Design Of The Control System Of The Multi Freedom Radiotherapy Simulation Treatment Bed

In the process of simulated radiotherapy,the degree of cooperation and coordination bet ween the various devices of the radiotherapy simulator directly determine the accuracy of the location of the patient’s focus and the effectiveness of the treatment.As the carrier treat ment bed of the patient,the stability and accuracy of the control directly determine the accura cy of the location of the patient’s focus in the treatment process.However,due to the li mitation of the mechanical structure of the treatment bed of the traditional simulated radiother apy treatment machine,the problems of limited movement dimension,simple movement mod e,low control accuracy and requirements,backward control equipment and high equipment c ost are caused.Moreover,due to the complexity and importance of the human body structure and the uncertainty of the location of the disease,it is difficult for the radiotherapy simulated t herapy machine to be widely used.Aiming at the above problems,through reading the literature and according to the actual investigation,this paper designs the mechanical structure scheme of the multi DOF motion th erapy bed,puts forward the multi DOF coordinate system,the multi DOF motion mode and th e improved multi motor parallel cooperative control structure,and develops the control syste m of the multi DOF motion therapy bed.The main contents are as follows:(1)Based on the analysis of the basic mechanism of the traditional radiotherapy simulato r and the problems existing in the implementation of the simulation treatment,the multi degre e of freedom movement of the treatment bed is proposed and the mechanical structure of the multi degree of freedom movement treatment bed is designed.The multi degree of freedom m ovement coordinate system and the multi degree of freedom movement mode are proposed ba sed on the multi degree of freedom treatment bed.(2)The design of the control system of the multi degree of freedom radiotherapy simulation treatment bed according to the multi degree of freedom motion mode of the treatment bed,the control system analysis of the multi degree of freedom was carried out with the AC servo motor as the power supply equipment,the improved parallel cooperative control structure was proposed,the fuzzy PID control method was selected as the control method of a single motor,and the fuzzy PID controller was designed.At the same time,the fuzzy PID controller was respectively designed The simulation results show that the improved parallel cooperative control structure has the advantages of simple control structure,flexible control process and low delay,and the combination of fuzzy PID controller has a good control effect.(3)On the basis of the structure of the treatment bed and the multi degree of freedom motion mode of the radiotherapy simulator,the hardware system scheme,the hardware circuit of the control subsystem and the hardware circuit of the motor drive subsystem are designed.The hardware circuit of the control subsystem mainly includes the main control chip circuit,the signal acquisition circuit and the communication circuit.The hardware circuit of the motor drive subsystem includes the power drive circuit and the relay circuit Based on the improvedparallel cooperative control structure and fuzzy PID controller,combined with the hardware circuit of the treatment bed control system,the software program is designed,which mainly includes: main program flow,data acquisition program flow,interrupt program flow,etc.(4)According to the designed hardware circuit,algorithm and software program,a single servo motor control system is developed,and the basic function of the developed object is tested.The test results show that the single servo single machine control system designed in this paper is stable.