CN109966663A

CN109966663A - A kind of motion control method and device

Info

Publication number: CN109966663A
Application number: CN201910385511.2A
Authority: CN
Inventors: 徐兴虎; 柴猛; 侯鸿雁; 郑旭; 鄢博; 李成宇
Original assignee: Neusoft Medical Systems Co Ltd
Current assignee: Neusoft Medical Systems Co Ltd
Priority date: 2018-06-12
Filing date: 2019-05-09
Publication date: 2019-07-05
Anticipated expiration: 2039-05-09
Also published as: CN108785877A; CN109966663B

Abstract

The embodiment of the present application discloses a kind of motion control method and device, the method is applied to kinetic control system, the kinetic control system is for controlling at least two kinematic systems at the same time, respectively move to corresponding desired locations, which comprises obtain desired locations of each kinematic system in each Ziye in a launched field；Setting control period, movement velocity of the control period for each kinematic system of Discrete control in the forming process of each Ziye obtain the current actual motion position of each kinematic system in the start time point in control period；According to the difference of the current actual motion position of each kinematic system and the desired locations in Ziye, the movement warp that each kinematic system compensates each kinematic system in the movement velocity of current control period is adjusted；In current control period, each kinematic system is controlled according to movement velocity adjusted and is moved.

Description

A kind of motion control method and device

This application claims in submission on June 12nd, 2018 Patent Office of the People's Republic of China, application No. is 201810603243.2, invention names Referred to as " a kind of motion control method and equipment ", the priority of Chinese patent application, entire contents are hereby incorporated by reference In the application.

Technical field

This application involves technical field of medical equipment more particularly to a kind of motion control methods and device.

Background technique

Radiotherapy is one of the conventional means for treating tumour, and the purpose of core of work is exactly to be issued using accelerator The kill tumor tissues of ray high degree simultaneously protect its normal surrounding tissue as far as possible, and this requires high-energy ray line directives to suffer from When person, it is necessary to be limited to its range of exposures.Since patient demand, lesions position and its 3D shape are not quite similar, So the considerations of for accurate treatment, raising therapeutic efficiency etc., need the kinematic system being related to radiotherapy to realize essence Really control.Wherein, the main movement system that radiotherapy is related to be respectively as follows: rack Rotable Control System, dosage control system and Multi-diaphragm collimator (MLC).As shown in Figure 1,11 be multi-diaphragm collimator, 12 be rack, and 13 be beam of radiation, and 14 be therapeutic bed, 15 For treatment head.Rack is to support the main structure of entire linear accelerator, can be perpendicular to ground and perpendicular to therapeutic bed Plane internal rotation, can be according to actual requirement acceleration or deceleration.Beam of radiation is high-energy ray line, and emission rate is can With adjusting, due to physical characteristic, the exposure that lesion is received is monotonic increase, which is referred to as to accumulate agent Amount.

The tumour relevant information that radiotherapy is obtained according to image documentation equipment first, then comprehensive patient's demand and tumor type Many factors are waited to determine therapeutic scheme, the plan of further obtaining medical treatment (treatment planning system, TPS), Each treatment plan is referred to as launched field, include such as patient information, therapeutic scheme information, facility information, allowable error etc., In also comprising several sub- launched fields, in every sub- launched field include each control system specified position, all control systems are all The TPS information for needing to strictly observe corresponding therapeutic scheme is moved.Currently, the main therapeutic scheme of radiotherapy includes conformal Mode (Aperture), static intensity modulating (Step&shoot), arc therapy (ARC), dynamic intensity modulated therapy (Dynamic Intensity-Modulated Radiation Therapy, DIMRT), the strong arc radiotherapy (Volumetric of adjustment with volume Modulated Arc Therapy, VMAT) etc..Wherein, VMAT is a hot spot of current radiotherapy research field.It is controlled this In treatment scheme, while radioactive source goes out beam, blade and rack are also in the coordinated movement of various economic factors, according to the requirement for the treatment of plan, three controls System processed needs while reaching each designated position point, and has the characteristics that while starting to be simultaneously stopped.This treatment means are filled Divide the three-dimensional structure in view of tumour, with speed is fast, precision is high, volume requirements are low, tumour adaptability is higher, damage is small and controls The good advantage of therapeutic effect.However, proposing higher complexity on motion planning since several systems need the coordinated movement of various economic factors Property.In addition, can all bring bigger challenge in response speed to each system and control precision.

As shown in Fig. 2, a kind of VMAT control method exists in the prior art, it can be by the way of rule base to each system It is planned.This method completes each system coordination campaign according to rule, and MLC system is arranged as critical system. If critical system is in place, other systems are not in place and error continues to move in permissible range.If critical system is not in place, In place, then other systems break-off 1 second, critical system continue to move for his system；If after 1 second, critical system not yet in place, then Stop treatment, checks system drive ability.In this control method, other systems in place and MLC system feelings not in place Under condition, it may require that other systems stop working.But due to the presence of inertia, this generally requires certain time, so as to generate Overshoot, it is also necessary to readjust correction, also starting stage speed can be caused lower due to the presence of inertia in the case where restarting. In addition, being corrected using rule, take measures often in the when progress in place of a certain system, i.e., motion process does not have between control point There is corresponding strategy, will lead to that accuracy is relatively low, it is difficult to ensure that accurately reaching the position required in treatment plan, is likely to when serious The position at each control point can have certain deviation, be likely to influence therapeutic effect as a whole.

Summary of the invention

The embodiment of the present application provides a kind of motion control method and device, it is intended to solve radiation of the existing technology and control Treat that control method precision is low, the technical issues of cannot adjusting in real time.

In a first aspect, the embodiment of the present application provides a kind of motion control method, the method is applied to motion control system System, the kinetic control system respectively move to corresponding expectation for controlling at least two kinematic systems at the same time Position, which comprises

Obtain desired locations of each kinematic system in each Ziye in a launched field；

In the start time point in control period, the current actual motion position of each kinematic system is obtained；The control week Movement velocity of the phase for each kinematic system of Discrete control in the forming process of each Ziye；

According to the position difference of the current actual motion position of each kinematic system and the desired locations in Ziye, adjustment Each kinematic system compensates the movement warp of each kinematic system in the movement velocity of current control period；

In current control period, each kinematic system is controlled according to movement velocity adjusted and is moved.

Optionally, the difference of the actual motion position current according to each kinematic system and the desired locations in Ziye Value, adjust each kinematic system in the movement velocity of current control period includes: with the movement warp for compensating each kinematic system

Obtain the difference of the current actual motion position of each kinematic system and desired locations in Ziye and described each Start time point corresponding actual motion speed of the kinematic system in current control period；

According to the difference of the current actual motion position of each kinematic system and desired locations in Ziye, described each Start time point corresponding actual motion speed of the kinematic system in current control period, the maximum speed of each kinematic system And peak acceleration, it calculates separately when controlling each kinematic system and reaching the most short execution of desired locations in the Ziye Between；

It determines each most short maximum value for executing the time, reaches the phase in the Ziye as each kinematic system is controlled Hope the execution time of position；

Determine the kinematic system in the desired motion speed of current control period according to the execution time.

Optionally, described to determine the kinematic system in the desired motion speed of current control period according to the execution time Degree includes:

It is transported according to the execution time, each kinematic system in the corresponding reality of start time point of current control period Move the actual motion position of speed, the peak acceleration of each kinematic system and each kinematic system and in Ziye Desired locations between difference, calculate the first object speed that each kinematic system reaches the desired locations；

It is corresponding in the start time point of current control period according to the first object speed and each kinematic system Actual motion speed, determine each kinematic system in the desired motion speed of current control period.

Optionally, the rising in current control period according to the first object speed and each kinematic system Begin time point corresponding actual motion speed, determines each kinematic system in the desired motion speed packet of current control period It includes:

It calculates each kinematic system and accelerates to corresponding first from corresponding actual motion speed with peak acceleration Expected shifting time required for target velocity；

If the expected shifting time is the integral multiple of the duration of the current control period, according to the first object Speed and each kinematic system determine described each in the corresponding actual motion speed of start time point of current control period Desired motion speed of the kinematic system in current control period.

Optionally, if the expected shifting time is not the integral multiple of the duration of the current control period, described According to the first object speed and each kinematic system current control period the corresponding actual motion of start time point Speed determines each kinematic system in the desired motion speed of current control period further include:

Target shift speed time, the target are determined according to the duration of the expected shifting time and the current control period Shifting time is the integral multiple of the duration of the current control period；

According to the target shift speed time, the actual motion speed for executing time, each kinematic system, and The difference between desired locations in the actual motion position and the Ziye of each kinematic system calculates each fortune Dynamic system reaches the second target velocity of the desired locations；

It is corresponding in the start time point of current control period according to second target velocity and each kinematic system Actual motion speed, determine each kinematic system in the desired motion speed of current control period.

Second aspect, the embodiment of the present application provide a kind of motion control device, and the motion control device is for controlling At least two kinematic systems at the same time, respectively move to corresponding desired locations, and described device includes:

First obtains unit, for obtaining desired locations of each kinematic system in each Ziye in a launched field；

Second obtaining unit obtains the current practical fortune of each kinematic system for the start time point in the control period Dynamic position；Movement velocity of the control period for each kinematic system of Discrete control in the forming process of each Ziye；

Adjustment unit, for according to the current actual motion position of each kinematic system and the desired locations in Ziye Difference adjusts the movement warp that each kinematic system compensates each kinematic system in the movement velocity of current control period；

Control unit, for controlling each kinematic system according to movement velocity adjusted and being transported in current control period It is dynamic.

Optionally, the adjustment unit, is specifically used for:

The third aspect, the embodiment of the present application provide a kind of motion control apparatus, and the equipment includes: processor and storage Device；

The memory, for storing instruction；

The processor executes the above first aspect any one institute for executing the described instruction in the memory The method stated.

Fourth aspect, the embodiment of the present application provide a kind of non-transitorycomputer readable storage medium, when the storage When instruction in medium is executed by the processor of electronic equipment, so that electronic equipment is able to carry out a kind of motion control method, institute Method is stated applied to kinetic control system, the kinetic control system is for controlling at least two kinematic systems when identical Between, respectively move to corresponding desired locations, which comprises

The embodiment of the present application provides a kind of motion control method and device, and the method is applied to kinetic control system, The kinetic control system respectively moves to corresponding expectation position for controlling at least two kinematic systems at the same time It sets, which comprises obtain desired locations of each kinematic system in each Ziye in a launched field；Setting control period, institute Movement velocity of the control period for each kinematic system of Discrete control in the forming process of each Ziye is stated, in the control period Start time point obtains the current actual motion position of each kinematic system；According to the current actual motion of each kinematic system It is each to compensate in the movement velocity of current control period to adjust each kinematic system for the difference of position and the desired locations in Ziye The movement warp of kinematic system；In current control period, each kinematic system is controlled according to movement velocity adjusted and is moved.

Detailed description of the invention

In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts, It can also be obtained according to these attached drawings other attached drawings.

Fig. 1 is linear accelerator radiotherapy irradiation signal schematic diagram；

Fig. 2 is the VMAT control method schematic diagram that the prior art provides；

Fig. 3 is a kind of application scenarios schematic diagram provided by the embodiments of the present application；

Fig. 4 is dynamic radiotherapy control system schematic diagram provided by the embodiments of the present application；

Fig. 5 is the flow chart of motion control method provided by the embodiments of the present application；

Fig. 6 is a kind of flow chart of the method for the movement warp for compensating each kinematic system provided by the embodiments of the present application；

Fig. 7 be it is provided by the embodiments of the present application it is a kind of determine each kinematic system current control period expectation transport The flow chart of the method for dynamic speed；

Fig. 8 is the speed planning figure that a kind of kinematic system provided by the embodiments of the present application moves to desired locations；

Fig. 9 is a kind of communication succession figure provided by the embodiments of the present application；

Figure 10 is a kind of structural schematic diagram of control system provided by the embodiments of the present application；

Figure 11 is a kind of flow diagram of motion control method provided by the embodiments of the present application；

Figure 12 is a kind of structural schematic diagram of motion control device provided by the embodiments of the present application.

Specific embodiment

In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.

The embodiment of the present application provides a kind of motion control method and device, and dynamic realtime planning and adjusting may be implemented, have The control precision for imitating raising system entirety is conducive to smoothly completing for radiotherapy, mitigates the pressure of medical staff and patient.

It should be noted that method provided by the embodiments of the present application can be applied in kinetic control system, the movement Control system is for controlling at least two kinematic system coordinated movements of various economic factors.Certainly, the kinetic control system can be used for controlling Three or three or more the kinematic system coordinated movements of various economic factors.In the embodiment of the present application, it is applied to dynamic radiation in this way to control It is illustrated for treatment control system.Certainly, the embodiment of the present application is also applied in other application scenarios, such as is applied to The application scenarios of more than two kinematic system coordinated movements of various economic factors.

Firstly, the thought to the application is illustrated.It should be noted that the realization of VMAT is according to treatment plan, Every portion treatment plan can all be divided into several Ziyes, provide shelf position, intergal dose value and leafy collimation in each Ziye The target position of each blade in device.It should be noted that can generally undergo multiple controls during forming a Ziye Period, movement velocity of the control period for each kinematic system of Discrete control in the forming process of each Ziye.It is transporting Dynamic system, may be comprising one or more control periods, gradually to move in Ziye in the motion process of a Ziye Desired locations.It is achieved that the target of VMAT be three systems simultaneously since first Ziye position, while press treatment plan Sequence reach position as defined in each Ziye, be to the last simultaneously stopped when a Ziye, wherein each Ziye can be by A referred to as control point.Its schematic diagram is as shown in Figure 3.Wherein, i is current control point serial number, Φ_iFor defined rack position It sets, D_iFor defined intergal dose value, P_iFor defined leaf position value, it should be noted that P_iFor array, the position comprising multiple blades Set value.

, can be between current control point and next control point under the premise of if any change does not occur for kinematic system According to requiring to travel at the uniform speed.However in actual motion process, exterior can have various disturbances, internal system also due to Friction, the reasons such as inertia and accuracy generate error, to will affect the accuracy of kinematic system.

In order to guarantee that blade can accurately reach designated position when each intergal dose reaches, every certain Time needs to detect the location of each system, and is corrected according to the needs of detection data and treatment plan, And then need to introduce motion planning and control system.Inventor has found during realizing the application, due to external environment Influence is different with the characteristic of internal each system, and how the several control systems of the coordinated movement of various economic factors are to realize a pass of VMAT treatment mode Key point.It, can not be by external disturbance and the shadow of error inside the control system present applicant proposes a kind of control method based on this It rings, according to the requirement that the actual feedback signal of control system and TPS plan, can plan a control under each control system in real time The target velocity in period and/or target position can complete to treat, and guarantee higher position precision with prestissimo, as far as possible It reduces some system and stops waiting even deviation larger the case where causing fault cues, guarantee that entire treatment is steady, it is quickly complete At.

The technology of the present invention implementation overall architecture is as shown in figure 4, the method is applied to dynamic radiotherapy control system System, the system comprises upper computer module, processing module, control system module and feedback module, the control system module packet Including rack Rotable Control System, dosage control system, multi-diaphragm collimator MLC control system.The rack Rotable Control System packet Including rack controller, actuating motor, rack；The dosage control system includes Dose Controller, modulator, accelerates tube grid Rifle；The MLC control system includes MLC controller, actuating motor, MLC.Wherein, the control system module is for controlling quilt It controls object at the same time, respectively moves to corresponding desired locations, the controlled device includes rack, accelerates tube grid Rifle, MLC, the controlled device can become moving component or kinematic system again.It should be noted that multiple controls can be set Period processed, movement velocity of the control period for each kinematic system of Discrete control in the forming process of each Ziye.Son Wild information contains the expectation position of each rack Rotable Control System, dosage control system, multi-diaphragm collimator MLC in each Ziye It sets.As shown in Figure 4, wherein [Φ_i,D_i,P_i] be treatment plan in i-th control the period frame angle, intergal dose value and The target position of each blade in MLC.[Φ_r,D_r,P_r] it is the adjustment position in next control period that processor is planned, [Φ_e,D_e,P_e] be control system in controller input value (alternate position spike), [Φ_u,D_u,P_u] it is that controller exports,The driving torque and trigger pulse of respectively each system actuators, [Φ_c,D_c,P_c] it is actual position value. The upper computer module 401 sends the launched field information obtained for obtaining launched field information and Ziye information, Xiang Suoshu processing module With Ziye information.Specifically, upper computer module 401 is responsible for treatment plan through dedicated analysis software, by launched field information with The data of Ziye information, which are exported and are sent in processing module 402, is stored for processing module calling according to protocol format.It is described Launched field information includes the desired locations of each controlled device, such as may include the blade quantity of MLC, Ziye quantity, rack rotation Direction etc..The Ziye information includes desired locations of the controlled device in each Ziye, such as may include shelf position, accumulation Each leaf position etc. in dose value and MLC.

Processing module (MCU) 402 (such as single-chip microcontroller, FPGA, PC machine etc.) obtains the launched field letter that upper computer module is sent Breath and Ziye information, and in the start time point of current control period, each controlled device that acquisition feedback module is sent is current Actual motion position, and in current control period, according in the current actual motion position of the controlled device and Ziye The alternate position spike of the current actual motion position of the difference or controlled device of desired locations and the target position in a upper control period Value, adjusts the movement warp that the controlled device compensates the controlled device in the movement velocity of current control period.Specifically The adjustment movement velocity in current control period can be calculated in ground, processing module, be calculated according to the adjustment movement velocity In each controlled device of current control period target position adjusted.By the adjustment target position and/or adjustment movement velocity hair It is sent in each control system module.

Each control system includes controller, actuating motor and corresponding controlled device three in control system module 403 Component part, the controller of each control system obtain controlled device after adjustment in the target position of current control period and controlled The position difference of actual motion position of the object before current control period starts, adjusts controlled ginseng according to the position difference Number (electric current or voltage value) moves to target position adjusted by corresponding driving device driving controlled device.It needs Bright is generally to be no longer than the control period of processing module setting in practical control period inside the control system, and is more short-acting Fruit is more excellent.Then, then it is by feedback module 404 that actual location information (or velocity information) is anti-by the node of each system Processing module of feeding 402 and control system module 403, according to the control period, it is next that processing module 402 acquires corresponding data progress Secondary planning, to form planning closed loop and control the structure of closed loop.

When a certain control system physical location be more than next control point setting position, then by next control point it The data importing at control point afterwards is planned as new target position, until processor detection issues afterwards stop life in place It enables.If wherein the positional value of a certain control system appears in the deviation in permissible range, planning module can be adjusted according to circumstances Other two aims of systems position is to realize the multisystem coordinated movement of various economic factors；But it is similar with scheme is introduced before, if a certain system Deviation is excessive, then the planning module can issue error code and require to stop treating.

The motion control method shown in the application exemplary embodiment is introduced below in conjunction with attached drawing.

Referring to Fig. 5, which is the flow chart of motion control method provided by the embodiments of the present application.The method is applied to fortune Autocontrol system, the kinetic control system respectively move to pair for controlling at least two kinematic systems at the same time The desired locations answered.As shown in figure 5, may include:

S501 obtains desired locations of each kinematic system in each Ziye in a launched field.

It is previously noted that each kinematic system includes multiple Ziyes in a launched field, each Ziye contains each kinematic system and exists Desired locations in Ziye.For example, the Ziye information may include each rack Rotable Control System, dosage control system, more Desired locations of the leaf collimator MLC in each Ziye.

S502 obtains the current actual motion position of each kinematic system in the start time point in control period；The control Movement velocity of the period processed for each kinematic system of Discrete control in the forming process of each Ziye.

It should be noted that respectively moving to corresponding expectation to make at least two kinematic systems at the same time Multiple control periods can be set in position.In each Ziye forming process, one or more control periods can be set, use The movement velocity of each kinematic system of Discrete control in the forming process in each Ziye.

S503 is adjusted according to the difference of the current actual motion position of each kinematic system and the desired locations in Ziye Whole each kinematic system compensates the movement warp of each kinematic system in the movement velocity of current control period.

S504 controls each kinematic system according to movement velocity adjusted and is moved in current control period.

It is different according to the realization of S503 in the application specific implementation, there is different implementations.Specifically, at this It is in the desired locations of the corresponding Ziye of current control period and the kinematic system according to kinematic system upper one in one embodiment The position difference of control period actual motion position adjusts kinematic system and carrys out compensation campaign in the movement velocity of current control period Deviation.A kind of possible implementation of S503 is introduced below in conjunction with attached drawing.

Referring to Fig. 6, which is a kind of method of movement warp for compensating each kinematic system provided by the embodiments of the present application Flow chart.

Method shown in fig. 6 can be realized with S601-S604 as follows.

S601: obtaining the difference of the current actual motion position of each kinematic system with the desired locations in Ziye, and Start time point corresponding actual motion speed of each kinematic system in current control period.

When specific implementation, desired locations of the available each kinematic system in the corresponding Ziye of current control period [Φ_i,D_i,P_i].Wherein, [Φ_i,D_i,P_i] it is the frame angle of i-th of control point (i-th of Ziye) in treatment plan, accumulation agent The position of each blade in magnitude and MLC, that is, desired locations of each kinematic system in i-th of Ziye.

S602: according to the difference of the current actual motion position of each kinematic system and desired locations in Ziye, Each kinematic system is in the corresponding actual motion speed of start time point of current control period, and each kinematic system is most Big speed and peak acceleration calculate separately and control each kinematic system and reach the most short of desired locations in the Ziye Execute the time.

In the embodiment of the present application, it is contemplated that when the speed of kinematic system changes, the change process of speed is one The process of gradual change, and cannot be instantaneously another speed by a rate conversion.Therefore, in the embodiment of the present application, determine most When the short execution time, the peak acceleration of kinematic system is considered.To the actual motion position for combining each kinematic system current With the difference of the desired locations in Ziye, each kinematic system current control period the corresponding reality of start time point Movement velocity, the maximum speed and peak acceleration of each kinematic system calculate separately control each kinematic system and arrive Up to the most short execution time of the desired locations in the Ziye.

It, may be always in view of each system is during moving to the desired locations in Ziye from current kinetic position It (is illustrated by taking even acceleration as an example below) in variable motion state, it is also possible to variable motion whithin a period of time, then Uniform motion specifically, can be calculated described in control each kinematic system arrival by following formula (1) to formula (3) again The most short execution time of desired locations in Ziye.

Wherein, t_φminThe most short execution time of the desired locations in the Ziye is reached for control machine frame system；

It is machine frame system in the actual motion position in current control period (j-th of control period)With Desired locations Φ in Ziye_iDifference；

ω₀For machine frame system current control period the corresponding actual motion speed of start time point；

ω_maxFor the maximum speed of machine frame system；

J_maxFor the peak acceleration of machine frame system；

During indicating that machine frame system reaches the desired locations in the Ziye, even acceleration always Movement；

During indicating that machine frame system reaches the desired locations in the Ziye, first even acceleration is transported It moves, then uniform motion；

t_{D min}The most short execution time of the desired locations in the Ziye is reached for control sosimetric system；

It is sosimetric system in the actual motion position in current control period (j-th of control period)With Desired locations D in Ziye_iDifference；

μ₀For sosimetric system current control period the corresponding actual motion speed of start time point；

μ_maxFor the maximum speed of sosimetric system；

R_maxFor the peak acceleration of sosimetric system；

During indicating that sosimetric system reaches the desired locations in the Ziye, even acceleration always Movement；

During indicating that sosimetric system reaches the desired locations in the Ziye, first even acceleration is transported It moves, then uniform motion；

t_{P min}The most short execution time of the desired locations in the Ziye is reached for control MLC system；

It is MLC system in the actual motion position in current control period (j-th of control period)With Desired locations P in Ziye_iDifference；

υ₀For MLC system current control period the corresponding actual motion speed of start time point；

υ_maxFor the maximum speed of MLC system；

a_maxFor the peak acceleration of MLC system；

During indicating that MLC system reaches the desired locations in the Ziye, even acceleration is transported always It is dynamic；

During indicating that MLC system reaches the desired locations in the Ziye, first even acceleration is transported It moves, then uniform motion.

S603: determining each most short maximum value for executing the time, reaches the Ziye as each kinematic system is controlled In desired locations the execution time.

S603 in specific implementation, available three most it is short execute the time in maximum value, i.e., with required time longest System as standard, other two system then reduces speed, to guarantee not exceeding the speed limit of each system, and can To play the ability of relatively most slow system, so that whole system can reach target position as early as possible.In addition, due to need according to The control period is planned, therefore controls cycles to maximum duration herein, and expression formula is as follows:

T=ceil (max (t_φmin,t_{D min},t_{p min})/T)*T

Wherein:

T is the execution time that each kinematic system of control reaches the desired locations in the Ziye；

Ceil function representation rounds up；

t_φminThe most short execution time of the desired locations in the Ziye is reached for control machine frame system；

t_{P min}The most short execution time of the desired locations in the Ziye is reached for control MLC system

T is the control period of setting.

S604: determine the kinematic system in the desired motion speed of current control period according to the execution time.

In the embodiment of the present application, S604 in specific implementation, can first determine that kinematic system moves to the expectation The speed of position, i.e. first object speed；Then according to first object speed and each kinematic system in current control week The corresponding actual motion speed of the start time point of phase determines each kinematic system in the desired motion of current control period Speed.Specifically, it can be realized with A-B as follows.

Step A: corresponding in the start time point of current control period according to the execution time, each kinematic system The actual motion position of actual motion speed, the peak acceleration of each kinematic system and each kinematic system with The difference between desired locations in Ziye calculates the first object speed that each kinematic system reaches the desired locations Degree.

Step B: according to first object speed and each kinematic system current control period start time point pair The actual motion speed answered determines each kinematic system in the desired motion speed of current control period.

About step A, by taking machine frame system as an example, the first object speed can be calculated by following formula (4) It arrives.

Wherein:

ω₁The first object speed of the desired locations is reached for gantry motion system；

For the current actual motion position of machine frame systemWith the desired locations Φ in Ziye_iDifference Value；

J_maxFor the peak acceleration of machine frame system.

The calculation that sosimetric system and MLC system reach the first object speed of the desired locations is arrived with machine frame system Calculation up to the first object speed of the desired locations is similar, and this will not be detailed here.

About step B, it should be noted that on the one hand, it is contemplated that each system is moving to son from current kinetic position During the desired locations of Yezhong, for example even acceleration mode of variable motion state may be constantly in, it is also possible at one section The movement of time internal speed-changing, then uniform motion again.On the other hand in view of determining that the desired motion speed needs of each system are pressed It is planned according to the control period, therefore during control system moves to desired locations, the duration of speed-change process can Think the integral multiple of the duration in control period.Therefore, in the embodiment of the present application, step B in specific implementation, can be counted first It calculates each kinematic system and corresponding first object speed institute is accelerated to from corresponding actual motion speed with peak acceleration The expection shifting time needed；If the expected shifting time is the integral multiple of the duration of the current control period, basis The first object speed and each kinematic system current control period the corresponding actual motion speed of start time point, Determine each kinematic system in the desired motion speed of current control period.

By taking machine frame system as an example, it is contemplated that shifting time can be obtained by following formula (5).

Wherein:

t_φ1For the expection shifting time of machine frame system；

J_maxFor the peak acceleration of machine frame system.

If the expected shifting time t_φ1It is the integral multiple of the duration of the current control period T, then according to described first Target velocity and each kinematic system in the corresponding actual motion speed of start time point of current control period, determine described in Each kinematic system in specific implementation can be in expected shifting time in the desired motion speed of current control period, control Kinematic system processed carries out uniformly accelerated motion with peak acceleration, then controls kinematic system and is at the uniform velocity transported with first object speed It is dynamic.Specifically, if kinematic system is less than first object in the corresponding actual motion speed of start time point of current control period Speed controls kinematic system then with peak acceleration and carries out uniformly accelerated motion；If kinematic system is in the starting of current control period Time point corresponding actual motion speed is equal to first object speed, then controls kinematic system and carried out at the uniform velocity with first object speed Movement.However, it is contemplated that in practical application, it is understood that there may be again in a certain control period, kinematic system accelerates to accelerate with even Maximum speed achieved is greater than the first object speed when movement, in this case, in the embodiment of the present application, can be with It controls the kinematic system and uniformly retarded motion is carried out with a certain acceleration, until movement velocity is equal to the first object speed, Or until movement velocity is very close to the first object speed, i.e. difference between movement velocity and first object speed is small In preset threshold, the preset threshold is a smaller value.

As above, determined, the desired motion speed of each system needs to be planned according to the control period, therefore is controlling During system motion to desired locations, if the duration of speed-change process is not the integral multiple for controlling the duration in period, It needs to plan the speed that each kinematic system reaches the desired locations again, that is, recalculates the second target velocity, thus root Determine each kinematic system in the desired motion speed of current control period according to the second target velocity.Work as below in conjunction with Fig. 7 introduction It is expected that shifting time is not when controlling the integral multiple of the duration in period, to determine each kinematic system in current control period The method of desired motion speed.

Referring to Fig. 7, which is a kind of determination provided by the embodiments of the present application each kinematic system in current control week The flow chart of the method for the desired motion speed of phase.The method can for example be realized with S701-S703 as follows.

S701: target shift speed time, institute are determined according to the duration of the expected shifting time and the current control period State the integral multiple for the duration that the target shift speed time is the current control period.

In a kind of possible implementation of the embodiment of the present application, it can add on the basis of the expected shifting time Upper preset time obtains the target shift speed time, so that the target shift speed time is the integral multiple of the duration of the current control period. Specifically, it may refer to Fig. 8 to be understood, which is that a kind of kinematic system provided by the embodiments of the present application moves to desired locations Speed planning figure.In fig. 8, abscissa indicates that time t, ordinate indicate the speed V, broken line A-B of kinematic system₁-C₁For in B₁The abscissa of point indicates that expected shifting time, ordinate indicate first object speed, as shown in Figure 8, it is contemplated that shifting time is in T₄ And T₅Between, it is not the integral multiple for controlling the duration T in period, A-B₂-C₂For middle B₂The abscissa of point indicates the target shift speed time, Ordinate indicates the second target velocity, and the target shift speed time is T₅, it is the integral multiple for controlling the duration T in period.It is understood that It is, in B₂Point, i.e., at the time of corresponding to the target shift speed time, the accelerated motion process of the kinematic system terminates, at the uniform velocity Motion stage, that is to say, that at the time of corresponding to the target shift speed time, the acceleration of kinematic system becomes 0.

S702: according to the target shift speed time, the actual motion speed for executing time, each kinematic system The difference between desired locations in the actual motion position and the Ziye of degree and each kinematic system, calculates institute State the second target velocity that each kinematic system reaches the desired locations.

By taking machine frame system as an example, the second target velocity can be calculated by following formula (6).

Wherein:

ω₂The second target velocity of the desired locations is reached for gantry motion system；

Indicate that the corresponding control periodicity of uniformly accelerated motion subtracts 1, floor function representation is downward It is rounded, ω₁The first object speed of the desired locations is reached for gantry motion system；ω₀It is machine frame system in current control week The corresponding actual motion speed of the start time point of phase；J_maxFor the peak acceleration of machine frame system；T is the duration for controlling the period；

Indicate the corresponding control periodicity of uniform motion；T is to control each kinematic system to reach the son The execution time of the desired locations of Yezhong.

In conjunction with Fig. 8, the second target velocity ω₂(B₂Ordinate) be greater than first object speed omega₁(B₁Ordinate), and The maximum movement speed of machine frame system is ω_max, after determining the second target velocity, can also further determine that the second target speed Spend ω₂Whether ω is less than or equal to_max, if so, the second target velocity ω can be based on₂Determine that each kinematic system exists Otherwise the desired motion speed of current control period, i.e. execution S703 can will control each kinematic system and reach the Ziye In the execution time t of desired locations extend to t+T, and re-execute aforementioned S604.

S703: according to second target velocity and each kinematic system current control period start time point Corresponding actual motion speed determines each kinematic system in the desired motion speed of current control period.

S703 in specific implementation, can within the target shift speed time, even kinematic system current control period rise When beginning time point corresponding actual motion speed less than the second target velocity, control kinematic system carries out uniformly accelerated motion, works as fortune Dynamic system is when the corresponding actual motion speed of start time point of current control period is equal to the second target velocity, control movement System carries out uniform motion with the second target velocity.

Wherein, acceleration of the kinematic system within the target shift speed time can be calculated by following formula (7):

Kinematic system is calculated after the acceleration in the target shift speed time, then kinematic system is in current control period The desired motion speed at middle k moment can be calculated by following formula (8):

ω_k=ω₀+J*t_kFormula (8)

Wherein:

J is acceleration of the kinematic system within the target shift speed time；

(n+1) T is the target shift speed time；

ω_kFor the desired motion speed at k moment in current control period；

t_kFor the time difference between k moment and the initial time of current control period.

It should be noted that being that Guarantee control system and planning module cooperate, the application is implemented in the embodiment of the present application Example uses communication mode shown in Fig. 9, and Fig. 9 is a kind of communication succession figure provided by the embodiments of the present application.

T shown in Fig. 9 indicates the duration in control period, every one synchronization signal SYNC of T milliseconds of sendings.Before treatment Which position each moving component is not necessarily parked in, it is possible to which the position for being to maintain last treatment is also likely to be defined a certain end Stop bit, so firstly the need of the initial position S moved in treatment plan₀(first control point position), at this time detection module Detect that current location is sent to planning module, if each moving component is not all returned to a signal, planning module is always Initial position data is sent to control system, moving component continues to move to initial position；When detection module detects each movement portion Part total movement issues signal in place to initial position and to console after coming to a complete stop, and can open after the arrival of next synchronization signal Begin to treat, in a certain control period, medical staff issues treatment instruction, next synchronization signal T₀Detection module will be current after arrival Position S₀Data are sent to planning module, and planning module cooks up one group of desired value (S₁ S₂ S₃) it is sent to control system, wherein The too long or loss of data of communication delay is prevented, every group of data include the desired values in continuous three control periods, but at this time Moving component is still halted state.T₁After timing synchronization signal arrives, detection module is by current location S₀Data are sent to planning Module, planning module cook up one group of desired value (S₂ S₃ S₄) it is sent to control system, moving component is simultaneously to S at this time₁Fortune It is dynamic；Subsequent T_nAfter timing synchronization signal arrives, detection module is by current location P_n-1Data are sent to planning module, planning module Cook up one group of desired value (S_n+1 S_n+2 S_n+3) it is sent to control system, moving component is simultaneously to S at this time_nMovement.

In the embodiment of the present application, control system part uses closed-loop control system as shown in Figure 10, and Figure 10 is this Shen Please embodiment provide a kind of control system structural schematic diagram.It should be noted that closed-loop control system shown in Fig. 10, example It can be such as any one in mill stand control system, dosage control system and MLC control system.Now in conjunction with Fig. 4 to Figure 10 institute The closed-loop control system stated is illustrated.

If closed-loop control system shown in Fig. 10 is mill stand control system, controller shown in Fig. 10 can be for example figure Shelf controller shown in 4, driver shown in Fig. 10 can be actuating motor shown in Fig. 4, controlled device shown in Fig. 10 For rack shown in Fig. 4, sensor shown in Fig. 10 is feedback module shown in Fig. 4.

If closed-loop control system shown in Fig. 10 is dosage control system, controller shown in Fig. 10 can be for example figure Dose Controller shown in 4, driver shown in Fig. 10 can be demodulator shown in Fig. 4, and controlled device shown in Fig. 10 is Acceleration tube grid rifle shown in Fig. 4, sensor shown in Fig. 10 are feedback module shown in Fig. 4.

If closed-loop control system shown in Fig. 10 is MLC control system, controller shown in Fig. 10 for example can be Fig. 4 Shown in MLC controller, driver shown in Fig. 10 can be actuating motor shown in Fig. 4, and controlled device shown in Fig. 10 is MLC shown in Fig. 4, sensor shown in Fig. 10 are feedback module shown in Fig. 4.In actual moving process, often desired value example Such as it is expected a possibility that having certain deviation between movement velocity and actual value such as actual motion speed, cause its reason Very much.Such as the Persistent Effects factor such as actuator minor failure or moving component parameter error is examined in the embodiment of the present application Worry is modified in control system level, specifically:

As shown in Figure 10, input and feedback signal receive and controller design all by processor (such as single-chip microcontroller, FPGA, DSP and PC machine etc.) it realizes, it is assumed that the control amount of controller output is U, is M, j-th of control by the drive volume that control amount U is generated The expectation input in period is R_j, the value of feedback in j-th of control period is C_j, then corresponding phase in available j-th of control period Hope input R_jExpectation corresponding with -1 control period of jth inputs R_j-1Between variable quantity be Δ_rj=R_j-R_j-1, corresponding jth The value of feedback C in a control period_jValue of feedback C corresponding with -1 control period of jth_j-1Variable quantity is Δ_cj=C_j-C_j-1, processing Device records continuous multiple groups variation magnitude relation (such as continuous 10 control periods), available defeated after being fitted using least square method Enter variable quantity and feed back the relationship of variable quantity, such as be fitted to once linear relationship: Δ_r=k Δ_c+ b, thus the output of controller Amount is modified to U'=kU+b.

In the embodiment of the present application, it is modified in output quantity of the control plane to controller, to reduce desired value and reality Actual value for example between deviation, for example, reduce due to the influence factors such as actuator minor failure or moving component parameter error and Deviation between caused desired motion speed and actual motion speed.

Based on the motion control method that above embodiments provide, this method is introduced below in conjunction with Figure 11.Figure 11 is the application A kind of flow diagram for motion control method that embodiment provides.

The method can for example be realized with S1101-S1110 as follows.

S1101: desired locations of each kinematic system in each Ziye in a launched field are obtained.

S1102: the current actual motion position of each kinematic system is obtained, and judges whether each kinematic system has arrived at Its corresponding desired locations.

If it is, finishing control process, if it is not, then executing S1103.

S1103: it calculates separately and controls the most short execution that each kinematic system reaches the desired locations in the Ziye Time.

The calculation calculating that can be provided according to above embodiments S602 calculates separately control each kinematic system and arrives Up to the most short execution time of the desired locations in the Ziye.

S1104: determining each most short maximum value for executing the time, reaches the Ziye as each kinematic system is controlled In desired locations the execution time.

S1105: it calculates each kinematic system and reaches the first object speed of the desired locations, and calculate expected change The fast time.

S1105 in specific implementation, can be according to the calculation calculating that above embodiments step A and step B is provided Each kinematic system reaches the first object speed of the desired locations and is expected shifting time.

S1106: judge whether expected shifting time is the integral multiple for controlling the duration in period.

If so, executing S1107, S1108 is otherwise executed.

S1107: determine that each kinematic system is transported in the expectation of current control period according to the first object speed Dynamic speed.

S1108: the second target velocity that each kinematic system reaches the desired locations is recalculated.

S1108 in specific implementation, can be calculated second according to the mode that S701-S702 in previous embodiment is provided Target velocity.

S1109: judge whether the second target velocity is greater than the maximum speed of control system.

If not, executing S1110, otherwise, each kinematic system will be controlled and reach desired locations in the Ziye The execution time, extend one control the period duration, re-execute S1105 and subsequent step.

S1110: determine that each kinematic system is transported in the expectation of current control period according to second target velocity Dynamic speed.

Based on the motion control method that above embodiments provide, the embodiment of the present application also provides a kind of motion control dresses It sets, is described in detail its working principle with reference to the accompanying drawing.

Referring to Figure 12, which is a kind of structural schematic diagram of motion control device provided by the embodiments of the present application.

Motion control device 1200 provided by the embodiments of the present application, for controlling at least two kinematic systems when identical Between, corresponding desired locations are respectively moved to, described device 1200 includes: first obtains unit 1201, the second obtaining unit 1202, adjustment unit 1203 and control unit 1204.

First obtains unit 1201, for obtaining desired locations of each kinematic system in each Ziye in a launched field；

Second obtaining unit 1202 obtains the current reality of each kinematic system for the start time point in the control period Border movement position；Movement speed of the control period for each kinematic system of Discrete control in the forming process of each Ziye Degree；

Adjustment unit 1203, for according to the current actual motion position of each kinematic system and the expectation position in Ziye The difference set adjusts the movement warp that each kinematic system compensates each kinematic system in the movement velocity of current control period；

Control unit 1204, in current control period, according to movement velocity adjusted control each kinematic system into Row movement.

Optionally, the adjustment unit 1203, is specifically used for:

Since described device 1200 is device corresponding with the method for above method embodiment offer, accordingly, with respect to described The specific implementation of each unit of device 1200 can refer to the description section of above method embodiment, and and will not be described here in detail.

The embodiment of the present application also provides a kind of motion control apparatus, the equipment includes: processor and memory；

The memory, for storing instruction；

The processor executes above method embodiment any one for executing the described instruction in the memory The motion control method.

The embodiment of the present application also provides a kind of non-transitorycomputer readable storage mediums, when in the storage medium When instruction is executed by the processor of electronic equipment, so that electronic equipment is able to carry out a kind of motion control method, the method is answered For kinetic control system, the kinetic control system is respectively transported for controlling at least two kinematic systems at the same time Move corresponding desired locations, which comprises

When introducing the element of various embodiments of the application, the article " one ", "one", " this " and " described " be intended to Indicate one or more elements.Word "include", "comprise" and " having " are all inclusive and mean in addition to listing Except element, there can also be other elements.

It should be noted that those of ordinary skill in the art will appreciate that realizing the whole in above method embodiment or portion Split flow is relevant hardware can be instructed to complete by computer program, and the program can be stored in a computer In read/write memory medium, the program is when being executed, it may include such as the process of above-mentioned each method embodiment.Wherein, the storage Medium can be magnetic disk, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..

All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device reality For applying example, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to embodiment of the method Part explanation.The apparatus embodiments described above are merely exemplary, wherein described be used as separate part description Unit and module may or may not be physically separated.Furthermore it is also possible to select it according to the actual needs In some or all of unit and module achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying In the case where creative work, it can understand and implement.

The above is only the specific embodiment of the application, it is noted that for the ordinary skill people of the art For member, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also answered It is considered as the protection scope of the application.

Claims

1. a kind of motion control method, which is characterized in that the method is applied to kinetic control system, the kinetic control system For controlling at least two kinematic systems at the same time, corresponding desired locations are respectively moved to, which comprises

In the start time point in control period, the current actual motion position of each kinematic system is obtained；The control period is used The movement velocity of each kinematic system of Discrete control in the forming process in each Ziye；

According to the position difference of the current actual motion position of each kinematic system and the desired locations in Ziye, each fortune is adjusted Dynamic system compensates the movement warp of each kinematic system in the movement velocity of current control period；

2. the method according to claim 1, wherein the actual motion position current according to each kinematic system The difference with the desired locations in Ziye is set, adjusts each kinematic system in the movement velocity of current control period to compensate each fortune The movement warp of dynamic system includes:

Obtain the difference and each movement of the current actual motion position of each kinematic system with the desired locations in Ziye Start time point corresponding actual motion speed of the system in current control period；

Difference, each movement according to the current actual motion position of each kinematic system with the desired locations in Ziye Start time point corresponding actual motion speed of the system in current control period, the maximum speed of each kinematic system and most High acceleration calculates separately and controls the most short execution time that each kinematic system reaches the desired locations in the Ziye；

It determines each most short maximum value for executing the time, reaches the expectation position in the Ziye as each kinematic system is controlled The execution time set；

3. according to the method described in claim 2, it is characterized in that, described determine the kinematic system according to the execution time Include: in the desired motion speed of current control period

It is fast in the corresponding actual motion of start time point of current control period according to the execution time, each kinematic system The actual motion position of degree, the peak acceleration of each kinematic system and each kinematic system and the phase in Ziye It hopes the difference between position, calculates the first object speed that each kinematic system reaches the desired locations；

According to the first object speed and each kinematic system current control period the corresponding reality of start time point Border movement velocity determines each kinematic system in the desired motion speed of current control period.

4. according to the method described in claim 3, it is characterized in that, described according to the first object speed and described each Kinematic system determines that each kinematic system is being worked as in the corresponding actual motion speed of start time point of current control period It is preceding control the period desired motion speed include:

It calculates each kinematic system and corresponding first object is accelerated to from corresponding actual motion speed with peak acceleration Expected shifting time required for speed；

If the expected shifting time is the integral multiple of the duration of the current control period, according to the first object speed With each kinematic system in the corresponding actual motion speed of start time point of current control period, each movement is determined Desired motion speed of the system in current control period.

5. according to the method described in claim 4, it is characterized in that, if the expected shifting time is not the current control week The integral multiple of the duration of phase, then it is described according to the first object speed and each kinematic system in current control period The corresponding actual motion speed of start time point, determine each kinematic system current control period desired motion speed Degree further include:

Target shift speed time, the target shift speed are determined according to the duration of the expected shifting time and the current control period Time is the integral multiple of the duration of the current control period；

According to the target shift speed time, described execute time, the actual motion speed of each kinematic system and described The difference between desired locations in the actual motion position and the Ziye of each kinematic system calculates each kinetic system System reaches the second target velocity of the desired locations；

According to second target velocity and each kinematic system current control period the corresponding reality of start time point Border movement velocity determines each kinematic system in the desired motion speed of current control period.

6. a kind of motion control device, which is characterized in that the motion control device exists for controlling at least two kinematic systems The identical time, corresponding desired locations are respectively moved to, described device includes:

Second obtaining unit obtains the current actual motion position of each kinematic system for the start time point in the control period It sets；Movement velocity of the control period for each kinematic system of Discrete control in the forming process of each Ziye；

Adjustment unit, for the difference according to the current actual motion position of each kinematic system and the desired locations in Ziye Value, adjusts the movement warp that each kinematic system compensates each kinematic system in the movement velocity of current control period；

Control unit, for controlling each kinematic system according to movement velocity adjusted and being moved in current control period.

7. device according to claim 6, which is characterized in that the adjustment unit is specifically used for:

8. device according to claim 7, which is characterized in that described to determine the kinematic system according to the execution time Include: in the desired motion speed of current control period

9. device according to claim 8, which is characterized in that described according to the first object speed and described each Kinematic system determines that each kinematic system is being worked as in the corresponding actual motion speed of start time point of current control period It is preceding control the period desired motion speed include:

10. device according to claim 9, which is characterized in that if the expected shifting time is not the current control The integral multiple of the duration in period, then it is described all in current control according to the first object speed and each kinematic system The corresponding actual motion speed of the start time point of phase determines each kinematic system in the desired motion of current control period Speed further include:

11. a kind of motion control apparatus, which is characterized in that the equipment includes: processor and memory；

The memory, for storing instruction；

The processor, for executing the described instruction in the memory, perform claim requires side described in 1-5 any one Method.

12. a kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is by the processing of electronic equipment When device executes, so that electronic equipment is able to carry out a kind of motion control method, the method is applied to kinetic control system, institute State kinetic control system for control at least two kinematic systems at the same time, respectively move to corresponding desired locations, The described method includes: