Motion control for CBCT gantry
Karppi, Harri (2019)
2019
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-2019110120546
https://urn.fi/URN:NBN:fi:amk-2019110120546
Tiivistelmä
This thesis is a study on developing a motion controller for an X-ray imaging arm based on the requirements specification. A proof-of-concept motion control is designed and tested. The main goal was to correspond with the requirement specification in parts concerning the motion control. This study was done by identification, build, data collection, analysis, and results method.
The identification was made at a high level by studying the requirements specification, the X-ray imaging device constructions, and the motion control technologies. Once the identification was made, a prototype motion control hardware was selected, designed, implemented, and tested. After the motion control testing, the results were analyzed and compared against the requirements specification. And the future development recommendations were given. The hardware design is described in detail, but the embedded software is excluded from this thesis since the author did not do it. Only the motion control high-level description is presented.
The selected motion control technologies included two absolute position encoders, a motor driver utilizing a closed-loop vector control, and a surface-mounted permanent magnet synchronous motor. One sensor was used to provide the position feedback of the imaging arm for the motion controller. And the other sensor provided the speed and angular position of the PMSM rotor for the motor driver.
The overall result from this study was that the selected motion control technologies were adequate for meeting the requirements specification. And some future enhancements should be considered regarding motion control velocity profiles and motor sizing.
The identification was made at a high level by studying the requirements specification, the X-ray imaging device constructions, and the motion control technologies. Once the identification was made, a prototype motion control hardware was selected, designed, implemented, and tested. After the motion control testing, the results were analyzed and compared against the requirements specification. And the future development recommendations were given. The hardware design is described in detail, but the embedded software is excluded from this thesis since the author did not do it. Only the motion control high-level description is presented.
The selected motion control technologies included two absolute position encoders, a motor driver utilizing a closed-loop vector control, and a surface-mounted permanent magnet synchronous motor. One sensor was used to provide the position feedback of the imaging arm for the motion controller. And the other sensor provided the speed and angular position of the PMSM rotor for the motor driver.
The overall result from this study was that the selected motion control technologies were adequate for meeting the requirements specification. And some future enhancements should be considered regarding motion control velocity profiles and motor sizing.