Synchronization control device, synchronization control method, and heavy particle beam irradiation system

Abstract

The present invention addresses the problem of enabling high-precision positioning by synchronously driving two rotating frame pairs when driving two rotating frames for supporting a heavy object. The synchronous control device (6) is provided with: two arc guide rails (14); two rotating racks (15) that support one of the supported parts (7); two drive sources (16); two torque transmission parts (17); two displacement sensors (23) that measure the amount of displacement of a member that constitutes the torque transmission unit and that is displaced by the transmission of torque; two lower control units (22) that feed back the amount of displacement measured by the displacement sensor and control the control drive source so that the rotating frame reaches a target rotation angle position that is the inputted target position command value; and two upper-level control units (21) that correct the target position command value on the basis of a correction value table in which correction values for correcting the target position command value are registered in advance, and that output the corrected target position command value to the lower-level control units.

Description

Technical Field

[0001] Embodiments of the present invention relate to synchronization control technology. Background Art

[0002] When moving a plurality of rotary frames of a specified rack using a plurality of drive shafts, it is necessary to synchronously operate both drive shafts. However, due to mechanical errors, machining errors, deformation, etc. of components, the stop position of the rotary frame may deviate from the target command position. Therefore, it is necessary to create a correction value table corresponding to each target command position to eliminate the position error. However, even if feedforward control using correction values is performed, the position error of the rotary frame may not be eliminated due to aging deterioration. Therefore, it is necessary to periodically correct the correction value table, which involves a lot of work (Japanese: 手間).

[0003] For example, in a two-axis synchronization control device, there is a technique of using the position error between the two axes when only one of the axes is controlled to move to a specified position as the correction value. In this technique, it is possible to suppress the influence of external forces that interfere with the moving part caused by the deviation of the encoder configuration in the full-axis positioning control of the position control of each of the two axes. However, in this technique, the correction value is set in a state where one side can move freely, so it cannot be applied to a mechanism that cannot move using only a single axis. In addition, from the viewpoint of driving only one side, it is necessary to perform driving for updating the correction value separately from actual operation. Furthermore, since the correction value is set as the relative position error between the two axes, when the absolute position of the main axis deviates from the command position due to equipment error, it will not result in the desired positioning.

[0004] In addition, there is a known technique: the moving part is moved to a specified position by two-axis synchronous operation, and then sensors that sense the attitude of the moving part are used to move each axis independently, thereby moving the moving part to a specified attitude. At this time, the newly provided command value for correction is set as the correction value, and during actual driving, this correction value is added to the position command value for positioning. In this technique, the measurement positions for determining the correction value are only two, and the accuracy is insufficient.

[0005] Furthermore, there is a known technique: in a multi-axis synchronization control device, the axes are divided into a main axis and slave axes, the relative position error between the main axis and the slave axes is used as the correction value, and this correction value is added to the position command value for positioning. In this technique, since the correction value is set as the error in the relative position between the main axis and the slave axes, when the absolute position of the main axis deviates from the command position due to equipment error, it will not result in the desired positioning. Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] In the heavy particle beam irradiation system that has become popular in recent years, a heavy irradiation port moves along an arc-shaped guide rail. For example, one irradiation port is mounted on two rotating frames that move along two parallel arc-shaped guide rails. These rotating frames are driven by a drive unit connected to both sides.

[0008] In addition, a mechanism using a pin gear to drive the rotating frame is considered. For example, a mechanism is considered in which the drive source is placed on the side of only one rotating frame, and the two pin gears meshing with the two sides of the two rotating frames are rotated simultaneously by the shaft. However, the shaft and the irradiation port that moves with the rotating frame will interfere with each other.

[0009] Therefore, in the driving mechanism using two pin gears, it is considered to place two driving sources one by one on both side surfaces of the two rotating frames, and control the two pin gears meshing with the two side surfaces of the rotating frames synchronously, thereby performing rotational driving at the same time. However, when the rotating frames are driven, the positions of the two rotating frames may deviate due to a slight synchronization deviation of the two driving sources, and a high-precision positioning control technology is required.

[0010] The problem to be solved by the present invention is to be able to synchronously drive both rotating frame pairs when driving two rotating frames supporting a heavy object, and to perform high-precision positioning.

[0011] Means for solving problems

[0012] A synchronous control device according to an embodiment of the present invention includes:

[0013] At least two arc guides are fixedly arranged in an arc shape and arranged in parallel with each other; at least two rotating frames are rotated and moved along the arc guides with the center of the arc guides as an axis to support a supported part; at least two driving sources generate torque for rotating and moving the rotating frames; at least two torque transmission parts are arranged on the driving sources to transmit the torque to the rotating frames; at least two displacement sensors are arranged on the torque transmission parts to measure the displacement of the components constituting the torque transmission parts, i.e., the components displaced by the transmission of the torque; at least two lower control parts feed back the displacement measured by the displacement sensors and control the driving sources so that the rotating frames reach the input target position command value, i.e., the position of the rotation angle set as the target; and at least two upper control parts correct the target position command value based on a correction value table in which a correction value for correcting the target position command value is pre-registered, and output the corrected target position command value to the lower control parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1This is a diagram showing the overall configuration of a heavy ion beam irradiation system.

[0015] Figure 2 It is a side view showing a slit-type irradiation device.

[0016] Figure 3 It is a front view showing a slit-type irradiation device.

[0017] Figure 4 It is a side view showing the synchronous control device according to the first embodiment.

[0018] Figure 5 This is a side view of the synchronous control device showing a state in which the rotating frame is rotated upward.

[0019] Figure 6 This is a side view of the synchronous control device showing a state in which the rotating frame is rotated downward.

[0020] Figure 7 It means Figure 4 Section VII-VII corresponds to the front view of the synchronous control device.

[0021] Figure 8 It is a block diagram showing the synchronous control device according to the first embodiment.

[0022] Fig. 9 It is an explanatory diagram showing a correction value table.

[0023] Fig.10 It is a block diagram showing a synchronous control device according to a second embodiment.

[0024] Fig.11 This is a schematic diagram showing a state where a deviation has occurred in the rotating frame.

[0025] Fig.12 It is a schematic diagram showing a state after the deviation of the rotating frame is corrected.

[0026] Fig.13 This is a graph showing the relationship between the target position command values ​​before and after correction.

[0027] Fig.14 : is a flowchart showing the synchronous control process.

[0028] Fig.15 is a flowchart showing the angle deviation detection process.

[0029] Fig.16 It is a block diagram showing a synchronous control device according to a third embodiment.

[0030] Fig.17 This is a schematic diagram showing the rotating frame at the start of the origin return.

[0031] Fig.18 FIG. 1 is a schematic diagram of the rotating frame showing a state where the first origin return is completed.

[0032] Fig.19 FIG. 1 is a schematic diagram of the rotating frame showing a state where the second origin return is completed.

[0033] Fig. 20 This is a schematic diagram showing the rotating frame during teaching of the control origin.

[0034] Fig.21 This is a flowchart showing the origin return process. DETAILED DESCRIPTION

[0035] (First Embodiment)

[0036] Hereinafter, embodiments of a synchronous control device, a synchronous control method, and a heavy particle beam irradiation system will be described in detail with reference to the accompanying drawings. Figures 1 to 9 A first embodiment will be described.

[0037] Figure 1 Reference numeral 1 denotes a heavy particle beam irradiation system of the present embodiment. The heavy particle beam irradiation system 1 is a so-called heavy particle beam treatment device that irradiates a lesion tissue (cancer) of a patient P as an irradiation object with a beam of therapeutic radiation, i.e., a heavy particle beam B using carbon ions or the like.

[0038] The radiation therapy technology using the heavy particle beam irradiation system 1 is called particle beam cancer therapy technology. In this technology, the cancer lesion (affected part) can be accurately targeted and damaged, and the damage to normal cells can be suppressed to a minimum. In addition, the heavy particle beam B is defined as a beam using an element heavier than helium atoms.

[0039] In addition, although the present embodiment exemplifies the heavy particle beam B using carbon, other embodiments may be used, for example, the heavy particle beam B may use helium, oxygen, or neon.

[0040] In cancer treatment using heavy particle beam B, compared with conventional cancer treatment using X-rays, gamma rays, and proton beams, the ability to kill cancer lesions is higher, the radiation dose on the surface of the body of the patient P is weak, and the radiation dose reaches a peak in the cancer lesions. Therefore, the number of irradiation times and side effects can be reduced, and the treatment period can be further shortened.

[0041] For example, when the heavy particle beam B passes through the body of the patient P, it loses kinetic energy and its speed decreases, and it is subjected to a resistance that is roughly inversely proportional to the square of the speed. If it decreases to a certain fixed speed, it stops suddenly. The stopping point of the heavy particle beam B is called the Bragg peak, which emits high energy. The heavy particle beam irradiation system 1 can suppress the damage of normal tissue and kill only the lesion tissue by aligning the position of the Bragg peak with the lesion tissue (affected part) of the patient P.

[0042] The heavy particle beam irradiation system 1 includes an ion generator 2 , an accelerator 3 , a transport device 4 , a slit-type irradiation device 5 , a synchronous control device 6 , and an irradiation port 7 .

[0043] The ion generator 2 has an ion source of carbon ions as charged particles, and generates a heavy particle beam B by the carbon ions. The accelerator 3 accelerates the heavy particle beam B generated by the ion generator 2. The accelerator 3 includes a linear accelerator and a circular accelerator. Here, the heavy particle beam B is accelerated to about 70% of the speed of light while the circular accelerator is rotated about a million times. The heavy particle beam B accelerated by the circular accelerator is transported to the slit-type irradiation device 5 by the transport device 4.

[0044] In addition, the ion generator 2, the accelerator 3, and the transport device 4 are provided with a vacuum duct 8 (beam tube) extending integrally with the interior thereof being vacuum. The heavy particle beam B travels inside the vacuum duct 8. The vacuum duct 8 forms a transport path for guiding the heavy particle beam B from the ion generator 2 to the slit-type irradiation device 5. That is, the vacuum duct 8 is a closed continuous space having a sufficient vacuum degree for the heavy particle beam B to pass therethrough.

[0045] Next, refer to Figures 2 to 3 The slit type irradiation device 5 will be described. Figure 2 The right side of the paper is described as the front side (front side) of the slit-type irradiation device 5. When the direction in which the vacuum duct 8 of the conveying device 4 extends, i.e., the direction in which the heavy particle beam B flies, is set as the X direction, the vertical direction of the paper orthogonal to it is set as the Y direction, and the direction orthogonal to them is set as the Z direction for description.

[0046] First, a deflection electromagnet 52 is provided at the end of the vacuum duct 8 of the conveying device 4. An amplification duct 53 is provided which expands in a triangular shape (fan shape) from the deflection electromagnet 52 when viewed from the side. The amplification duct 53 expands in the Y direction from the end of the vacuum duct 8 of the conveying device 4. A main body 54 is connected to the front end of the amplification duct 53. The main body 54 is in a longitudinally long rectangular shape when viewed from the side. The inside of the amplification duct 53 and the main body 54 is a closed space having a vacuum degree continuous from the vacuum duct 8 of the conveying device 4.

[0047] A plurality of deflection electromagnets 55 ( Figure 3 ), the plurality of deflection electromagnets 55 deflect the heavy particle beam B incident from a wide angle range and converge it to the isocenter C. These deflection electromagnets 55 generate an effective magnetic field region R ( Figure 2 ). The isocenter C is set as the position where the heavy particle beam B is irradiated most concentratedly, and the affected part of the patient P is placed at the isocenter C.

[0048] For example, a pair of deflection electromagnets 55 are provided inside the main body 54 in the Z direction. Also, two sets of deflection electromagnets 55 are arranged side by side in the Y direction. One set of deflection electromagnets 55 generates one effective magnetic field region R. Figure 2 In the example, two upper and lower effective magnetic field regions R can be generated by two upper and lower groups of deflection electromagnets 55.

[0049] The effective magnetic field region R is generated in a crescent shape (crescent shape) when viewed from the side. By controlling the intensity of the effective magnetic field region R, the trajectory of the heavy particle beam B can be controlled. The heavy particle beam B can be irradiated at any angle with the isocenter C as the center. For example, when the inclination of the reference trajectory when the trajectory of the heavy particle beam B is not deflected is set to 0 degrees, the irradiation angle of the heavy particle beam B can be changed within a range from a predetermined +θ degree to -θ degree with the isocenter C as the center.

[0050] The reference trajectory refers to a trajectory along which the heavy particle beam B flies straight from the vacuum duct 8 toward the isocenter C.

[0051] exist Figure 2 In the example, the upper and lower effective magnetic field regions R have the same shape and the same strength. That is, an effective magnetic field region R that is symmetrical in the upper and lower directions is generated, but it can also be other ways. For example, the effective magnetic field region R can also be asymmetrical in the upper and lower directions. That is, the upper and lower effective magnetic field regions R can also have different shapes and intensities. Furthermore, it can also be a method of generating one effective magnetic field region R on either side of the upper and lower sides. In addition, the center of the range of the angle of the heavy particle line B that changes circumferentially with the isocenter C as the center can also deviate from the reference orbit of the heavy particle line B.

[0052] The patient P is placed on a movable stage 50. The movable stage 50 is supported by a movable arm 51, and moves while placing the patient P, so that the affected part of the patient P is arranged at the isocenter C. By moving the movable stage 50, the patient P can be moved to the irradiation position of the heavy particle beam B for positioning. Therefore, the lesion tissue of the patient P can be irradiated with the heavy particle beam B with the best accuracy.

[0053] The front side of the main body 54 is a concave portion 56 that is concave in a semicircular shape when viewed from the side. The isocenter C is set at the center of the semicircle of the concave portion 56, and the patient P is placed at the isocenter C. Here, the movable stage 50 can place the patient P in the concave portion 56 on the front side of the main body 54 and place it at the isocenter C. For example, the movable stage 50 carrying the patient P can be moved from the front direction ( Figure 2 In this way, the patient P can enter from an appropriate direction and be arranged at the isocenter C.

[0054] A slit 57 is formed on the front side of the main body 54 so as to be opened in a manner extending in the circumferential direction with the isocenter C where the patient P is placed as the center. For example, a vertically long slit 57 ( Figure 3 The slit-type irradiation device 5 emits the heavy particle beam B at an arbitrary angle from the slit 57 toward the isocenter C. The slit 57 is sealed by a super heat-resistant and super cold-resistant polyimide film, and the vacuum inside the main body 54 is maintained in a state where the heavy particle beam B can pass therethrough.

[0055] An irradiation port 7 capable of changing the irradiation direction of the heavy particle beam B relative to the isocenter C is provided near the slit-type irradiation device 5. The irradiation port 7 includes a ridge filter, a position monitor, a dose monitor, and a scanning electromagnet. Thus, the irradiation port 7 is a heavy object equipped with a plurality of devices.

[0056] The irradiation port 7 is centered on the isocenter C where the patient P is placed, and moves in the circumferential direction at positions equidistant from the isocenter C.

[0057] For example, when the inclination of the reference trajectory of the heavy particle beam B is set to 0 degrees, the irradiation port 7 can be moved within a predetermined range from +θ degrees to -θ degrees. For example, the irradiation port 7 can be rotated by a predetermined angle in one direction and the other direction in the circumferential direction. The irradiation port 7 is arranged along the synchronous control device 6 ( Figure 4 ) is a C-shaped arc guide rail 14 ( Figure 4 )move.

[0058] The irradiation port 7 moves in a manner along the shape (boundary shape) of the exit side of the effective magnetic field region R when viewed from the side. The heavy particle beam B from the exit side of the effective magnetic field region R toward the isocenter C passes through the irradiation port 7, and the traveling direction of the heavy particle beam B is finely adjusted by the irradiation port 7.

[0059] exist Figures 2 to 3 In order to facilitate understanding, the slit-type irradiation device 5 is shown in the figure in a state where the X direction is aligned with the horizontal direction. However, when the slit-type irradiation device 5 is actually installed, Figure 4As shown in FIG. 1 , the entire slit-type irradiation device 5 is in an inclined state. For example, the main body 54 is attached to the floor surface F in an inclined state in the longitudinal direction (Y direction).

[0060] In this embodiment, the upper part of the main body 54 is inclined toward the patient P. The irradiation range of the heavy particle beam B is a range of an arbitrary angle centered at the isocenter C, but the heavy particle beam B can be irradiated from directly above the patient P by tilting the slit type irradiation device 5 .

[0061] That is, the slit-type irradiation device 5 is installed in a tilted state so that the reference orbit when the orbit of the heavy particle beam B is not deflected in the slit-type irradiation device 5 is tilted from the horizontal direction (horizontal axis). In this way, the range of angles at which the heavy particle beam B is irradiated to the patient P who is the irradiation target of the heavy particle beam B becomes practical.

[0062] In the present embodiment, the upper portion of the main body 54 of the slit-type irradiation device 5 is inclined toward the patient P, but the upper portion of the main body 54 may be inclined away from the patient P. The slit-type irradiation device 5 may be used without being inclined.

[0063] Next, refer to Figures 4 to 9 The synchronous control device 6 of the first embodiment is described. The synchronous control method is implemented using the synchronous control device 6. Figures 4 to 6 The right side of the paper is described as the front side (front side) of the synchronous control device 6. Figure 7 The left side of the paper is regarded as the left side of the synchronous control device 6, and the right side of the paper is regarded as the right side of the synchronous control device 6 for explanation.

[0064] like Figure 4 As shown in FIG. 1 , the synchronous control device 6 is a device for moving the irradiation port 7 in an arc shape along the inner peripheral surface of the concave portion 56 of the slit-type irradiation device 5. Figure 2 As shown in the figure, the recess 56 is located on the front side of the main body 54. The irradiation port 7 is provided with a slit 57 ( Figure 3 ) to finely adjust the heavy particle beam B emitted from the slit 57.

[0065] like Figure 7 As shown, the synchronous control device 6 is a bilaterally symmetrical device. Here, the components and devices arranged on the left side of the synchronous control device 6 are referred to as the first unit 10A, and the components and devices arranged on the right side of the synchronous control device 6 are referred to as the second unit 10B. The first unit 10A and the second unit 10B have the same structure. When the irradiation port 7 is moved, the first unit 10A and the second unit 10B perform the same movement and are controlled in a manner that the movements are consistent with each other, that is, synchronized.

[0066] The synchronous control device 6 includes two support structures 11. These support structures 11 are wall-shaped, with their bottoms fixed to the floor surface F, and are erected in parallel on the left and right at predetermined intervals. A plurality of beam members 12 are provided between the left and right support structures 11.

[0067] Furthermore, the synchronous control device 6 includes one port base 13 , two circular arc guide rails 14 , two rotating frames 15 , two driving sources 16 , two torque transmission units 17 , and two angle sensors 18 .

[0068] In the following description, the components and devices corresponding to the first unit 10A are sometimes referred to as the first circular arc guide 14A, the first rotating frame 15A, the first drive source 16A, the first torque transmission unit 17A, and the first angle sensor 18A. In addition, the components and devices corresponding to the second unit 10B are sometimes referred to as the second circular arc guide 14B, the second rotating frame 15B, the second drive source 16B, the second torque transmission unit 17B, and the second angle sensor 18B.

[0069] The port base 13 is a plate-shaped member that supports the irradiation port 7 as one supported portion. The irradiation port 7 is fixed to the center of the port base 13 .

[0070] The arc guide rail 14 is fixedly installed by the support structure 11, has an arc shape, and is arranged so that the arcs are parallel to each other.

[0071] The rotating frame 15 is guided by the arc guide rail 14 and has the center of the arc guide rail 14 as an axis (central axis J( Figure 7 )) and rotates within a specified range of rotation angles. The left and right rotating frames 15 are fixed to the left and right sides of the port base 13. That is, one irradiation port 7 is supported by two rotating frames 15. In addition, the central axis J of the arc guide 14 extends in the horizontal direction and includes the isocenter C. The irradiation port 7 rotates around the isocenter C together with the rotation of the rotating frame 15. The first rotating frame 15A and the second rotating frame 15B rotate around the same (one) central axis J.

[0072] The driving source 16 is fixedly installed by the supporting structure 11, and is a device that generates torque for rotating the rotating frame 15 along the circular arc guide rail 14. The driving source 16 is, for example, a motor.

[0073] The torque transmission unit 17 is fixedly installed by the support structure 11 and installed near the driving source 16, and transmits the torque generated by the driving source 16 to the rotating frame 15. The driving source 16 and the torque transmission unit 17 are connected by a timing belt 19 for torque transmission.

[0074] The angle sensor 18 is provided on the rotating frame 15. The angle sensor 18 is a device that detects the tilt of the rotating frame 15, that is, the rotation angle when the rotating frame 15 rotates. In addition, when the rotating frame 15 rotates (moves) along the circular arc guide rail 14, the position of the rotating frame 15 on the circular arc guide rail 14 can be determined by the rotation angle detected by the angle sensor 18. In the following description, the rotation angle detected by the angle sensor 18 is sometimes referred to as the absolute position of the rotating frame 15.

[0075] like Figure 4 As shown, the circular arc guide 14 and the rotating frame 15 are in a C-shape with a portion of the circle cut off when viewed from the side. In addition, the side view refers to observing the synchronous control device 6 from a direction intersecting the front-back direction, and refers to observing from a direction consistent with the direction in which the center axis J extends. The opening size of the circular arc guide 14 and the cut-off portion of the rotating frame 15 is set to a size that allows the patient P, as the object, to enter from a direction intersecting (orthogonal) to the center axis J of the circular arc guide 14 when the patient P is arranged near the irradiation port 7. In this way, the patient P can enter from an appropriate direction ( Figure 4 The arc guide rail 14 is arranged at the isocenter C on the center axis J thereof.

[0076] like Figure 5 As shown, when the irradiation port 7 is moved above the patient P in order to irradiate the patient P with the heavy particle beam B from above, the rotating frame 15 rotates (moves) upward along the circular arc guide rail 14 .

[0077] like Figure 6 As shown in FIG. 1 , when the irradiation port 7 is moved obliquely below the patient P in order to irradiate the heavy particle beam B from obliquely below the patient P, the rotating frame 15 rotates (moves) downward along the arc guide rail 14 .

[0078] like Figure 4 As shown, a plurality of beam members 12 connecting the left and right support structures 11 are provided at the front and bottom of the support structures 11. In addition, a main body 54 of the slit-type irradiation device 5 is provided between the left and right support structures 11. The main body 54 is arranged at the rear of the support structure 11. Furthermore, the vertical dimension of the main body 54 is larger than the vertical dimension of the support structure 11.

[0079] The main body 54 of the slit-type irradiation device 5 is disposed at the rear of the support structure 11, so the beam member 12 connecting the left and right support structures 11 cannot be disposed at the rear of the support structure 11. Therefore, it is difficult to ensure the rigidity of the rear of the support structure 11. In this case, for example, it is necessary to perform correction so that the stop positions of the left and right rotating frames 15 do not cause positional deviation.

[0080] Next, refer to Figure 8The block diagram shown in the figure explains the system configuration of the synchronous control device 6. Figure 8 The arrow in the figure is an example of the flow of data including a specified value or signal, and there may be a flow of data other than the arrow. In addition, the context of each process does not necessarily have to be fixed, and the context of some processes may be swapped. In addition, some processes may be executed in parallel with other processes. Furthermore, the synchronous control device 6 may include Figure 8 The configurations other than those shown may be omitted. Figure 8 Part of the composition shown.

[0081] The synchronous control device 6 includes, in addition to the above-described configuration, a control computer 20 , two upper control units 21 , two lower control units 22 , two displacement sensors 23 , and an origin return result integration unit 24 .

[0082] In the following description, the devices corresponding to the first unit 10A are sometimes referred to as the first upper controller 21A, the first lower controller 22A, and the first displacement sensor 23A. Also, the devices corresponding to the second unit 10B are sometimes referred to as the second upper controller 21B, the second lower controller 22B, and the second displacement sensor 23B.

[0083] The control computer 20 is a device that controls the synchronous control device 6 according to the user's input operation. For example, the control computer 20 outputs a target position command value to the upper control unit 21 according to the user's input operation. The target position command value is a value indicating the target rotation angle (absolute position) that the rotating frame 15 reaches.

[0084] The angle sensor 18 is connected to the control computer 20 and transmits the measured rotation angle of the rotating frame 15 to the control computer 20. The control computer 20 can determine whether the rotating frame 15 has reached the target position command value based on the rotation angle detected by the angle sensor 18.

[0085] The upper control unit 21 includes a correction value table storage unit 25, which stores a correction value table in which correction values ​​for correcting the target position command value are pre-registered. The upper control unit 21 corrects the target position command value based on the correction value table stored in the correction value table storage unit 25, and outputs the corrected target position command value to the lower control unit 22.

[0086] In addition, the upper control unit 21 is composed of a computer, which has hardware resources such as a processor and a memory, and executes various programs through a CPU (Central Processing Unit) to implement information processing based on software using hardware resources. The upper control unit 21 is composed of, for example, a PLC (Programmable Logic Controller). Furthermore, the synchronous control method of this embodiment is implemented by causing the upper control unit 21 as a computer to execute various programs.

[0087] like Fig. 9 As shown in FIG. 1 , in the correction value table, respective correction values ​​are registered in correspondence with respective rotation angles when the rotating frame 15 rotates, that is, respective target position command values. In the correction value table, correction values ​​corresponding to the first rotating frame 15A and correction values ​​corresponding to the second rotating frame 15B are registered every 10 degrees of the rotation angle. Fig. 9 In order to facilitate understanding, the correction value table stored in the first host control unit 21A and the correction value table stored in the second host control unit 21B are illustrated as one correction value table.

[0088] The correction value is a value indicating a corrective rotation angle required to make the rotating frame 15 reach the target position when the rotating frame 15 does not actually reach the target position due to deformation of the arc guide 14, machining error, deformation due to aging, etc.

[0089] For example, "10 degrees" is input as the target position command value to the first upper control unit 21A and the second upper control unit 21B from the control computer 20. Here, the first upper control unit 21A outputs a value obtained by adding "-0.25 degrees" to the first lower control unit 22A based on the correction value table. On the other hand, the second upper control unit 21B outputs a value obtained by adding "+0.05 degrees" to the second lower control unit 22B based on the correction value table.

[0090] In addition, in the present embodiment, "addition" includes a method of adding a negative value. For example, "addition" includes a method of subtracting the absolute value of a predetermined value.

[0091] In addition, in the case where the correction value corresponding to the target position command value is not registered in the correction value table, an interpolation value calculated from the vicinity of the target position command value before and after may be used. For example, "15 degrees" is input as the target position command value from the control computer 20 to the first upper control unit 21A and the second upper control unit 21B. Here, the correction value corresponding to the target position command value of "15 degrees" is not registered in the correction value table. Therefore, the first upper control unit 21A calculates the intermediate value of "-0.25 degrees" as the correction value of "10 degrees" and "+0.30 degrees" as the correction value of "20 degrees", that is, "+0.025 degrees" as the correction value (interpolation value). On the other hand, the second upper control unit 21B calculates the intermediate value of "+0.05 degrees" as the correction value of "10 degrees" and "+0.10 degrees" as the correction value of "20 degrees", that is, "+0.075 degrees" as the correction value (interpolation value).

[0092] like Figure 8 As shown, the lower control unit 22 controls the driving source 16 based on the input target position command value. The lower control unit 22 is, for example, a driver of the driving source 16. The target position command value corrected by the upper control unit 21 is input to the lower control unit 22.

[0093] The displacement sensor 23 is a device provided in the torque transmission unit 17, and measures the displacement amount of a component constituting the torque transmission unit 17, that is, a component displaced by the transmission of torque. The displacement sensor 23 is, for example, a resolver assembled in the torque transmission unit 17. The displacement sensor 23 measures the rotation amount of a predetermined component such as a transmission shaft (not shown) of the torque transmission unit 17.

[0094] The lower control unit 22 feeds back the displacement amount measured by the displacement sensor 23 and controls the driving source 16 so that the rotating frame 15 reaches the position corresponding to the input target position command value, that is, the target rotation angle.

[0095] For example, the measured value (displacement amount) of the first displacement sensor 23A of the first torque transmission unit 17A is input to the first lower control unit 22A. The first lower control unit 22A grasps the movement amount of the first rotating frame 15A through the input measured value, and drives the first driving source 16A until the first rotating frame 15A reaches the target position on the first circular arc guide rail 14A.

[0096] On the other hand, the measured value (displacement amount) of the second displacement sensor 23B of the second torque transmission unit 17B is input to the second lower control unit 22B. The second lower control unit 22B grasps the movement amount of the second rotating frame 15B based on the input measured value, and drives the second driving source 16B until the second rotating frame 15B reaches the target position on the second circular arc guide rail 14B.

[0097] The origin return result integration unit 24 is a device that performs processing to add the value of the origin offset to the target position command value when the origin offset of the control origin that can be arbitrarily set by the user is set at a position different from the mechanical origin inherent in the device. In this way, the value of the origin offset can be reflected in the target position command value, and the accurate positioning of the rotating frame 15 can be performed. The origin return result integration unit 24 is connected to the control computer 20 and is controlled by the control computer 20.

[0098] In addition, in the correction value table ( Fig. 9 ) is the origin for control. When the correction value does not reflect the value of the origin offset, the upper control unit 21 adds the value of the origin offset to the correction value. And each upper control unit 21 outputs the corrected target position command value to each lower control unit 22.

[0099] Each lower control unit 22 controls each drive source 16 based on the input calibrated target position command value so that the rotating frame 15 reaches the target rotation angle position. Since each drive source 16 is controlled based on the calibrated target position command value, each rotating frame 15 can be stopped at an accurate position.

[0100] In the first embodiment, when driving the two rotating frames 15 supporting the irradiation port 7 as a heavy object, both rotating frames 15 can be driven synchronously, and the irradiation port 7 can be positioned with high precision. In addition, the heavy particle beam B can be accurately irradiated from the irradiation port 7 to the affected part of the patient P.

[0101] (Second Embodiment)

[0102] Next, use Figures 10 to 15 The second embodiment will be described. Note that the same components as those shown in the above-described embodiment are denoted by the same reference numerals, and duplicate descriptions thereof will be omitted.

[0103] like Fig.10 As shown, each upper control unit 21 of the second embodiment includes a feedback adjustment unit 26 and a correction value table update unit 27 in addition to the configuration of the first embodiment. Furthermore, the synchronous control device 6 of the second embodiment includes an angle deviation detection unit 30 in addition to the configuration of the first embodiment.

[0104] The feedback adjustment unit 26 determines whether there is a difference (first difference) between the rotation angle set as the target by the target position command value and the actual rotation angle (absolute position) detected by the angle sensor 18. In addition, the feedback adjustment unit 26 adjusts the target position command value of the rotating frame 15 so that the difference converges within a predetermined range (first threshold value). In addition, the correction value table update unit 27 updates the correction value registered in the correction value table of the corresponding rotating frame 15 based on the adjusted target position command value when the difference (first difference) converges within the predetermined range. In this way, the difference (first difference) caused by aging and other reasons can be adjusted, and the correction value table can be automatically updated.

[0105] The angle deviation detection unit 30 calculates the difference (second difference) between the rotation angles of the first rotating frame 15A and the second rotating frame 15B based on the rotation angles (absolute positions) detected by the first angle sensor 18A and the second angle sensor 18B during the rotation of the rotating frame 15. Furthermore, the angle deviation detection unit 30 is a device that performs a process of stopping the rotation of the first rotating frame 15A and the second rotating frame 15B when the difference exceeds a predetermined threshold value (second threshold value). In this way, when a malfunction occurs in the rotation of the first rotating frame 15A and the second rotating frame 15B, the first rotating frame 15A and the second rotating frame 15B can be stopped safely. The angle deviation detection unit 30 is connected to the control computer 20 and controlled by the control computer 20. In addition, the threshold value is set in advance by the user.

[0106] like Fig.11 As shown in FIG. 1 , a first angle sensor 18A is fixed to the first rotating frame 15A, and a second angle sensor 18B is fixed to the second rotating frame 15B. Here, there is a case where the rotation angle (absolute position) detected by the first angle sensor 18A is different from the rotation angle (absolute position) detected by the second angle sensor 18B. The target position command value is a specific rotation angle, so when the rotation angles of the left and right rotating frames 15 are different, the above-mentioned difference (first difference or second difference) exists in both or one of the rotating frames 15.

[0107] First, the feedback adjustment unit 26 adjusts the target position command value of the rotating frame 15 based on the measured value (rotation angle) of the angle sensor 18 so that the difference (first difference) falls within a predetermined range. Fig.12 As shown in FIG. 1 , the adjustment is performed in such a manner that the rotation of the first rotating frame 15A that is under-rotated is promoted and the rotation of the second rotating frame 15B that is over-rotated is suppressed. The feedback adjustment unit 26 adjusts (corrects) the target position command value so that the difference (first difference) is eliminated by the adjustment. In addition, the user sets in advance an arbitrary range in which the difference (first difference) converges.

[0108] When the adjustment of the feedback adjustment unit 26 is successful, the correction value table update unit 27 updates the correction value table. For example, the correction value table update unit 27 calculates the adjustment amount of the correction value adjusted by the feedback adjustment unit 26 based on the target position command value before correction input from the control computer 20 and the target position command value adjusted by the feedback adjustment unit 26. And the correction value table update unit 27 adds the calculated adjustment amount to the corresponding correction value in the correction value table stored in the correction value table storage unit 25, and registers it in the correction value table as a new correction value. The updated correction value table is stored in the correction value table storage unit 25.

[0109] Fig.13 It is a graph of an approximate function that roughly represents the relationship between the target position command value before correction and the target position command value after correction (the amount corrected by the correction value). As shown in the graph, when there are multiple correction values, the relationship between the target position command value before correction and the target position command value after correction can be represented by a predetermined correction function. In the case where there is a correction value that deviates greatly from the correction function, there may be a case where the correction value is incorrect. The correction value updated by the correction value table update unit 27 is close to the correction function. In addition, the correction value table update unit 27 can also update the correction value table in a manner that the correction value is close to the correction function.

[0110] In addition, when the feedback adjustment unit 26 cannot make adjustments, the angle deviation detection unit 30 stops the rotation of both rotating frames 15. For example, when the difference (second difference) between the rotation angles of the first rotating frame 15A and the second rotating frame 15B exceeds a predetermined threshold, the angle deviation detection unit 30 stops the rotation of both rotating frames 15.

[0111] Next, use Fig.14 The synchronous control process is described in the flowchart of FIG. Fig.10 The following steps are at least a part of the processes included in the synchronous control process, and other steps may also be included in the synchronous control process.

[0112] First, in step S1 , the control computer 20 inputs a target position command value (before correction) to the host control unit 21 .

[0113] In the next step S2 , the origin return result integration unit 24 adds the value of the origin offset to the target position command value input from the control computer 20 .

[0114] In the next step S3 , the host control unit 21 acquires the corresponding correction value based on the correction value table stored in the correction value table storage unit 25 .

[0115] In the next step S4, the host control unit 21 adds the acquired correction value to the target position command value to which the origin offset value has been added.

[0116] In the next step S5 , the corrected target position command value is input from the upper control unit 21 to the lower control unit 22 .

[0117] In the next step S6, the lower control unit 22 performs a drive control process. Here, the lower control unit 22 controls the drive source 16 based on the corrected target position command value, and continues the drive control process until the rotating frame 15 reaches the position indicated by the target position command value. When the rotating frame 15 reaches the position indicated by the target position command value, the lower control unit 22 ends the drive control process.

[0118] In the next step S7, the feedback adjustment unit 26 determines whether the difference (first difference) between the rotation angle (position) set as the target by the target position command value and the actual rotation angle (absolute position) detected by the angle sensor 18 is within a predetermined range (first threshold value). Here, if the difference is within the predetermined range (if "yes" in step S7), the synchronous control process is completed. On the other hand, if the difference is not within the predetermined range (if "no" in step S7), the process proceeds to step S8.

[0119] In the next step S8 , the origin return result integration unit 24 adds the value of the origin offset to the target position command value input from the control computer 20 .

[0120] In the next step S9, the upper control unit 21 inputs a value obtained by subtracting (or adding) the corresponding measured value (rotation angle) of the angle sensor 18 of the rotating frame 15 from the target position command value to which the origin offset value is added to the feedback adjustment unit 26. In addition, when the value input to the feedback adjustment unit 26 includes the value of the origin offset, the value of the origin offset is subtracted from the input value so that the value of the origin offset is not added twice.

[0121] In the next step S10 , the host control unit 21 acquires a correction value corresponding to the target position command value to which the origin offset value is added, based on the correction value table stored in the correction value table storage unit 25 .

[0122] In the next step S11 , the host control unit 21 adds the acquired correction value to the target position command value obtained by subtracting (or adding) the measurement value (rotation angle) of the angle sensor 18 .

[0123] In the next step S12 , the corrected target position command value is input from the upper control unit 21 to the lower control unit 22 .

[0124] In the next step S13, the lower control unit 22 executes the drive control process again. When the rotating frame 15 reaches the position indicated by the target position command value, the lower control unit 22 ends the drive control process.

[0125] In the next step S14, the correction value table updating unit 27 updates the correction value registered in the correction value table of the corresponding rotating frame 15 based on the correction value newly generated by the processing of steps S8 to S12. Then, the synchronous control processing is completed.

[0126] Next, use Fig.15 The flowchart of the angle deviation detection process is explained. Fig.10 The following steps are at least a part of the processing included in the angle deviation detection processing, and other steps may also be included in the angle deviation detection processing.

[0127] First, in step S21, the angle deviation detection unit 30 determines whether the rotating frame 15 is rotating. Here, if the rotating frame 15 is not rotating (if it is "No" in step S21), the angle deviation detection process is completed. On the other hand, if the rotating frame 15 is rotating (if it is "Yes" in step S21), the process proceeds to step S22.

[0128] In the next step S22 , the angle deviation detection unit 30 calculates the difference (second difference) between the rotation angles of the first rotating frame 15A and the second rotating frame 15B based on the rotation angles (absolute positions) detected by the first angle sensor 18A and the second angle sensor 18B.

[0129] In the next step S23, the angle deviation detection unit 30 determines whether the calculated difference exceeds (exceeds) a predetermined threshold value (second threshold value). Here, if the difference does not exceed the predetermined threshold value (second threshold value) (if "No" in step S23), the angle deviation detection process is completed. On the other hand, if the difference exceeds the predetermined threshold value (second threshold value) (if "Yes" in step S23), the process proceeds to step S24.

[0130] In the next step S24 , the angle deviation detection unit 30 executes an emergency stop process to stop the rotating frame 15 .

[0131] In the second embodiment, by providing the angle deviation detection unit 30 , it is possible to avoid damage to the device due to the left-right angle deviation of the rotating frame 15 during synchronous control.

[0132] Furthermore, by providing the correction value table updating unit 27, the correction value table is updated every time the drive is performed and can be kept in the latest state, and the user does not need to perform a test for updating the correction value table again.

[0133] (Third Embodiment)

[0134] Next, use Figures 16 to 21 The third embodiment will be described. Note that the same components as those shown in the above-described embodiment are denoted by the same reference numerals, and duplicate descriptions thereof will be omitted.

[0135] like Fig.16 As shown in FIG. 1 , each upper control unit 21 of the third embodiment includes a feedback adjustment unit 26 and a correction value table update unit 27 in the same manner as the configuration of the second embodiment described above. Furthermore, the synchronization control device 6 of the third embodiment includes, in addition to the configuration of the first embodiment described above, an origin return control unit 31, two origin sensors 32 ( Fig.17 ) and two pairs of limit sensors 33 ( Fig.17 ).

[0136] In the following description, the device corresponding to the first unit 10A may be referred to as a first origin sensor 32A and a first limit sensor 33A, and the device corresponding to the second unit 10B may be referred to as a second origin sensor 32B and a second limit sensor 33B.

[0137] like Fig.17 As shown in FIG. 1 , an origin sensor 32 is provided on each circular arc guide rail 14. These origin sensors 32 detect the upper end of the rotating frame 15 reaching the mechanical origin inherent to the device. Fig.18 As shown in FIG. 1 , in the first circular arc guide rail 14A, when the upper end of the first rotating frame 15A reaches the first origin Q1 (mechanical origin), the first origin sensor 32A detects the arrival. Fig.19 As shown, in the second circular arc guide 14B, when the upper end of the second rotating frame 15B reaches the second origin Q2 (mechanical origin), the second origin sensor 32B detects the arrival.

[0138] like Fig.16 As shown in FIG. 1 , the origin return control unit 31 performs the origin return control so that the rotating frame 15 reaches the mechanical origin. The origin return control unit 31 is connected to the control computer 20 and is controlled by the control computer 20 .

[0139] The origin reset result integration unit 24 of the third embodiment detects the position deviation between the mechanical origin and the position (absolute position) of the actual rotation angle detected by the angle sensor 18 when the rotating frame 15 is reset to the origin. For example, sometimes the origin offset of the software origin Qf (control origin) that can be arbitrarily set by the user is set at a position different from the first origin Q1 (mechanical origin) and the second origin Q2 (mechanical origin). Here, sometimes the first origin Q1 and the second origin Q2 have a position deviation. When performing this origin offset, the origin reset result integration unit 24 performs a process of adding the value of the origin offset and the value of the position deviation to the target position command value.

[0140] like Fig.17 As shown, the limit sensors 33 are provided on the side surfaces of each circular arc guide rail 14. These limit sensors 33 detect the upper end or the lower end of the rotating frame 15 reaching the end of the rotatable range. The limit sensors 33 indicate the movable region boundary of the rotating frame 15. For example, a pair of upper and lower first limit sensors 33A are provided near the ends of one side and the other side on the first circular arc guide rail 14A. In addition, a pair of upper and lower second limit sensors 33B are provided near the ends of one side and the other side on the second circular arc guide rail 14B.

[0141] In addition, since the installation of the origin sensor 32 and the limit sensor 33 relative to the arc guide 14 is performed manually by the operator, there is a situation where the left and right installation positions are slightly deviated. For example, the first origin Q1 specified by the first origin sensor 32A of the first arc guide 14A and the second origin Q2 specified by the second origin sensor 32B of the second arc guide 14B are not necessarily the same, and sometimes deviate. Similarly, the installation positions of the first limit sensor 33A and the second limit sensor 33B are not necessarily the same, and sometimes deviate. Therefore, in the third embodiment, the origin reset process is performed.

[0142] Next, use Fig.21 The origin return process is described in the flowchart of Fig.16 The following steps are at least a part of the processing included in the origin return processing, and other steps may also be included in the origin return processing.

[0143] Here, during the origin return process, the first rotating frame 15A and the second rotating frame 15B always operate synchronously, but the origin return is performed one by one. For example, the first rotating frame 15A performs the origin return first, and then the second rotating frame 15B performs the origin return.

[0144] First, in step S31, the origin return control unit 31 inputs a target position instruction value for setting the first origin Q1 as the target position to the first lower control unit 22A and the second lower control unit 22B. Then, the origin return of the first rotating frame 15A is started. Here, the first rotating frame 15A and the second rotating frame 15B move to the position of the first origin Q1 ( Fig.18 ).

[0145] In the next step S32, when the first rotating frame 15A and the second rotating frame 15B move to the position of the first origin Q1 ( Fig.18 ), the origin return control unit 31 completes the origin return of the first rotating frame 15A.

[0146] In the next step S33, the origin return control unit 31 inputs the target position command value for setting the second origin Q2 as the target position to the first lower control unit 22A and the second lower control unit 22B. Then, the origin return of the second rotating frame 15B is started. Here, the first rotating frame 15A and the second rotating frame 15B move to the position of the second origin Q2 ( Fig.19 ).

[0147] In the next step S34, when the first rotating frame 15A and the second rotating frame 15B move to the position of the second origin Q2 ( Fig.19 ), the origin return control unit 31 completes the origin return of the second rotating frame 15B.

[0148] In the next step S35, the origin return control unit 31 performs origin teaching. Here, the software origin Qf ( Fig. 20 For example, the origin reset result integration unit 24 sets the value obtained by adding the value of the origin offset to the first origin Q1 as the software origin Qf, and sets the value obtained by adding the value of the origin offset to the second origin Q2 as the software origin Qf.

[0149] Furthermore, the correction value table updating unit 27 updates the correction value table based on the value of the origin offset obtained by the origin return result integrating unit 24 .

[0150] In the third embodiment, the value of the origin offset and the value of the position deviation can be reflected in the target position command value, and accurate positioning of the irradiation port 7 can be performed.

[0151] As mentioned above, the present invention has been described based on the first to third embodiments, but a configuration applicable to any one embodiment may be applied to other embodiments, and configurations applicable to the respective embodiments may be combined.

[0152] Furthermore, in the above-mentioned embodiment, the judgment of an arbitrary value (first difference, second difference) using a reference value (range, threshold) may also be a judgment of "whether an arbitrary value is above the reference value". In addition, the judgment may also be a judgment of "whether an arbitrary value exceeds the reference value". In addition, the judgment may also be a judgment of "whether an arbitrary value is below the reference value". In addition, the judgment may also be a judgment of "whether an arbitrary value is less than the reference value". In addition, the reference value may not be fixed but may vary. Therefore, a value within a specified range may be used instead of the reference value to judge whether an arbitrary value converges within the specified range. In addition, the error generated in the device may be analyzed in advance, and a specified range including the error range centered on the reference value may be used for judgment.

[0153] In addition, in the above flowchart, each step is illustrated as being executed in series, but the order of each step is not necessarily fixed, and the order of some steps may be swapped. In addition, some steps may be executed in parallel with other steps.

[0154] In addition, the program executed by the synchronous control device 6 is provided in advance by being assembled into a ROM or the like. Additionally or alternatively, the program is provided as a file in an installable form or an executable form, stored in a non-temporary storage medium readable by a computer. The storage medium includes a CD-ROM, a CD-R, a memory card, a DVD, a floppy disk (FD), etc.

[0155] In addition, the program executed by the synchronous control device 6 can also be stored in a computer connected to a network such as the Internet and provided by downloading via the network. That is, the program can be provided from cloud computing resources. In addition, the server on the cloud can also execute the program, and only its processing results can be provided via the cloud.

[0156] In addition, the number of components and devices provided in the synchronous control device 6 is not limited to the above-mentioned embodiment, and can also be appropriately changed. For example, the circular arc guide rails 14 can be not only 2, but also 3 or more. In addition, the upper control unit 21 can be not only 2, but also 3 or more.

[0157] According to at least one embodiment described above, the upper control unit 21 corrects the target position command value based on the correction value table, and outputs the corrected target position command value to the lower control unit 22. Thus, when driving two rotating frames 15 supporting a heavy object, both rotating frames 15 can be driven synchronously, and high-precision positioning can be performed.

[0158] Several embodiments of the present invention have been described, but these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other ways, and various omissions, substitutions, changes, and combinations can be made without departing from the scope of the subject matter of the invention. These embodiments or their variations are included in the scope and subject matter of the invention, and are also included in the invention described in the claims and their equivalents.

Claims

1. A synchronous control device, comprising: At least two arc guide rails are fixedly arranged in an arc shape and arranged in a manner that the arcs are parallel to each other; At least two rotating frames are arranged to rotate along the circular arc guide rail with the center of the circular arc guide rail as an axis to support a supported part; At least two driving sources generate torque to rotate the rotating frame; at least two torque transmission parts, provided at the driving source, for transmitting the torque to the rotating frame; at least two displacement sensors, which are provided in the torque transmission part and measure the displacement amount of the components constituting the torque transmission part, i.e., the components displaced by the transmission of the torque; at least two lower control units that feed back the displacement measured by the displacement sensor and control the drive source so that the rotating frame reaches a position corresponding to an input target position instruction value, that is, a target rotation angle; and At least two upper control units correct the target position command value based on a correction value table in which correction values ​​for correcting the target position command value are preliminarily registered, and output the corrected target position command value to the lower control unit.

2. The synchronous control device according to claim 1, The arc guide rail and the rotating frame are in a C shape. The opening dimensions of the arc guide rail and the cutout portion of the rotating frame are such that, when an object is arranged near the supported portion, the object can enter from a direction intersecting an axis of the center of the arc guide rail.

3. The synchronous control device according to claim 1 or 2, comprising: At least two angle sensors are provided on the rotating frame to detect the tilt of the rotating frame, that is, the rotation angle when the rotating frame rotates; at least two feedback adjustment units adjust the target position command value of the rotating frame so that the difference falls within a predetermined range based on a difference between the rotation angle set as a target by the target position command value and the actual rotation angle detected by the angle sensor; and At least two correction value table updating units update the correction value registered in the correction value table of the corresponding rotation frame based on the adjusted target position command value when it converges within the range.

4. The synchronous control device according to claim 1 or 2, comprising: at least two angle sensors, disposed on the rotating frame, for detecting the tilt of the rotating frame, that is, the rotation angle of the rotating frame when the rotating frame rotates; and The angle deviation detection unit calculates a difference between the rotation angles of one rotating frame and the other rotating frame based on the rotation angle detected by the angle sensor during the rotation of the rotating frame, and stops the rotation of the rotating frame when the difference exceeds a predetermined threshold.

5. The synchronous control device according to claim 1 or 2, comprising: The origin return result integration unit adds the target position command value to a value of the origin offset based on the fact that an origin offset for control origin arbitrarily settable by a user is set at a position different from a mechanical origin inherent in the device.

6. The synchronous control device according to claim 1 or 2, comprising: At least two angle sensors are provided on the rotating frame to detect the tilt of the rotating frame, that is, the rotation angle when the rotating frame rotates; At least two origin sensors are provided on the circular arc guide rail to detect the rotating frame reaching the mechanical origin inherent to the device; an origin return control unit for performing origin return control so that the rotating frame reaches the mechanical origin; as well as The origin reset result integration unit detects the position deviation between the mechanical origin and the actual position of the rotation angle detected by the angle sensor based on the fact that the origin reset has been performed, and based on the fact that an origin offset of a control origin that can be arbitrarily set by a user is set at a position different from the mechanical origin, adds the value of the origin offset and the value of the position deviation to the target position instruction value.

7. A synchronous control method is a method performed using the following components: At least two arc guide rails are fixedly arranged in an arc shape and arranged in a manner that the arcs are parallel to each other; At least two rotating frames are arranged to rotate along the circular arc guide rail with the center of the circular arc guide rail as an axis to support a supported part; At least two driving sources generate torque to rotate the rotating frame; at least two torque transmission parts, provided at the driving source, for transmitting the torque to the rotating frame; at least two displacement sensors, which are provided in the torque transmission part and measure the displacement amount of the components constituting the torque transmission part, i.e., the components displaced by the transmission of the torque; at least two lower control units that feed back the displacement measured by the displacement sensor and control the drive source so that the rotating frame reaches a position corresponding to an input target position instruction value, that is, a target rotation angle; and At least two upper control units output the target position command value to the lower control unit, The upper control unit The target position command value is corrected based on a correction value table in which correction values ​​for correcting the target position command value are pre-registered, The corrected target position command value is output to the lower control unit.

8. A heavy particle beam irradiation system comprising: The synchronous control device according to claim 1 or 2; Ion generator, generating heavy particle beam; an accelerator for accelerating the heavy particle beam generated by the ion generator; and The irradiation port as the supported portion is used to irradiate the heavy particle beam accelerated by the accelerator toward an irradiation object.

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