fast interlocking signal and a fault signal sent by the state board;
the current composite regulator is used for feeding back and regulating an output current control signal according to a preset output current threshold value, a treatment data value, a point changing pulse signal in a fast interlock signal and a control signal of the active point scanning control module;
the EPCS controller is used for controlling the work of the EPCS chip;
the FLASH controller is used for storing application program codes used by the first CPU and the second CPU;
the UART controller is used for realizing data communication between the state board and the FPGA core control board;
the timer controller is used for carrying out timing control on the application programs used by the first CPU and the second CPU;
the Ethernet controller is used for providing an Ethernet interface on the FPGA core control board.
2. The fast response scan control system of claim 1, wherein the active scan request comprises a treatment start position, a treatment end position, a treatment pause and a treatment resume, and the multi-layer treatment data of the object to be scanned comprises position current data, number of points, number of layers and layer change data of each layer of treatment of the object to be scanned.
3. The fast response scanning control system of an active variable energy point scanning power supply of claim 1, wherein the current complex regulator comprises a current feedback regulation module and a point-changing accelerator module, wherein a filtering unit, a limiting unit, a PI regulator and a PWM output unit which are processed in parallel are arranged in the current feedback regulation module;
the filtering unit is used for filtering the output current control signal monitored by the second CPU in real time;
the amplitude limiting unit is used for limiting the output current control signal exceeding the output current threshold according to the preset output current threshold and the filtered output current;
the PI regulator is used for performing proportional-integral regulation on the output current control signal which does not exceed the output current threshold;
the PWM output unit is used for determining an output current control signal of the active variable energy point scanning power supply according to the output current control signal after proportional-integral adjustment;
the point changing accelerator module is used for triggering work according to a point changing pulse signal in the fast chain signal and pre-emphasizing an output current control signal at the point changing moment.
4. The fast response scanning control system of an active energy-changing point scanning power supply as claimed in claim 1, wherein the AD board is provided with 9 data acquisition channels, wherein 8 data acquisition channels are 12bit, 100Kbps low precision channels for voltage feedback and real-time protection; the 1-path data acquisition channel is an 18-bit 500Kbps high-precision channel and is used for outputting current feedback.
5. The fast-response scanning control system of the active variable energy point scanning power supply as claimed in claim 1, wherein the FPGA core control board is an FPGA core control board of an Intel corporation that can be embedded in an SoC.
6. A fast response scanning control method of an active variable energy point scanning power supply is characterized by comprising the following steps:
1) the quick-interlocking interface board receives a quick-interlocking signal sent by the treatment terminal and sends the quick-interlocking signal to the state board and the FPGA controller, and meanwhile, the quick-interlocking interface board feeds back the quick-interlocking state of the active energy-changing point scanning power supply to the treatment terminal;
2) the AD board acquires the feedback current of each branch in the active energy-changing point scanning power supply and sends the feedback current to the FPGA controller;
3) the state board synchronizes the fast interlocking signal with the feedback current acquired by the AD board in real time;
4) the state board judges whether the interior of the active energy-changing point scanning power supply fails or not according to state signals fed back by a circuit sensor in the active energy-changing point scanning power supply, and if the interior of the active energy-changing point scanning power supply fails, the state board feeds back failure signals to the FPGA controller in real time;
5) the FPGA controller receives an active scanning requirement sent by a treatment terminal at one time and multilayer treatment data of an object to be scanned, and when a point changing or layer changing case sent by the treatment terminal is received, an output current control signal of an active energy-changing point scanning power supply is monitored and determined in real time according to the active scanning requirement, the multilayer treatment data of the object to be scanned, the point changing or layer changing case, a fast interlock signal, a fault signal and a real-time synchronization result of a state board, and the specific process is as follows:
5.1) the first CPU receives and stores the active scanning requirement and the treatment data which are sent by the treatment terminal at one time through the Ethernet interface;
5.2) the layer changing controller receives a layer changing point or a layer changing case sent by the treatment terminal through the optical fiber interface, generates a hardware signal and sends the hardware signal to the first CPU;
5.3) the first CPU selects the multi-layer treatment data according to the layer number of the object to be scanned and the active scanning requirement indicated in the hardware signal and sends the multi-layer treatment data to the second CPU;
5.4) the second CPU selects a certain treatment data value from the treatment data of the selected layer according to the point changing pulse signal in the fast chain signal and sends the treatment data value to the current composite regulator;
5.5) simultaneously, the second CPU monitors the output current control signal in real time according to the real-time synchronization result of the state board and feeds the output current control signal back to the first CPU;
5.6) the active point scanning control module controls the output of the current control signal of the current composite regulator in real time according to the preset interlocking requirement, the interlocking level signal in the fast interlocking signal and the fault signal sent by the state board;
5.7) the current composite regulator feeds back and regulates the output current control signal according to the preset output current threshold, the treatment data value, the point changing pulse signal in the fast chain signal and the control signal of the active point scanning control module;
5.8) the first CPU sends the fast interlocking running state of the active variable energy point scanning power supply to the treatment terminal through the fast interlocking interface board;
6) the PWM backboard generates a plurality of paths of PWM optical signals in real time according to the output current control signals determined by the FPGA controller in real time and sends the signals to the active energy-variable point scanning power supply so as to control the main circuit of the active energy-variable point scanning power supply and realize layer change control and point change control of an object to be scanned.
7. The fast response scanning control method of the active variable energy point scanning power supply according to claim 6, wherein the specific process of the step 6) is as follows:
the PWM backboard generates 16 paths of PWM optical signals in real time according to output current control signals determined by the FPGA controller in real time, and sends the PWM optical signals to a driving circuit of an IGBT in the active energy-changing point scanning power supply main circuit to be used as control signals of a driving circuit switch of the IGBT, the PWM optical signals are a group of digital signals with a time sequence relation, and when the PWM optical signals are high level, the IGBT is switched on; when low, the IGBT turns off.
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