High-precision Collimator stepping motor control method capable of rapidly eliminating jitter

A technology of stepping motors and control methods, applied in the direction of motor generator control, control systems, electrical components, etc., can solve problems such as inability to achieve high-speed tracking focus, jitter, etc.

Inactive Publication Date: 2020-07-07
FMI MEDICAL SYST CO LTD
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  • Abstract
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  • Claims
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Problems solved by technology

Ordinary stepping motor algorithm cannot achieve high-speed tracking focus (adjust once every 20ms), because when the stepping motor is stopped, if there is an inertial load, there will be vibration problems

Method used

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  • High-precision Collimator stepping motor control method capable of rapidly eliminating jitter
  • High-precision Collimator stepping motor control method capable of rapidly eliminating jitter
  • High-precision Collimator stepping motor control method capable of rapidly eliminating jitter

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Embodiment Construction

[0045] The present invention will be described in further detail below in conjunction with the embodiments.

[0046] This embodiment proposes a high-precision Collimator stepper motor control method with fast anti-shake, including the following steps:

[0047] S10: The CPU receives and analyzes the motion instructions sent by the upper computer, and obtains initial parameters, including the acceleration coefficient k a , target acceleration a m , target speed v m , startup speed v s , stop speed v e , start acceleration a s and stop acceleration a e , after the above parameters are determined, a unique S-shaped curve can be determined, and the starting speed of the stepper motor v s , stop speed v e , start acceleration a s and stop acceleration a e All are 0, so it is not necessary to calculate during control;

[0048] S20: Divide the displacement of the stepping motor into seven stages: acceleration section a, uniform acceleration section b, deceleration and accele...

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Abstract

The invention relates to a high-precision Collimator stepping motor control method capable of quickly eliminating jitter, which comprises the following steps: receiving and analyzing, by a CPU, a motion instruction sent by an upper computer to obtain an initial parameter; dividing the displacement of the stepping motor into a plurality of stages, and obtaining the displacement of each stage according to the initial parameters; and converting the displacement of each stage into the step number of motion required by the stepping motor in each stage, obtaining the acceleration and the speed of each step through initial parameters, and calculating to obtain the time length required by the stepping motor to act each step through the size, the acceleration and the speed of each step of the stepping motor by the CPU. The CPU counter controls the stepping motor to act according to the time length, the accelerated speed and the speed required by each step; and the method has the advantages that S-shaped curve acceleration is adopted in the acceleration and deceleration process, the acceleration is gradually changed from the minimum value to the maximum value in the acceleration and deceleration process, it is guaranteed that the moment is not suddenly changed, and then the jitter amplitude is reduced.

Description

technical field [0001] The invention relates to the technical field of CT, in particular to a method for controlling a high-precision Collimator stepping motor with fast anti-shake. Background technique [0002] The X-ray focus of the CT system is changing during the line-out process, and a Collimator (collimator) is required to quickly follow the change of the focus to change the size of the slit. Ordinary stepper motor algorithm cannot achieve high-speed tracking focus (adjusted once every 20ms), because when the stepper motor is stopped, if there is an inertia load, there will be a jitter problem. The amplitude of the jitter is related to time, deceleration, mechanical load inertia and stiffness of the mechanical body, and it generally jitters in place for about 100ms. [0003] Based on this, the case is hereby proposed. SUMMARY OF THE INVENTION [0004] In order to solve the above problems, the purpose of the present invention is to provide a high-precision Collimato...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P8/14H01J35/14
CPCH01J35/14H02P8/14
Inventor 刘日平李敏黄振强
Owner FMI MEDICAL SYST CO LTD
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