重离子治癌加速器束诊探测器运动控制系统设计

重离子医疗装置（HIMM）中需要束流诊断探测器来测量加速器束流参数，其中大部分探测器属于拦截式探测器，拦截式探测器在测量束流参数时需要将探测器探头插入束流管道中心，测试完成后将探测器拉出。另外，部分探测器需要联动控制，针对上述需求，设计了基于EtherCAT协议的拦截式探测器的运动控制系统架构，并且开发了基于OPC UA （OLE for Process Control Unified Architecture）协议的客户端/服务器软件系统，所有拦截式探测器已通过CFDA （China Food and Drug Administration）验证，自2017年起在束运行至今。使用结果表明，该系统具有较高的稳定性以及可移植性，控制精度以及控制模式均可完全满足现场应用要求。

Design and Development of Motion Control System for Heavy Ion Medical Machine Beam Diagnostics Detector

It is necessary to measure beam parameters with beam diagnostics detectors for HIMM(Heavy Ion Medical Machine), most of which are interceptive detectors that will be inserted into the center of the beam pipeline while measuring the beam parameters and be pulled out when the measurement is finished. Furthermore, some of the detectors need to be controlled harmonically. In this paper, the architecture of the motion control system is designed and implemented based on the EtherCAT protocol. The client-server software system based on OPC UA protocol is developed and tested with beam. The motion control system of all beam diagnostics detectors has passed the verification of the CFDA(China-Food and Drug Administration) and been running since 2017 with beam. The results show that the system is of high stability and transplantability characters, the control accuracy and control mode can fully meet the application requirements.