A universal magnetic field measurement and control method and system for a parameterized cyclotron

Abstract

The present invention discloses a universal magnetic field measurement and control method and system for a parameterized cyclotron. The method comprises: step 1, parameter configuration; step 2, radial zeroing and angular zeroing; step 3, starting magnetic measurement, and completing radial magnetic field measurement of #imgabs0# points with a full range and a step of ΔL for each angular movement Δ°; step 4, whether the angular direction reaches 360°. If not, repeat step 3; if yes, complete the magnetic field measurement. The present invention implements magnetic field measurement of cyclotrons of any energy through parameter configuration, a method for fitting the X and Y arms of cyclotrons with energies below 12MeV for angular and radial motion measurement, and a method for measuring angular and radial motion of cyclotrons with energies above 12MeV, and different magnetic measurement methods and debugging methods, thereby achieving universalization of the cyclotron magnetic field measurement and control method and system.

Description

Technical Field

[0001] The present invention relates to the technical field of particle accelerators, and in particular to a general magnetic field measurement and control method and system for a parameterized cyclotron accelerator. Background Art

[0002] In a cyclotron accelerator, the magnetic field is mainly used to confine, focus and transmit the charged particle beam.

[0003] Professional magnetic field calculation and analysis software can design a magnet model that meets user requirements based on the technical requirements of the cyclotron accelerator and provide specific parameters of the magnet. However, many factors may affect the magnet processing process, causing the magnet to deviate from the design value to a certain extent, such as the purity of the magnet material, processing tolerance, software simulation and the difference between theoretical design and actual engineering practice.

[0004] In terms of accelerator magnetic field measurement, there is almost no production and sales of complete sets of equipment on the market. Research institutes design and manufacture magnetic field measurement and control devices according to the needs of their own scientific research projects. The main reason is that each magnetic field measurement and control device is "tailor-made" for the object, each with its own characteristics and scope of use, and it is difficult for them to be used interchangeably.

[0005] In addition, the magnet diameter of the cyclotron design is related to the energy of the cyclotron. The greater the energy, the larger the radius, and the magnetic field measurement range will change according to the energy.

[0006] Therefore, proposing a method for realizing magnetic field measurement of cyclotron accelerator with arbitrary energy and realizing magnetic field measurement and control method of cyclotron accelerator is a problem that needs to be solved at present. Summary of the Invention

[0007] Purpose of the invention: To provide a universal magnetic field measurement and control method and system for a parameterized cyclotron accelerator to solve the above-mentioned problems existing in the prior art.

[0008] Technical solution: A universal magnetic field measurement and control method for a parameterized cyclotron accelerator, comprising:

[0009] Step 1: Parameter configuration;

[0010] Step 2: Radial and angular zeroing;

[0011] Step 3: Start measuring the magnetic field. Each time the angular direction moves Δ°, the radial direction completes a full range with ΔL as the step. Measurement of magnetic field at a point;

[0012] Step 4: Check whether the angular direction reaches 360°. If not, repeat step 3. If yes, complete the magnetic field measurement.

[0013] Step 5: Compare the imported magnetic field measurement theoretical data to the magnetic field data, complete the comparison between the magnetic field theoretical value and the magnetic field measurement value, and determine whether the magnetic field measurement is qualified;

[0014] No, generate the magnet shimming amount and wait for the shimming magnet processing to be completed before the next round of magnetic measurement;

[0015] Yes, magnetic measurement is completed.

[0016] Through parameter configuration, and a method for measuring the angular and radial motion of the X and Y arms of cyclotron accelerators with energies below 12MeV, and a method for measuring the angular and radial motion of cyclotron accelerators with energies above 12MeV, and through different magnetic measurement methods and debugging methods, the magnetic field measurement of cyclotron accelerators of arbitrary energy can be achieved, and the universalization of the cyclotron magnetic field measurement control system can be achieved.

[0017] In a further embodiment, step 1 comprises:

[0018] Step 11, start;

[0019] Step 12: Read historical parameters;

[0020] Step 13: Select radial and angular motors;

[0021] Step 14: Select radial and angular jog speeds, absolute positioning acceleration and deceleration, relative positioning acceleration and deceleration, return speed, motor rotation direction, measurement range, step value, and single-point waiting time for magnetic field temperature.

[0022] Step 15: Import theoretical magnetic field data;

[0023] Step 16, end.

[0024] In a further embodiment, when selecting radial and angular motors, step 13 includes:

[0025] Stepper motors are installed in both angular and radial directions;

[0026] Angularly mounted stepper motors and radially mounted servo motors;

[0027] The servo motors are mounted both angularly and radially.

[0028] The combination mode can be configured through the host computer software.

[0029] In a further embodiment, step 3 comprises:

[0030] Step 31: Fitting the X and Y arms to angular and radial motion for measurement, which is applicable to cyclotron accelerators with energies less than 12 MeV, includes installing the motors selected in step 13 in the angular and radial directions of the X and Y arms, respectively. The X and Y arms are orthogonal to each other. Based on the angular and radial length information, the travel distances of the motors installed on the X and Y arms are calculated using trigonometric formulas to complete the absolute positioning of the corresponding X and Y axis motors. The magnetic field at that point is measured using a magnetic field probe installed at the head of the X arm.

[0031] X pos =L 径向 *cosθ (θ is an angle)

[0032] Y pos =L 径向 *sinθ (θ is an angle);

[0033] For medium and low energy cyclotrons, the cyclotron radius is small and the magnetic field measurement positioning accuracy requirements are low. In addition, for cost considerations, we generally adopt X and Y arm magnetic field measurement methods and stepper motor control methods. The encoder module reads the position X and Y grating position feedback inside the PLC. In the PLC program, a universal virtual axis is established for the X and Y stepper motors respectively, and a universal encoder axis is established for the X and Y encoders. The PLC control program reads the position information of the encoder axis and writes a motion control function to control the virtual axis. The virtual axis and the actual stepper motor driver are linked to complete the control of the PLC axis over the actual stepper motor driver. Since the stepper motor driver itself does not have closed-loop control, the closed-loop driver is written by the PLC according to the encoder position feedback to achieve closed-loop control of the X and Y arm motion position. However, since the torque of a stepper motor decreases rapidly as the speed increases, the disadvantage of using a stepper motor control method for magnetic field measurement is that it takes a long time and the positioning speed cannot be too fast. Therefore, when writing a PLC program, it is necessary to perform positioning speed control according to the size of the target position. For example, when the target position is greater than 10mm, speed 1 is used. When the target position is greater than 10mm and less than 5mm, speed 2 is used. When the target position is less than 5mm, speed 3 is used. Here, speed 1> speed 2> speed 3.

[0034] Step 32, angular and radial motion measurement, applicable to cyclotron accelerators with energies higher than 12 MeV, includes installing the motors selected in step 13 in the angular and radial directions of the radial measurement arm, respectively, wherein the angularly installed motor completes the rotation of the radial measurement arm through gear coupling, and the radially installed motor completes the radial full-range sliding of the radial magnetic field probe through a pulley, and performs point magnetic field measurement.

[0035] The angular encoder can be connected to the PLC encoder module for PLC program closed-loop control, or it can be connected to the servo motor's second encoder interface for driver full closed-loop control.

[0036] The radial encoder can be connected to the PLC encoder module for PLC program closed-loop control, or it can be connected to the servo motor's second encoder interface for full closed-loop control of the drive.

[0037] For medium- and high-energy cyclotrons, which have large radii and require high magnetic field measurement accuracy, the measurement process is long. Therefore, we typically utilize radial and angular positioning measurement methods and servo motor control. Since the servo motor driver has built-in closed-loop feedback, it can be connected to a second encoder and a grating scale to achieve fully closed-loop feedback. Furthermore, the servo motor driver maintains constant torque at high speeds, allowing for full integration with PLC motion control functions and virtual axes. By invoking mature motion control functions for absolute and relative positioning, the positioning accuracy of the magnetic field measurement device can be guaranteed. Furthermore, the servo motor driver's closed-loop PID parameters can be adjusted to achieve high-speed absolute positioning convergence. However, the virtual axis motion control function cannot perform homing on the servo drive. Homing can only be accomplished by reading and writing the servo drive's object dictionary via the PLC's EtherCAT bus using SDOs and PDOs (PDOs and SDOs are two different data transmission methods in the CANopen protocol. PDOs transmit real-time data immediately, suitable for data exchange requiring high real-time performance; SDOs are a request-response data transmission method suitable for configuring and managing node parameters).

[0038] The specific steps of PLC controlling the servo drive to return to zero are as follows:

[0039] In a further embodiment, step 2 comprises:

[0040] Servo motor homing, including:

[0041] Step 21: After returning to zero, reset the servo driver;

[0042] Step 22: Switch the servo drive operation mode (object dictionary parameter 6060h) to 6, which is the zero return mode;

[0043] Step 23. Configure the return to zero parameters (return to zero acceleration (609Ah), return to zero high speed (6099.2h), return to zero low speed (6099.11h), return to zero mode (6098h)).

[0044] Step 24: The servo drive control mode (6040h) switches from 6 to 7 to 15 to 31.

[0045] 6 is to connect the main circuit power

[0046] 7: Connect the main circuit power and start the servo operation

[0047] 15 is to connect the main circuit power and start the servo operation.

[0048] 31 is to connect the main circuit power, start the servo operation, servo operation, start the return to zero;

[0049] Step 25: Read bit 15, bit 13, and bit 7 of the servo drive control status word (6041h);

[0050] Step 26: The servo driver is reset;

[0051] Step 27: Switch the servo drive operation mode (object dictionary parameter 6060h) to 8, which is CSP mode.

[0052] Step 28: Complete the zero return operation.

[0053] A universal magnetic field measurement and control system for a parameterized cyclotron accelerator, comprising:

[0054] The PLC controller is connected to the host computer via Ethernet, including controlling the encoder module EL5101 to complete the reading of external encoder and grating ruler signals (RS422 level signals);

[0055] Control the serial communication module EL6002 to complete the reading of magnetic field data of two magnetometers (fixed position magnetic field monitoring and actual position magnetic field monitoring) and the reading of the ambient temperature of the magnetic field probe;

[0056] Receive the emergency stop switch signal to control the stop of the motion mechanism;

[0057] The communication with the host computer program is completed through the ADS communication protocol.

[0058] Motor drivers, including radial and angular motor drivers connected to PLC controllers; motor drivers include stepper motor drivers and servo motor drivers, mainly including motor enable, jog, absolute positioning, relative positioning, homing (homing control), stop, fault reset, etc.

[0059] Encoders, including radial and angular encoders, are connected to the PLC controller;

[0060] Two sets of magnetometers are designed and connected to the PLC controller to monitor the magnetic field at fixed positions and actual positions;

[0061] A magnetometer includes a gaussmeter, wherein the gaussmeter includes a magnetic field probe.

[0062] Magnetic field probe, used to measure the magnetic field at points inside the accelerator.

[0063] The host computer software is based on C#WPF programming, and the specific functions completed are as follows:

[0064] Based on CS software architecture, data interaction with PLC is completed through ADS communication protocol;

[0065] The general magnetic field measurement control software based on C# mainly completes the display of the magnetic field probe's current radial position, current angular position, radial target position, angular target position, radial upper and lower limits, angular upper and lower limits, difference between radial target position and actual position, difference between angular target position and actual position, magnetic field data 1 and 2, probe temperature 1 and 2, and three-dimensional curve display of magnetic field data and position.

[0066] Complete manual jog control of radial and angular motors, manual absolute positioning control and relative positioning control of radial and angular motors, positive and negative phase return to zero and stop control of radial and angular motors, reset and stop control of radial and angular motors, magnetic measurement parameter configuration setting, automatic magnetic measurement control, etc.

[0067] The magnetic field data storage, export and import functions can import and compare the actual measured magnetic field data with the calculated magnetic field data, and generate an error curve for physical designers to make judgments.

[0068] Before magnetic field measurement, parameters (jog slow speed and fast speed, absolute positioning acceleration and deceleration and speed, relative positioning acceleration and deceleration and speed, radial return speed, radial measurement range, angular measurement range, radial measurement step, angular measurement step, servo motor rotation direction, stepper motor rotation direction, etc.) are configured. The parameter configuration can be stored and read.

[0069] Beneficial effects: The present invention discloses a universal magnetic field measurement and control method and system for a parameterized cyclotron. Through parameter configuration and a method for fitting the X and Y arms of a cyclotron with an energy lower than 12MeV into angular and radial motion for measurement, and a method for measuring angular and radial motion of a cyclotron with an energy higher than 12MeV, the present invention realizes magnetic field measurement of cyclotrons of any energy through different magnetic measurement modes and debugging methods, thereby realizing the universalization of the cyclotron magnetic field measurement control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 It is a schematic flow chart of the method of the present invention.

[0071] Figure 2 It is a schematic diagram of the parameter configuration process of the present invention.

[0072] Figure 3 The present invention is a schematic diagram of a PLC-controlled servo drive zero return flow chart.

[0073] Figure 4 It is a schematic diagram of the system of the present invention. DETAILED DESCRIPTION

[0074] The present application relates to a general magnetic field measurement and control method and system for a parameterized cyclotron accelerator, which is explained in detail below through specific implementation methods.

[0075] A general magnetic field measurement and control method for a parameterized cyclotron accelerator, comprising:

[0076] Step 1: Parameter configuration;

[0077] Step 2: Radial and angular zeroing;

[0078] Step 3: Start measuring the magnetic field. Each time the angular direction moves Δ°, the radial direction completes a full range with ΔL as the step. Measurement of magnetic field at a point;

[0079] Step 4: Check whether the angular direction reaches 360°. If not, repeat step 3. If yes, complete the magnetic field measurement.

[0080] Step 5: Compare the imported magnetic field measurement theoretical data to the magnetic field data, complete the comparison between the magnetic field theoretical value and the magnetic field measurement value, and determine whether the magnetic field measurement is qualified;

[0081] No, generate the magnet shimming amount and wait for the shimming magnet processing to be completed before the next round of magnetic measurement;

[0082] Yes, magnetic measurement is completed.

[0083] Through parameter configuration, and a method for measuring the angular and radial motion of the X and Y arms of cyclotrons with energies below 12MeV, and a method for measuring the angular and radial motion of cyclotrons with energies above 12MeV, and through different magnetic measurement methods and debugging methods, the magnetic field measurement of cyclotrons of arbitrary energies can be achieved, and the universalization of the cyclotron magnetic field measurement control system can be achieved.

[0084] The step 1 comprises:

[0085] Step 11, start;

[0086] Step 12: Read historical parameters;

[0087] Step 13: Select radial and angular motors;

[0088] Step 14: Select radial and angular jog speeds, absolute positioning acceleration and deceleration, relative positioning acceleration and deceleration, return speed, motor rotation direction, measurement range, step value, and single-point waiting time for magnetic field temperature.

[0089] Step 15: Import theoretical magnetic field data;

[0090] Step 16, end.

[0091] When selecting radial and angular motors, step 13 includes:

[0092] Stepper motors are installed in both angular and radial directions;

[0093] Angularly mounted stepper motors and radially mounted servo motors;

[0094] The servo motors are mounted both angularly and radially.

[0095] The combination mode can be configured through the host computer software.

[0096] Step 3 includes:

[0097] Step 31: Fitting the X and Y arms to angular and radial motion for measurement, which is applicable to cyclotron accelerators with energies less than 12 MeV, includes installing the motors selected in step 13 in the angular and radial directions of the X and Y arms, respectively. The X and Y arms are orthogonal to each other. Based on the angular and radial length information, the travel distances of the motors installed on the X and Y arms are calculated using trigonometric formulas to complete the absolute positioning of the corresponding X and Y axis motors. The magnetic field at that point is measured using a magnetic field probe installed at the head of the X arm.

[0098] X pos =L 径向 *cosθ (θ is an angle)

[0099] Y pos =L 径向 *sinθ (θ is an angle);

[0100] For medium and low energy cyclotrons, the cyclotron radius is small and the magnetic field measurement positioning accuracy requirements are low. In addition, for cost considerations, we generally adopt X and Y arm magnetic field measurement methods and stepper motor control methods. The encoder module reads the position X and Y grating position feedback inside the PLC. In the PLC program, a universal virtual axis is established for the X and Y stepper motors respectively, and a universal encoder axis is established for the X and Y encoders. The PLC control program reads the position information of the encoder axis and writes a motion control function to control the virtual axis. The virtual axis and the actual stepper motor driver are linked to complete the control of the PLC axis over the actual stepper motor driver. Since the stepper motor driver itself does not have closed-loop control, the closed-loop driver is written by the PLC according to the encoder position feedback to achieve closed-loop control of the X and Y arm motion position. However, since the torque of a stepper motor decreases rapidly as the speed increases, the disadvantage of using a stepper motor control method for magnetic field measurement is that it takes a long time and the positioning speed cannot be too fast. Therefore, when writing a PLC program, it is necessary to perform positioning speed control according to the size of the target position. For example, when the target position is greater than 10mm, speed 1 is used. When the target position is greater than 10mm and less than 5mm, speed 2 is used. When the target position is less than 5mm, speed 3 is used. Here, speed 1> speed 2> speed 3.

[0101] Step 32, angular and radial motion measurement, applicable to cyclotron accelerators with energies higher than 12 MeV, includes installing the motors selected in step 13 in the angular and radial directions of the radial measurement arm, respectively, wherein the angularly installed motor completes the rotation of the radial measurement arm through gear coupling, and the radially installed motor completes the radial full-range sliding of the radial magnetic field probe through a pulley, and performs point magnetic field measurement.

[0102] The angular encoder can be connected to the PLC encoder module for PLC program closed-loop control, or it can be connected to the servo motor's second encoder interface for full closed-loop control of the drive.

[0103] The radial encoder can be connected to the PLC encoder module for PLC program closed-loop control, or it can be connected to the servo motor's second encoder interface for full closed-loop control of the drive.

[0104] For medium- and high-energy cyclotrons, which have large radii and require high magnetic field measurement accuracy, the measurement process is long. Therefore, we typically utilize radial and angular positioning measurement methods and servo motor control. Since the servo motor driver has built-in closed-loop feedback, it can be connected to a second encoder and a grating scale to achieve fully closed-loop feedback. Furthermore, the servo motor driver maintains constant torque at high speeds, allowing for full integration with PLC motion control functions and virtual axes. By invoking mature motion control functions for absolute and relative positioning, the positioning accuracy of the magnetic field measurement device can be guaranteed. Furthermore, the servo motor driver's closed-loop PID parameters can be adjusted to achieve high-speed absolute positioning convergence. However, the virtual axis motion control function cannot perform homing on the servo drive. Homing can only be accomplished by reading and writing the servo drive's object dictionary via the PLC's EtherCAT bus using SDOs and PDOs (PDOs and SDOs are two different data transmission methods in the CANopen protocol. PDOs transmit real-time data immediately, suitable for data exchange requiring high real-time performance; SDOs are a request-response data transmission method suitable for configuring and managing node parameters).

[0105] The specific steps of PLC controlling the servo drive to return to zero are as follows:

[0106] Step 2 includes:

[0107] Servo motor homing, including:

[0108] Step 21: After returning to zero, reset the servo driver;

[0109] Step 22: Switch the servo drive operation mode (object dictionary parameter 6060h) to 6, which is the zero return mode;

[0110] Step 23. Configure the return to zero parameters (return to zero acceleration (609Ah), return to zero high speed (6099.2h), return to zero low speed (6099.11h), return to zero mode (6098h)).

[0111] Step 24: The servo drive control mode (6040h) switches from 6 to 7 to 15 to 31.

[0112] 6 is to connect the main circuit power

[0113] 7: Connect the main circuit power and start the servo operation

[0114] 15 is to connect the main circuit power and start the servo operation.

[0115] 31 is to connect the main circuit power, start the servo operation, servo operation, start the return to zero;

[0116] Step 25: Read bit 15, bit 13, and bit 7 of the servo drive control status word (6041h);

[0117] Step 26: The servo driver is reset;

[0118] Step 27: Switch the servo drive operation mode (object dictionary parameter 6060h) to 8, which is CSP mode.

[0119] Step 28: Complete the zero return operation.

[0120] A universal magnetic field measurement and control system for a parameterized cyclotron accelerator, comprising:

[0121] The PLC controller is connected to the host computer via Ethernet, including controlling the encoder module EL5101 to complete the reading of external encoder and grating ruler signals (RS422 level signals);

[0122] Control the serial communication module EL6002 to complete the reading of magnetic field data of two magnetometers (fixed position magnetic field monitoring and actual position magnetic field monitoring) and the reading of the ambient temperature of the magnetic field probe;

[0123] Receive the emergency stop switch signal to control the stop of the motion mechanism;

[0124] The communication with the host computer program is completed through the ADS communication protocol.

[0125] Motor drivers, including radial and angular motor drivers connected to PLC controllers; motor drivers include stepper motor drivers and servo motor drivers, mainly including motor enable, jog, absolute positioning, relative positioning, homing (homing control), stop, fault reset, etc.

[0126] Encoders, including radial and angular encoders, are connected to the PLC controller;

[0127] Two sets of magnetometers are designed and connected to the PLC controller to monitor the magnetic field at fixed positions and actual positions;

[0128] A magnetometer includes a gaussmeter, wherein the gaussmeter includes a magnetic field probe.

[0129] Magnetic field probe, used to measure the magnetic field at points inside the accelerator.

[0130] The host computer software is based on C#WPF programming, and the specific functions completed are as follows:

[0131] Based on CS software architecture, data interaction with PLC is completed through ADS communication protocol;

[0132] The general magnetic field measurement control software based on C# mainly completes the display of the magnetic field probe's current radial position, current angular position, radial target position, angular target position, radial upper and lower limits, angular upper and lower limits, difference between radial target position and actual position, difference between angular target position and actual position, magnetic field data 1 and 2, probe temperature 1 and 2, and three-dimensional curve display of magnetic field data and position.

[0133] Complete manual jog control of radial and angular motors, manual absolute positioning control and relative positioning control of radial and angular motors, positive and negative phase return to zero and stop control of radial and angular motors, reset and stop control of radial and angular motors, magnetic measurement parameter configuration setting, automatic magnetic measurement control, etc.

[0134] The magnetic field data storage, export and import functions can import and compare the actual measured magnetic field data with the calculated magnetic field data, and generate an error curve for physical designers to make judgments.

[0135] Before magnetic field measurement, parameters (jog slow speed and fast speed, absolute positioning acceleration and deceleration and speed, relative positioning acceleration and deceleration and speed, radial return speed, radial measurement range, angular measurement range, radial measurement step, angular measurement step, servo motor rotation direction, stepper motor rotation direction, etc.) are configured. The parameter configuration can be stored and read.

[0136] Working principle description:

[0137] Parameter configuration;

[0138] Radial homing and angular homing;

[0139] Start measuring magnetic field, every time the angular direction moves Δ°, the radial direction completes a full range with ΔL as the step. Measurement of magnetic field at a point;

[0140] Check whether the angular direction reaches 360°. If not, repeat step 3. If yes, complete the magnetic field measurement.

[0141] Compare the imported magnetic field measurement theoretical data with the magnetic field theoretical value and the magnetic field measurement value to determine whether the magnetic field measurement is qualified;

[0142] No, generate the magnet shimming amount and wait for the shimming magnet processing to be completed before the next round of magnetic measurement;

[0143] Yes, magnetic measurement is completed.

[0144] The preferred specific embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above specific embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the scope of protection of the present invention.

Claims

1. A general magnetic field measurement and control method for a parameterized cyclotron accelerator, comprising: Step 1: Parameter configuration; Step 2: Radial and angular zeroing; Step 3, start measuring magnetic field, angular movement , radially complete a full scale For step Measurement of magnetic field at a point; Step 31: Fitting the X and Y arms for angular and radial motion for measurement, including installing the motors selected in step 13 in the angular and radial directions of the X and Y arms, respectively. The X and Y arms are orthogonal. Based on the angular and radial length information, the travel distances of the motors installed on the X and Y arms are calculated using trigonometric formulas to complete the absolute positioning of the corresponding X and Y axis motors. The magnetic field at that point is measured using a magnetic field probe installed at the head of the X arm. ； in, is the angle; Step 32: angular and radial motion measurement, including installing the motors selected in step 13 in the angular and radial directions of the radial measuring arm, respectively, wherein the angularly installed motor completes the rotation of the radial measuring arm through gear coupling, and the radially installed motor completes the radial full-range sliding of the radial magnetic field probe through a pulley, and performs magnetic field measurement; Step 4: Is the angle reached? , No, repeat step 3, Yes, complete the magnetic field measurement; Step 5: Compare the imported magnetic field measurement theoretical data to the magnetic field data, complete the comparison between the magnetic field theoretical value and the magnetic field measurement value, and determine whether the magnetic field measurement is qualified; No, generate the magnet shimming amount and wait for the shimming magnet processing to be completed before the next round of magnetic measurement; Yes, complete the magnetic measurement; The step 1 comprises: Step 11, start; Step 12: Read historical parameters; Step 13: Select radial and angular motors; Step 14: Select radial and angular jog speeds, absolute positioning acceleration and deceleration, relative positioning acceleration and deceleration, return speed, motor rotation direction, measurement range, step value, and single-point waiting time for magnetic field temperature. Step 15: Import theoretical magnetic field data; Step 16: End; When selecting radial and angular motors, step 13 includes: Stepper motors are installed in both angular and radial directions; Angularly mounted stepper motors and radially mounted servo motors; Servo motors are installed in both angular and radial directions; Step 2 includes: Servo motor homing, including: Step 21: After returning to zero, reset the servo driver; Step 22: The servo drive operation mode is switched to the zero return mode; Step 23: Configure the return to zero parameters, return to zero high speed, return to zero low speed, and return to zero mode; Step 24: The servo drive control mode is switched in sequence by connecting the main circuit power, starting the servo operation, servo operation, and starting the zero return. Step 25: Read bit 15, bit 13, and bit 7 of the servo drive control status word; Step 26: The servo driver is reset; Step 27: The servo drive operation mode is switched to CSP mode; Step 28: Complete the zero return operation.

2. A parameterized cyclotron universal magnetic field measurement and control system for implementing the method of claim 1, characterized in that: include: PLC controller, connected to the host computer via Ethernet; Motor drives, including radial and angular motor drives connected to PLC controllers; Encoders, including radial and angular encoders, are connected to the PLC controller; Magnetic field probe, used to measure the magnetic field at points inside the accelerator.

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