JP2016031553A - Drive control device of rotation device and drive control method of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive control device of a rotation device that increases followability of the rotation device, and can shorten an alignment time.SOLUTION: According to an embodiment, a drive control device of a rotation device is configured to transmit a drive force from drive shafts 3 and 4 to implement alignment control of a rotation gantry 2. The drive control device comprises: servo control units 20 and 30 that implement drive control of the drive shafts 3 and 4; parameter retaining units 41 and 42 that retain control parameters to be set to the respective servo control units 20 and 30; a trajectory generation unit 43 that generates an instruction value signal for each control period for the respective servo control units 20 and 30; a rotation direction determination unit 45 that determines a rotation direction of the rotation gantry 2 from the instruction value signals generated by the trajectory generation unit 43; and a parameter setting destination selection circuit 46 that selects the servo control units 20 and 30 serving as parameter setting destinations of the parameter retaining units 41 and 42 from a plurality of servo control units on the basis of a determination result of the rotation direction determination unit 45.SELECTED DRAWING: Figure 1

Description

  Embodiments described herein relate generally to a drive control device and a drive control method for a rotation device such as a rotation irradiation device used for radiotherapy.

  In general, for radiation therapy, a rotary irradiation apparatus that irradiates a patient with a particle beam from an arbitrary position in the circumferential direction by rotating around the patient is used. This rotary irradiation apparatus is an apparatus having a function of positioning a rotation angle of a rotating gantry that is a heavy object. The rotary irradiation device supports a rotating gantry to be controlled by a driving wheel and a driven wheel. The rotary irradiation device controls the rotational position and speed of the rotating gantry by transmitting the driving force generated by an actuator such as a motor mechanically connected to the driving wheel and frictionally driving the rotating gantry. Yes. As such a rotary irradiation apparatus, there is a technique described in Patent Document 1, for example.

  Further, in such a rotary irradiation apparatus, in order to obtain a sufficient driving force, a plurality of driving wheels (hereinafter also referred to as driving shafts) are often provided and driven. However, in this rotary irradiation device, positional deviation occurs between the plurality of drive shafts. Therefore, in the rotary irradiation device, it is necessary to operate a plurality of drive shafts in cooperation in order to prevent the followability of the rotating gantry being controlled and the slippage of the drive transmission unit. As a technique related to control of a positioning device having a plurality of axes and setting of control parameters, for example, a servo control device described in Patent Document 2 has been proposed.

JP 2007-83059 A JP 2013-182586 A

  When a plurality of drive shafts are controlled using the mechanism described in Patent Document 1 described above, the load and control characteristics differ depending on each drive shaft in a state where the rotating gantry is rotating due to the characteristics of the mechanism. As a result, if the same control parameters are used for all drive axes, the followability of the rotating gantry will deteriorate, so it will not be possible to cope with rapid acceleration / deceleration or small speed changes, and it will take a long time to position the rotating gantry. There was a problem that it took.

  In addition, the technique described in Patent Document 2 described above aims to improve followability by setting a parameter for each drive shaft and performing feedforward control. However, when a device that transmits driving force to a controlled object that is a heavy object such as the rotating gantry is applied, the parameter identified while rotating the controlled object in a certain direction rotates in the opposite direction to that direction. There was a problem that the optimal follow-up performance would not be obtained when the control was performed.

  The problem to be solved by the embodiments of the present invention is to provide a drive control device and a drive control method for the rotary device capable of improving the followability of the rotary device and reducing the positioning time.

  In order to achieve the above object, a drive control device for a rotating device according to an embodiment of the present invention is a drive control device for a rotating device that performs positioning control of the rotating device by transmitting driving force from a plurality of drive shafts. , A plurality of servo control units that respectively drive and control the plurality of drive axes, a plurality of parameter holding units that respectively hold control parameters set for the servo control units, and a control for the servo control units The trajectory generation unit that generates a command value signal for each cycle, the rotation direction determination unit that determines the rotation direction of the rotating device from the command value signal generated by the trajectory generation unit, and the determination result of the rotation direction determination unit And a parameter setting destination selection circuit for selecting from among a plurality of servo control units serving as parameter setting destinations of the parameter holding unit.

  A drive control method for a rotating device according to an embodiment of the present invention is a drive control method for a rotating device that performs positioning control of the rotating device by transmitting driving force from a plurality of drive shafts, each of the plurality of drive shafts being A plurality of parameter holding steps each holding control parameters set for a plurality of servo control units for driving control, a trajectory generating step for generating a command value signal for each control cycle for each servo control unit, and The rotation direction determination step for determining the rotation direction of the rotating device from the command value signal generated in the trajectory generation step, and the control held in the plurality of parameter holding steps based on the determination result in the rotation direction determination step A parameter setting destination selecting step of selecting a plurality of servo control units as parameter setting destinations of the parameters from a plurality of parameters.

  According to the embodiment of the present invention, it is possible to improve the followability of the rotating device and shorten the positioning time.

It is a block diagram which shows 1st Embodiment of the drive control apparatus of the rotating apparatus which concerns on this invention. It is a schematic elevation view which shows the rotary irradiation treatment apparatus provided with the rotary gantry of FIG. It is a graph which shows the locus | trajectory of the position in each time from the movement start produced | generated by the track | orbit production | generation part of FIG. 1 to the movement end. It is a graph which shows the track | orbit of the speed | rate in each time from the movement start produced | generated by the track | orbit production | generation part of FIG. It is a block diagram which shows 2nd Embodiment of the drive control apparatus of the rotating apparatus which concerns on this invention. It is a block diagram which shows 3rd Embodiment of the drive control apparatus of the rotating apparatus which concerns on this invention. It is a block diagram which shows 4th Embodiment of the drive control apparatus of the rotating apparatus which concerns on this invention. It is a block diagram which shows 5th Embodiment of the drive control apparatus of the rotating apparatus which concerns on this invention. It is a block diagram which shows 6th Embodiment of the drive control apparatus of the rotating apparatus which concerns on this invention. It is a block diagram which shows 7th Embodiment of the drive control apparatus of the rotating apparatus which concerns on this invention.

  Embodiments of a drive control device for a rotating device and a drive control method thereof according to the present invention will be described below with reference to the drawings. In the following embodiments, an example in which the rotating device is applied to a rotating gantry of a rotating irradiation treatment apparatus will be described.

(First embodiment)
FIG. 1 is a block diagram showing a first embodiment of a drive control device for a rotating device according to the present invention. FIG. 2 is a schematic elevation view showing a rotary irradiation treatment apparatus having the rotary gantry of FIG. FIG. 3 is a graph showing the trajectory of the position at each time from the start of movement to the end of movement generated by the trajectory generation unit of FIG. FIG. 4 is a graph showing the speed trajectory at each time from the start of movement to the end of movement generated by the trajectory generator of FIG.

  As shown in FIG. 1, the rotary irradiation treatment apparatus 1 that is the target of positioning control in the present embodiment transmits a rotating gantry 2 as a rotating apparatus and a driving force for rotating the rotating gantry 2 to the rotating gantry 2. These two drive shafts 3 and 4 are provided. These drive shafts 3 and 4 are electrically and mechanically connected to servo motors (SM) 13 and 14, respectively, and are driven to rotate by driving these servo motors 13 and 14.

  Specifically, the rotary irradiation treatment apparatus 1 is installed in a building 5 as shown in FIG. 2, and includes a rotary gantry 2, a particle beam irradiation unit 6, a beam transport device (not shown), and a rotary treatment room 8. Prepare.

  The rotating gantry 2 is formed in a cylindrical shape so as to be rotatable about a rotation axis R, and can be rotated in the forward and reverse directions by the rotating gantry support driving device 10 including the two drive shafts 3 and 4 and the servo motor. Supported.

  The particle beam irradiation unit 6 is disposed in the rotary treatment room 8 via the rotary gantry 2 and irradiates a charged particle beam toward the affected part of the patient.

  A beam transport device (not shown) is attached to the rotating gantry 2 and guides the charged particle beam to the particle beam irradiation unit 6. Specifically, a charged particle beam accelerated to high energy by a synchroton (not shown) is guided to the particle beam irradiation unit 6 through the beam transport device. The charged particle beam guided to the particle beam irradiation unit 6 is adjusted to a desired dose distribution, and then irradiated to the affected part of the patient lying on the treatment bed 12.

  The rotating gantry support driving device 10 supports the rotating rings 10a and 10b fixed to both ends in the axial direction of the rotating gantry 2 and the corresponding rotating rings 10a and 10b, and rotates the corresponding rotating rings 10a and 10b. The two drive motors 3 and 4 and the two servomotors 13 and 14 for rotating and driving the two drive shafts 3 and 4 respectively. Therefore, the rotary gantry 2 is driven to rotate by the two drive shafts 3 and 4.

  Next, the configuration of the drive control apparatus of the present embodiment will be described based on FIG.

  As shown in FIG. 1, the drive shaft 3 is electrically connected to the first servo control unit 20 via a servo motor 13. Similarly, the drive shaft 4 is electrically connected to the second servo control unit 30 via the servo motor 14. The first servo control unit 20 includes a current control unit 21, a speed control unit 22, and a position control unit 23. Similarly, the second servo control unit 30 includes a current control unit 31, a speed control unit 32, and a position control unit 33.

  The current control units 21 and 31 control the current flowing through the servo motors 13 and 14 to control the torque generated by the servo motors 13 and 14. The speed controllers 22 and 32 can change the speed steplessly according to the speed command voltage. The position control units 23 and 33 control the rotation angle (position) and rotation speed (movement speed) of the servo motors 13 and 14 based on the position command signal.

  In the present embodiment, the number of parameter holding units 41 and 42 is the same as the number of drive shafts 3 and 4. The parameter holding units 41 and 42 hold various parameters necessary for servo-controlling the servo motors 13 and 14 of the drive shafts 3 and 4 by the first and second servo control units 20 and 30. That is, the parameter holding units 41 and 42 hold the patterns of the current, speed, and position setting parameters for the first and second servo control units 20 and 30, respectively.

  The trajectory generating unit 43 generates a target value signal for each control cycle for the first and second servo control units 20 and 30. Specifically, the trajectory generation unit 43 obtains a drive start command signal set from the host control system 44, and outputs a command value (target value) for each control cycle for each of the first and second servo control units 20 and 30. ) Output as a signal. The host control system 44 of this embodiment corresponds to the operation console of the rotary irradiation therapy apparatus 1 and inputs various command signals in addition to the drive start command signal.

  The rotation direction determination unit 45 determines the rotation direction in which the rotating gantry 2 is rotated from the command value signal of the trajectory generation unit 43. The parameter setting destination selection circuit 46 is connected between the parameter holding units 41 and 42 and the first and second servo control units 20 and 30. Based on the determination result of the rotation direction determination unit 45, the parameter setting destination selection circuit 46 selects the servo control unit serving as the parameter setting destination of each of the parameter holding units 41 and 42 among the first and second servo control units 20 and 30. Select from.

  Next, the operation of this embodiment will be described.

  In the present embodiment configured as described above, first, control parameters for the servomotors 13 and 14 of the drive shafts 3 and 4 when the rotary gantry 2 is rotated forward are designed in the parameter holding units 41 and 42, respectively. Determine and set by reflecting the value and manual tuning result. The control parameters set here need only take into consideration the characteristics when forward rotation is performed.

  Next, in the actual rotational operation of the rotating gantry 2, when an operation start command signal in the forward rotation direction is set by the host control system 44 and output to the track generation unit 43, the track generation unit 43 sends the operation start command signal. From the result, the rotation direction determination unit 45 determines that the rotation operation direction is normal rotation. Control parameters of the parameter holding unit 41 are set on the drive shaft 3 side, and control parameters of the parameter holding unit 42 are set on the drive shaft 4 side. Thereafter, a command value signal for each control cycle is output from the trajectory generation unit 43 to the first and second servo control units 20 and 30, and actual rotation operation is started.

  Specifically, when a command signal indicating the final arrival position and the maximum speed is set from the host control system 44, the trajectory generator 43 starts moving from the start of movement of the rotating gantry 2 as shown in FIGS. A signal indicating a position and velocity trajectory at each time until is generated. After that, when the rotation operation of the rotating gantry 2 is started, the trajectory generating unit 43 uses the position or speed at the current time as a command value signal for each control cycle to the first and second servo control units 20 and 30. Output.

  In addition, when an operation start command signal for operating the rotating gantry 2 in the reverse rotation direction is set from the upper control system 44 and output to the trajectory generation unit 43, the operation start for the trajectory generation unit 43 to operate in the reverse rotation direction is started. A command signal is obtained, and from the result, the rotation direction determination unit 45 determines that this rotation operation direction is reverse rotation. Contrary to the above, the control parameter of the parameter holding unit 42 is set on the drive shaft 3 side, and the control parameter of the parameter holding unit 41 is set on the drive shaft 4 side, and the actual rotation operation is started.

  As described above, according to the present embodiment, the optimum control parameter is always selected in accordance with the control characteristics that are different depending on the rotation direction depending on the drive shafts 3 and 4, thereby improving the control followability of the rotating gantry 2. The positioning time can be shortened.

  That is, according to the present embodiment, in the rotary irradiation therapy apparatus 1 that drives and controls the rotating gantry 2 that is a heavy object by the plurality of driving shafts 3 and 4, the rotating gantry 2 differs depending on the driving shafts 3 and 4, The optimum control parameters are set for the control characteristics that change. As a result, the followability can be improved, more rapid acceleration / deceleration and fine speed change can be realized, and the positioning time of the rotating gantry 2 can be shortened.

  Further, by utilizing the characteristic that the shape of the rotating gantry 2 to be controlled is bilaterally symmetric and the control characteristics are switched between the drive shafts 3 and 4 depending on the rotation direction, the control parameter for each rotation direction can be set for each drive shaft. Compared to a control device that is held and selected / rewritten and used, it is possible to save the trouble of identifying control parameters.

  In the present embodiment, two drive shafts 3 and 4 are installed as shown in FIG. 1, and two servo control units corresponding to these drive shafts 3 and 4 are also installed. For example, the present invention can be applied to a configuration in which four drive shafts are arranged symmetrically and the control parameters are effectively switched when the left and right are reversed.

(Second Embodiment)
FIG. 5 is a block diagram showing a second embodiment of the drive control device for a rotating device according to the present invention. The present embodiment is a modification of the first embodiment, and the same reference numerals are given to the same portions as those in the first embodiment, and the duplicate description is omitted.

  In the present embodiment, in addition to the configuration of the first embodiment, a parameter tuning function unit 50 that automatically identifies control parameters held in the parameter holding units 41 and 42 is provided.

  Therefore, in the present embodiment, the parameter tuning function unit 50 sets a temporary control parameter for identifying the control parameter in the parameter holding units 41 and 42. In this state, the trajectory generation unit 43 performs first and second command value signals for each control period generated from the trajectories as shown in FIGS. 3 and 4 described in the first embodiment as control parameter identification operations. 2 Output to servo control units 20 and 30. Based on the result of this operation, the parameter tuning function unit 50 makes adjustments such as increase / decrease. The numerical values adjusted in this way are held in the parameter holding units 41 and 42, and are repeatedly operated to identify the optimal control parameter and determine the final value. This control parameter identification operation is performed only for the operation of rotating the rotating gantry 2 to be controlled forward.

  As described above, according to the present embodiment, the parameter tuning function unit 50 for automatically identifying the control parameters held in the parameter holding units 41 and 42 is provided, so that the normal driving shafts 3 and 4 are independently performed. By performing the tuning of the control parameters as a whole system, it is possible to identify the optimal control parameters while omitting the labor of parameter identification.

(Third embodiment)
FIG. 6 is a block diagram showing a third embodiment of the drive control device for a rotating device according to the present invention. In addition, this embodiment is a modification of the second embodiment, and the same reference numerals are given to the same parts as those in the second embodiment, and duplicate descriptions are omitted.

  In the present embodiment, a manual operation device is provided in addition to the configuration of the second embodiment. The manual operating device is used when it is desired to rotate the rotating gantry 2 to a desired angle by operating based on the intuitive judgment of the operator. In this embodiment, two manual operating devices are provided.

  Specifically, the manual operator of this embodiment includes a manual operator 51 provided in a control room (not shown) as shown in FIG. 6 and a manual operator provided near the rotating gantry 2. 52. The structures of these manual operating devices 51 and 52 are not particularly limited. For example, the manual operating devices 51 and 52 are of a lever type that can be tilted to the left and right when the operator manually operates the lever. The manual operating devices 51 and 52 are configured to return to the home position by an elastic force such as a spring unless a force is applied to the lever. The manual operating devices 51 and 52 generate analog signals indicating values corresponding to the tilt angle of the lever.

  Therefore, in this embodiment, an analog signal generated by manually operating the manual operating devices 51 and 52 is output to the trajectory generating unit 43. The trajectory generator 43 changes the command value (target value) signal to be output to the first and second servo controllers 20 and 30 on the basis of the analog signal, thereby changing the rotational speed of the rotary gantry 2 and the like. It can be changed arbitrarily.

  As described above, according to the present embodiment, by providing the manual operating devices 51 and 52, the followability to the fine trajectory change, which has been difficult in the past, is improved. On the other hand, it is possible to realize a finer adjustment operation at a higher speed.

  In this embodiment, an example in which two manual operating devices are provided has been described. However, the present invention is not limited thereto, and only one manual operating device may be provided. That is, at least one manual operation device may be provided.

(Fourth embodiment)
FIG. 7 is a block diagram showing a fourth embodiment of the drive control device for a rotating device according to the present invention. In addition, this embodiment is a modification of the second embodiment, and the same reference numerals are given to the same parts as those in the second embodiment, and duplicate descriptions are omitted.

  In the present embodiment, in addition to the configuration of the second embodiment, as shown in FIG. 7, a positioning target portion 53 serving as a reference when positioning the rotating gantry 2, and the relative positioning of the positioning target portion 53 and the rotating gantry 2 A position sensor unit 54 for detecting the position is provided. The positioning target portion 53 is installed in the cavity of the rotating gantry 2, and is, for example, the therapeutic bed 12 shown in FIG. The position sensor unit 54 is fixed to the inner peripheral surface of the rotating gantry 2.

  7 shows an example in which the position sensor unit 54 is fixed to the inner peripheral surface side of the rotating gantry 2. However, the position sensor unit 54 may be fixed to the positioning target unit 53 side, or not at all. The relative position may be detected by measuring the position of both the rotating gantry 2 and the positioning target portion 53 while being fixed to another location.

  Therefore, in the present embodiment, the relative position between the rotating gantry 2 and the positioning target portion 53 that are the control targets of the position sensor unit 54 in a state where the positioning target portion 53 has moved to an arbitrary position according to the use of the apparatus. A signal indicating the relationship is output to the trajectory generator 43. In the trajectory generation unit 43, on the basis of the sensing value signal of the position sensor unit 54, the command value (target value) signal output to the first and second servo control units 20 and 30 is changed online, and the relative position The rotational speed of the rotating gantry 2 can be changed in accordance with the change of.

  As described above, according to the present embodiment, by improving the followability of the position sensor unit 54 that changes from moment to moment with respect to the sensing value signal, the rotating gantry 2 can be moved at high speed relative to the positioning target portion 53 whose relative position changes. And it becomes possible to position finely.

  Further, according to this embodiment, even in a system in which the positioning target portion 53 and the rotating gantry 2 are conventionally positioned with respect to a previously fixed absolute coordinate system, absolute positioning is performed by relative positioning. It is possible to reduce the amount of work such as positioning.

(Fifth embodiment)
FIG. 8 is a block diagram showing a fifth embodiment of the drive control device for the rotating device according to the present invention. The present embodiment is a modification of the fourth embodiment, and the same parts as those in the fourth embodiment are denoted by the same reference numerals, and redundant description is omitted.

  In the present embodiment, as shown in FIG. 8, a camera 55 is provided as a position sensor unit in the drive control apparatus as shown in the fourth embodiment. Specifically, in the present embodiment, a camera 55 attached to a location where a change in the acquired image occurs due to a change in the relative position between the rotating gantry 2 and the positioning target portion 53, and rotation from the image obtained by the camera 55 is performed. An image measurement processing unit 47 that calculates a relative position between the gantry 2 and the positioning target unit 53 is provided.

  As described above, according to the present embodiment, the relative distance between the rotating gantry 2 and the positioning target unit 53 can be measured only by the passive measurement process based on the image acquired by the camera 55. Therefore, if there is a shape that can be extracted as a feature, measurement can be performed without embedding a special device such as a projector or a receiver, and the maintainability of the device can be improved.

(Sixth embodiment)
FIG. 9 is a block diagram showing a sixth embodiment of the drive control device for the rotating device according to the present invention. The present embodiment is a modification of the fifth embodiment, and the same parts as those in the fifth embodiment are denoted by the same reference numerals, and redundant description is omitted.

  In the present embodiment, as shown in FIG. 9, in the drive control device as shown in the fifth embodiment, the camera is an infrared camera 56 that acquires an image in the infrared wavelength region, and covers the infrared camera 56. In this manner, a visible light cut filter 57 is installed. That is, the visible light cut filter 57 makes the infrared camera 56 invisible from the positioning target portion 53.

  Therefore, in the present embodiment, an infrared region image that has become invisible to the human eye by the visible light cut filter 57 is acquired by the infrared camera 56, thereby changing the relative position between the rotating gantry 2 and the positioning target unit 53. A change occurs in the acquired image. The image measurement processing unit 47 calculates the relative position between the rotating gantry 2 and the positioning target unit 53 from the image obtained by the infrared camera 56. And the signal which shows the calculation result of the rotation gantry 2, the positioning object part 53, and a relative position is output to the track | orbit production | generation part 43, and control of the rotation gantry 2 is performed based on the signal which shows this calculation result.

  As described above, according to this embodiment, since the infrared camera 56 performs imaging at an infrared wavelength, it is possible to arbitrarily set the illumination intensity of the visible light wavelength in the imaging target region. In addition, since the infrared camera 56 is invisible from the positioning target portion 53, when there is a patient lying on the treatment bed 12 in the imaging target area, the imaging is performed without being aware of the presence of the infrared camera 56. Treatment can be performed without applying stress.

(Seventh embodiment)
FIG. 10 is a block diagram showing a seventh embodiment of the drive control device for the rotating device according to the present invention. The present embodiment is a modification of the fourth embodiment, and the same parts as those in the fourth embodiment are denoted by the same reference numerals, and redundant description is omitted.

  In the present embodiment, as shown in FIG. 10, in the drive control apparatus as shown in the fourth embodiment, the position sensor unit transmits a plurality of ultrasonic transmitters 58 and these ultrasonic transmitters 58. And an ultrasonic receiver 59 for receiving ultrasonic waves to be transmitted. The sensor measurement processing unit 48 calculates the relative position between the rotating gantry 2 and the positioning target unit 53 by controlling the ultrasonic transmitter 58 and the ultrasonic receiver 59.

  Therefore, in the present embodiment, the sensor measurement processing unit is based on the time until the ultrasonic receiver 59 receives the ultrasonic wave transmitted by the ultrasonic transmitter 58 and the positional relationship between the plural ultrasonic transmitters 58. 48 calculates the relative position between the rotating gantry 2 and the positioning target portion 53, and performs positioning control of the rotating gantry 2 based on the numerical value indicating the calculation result.

  As described above, according to the present embodiment, an object having no feature point used for image detection that cannot be measured by image measurement as described in the fifth embodiment and the sixth embodiment can be used. It can be employed as the positioning target portion 53.

  In the case of image measurement with a camera, since the photographing range is limited, in the positioning target portion 53 whose relative position changes greatly, the entire relative movement range with respect to the rotating gantry 2 can be included in the measurement range. It was difficult. However, according to the present embodiment, a wider range of measurement is possible with one measurement system.

  In the present embodiment, as shown in FIG. 10, the ultrasonic transmitter 58 is installed on the rotating gantry 2 side and the ultrasonic receiver 59 is installed on the positioning target portion 53 side. The same effect can be obtained by attaching the transmitter 58 to the positioning target portion 53 side and the ultrasonic receiver 59 to the rotating gantry 2 side.

(Other embodiments)
Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, changes, and combinations can be made without departing from the scope of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

  In addition, although the servo control units 20 and 30 in each of the above embodiments are configured by the current control units 21 and 31, the speed control units 22 and 32, and the position control units 23 and 33, the configuration is not particularly limited.

  In each of the above-described embodiments, the case where the rotating gantry 2 is applied as the rotating device has been described. However, the present invention is not limited to this and can be applied to other rotating devices.

  DESCRIPTION OF SYMBOLS 1 ... Rotation irradiation treatment apparatus, 2 ... Rotation gantry (rotation apparatus), 3, 4 ... Drive shaft, 5 ... Building, 6 ... Particle beam irradiation part, 8 ... Rotation treatment room, 10 ... Rotation gantry support drive apparatus, 10a, DESCRIPTION OF SYMBOLS 10b ... Rotary ring, 12 ... Treatment bed, 13, 14 ... Servo motor, 20 ... 1st servo control part, 21 ... Current control part, 22 ... Speed control part, 23 ... Position control part, 30 ... 2nd servo control , 31 ... current control unit, 32 ... speed control unit, 33 ... position control unit, 41, 42 ... parameter holding unit, 43 ... trajectory generation unit, 44 ... host control system, 45 ... rotation direction determination unit, 46 ... parameter Setting destination selection circuit 47... Image measurement processing section 48... Sensor measurement processing section 50... Parameter tuning function section 51 and 52 Manual operation device 53 53 Positioning target section 54 Position sensor section 55 Camera 56 ... Infrared camera 57 ... Visible light cut filter 58 ... Ultrasonic transmitter 59 ... Ultrasonic receiver

Claims (8)

A drive control device for a rotation device that performs positioning control of the rotation device by transmitting drive force from a plurality of drive shafts,
A plurality of servo control units for driving and controlling each of the plurality of drive shafts;
A plurality of parameter holding units respectively holding control parameters set for the plurality of servo control units;
A trajectory generator for generating a command value signal for each control cycle for the plurality of servo controllers;
A rotation direction determination unit that determines the rotation direction of the rotating device from the command value signal generated by the trajectory generation unit;
Based on the determination result of the rotation direction determination unit, a parameter setting destination selection circuit for selecting from among a plurality of the servo control unit as the parameter setting destination of the parameter holding unit;
A drive control device for a rotating device.   The drive control device for a rotating device according to claim 1, further comprising a parameter tuning function unit that automatically identifies control parameters held in the plurality of parameter holding units.   2. The rotating device according to claim 1, further comprising a manual operation device that outputs an analog signal generated by a manual operation to the trajectory generation unit to change a command value signal for the plurality of servo control units. Drive control device.   4. The drive control device for a rotating device according to claim 1, further comprising a position sensor unit that detects a relative position with respect to a positioning target unit serving as a positioning reference for the rotating device. 5. The position sensor unit is a camera attached to a location that causes a change in an acquired image due to a change in a relative position between the rotating device and the positioning target unit,
5. The drive control device for a rotating device according to claim 4, further comprising an image measurement processing unit that calculates a relative position between the rotating device and the positioning target unit from an image obtained by the camera. The camera is an infrared camera that acquires an image in an infrared wavelength region,
6. The drive control device for a rotating device according to claim 5, further comprising a visible light cut filter that makes the infrared camera invisible from the positioning target portion. The position sensor unit includes a plurality of ultrasonic transmitters and an ultrasonic receiver that receives ultrasonic waves transmitted from the plurality of ultrasonic transmitters.
5. The rotating device according to claim 4, further comprising a sensor measurement processing unit that controls the ultrasonic transmitter and the ultrasonic receiver to calculate a relative position between the rotating device and the positioning target unit. Drive control device. A drive control method for a rotating device that performs positioning control of the rotating device by transmitting driving force from a plurality of drive shafts,
A plurality of parameter holding steps each holding control parameters set for a plurality of servo control units for driving and controlling the plurality of drive shafts, respectively;
A trajectory generating step for generating a command value signal for each control cycle for the plurality of servo control units;
A rotation direction determination step of determining a rotation direction of the rotating device from the command value signal generated in the trajectory generation step;
A parameter setting destination selection step for selecting from among a plurality of servo control units that are parameter setting destinations of the control parameters held in the plurality of parameter holding steps based on the determination result in the rotation direction determination step; ,
A drive control method for a rotating device, comprising:

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