直线加速器治疗床控制系统的设计与开发

发布时间：2018-04-14 04:29

本文选题：AVR单片机 + PWM控制　；参考：《广东工业大学》2012年硕士论文

【摘要】：本课题以广东中能加速器有限公司的O-Max型直线加速器的治疗床为控制对象,研究了加速器治疗床的运动控制系统。论文具体分析了系统的设计要求,阐述了系统的功能,介绍了系统的硬件设计和软件设计。本操作系统系统的控制对象是直线加速器治疗床,实现治疗床纵向和垂直方向运动的自动控制及检测功能,这两个方向运动均采用直流伺服电机驱动。治疗床同时具有现场手动操作和上位机远程操作。本控制系统主要由控制模块、驱动模块和上位机三部分构成。本系统选用AVR系列单片机作为控制核心,采用PWM方式控制直流伺服电机。在闭环速度控制中选用PID控制算法进行闭环控制,使控制系统具有良好的动态和静态性能。检测功能使用A/D转换器对电压值进行采集,从而检测治疗床的电机转速和位置。为了降低功率模块电压对控制核心的干扰,本系统将控制部分与功率部分放置于不同的电路板上。系统的硬件电路板主要包括运动控制模块和电机驱动模块。主控制板是系统的核心部分,包括以单片机为主控元件的控制核心,电压信号检测电路,电源电路,串口通信电路和一些外围辅助电路。电机驱动板是系统直接连接两台被控电机的执行部分,主要包括小功率驱动电路、过流保护电路以及大功率H桥驱动电路。本系统的软件由两个部分组成,即上位机远程操作程序和AVR单片机控制程序。上位机是系统实现人机对话的部分,操作人员通过上位机上的操作软件可以实现对治疗床进行远程操作并且实时监视治疗床的状态。AVR单片机控制程序采用C语言进行编写,使用ICCAVR编译器进行编译。设计方式是采用模块化设计,提高了程序的可读性和可移植性。主要的程序模块有：主程序、PID算法模块,串口通信模块、电压值采集模块、PWM波控制模块和运动控制模块等。
[Abstract]:In this paper, the motion control system of the O-Max type linear accelerator of Guangdong Zhongeng Accelerator Co., Ltd is studied.This paper analyzes the design requirements of the system, expounds the functions of the system, and introduces the hardware and software design of the system.The control object of the operating system is the linear accelerator therapy bed, which can automatically control and detect the longitudinal and vertical motion of the treatment bed, both of which are driven by DC servo motor.The treatment bed has both manual operation and remote operation.The control system consists of three parts: control module, driving module and upper computer.This system selects AVR series single-chip computer as the control core, uses the PWM way to control the DC servo motor.In the closed-loop speed control, PID control algorithm is used to control the closed loop, which makes the control system have good dynamic and static performance.The detection function uses the A / D converter to collect the voltage values, thus detecting the speed and position of the motor in the treatment bed.In order to reduce the interference of the power module voltage to the control core, the control part and the power part are placed on different circuit boards.The hardware circuit board of the system mainly includes motion control module and motor driving module.The main control board is the core part of the system, including the control core based on single chip microcomputer, voltage signal detection circuit, power supply circuit, serial communication circuit and some peripheral auxiliary circuits.The motor drive board is the executive part of the system connected directly to two controlled motors, which mainly includes the small power drive circuit, the over-current protection circuit and the high-power H-bridge drive circuit.The software of the system consists of two parts, that is, the host computer remote operation program and the AVR single chip microcomputer control program.The upper computer is the part of the system to realize the man-machine dialogue. The operator can realize the remote operation of the treatment bed and the real-time monitoring of the state of the treatment bed by the operating software on the upper computer. The control program of the single chip microcomputer is written in C language.Compile using the ICCAVR compiler.Modular design is used to improve the readability and portability of the program.The main program modules are: main program pid algorithm module, serial communication module, voltage value acquisition module PWM wave control module and motion control module.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH789

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