Multi-leaf collimator modeling and control method for reducing radiotherapy damage ratio

The invention relates to the technical field of medical equipment, in particular to a multi-leaf collimator modeling and control method for reducing the damage ratio of radiotherapy, and the method comprises the steps: building a mathematical model of a single leaf in the radiotherapy conformity of a multi-leaf collimator; establishing a state equation of the system and giving a control target of the system; designing a blade position tracker by adopting the position tracking error of the blade in combination with fast robust control; pWM signals needed by rotation of the servo motor are obtained and sent to the motor driver, and position control over the blades is achieved. According to the method, the complete model of the blades in the multi-blade collimator radiotherapy conformal process is established, and the principle that the servo motor drives the blades to move is better understood. 本发明涉及医疗设备技术领域，具体是一种减小放射治疗损害比的多叶准直器建模及控制方法，建立多叶准直器放射治疗适形中单个叶片的数学模型；建立系统的状态方程并给出系统的控制目标；采用叶片的位置跟踪误差结合快速鲁棒控制，设计叶片位置跟踪器；获得