紧凑型低能回旋加速器子系统控制研究
|
摘要
正电子发射断层成像(PET)是目前分子水平上医学研究的最先进手段,对于肿瘤的早发现、早治疗有着极大优势,因而不断被国内各大医院引进。回旋加速器作为提供PET所需放射性同位素的主要生产设备目前基本依赖进口,为此加快开发具有自主知识产权的紧凑型低能回旋加速器具有十分现实的意义。加速器控制系统的研究是开发自主型加速器系统的一个重要组成部分,因为控制系统的好坏直接关系到加速器能否安全、稳定运行。
本文针对紧凑型低能回旋加速器的特殊要求,详细分析了系统的每个组成部分,提出了控制系统总体结构,阐述了其设计思想。初步设计了一次和二次水冷系统的模型,并针对二次水冷系统的数学模型提出了两种建模方法。在此基础之上,介绍了大林和smith预估控制算法,并对一阶大滞后惯性系统进行了控制器的设计,得到了仿真图形。然后,参考MINItrace回旋加速器真空系统设计了符合课题需要的真空系统模型,列出了系统运行流程,并采用Simulink和Stateflow组件对真空系统的运行逻辑进行了仿真。
最后,介绍了高频系统的组成,并重点分析了高频功率源的结构和原理,提出了采用DDS芯片AD9850输出的混频信号作为系统的频率源的设计思想。功率源驱动级采用MOSFET晶体管功率放大模块,末级采用高频电子四极管。四极管采用阴地电路,工作在甲乙类。高频功率源采用压控可变衰减器进行幅度调制,以PID作为闭环控制算法,并通过Ziegler-Nichols继电反馈辨识法对PID参数进行整定。
PET (Positron Emission Tomography) is the most advanced technique of nuclear medicine presently. It has been introduced by many domestic hospitals due to the predominance in detecting of incipient tumors. As the primary isotope generator, most cyclotrons in our country depend on import. So it is significant to develop the compact low energy cyclotron of independent intellectual property rights. The research of the control system is an important step in cyclotron system design, which is related to the safety and stabilization of the cyclotron.
In this thesis, the overall structure of the distributed control system is established firstly according to specific requirement of the compact low energy cyclotron. Then some design thought is proposed basing on the comprehensive analysis of the system constitution. The elementary system model of the primary cooling and secondary cooling is built in the foundation of cooling system research. For the secondary cooling, this thesis puts forward two mathematic modeling methods. After educing the mathematic model, a special controller for the time-delay system is designed using Dahlin Algorithm and Smith Predictor and simulated to get the ideal result. In addition, the vacuum system model is also designed with reference to the vacuum system of MINItrace cyclotron. The running logical process has been simulated by Simulink and Stateflow.
Finally, the structure of RF System has been established. The method of picking-up a desired aliased signal of DDS output is accepted in the design of RF Power Generator. A device of AD9850 is used to generate RF signal in the system, and the amplitude modulation of system is achieved by a voltage variable attenuator. The amplifier based on tetrode is selected to get the output power of 10kW.Amplifier operates in a grounded cathode configuration. The PID-control strategy has been accepted in control system ,and the relay method has been used to do the measurement .Controller has a built-in Auto-tuning function which allows the PID parameters to be determined automatically using the Ziegler-Nichols method.
本文针对紧凑型低能回旋加速器的特殊要求,详细分析了系统的每个组成部分,提出了控制系统总体结构,阐述了其设计思想。初步设计了一次和二次水冷系统的模型,并针对二次水冷系统的数学模型提出了两种建模方法。在此基础之上,介绍了大林和smith预估控制算法,并对一阶大滞后惯性系统进行了控制器的设计,得到了仿真图形。然后,参考MINItrace回旋加速器真空系统设计了符合课题需要的真空系统模型,列出了系统运行流程,并采用Simulink和Stateflow组件对真空系统的运行逻辑进行了仿真。
最后,介绍了高频系统的组成,并重点分析了高频功率源的结构和原理,提出了采用DDS芯片AD9850输出的混频信号作为系统的频率源的设计思想。功率源驱动级采用MOSFET晶体管功率放大模块,末级采用高频电子四极管。四极管采用阴地电路,工作在甲乙类。高频功率源采用压控可变衰减器进行幅度调制,以PID作为闭环控制算法,并通过Ziegler-Nichols继电反馈辨识法对PID参数进行整定。
PET (Positron Emission Tomography) is the most advanced technique of nuclear medicine presently. It has been introduced by many domestic hospitals due to the predominance in detecting of incipient tumors. As the primary isotope generator, most cyclotrons in our country depend on import. So it is significant to develop the compact low energy cyclotron of independent intellectual property rights. The research of the control system is an important step in cyclotron system design, which is related to the safety and stabilization of the cyclotron.
In this thesis, the overall structure of the distributed control system is established firstly according to specific requirement of the compact low energy cyclotron. Then some design thought is proposed basing on the comprehensive analysis of the system constitution. The elementary system model of the primary cooling and secondary cooling is built in the foundation of cooling system research. For the secondary cooling, this thesis puts forward two mathematic modeling methods. After educing the mathematic model, a special controller for the time-delay system is designed using Dahlin Algorithm and Smith Predictor and simulated to get the ideal result. In addition, the vacuum system model is also designed with reference to the vacuum system of MINItrace cyclotron. The running logical process has been simulated by Simulink and Stateflow.
Finally, the structure of RF System has been established. The method of picking-up a desired aliased signal of DDS output is accepted in the design of RF Power Generator. A device of AD9850 is used to generate RF signal in the system, and the amplitude modulation of system is achieved by a voltage variable attenuator. The amplifier based on tetrode is selected to get the output power of 10kW.Amplifier operates in a grounded cathode configuration. The PID-control strategy has been accepted in control system ,and the relay method has been used to do the measurement .Controller has a built-in Auto-tuning function which allows the PID parameters to be determined automatically using the Ziegler-Nichols method.
引文
[1]曹养书,孙官清.回旋加速器的应用.物理学和高新技术,2001,30(6):364～365
[2]樊明武.用于医学诊断和治疗的质子回旋加速器.中国工程科学,2002,2(12):9～10
[3]张锦明,田嘉禾.国内正电子放射性药物发展现状简介.同位素,2006,19(4):241
[4]方守贤.我国粒子加速器的现状和发展.物理,1999,28(9):10
[5]张天爵,李振国,殷治国.串列加速器升级工程的计算机控制系统方案设计.2005,39(2):189～190
[6]李振国,吴隆诚,潘高峰等. 100 MeV回旋加速器通用工程初步设计.中国原子能科学研究院年报, 2004:17～18
[7]范西江. RDS111回旋加速器RF系统简介.中国医学装备,2007,4(1):46～48
[8]郑建华,刘巍,王义芬等.高灵敏度等时性回旋加速器束流相位测量系统.高能物理与核物理,2007,31(3):303～306
[9]敬岚,乔卫民,徐杨等.基于ARM920T的HIRFL-CSR前端总线控制器FBC-01.核技术,2006,29(10):1～2
[10] Junnarkar S S,Purschke M,Pratte Jean-Francois,et al. An FPGA-based, 12-channel TDC and digital signal processing module for the RatCAP scanner.in: 2005 IEEE Nuclear Science Symposium Conference Record -Nuclear Science Symposium and Medical Imaging Conference. Piscataway: Institute of Electrical and Electronics Engineers Inc., 2005.1～2
[11]汪晓平. PLC可编程控制器系统开发实例导航.北京:人民邮电出版社,2004.1～3
[12]潘立登,潘仰东.系统辨识与建模.第1版.北京.化学工业出版社,2004.1~23
[13]丁浩淼.燃烧器温度控制系统研究:[硕士学位论文].西北工业大学图书馆,2004
[14]高尚敏,杨春节,宋执环. TRT系统过程控制研究.电站系统工程,2007,23(5):2
[15]刘金琨.先进PID控制MATLAB仿真.第2版.北京:电子工业出版社, 2004.76~81
[16]欧阳鑫玉,赵楠楠.大林算法与Smith预估法在温度控制中的优效研究.鞍山钢铁学院学报,2001,24(4):1
[17]杨琳娟,李秋明,顾德英.大林算法在炉温控制中的应用.仪器仪表学报,2005,26(8):450~454
[18]冯国良,李太福,钟秉翔等.纯滞后控制系统采样周期的选择.重庆大学学报,2003,26(6):125~128
[19]华东.大林算法在电加热炉温度控制中的应用.浙江工贸职业技术学院学报,2004,4(4):31~35
[20]潘策,陈晓南,杨培林.时变滞后系统的模糊预估控制.微计算机信息,2003,19(12):27~28
[21]李辉,仝庆贻,颜感锋.控制大纯滞后工业过程.电气传动,2003,6:20~22
[22]秦斌.回旋加速器虚拟控制系统设计与实现:[硕士学位论文].武汉:华中科技大学,2004:21～35
[23] Stateflow and Stateflow Coder.Version 5, The Mathworks
[24] Shakhgildyan V.V. . Radio Transmitter Design, Mir Publishers,1987:3
[25] Laboratory staff. Care and Feeding of Power Grid Tubes. VARIAN EIMAC, Fourth Printing, 1982.
[26] Oost G V, Bhatnagar V P, Delvigne T, et al. The high-power (3-MW) long-pulse(3-s) radio-frequency system for ion cyclotron resonance heatingexperiments on textor. Fusion Technol. 1987,12 :449～475
[27] Hoffman D J, Barbar G C. The technology of the ion cyclotron range of frequencies. Fusion Technol ,1989,15 :719～724
[28] Fujii T , Kobayashi N, Moriyama S,et al. in: Proceedings of 16th Symposium onFusion Technology, vol. 2, London: Upgrade of JT-60 ICRFheating system ,1990. 1171～1175
[29] Wade T J, Jacquinot J, Bosia G , et al. Development of the JET ICRH plant, FusionEng. Des. 1994,24 :23～46
[30] Seki T, Kumazawa R, Mutoh T, et al.Steady-state amplifier at megawatt level for LHD ICRF heating, Fusion Sci. Technol. 2001, 40 : 253～264
[31] Kwiatkowski S. Power amplifier for RHIC 26.7 MHz accelerating Cavity. BNL Technical note RHIC/RF 28 Tech
[32] Carter R G . Review of RF power sources for particle accelerators. CERN accelerator school proceeding, 1992.
[33]孙海燕.基于DDS技术的通信信号产生技术研究[D].成都:电子科技大学,2006:1～2
[34]马陆,乔卫民,范进,等.基于AD9854的高精度高频信号发生器[J].微计算机信息,2007,23(3):186
[35] Singh R,Mukharjee A,Bhattacharya D S,et al. Design and testing of 200 kW/91.2MHz RF amplifier[J]. Fusion Engineering and Design ,2007,82: 854～858.
[36] Leach W M. SPICE models for vacuum-tube amplifiers. J. Audio Eng. Soc. 1995,43(3).
[37]闫润卿,李英惠.微波技术基础[M].北京:北京理工大学出版社,1997:21～22
[38] Whitaker J C. PowerVacuumTubes Handbook[M].USA:CRCPress LLC,1999.
[39]张静.基于ARM的参数自整定PID调节器[D].济南:山东大学,2006:8～10
[40] Rasmussen H . Automatic Tuning of PIDregulators[D]. Denmark: Aalborg University, 1993:12～14.
[2]樊明武.用于医学诊断和治疗的质子回旋加速器.中国工程科学,2002,2(12):9～10
[3]张锦明,田嘉禾.国内正电子放射性药物发展现状简介.同位素,2006,19(4):241
[4]方守贤.我国粒子加速器的现状和发展.物理,1999,28(9):10
[5]张天爵,李振国,殷治国.串列加速器升级工程的计算机控制系统方案设计.2005,39(2):189～190
[6]李振国,吴隆诚,潘高峰等. 100 MeV回旋加速器通用工程初步设计.中国原子能科学研究院年报, 2004:17～18
[7]范西江. RDS111回旋加速器RF系统简介.中国医学装备,2007,4(1):46～48
[8]郑建华,刘巍,王义芬等.高灵敏度等时性回旋加速器束流相位测量系统.高能物理与核物理,2007,31(3):303～306
[9]敬岚,乔卫民,徐杨等.基于ARM920T的HIRFL-CSR前端总线控制器FBC-01.核技术,2006,29(10):1～2
[10] Junnarkar S S,Purschke M,Pratte Jean-Francois,et al. An FPGA-based, 12-channel TDC and digital signal processing module for the RatCAP scanner.in: 2005 IEEE Nuclear Science Symposium Conference Record -Nuclear Science Symposium and Medical Imaging Conference. Piscataway: Institute of Electrical and Electronics Engineers Inc., 2005.1～2
[11]汪晓平. PLC可编程控制器系统开发实例导航.北京:人民邮电出版社,2004.1～3
[12]潘立登,潘仰东.系统辨识与建模.第1版.北京.化学工业出版社,2004.1~23
[13]丁浩淼.燃烧器温度控制系统研究:[硕士学位论文].西北工业大学图书馆,2004
[14]高尚敏,杨春节,宋执环. TRT系统过程控制研究.电站系统工程,2007,23(5):2
[15]刘金琨.先进PID控制MATLAB仿真.第2版.北京:电子工业出版社, 2004.76~81
[16]欧阳鑫玉,赵楠楠.大林算法与Smith预估法在温度控制中的优效研究.鞍山钢铁学院学报,2001,24(4):1
[17]杨琳娟,李秋明,顾德英.大林算法在炉温控制中的应用.仪器仪表学报,2005,26(8):450~454
[18]冯国良,李太福,钟秉翔等.纯滞后控制系统采样周期的选择.重庆大学学报,2003,26(6):125~128
[19]华东.大林算法在电加热炉温度控制中的应用.浙江工贸职业技术学院学报,2004,4(4):31~35
[20]潘策,陈晓南,杨培林.时变滞后系统的模糊预估控制.微计算机信息,2003,19(12):27~28
[21]李辉,仝庆贻,颜感锋.控制大纯滞后工业过程.电气传动,2003,6:20~22
[22]秦斌.回旋加速器虚拟控制系统设计与实现:[硕士学位论文].武汉:华中科技大学,2004:21～35
[23] Stateflow and Stateflow Coder.Version 5, The Mathworks
[24] Shakhgildyan V.V. . Radio Transmitter Design, Mir Publishers,1987:3
[25] Laboratory staff. Care and Feeding of Power Grid Tubes. VARIAN EIMAC, Fourth Printing, 1982.
[26] Oost G V, Bhatnagar V P, Delvigne T, et al. The high-power (3-MW) long-pulse(3-s) radio-frequency system for ion cyclotron resonance heatingexperiments on textor. Fusion Technol. 1987,12 :449～475
[27] Hoffman D J, Barbar G C. The technology of the ion cyclotron range of frequencies. Fusion Technol ,1989,15 :719～724
[28] Fujii T , Kobayashi N, Moriyama S,et al. in: Proceedings of 16th Symposium onFusion Technology, vol. 2, London: Upgrade of JT-60 ICRFheating system ,1990. 1171～1175
[29] Wade T J, Jacquinot J, Bosia G , et al. Development of the JET ICRH plant, FusionEng. Des. 1994,24 :23～46
[30] Seki T, Kumazawa R, Mutoh T, et al.Steady-state amplifier at megawatt level for LHD ICRF heating, Fusion Sci. Technol. 2001, 40 : 253～264
[31] Kwiatkowski S. Power amplifier for RHIC 26.7 MHz accelerating Cavity. BNL Technical note RHIC/RF 28 Tech
[32] Carter R G . Review of RF power sources for particle accelerators. CERN accelerator school proceeding, 1992.
[33]孙海燕.基于DDS技术的通信信号产生技术研究[D].成都:电子科技大学,2006:1～2
[34]马陆,乔卫民,范进,等.基于AD9854的高精度高频信号发生器[J].微计算机信息,2007,23(3):186
[35] Singh R,Mukharjee A,Bhattacharya D S,et al. Design and testing of 200 kW/91.2MHz RF amplifier[J]. Fusion Engineering and Design ,2007,82: 854～858.
[36] Leach W M. SPICE models for vacuum-tube amplifiers. J. Audio Eng. Soc. 1995,43(3).
[37]闫润卿,李英惠.微波技术基础[M].北京:北京理工大学出版社,1997:21～22
[38] Whitaker J C. PowerVacuumTubes Handbook[M].USA:CRCPress LLC,1999.
[39]张静.基于ARM的参数自整定PID调节器[D].济南:山东大学,2006:8～10
[40] Rasmussen H . Automatic Tuning of PIDregulators[D]. Denmark: Aalborg University, 1993:12～14.