Analyse and Research on Motion Control for Helical CT Scanner

Abstract

This study mainly focuses on the synchronization problems of whole-body CT scanner. A master-slave synchronous control method is used to achieve synchronism between the gantry rotation motor and the bed moving motor in helical scanning mode, while the cascade control method is used to enhance the stability of each motor. In order to keep synchronous control, a control law is designed by the eigenstructure assignment method, which insures the accuracy of the signal tracking of the periodic load disturbance during the dual-motor synchronous control, and eliminates the adverse effects brought by periodic load. The proposed algorithm is simulated on MATLAB, and compared with the traditional PID algorithm. In addition, the algorithm is implemented on ARM9 and evaluated on a realistic synchronization control experimental platform designed by us. Both the simulation and realistic experimental results indicate that the algorithm is feasible for helical scanning.