Article(id=1266471273254249377, tenantId=1146029695717560320, journalId=1266358635761254452, issueId=1266471145588019694, articleNumber=null, orderNo=null, doi=10.11884/HPLPB202638.250282, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1756915200000, receivedDateStr=2025-09-04, revisedDate=1767628800000, revisedDateStr=2026-01-06, acceptedDate=1767628800000, acceptedDateStr=2026-01-06, onlineDate=1779879881442, onlineDateStr=2026-05-27, pubDate=1776182400000, pubDateStr=2026-04-15, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1779879881442, onlineIssueDateStr=2026-05-27, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1779879881442, creator=13701087609, updateTime=1779879881442, updator=13701087609, issue=Issue{id=1266471145588019694, tenantId=1146029695717560320, journalId=1266358635761254452, year='2026', volume='38', issue='4', pageStart='041001-1', pageEnd='049003-11', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=null, createTime=1779879851004, creator=13701087609, updateTime=1779879869427, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1266471222939374548, tenantId=1146029695717560320, journalId=1266358635761254452, issueId=1266471145588019694, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1266471222943568853, tenantId=1146029695717560320, journalId=1266358635761254452, issueId=1266471145588019694, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=044001-1, endPage=044001-8, ext={EN=ArticleExt(id=1266471273690456996, articleId=1266471273254249377, tenantId=1146029695717560320, journalId=1266358635761254452, language=EN, title=Design and verification of digital low-level RF control algorithms for an ultra-compact cyclotron, columnId=1266471273468158883, journalTitle=High Power Laser and Particle Beams, columnName=Particle Beams and Accelerator Technology, runingTitle=null, highlight=null, articleAbstract=
Background

The China Institute of Atomic Energy has designed of a 9.5 MeV ultra-compact cyclotron to support the independence of Positron Emission Tomography (PET) cyclotrons. A high-performance control system is critical for the equipment, as the stability of the acceleration field directly impacts beam quality.

Purpose

In order to ensure the stable acceleration of the accelerator beam, this study aims to develop a Low-Level Radio Frequency (LLRF) control algorithm based on a fully digital hardware platform.

Methods

To enhance control precision and increase the feedback rate, a high-speed Digital Down-Conversion (DDC) demodulation system was designed. Addressing the issue where the IQ sequence after digital down-conversion may be distributed in arbitrary quadrants, an innovative quadrant preprocessing module was developed to extend applicability across the Cartesian plane. A position-type Proportion-Integral-Derivative (PID) tuning loop was implemented for automatic frequency compensation, integrating adaptive protection, timed detection, and one-click startup. Furthermore, a robust cross-clock-domain data path was constructed to ensure accurate and stable amplitude regulation.

Results

Closed-loop tests verified the reliability of the demodulation system. During the joint commissioning with the accelerator, a stable internal target beam current of 100 μA was successfully extracted. The system achieved a cavity voltage amplitude stability of 0.047% (RMSE) and maintained a detuning angle of 0.46°(RMSE).

Conclusion

The experimental results demonstrate that the proposed LLRF system fully meets the control requirements of the accelerator. The design ensures high stability and precision, providing reliable technical support for the operation of the 9.5 MeV ultra-compact cyclotron.

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为实现PET医用小型回旋加速器的自主研发,中国原子能科学研究院开展了9.5 MeV超紧凑型回旋加速器的设计与研究。为满足对加速器束流的稳定加速,研制了基于全数字硬件平台的高频低电平控制算法,为提升控制精度,增加反馈速率,设计了高速DDC下变频解调系统,针对于数字下变频后IQ序列分布于任意象限的问题,设计了一种创新的象限预处理模块,以拓展其在全平面坐标系的适用性。为实现自动频率补偿,设计并实现基于位置式PID的调谐环,集成了自适应限位保护机制和实时调谐检测功能,并支持一键启动调谐。利用构建的高可靠性的跨时钟域数据通路,为幅度环调节激励信号幅值提供精度与稳定性保障。通过自闭环测试,验证了解调算法的可靠性,在与加速器联合调试中,稳定引出内靶束流100 μA,腔压幅度稳定度为0.047%(RMSE),失谐角保持在0.46°(RMSE),充分验证了系统的稳定性和可靠性,满足了加速器对低电平控制系统的需求。

, correspAuthors=null, authorNote=null, correspAuthorsNote=
黄鹏,
, copyrightStatement=版权所有 © 《强激光与粒子束》编辑部 2026, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=NgCs240xmIjQuqCiNe8RWQ==, magXml=q3/Urjlb+ZXz1NWQ6ihZIw==, pdfUrl=null, pdf=j0YgPg0B/QAU6LZKVKRrcQ==, pdfFileSize=1737067, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=mVsf9RIbXOJ8JlkMDqyzcw==, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=KkZlaPxUVR7hIsUm1mP64Q==, mapNumber=null, authorCompany=null, fund=null, authors=

吴继敏,

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吴继敏,

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Demodulation parameters of the 9.5 MeV low-level RF system

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RF frequency/MHzsampling frequency/MHzlow-pass filterCIC decimation rateLO frequency/MHz
41.5250CIC, FIR1641.5
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9.5 MeV低电平解调参数

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RF frequency/MHzsampling frequency/MHzlow-pass filterCIC decimation rateLO frequency/MHz
41.5250CIC, FIR1641.5
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Geometric equivalent transformation

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quadranttransformed coordinates (X0,Y0)geometric equivalence
(x, y)identity transformation
(y, −x)90° counter-clockwise rotation
(−x, −y)origin symmetry
(−y, x)270° counter-clockwise rotation
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几何等效变换

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quadranttransformed coordinates (X0,Y0)geometric equivalence
(x, y)identity transformation
(y, −x)90° counter-clockwise rotation
(−x, −y)origin symmetry
(−y, x)270° counter-clockwise rotation
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超紧凑回旋加速器数字化低电平控制算法设计及验证
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吴继敏 , 黄鹏 , 魏俊逸 , 管锋平 , 纪彬 , 张庭锋 , 张嘉怡 , 孙昊 , 王亚晴 , 李贤平
强激光与粒子束 | 粒子束及加速器技术 2026,38(4): 044001-1-044001-8
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强激光与粒子束 | 粒子束及加速器技术 2026, 38(4): 044001-1-044001-8
超紧凑回旋加速器数字化低电平控制算法设计及验证
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吴继敏 , 黄鹏 , 魏俊逸, 管锋平, 纪彬, 张庭锋, 张嘉怡, 孙昊, 王亚晴, 李贤平
作者信息
  • 中国原子能科学研究院,北京 102413
  • 吴继敏,

通讯作者:

黄鹏,
Design and verification of digital low-level RF control algorithms for an ultra-compact cyclotron
Jimin Wu , Peng Huang , Junyi Wei, Fengping Guan, Bin Ji, Tingfeng Zhang, Jiayi Zhang, Hao Sun, Yaqing Wang, Xianping Li
Affiliations
  • China Institute of Atomic Energy, Beijing 102413, China
出版时间: 2026-04-15 doi: 10.11884/HPLPB202638.250282
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为实现PET医用小型回旋加速器的自主研发,中国原子能科学研究院开展了9.5 MeV超紧凑型回旋加速器的设计与研究。为满足对加速器束流的稳定加速,研制了基于全数字硬件平台的高频低电平控制算法,为提升控制精度,增加反馈速率,设计了高速DDC下变频解调系统,针对于数字下变频后IQ序列分布于任意象限的问题,设计了一种创新的象限预处理模块,以拓展其在全平面坐标系的适用性。为实现自动频率补偿,设计并实现基于位置式PID的调谐环,集成了自适应限位保护机制和实时调谐检测功能,并支持一键启动调谐。利用构建的高可靠性的跨时钟域数据通路,为幅度环调节激励信号幅值提供精度与稳定性保障。通过自闭环测试,验证了解调算法的可靠性,在与加速器联合调试中,稳定引出内靶束流100 μA,腔压幅度稳定度为0.047%(RMSE),失谐角保持在0.46°(RMSE),充分验证了系统的稳定性和可靠性,满足了加速器对低电平控制系统的需求。

回旋加速器  /  高频低电平控制系统  /  FPGA  /  闭环控制  /  跨时钟域
Background

The China Institute of Atomic Energy has designed of a 9.5 MeV ultra-compact cyclotron to support the independence of Positron Emission Tomography (PET) cyclotrons. A high-performance control system is critical for the equipment, as the stability of the acceleration field directly impacts beam quality.

Purpose

In order to ensure the stable acceleration of the accelerator beam, this study aims to develop a Low-Level Radio Frequency (LLRF) control algorithm based on a fully digital hardware platform.

Methods

To enhance control precision and increase the feedback rate, a high-speed Digital Down-Conversion (DDC) demodulation system was designed. Addressing the issue where the IQ sequence after digital down-conversion may be distributed in arbitrary quadrants, an innovative quadrant preprocessing module was developed to extend applicability across the Cartesian plane. A position-type Proportion-Integral-Derivative (PID) tuning loop was implemented for automatic frequency compensation, integrating adaptive protection, timed detection, and one-click startup. Furthermore, a robust cross-clock-domain data path was constructed to ensure accurate and stable amplitude regulation.

Results

Closed-loop tests verified the reliability of the demodulation system. During the joint commissioning with the accelerator, a stable internal target beam current of 100 μA was successfully extracted. The system achieved a cavity voltage amplitude stability of 0.047% (RMSE) and maintained a detuning angle of 0.46°(RMSE).

Conclusion

The experimental results demonstrate that the proposed LLRF system fully meets the control requirements of the accelerator. The design ensures high stability and precision, providing reliable technical support for the operation of the 9.5 MeV ultra-compact cyclotron.

cyclotron  /  LLRF  /  FPGA  /  closed-loop control  /  cross-clock domain
吴继敏, 黄鹏, 魏俊逸, 管锋平, 纪彬, 张庭锋, 张嘉怡, 孙昊, 王亚晴, 李贤平. 超紧凑回旋加速器数字化低电平控制算法设计及验证. 强激光与粒子束, 2026 , 38 (4) : 044001-1 -044001-8 . DOI: 10.11884/HPLPB202638.250282
Jimin Wu, Peng Huang, Junyi Wei, Fengping Guan, Bin Ji, Tingfeng Zhang, Jiayi Zhang, Hao Sun, Yaqing Wang, Xianping Li. Design and verification of digital low-level RF control algorithms for an ultra-compact cyclotron[J]. High Power Laser and Particle Beams, 2026 , 38 (4) : 044001-1 -044001-8 . DOI: 10.11884/HPLPB202638.250282
正电子发射断层扫描技术(Positron Emission Tomography, PET)凭借其在功能性成像的卓越功能与早期诊断优势[1],已成为肿瘤、心脏等疾病的重要诊断手段;小型医用回旋加速器作为医用同位素制备与科研的核心装置,具有结构紧凑、成本较低、应用场景广泛等特点。为实现PET医用小型回旋加速器的自主研发,中国原子能科学研究院核技术综合研究所开展了9.5 MeV超紧凑回旋加速器的设计与研究[2],其中,高频系统作为加速系统核心,系统中腔压幅度和频率稳定性直接影响束流加速效率和可靠性,因此如何在不同运行工况下实现对射频场幅度、频率的稳定控制成为关键技术问题。在此之前,中国原子能科学研究院在100 MeV和250 MeV医用回旋加速器电平控制系统中,采用数模混合的技术方案[3-5],虽然已实现了多腔体的稳定控制与电压平衡调节[5],但相关研究主要集中于系统架构和功能实现,并未给出系统的定量指标,且数模混合方案存在温漂敏感、器件一致性差、调试维护复杂等问题,难以满足超紧凑回旋加速器对高集成度、低功耗和长期稳定性的需求,因此,本文基于最简洁的ADC+DAC+FPGA的纯数字架构[6-7],构建以信号实时解调为核心的数字处理链路,设计调谐与幅度的双环控制算法,并明确系统核心性能指标:幅度稳定性优于0.1%(RMSE),失谐角稳定性优于±1°(RMSE),以此作为控制算法与硬件实现的目标。
国际上,日本J-PARC直线加速器研发了基于μTCA.4平台与Zynq FPGA的全数字化LLRF系统[7],实现了高稳定性与可扩展性。加拿大TRIUMF实验室为ISIS聚束器开发的全数字化LLRF系统[8],有效解决了数模混合架构在温漂、长期运行和维护上的瓶颈。美国SLAC实验室,在C波段加速结构上开发新一代数字LLRF系统,实现幅度稳定性优于0.15%[9],LBNL在ALS储存环升级数字化系统中,幅度稳定性优于0.03%[10]。相比之下,本文提出的指标处在国际先进水平范围,且更强调在小型化、低功耗的超紧凑回旋加速器中实现高精度控制,兼顾系统集成度与长期运行稳定性。
9.5 MeV低电平系统的设计采用全数字方案,其原理框图如图1所示,主要由调谐环路和幅度环路组成。全数字低电平方案取消了模拟解调前端,腔体信号通过ADC直接采样,通过数字下变频技术进行解调处理,激励信号的调制也直接通过FPGA内部进行,避免了模拟器件非线性所带来的误差[11],整体架构更为简洁,更有利于后续的维护处理,调谐控制环路和幅度控制环路全部运行在ZYNQ的PL(Programmable Logic)端,能实现更低延时的控制,不受限于总线带宽和数据缓存等因素的影响,系统更加稳定,更有利于高速信号的时序优化和信号同步;同时,通过ZYNQ芯片内部PS(Processing System)端可实现与上位机通信互联,上位机运行Linux系统,能够通过网络接口在线修改控制参数,实现灵活的控制调整,整套系统实现“硬件闭环+软件调优”的协同设计。
系统硬件直接采用坤驰科技公司的通用高速电路模块,主要由QT7020主控模块和QT7350高速模数转换器两个模块组成。QT7020作为主控计算核心,其核心芯片为Zynq-7系列的XC7Z100-2FFG900,芯片集成了Kintex-7系列FPGA和双核Cortex-A9 MPCore处理器系统,通过ZYNQ内部AXI总线架构,实现PL与PS之间高效数据交互;借助Vivado提供的Block Design图形化设计工具,可快速构建双向数据传输通道,简化系统开发流程。PS端支持运行裸机程序和Linux操作系统,QT7020还包括千兆网口、USB和GPIO等常用外设,其中GPIO口被用于调谐控制功能,输出调谐电机的脉冲信号、使能信号、方向信号,同时也用于接收限位开关的输入,实现调谐系统的开闭环控制。QT7350内置两路高速模数/数模转换通道,ADC芯片为16 bit-250 MS/s的AD9467,DAC芯片为16 bit-500 MS/s的AD9122,两路ADC分别采集来自谐振腔体的取样信号和正向功率信号,DAC则作为激励信号输出,QT7350通过FMC-HPC接口与QT7020主控模块连接。
IQ解调被广泛运用在低电平控制领域[12-14],这种方法简单有效,通过设置ADC采样频率4倍频于射频信号,便可快速得到IQ序列,之后对IQ序列进行处理得到幅度相位信息,但此方法容易引入误差。若ADC的前端是非线性器件,采样的信号通常会含有高次谐波,并且若相邻两个采样值的相位差不是90°时,不可避免的对于后续处理带来困难,此外,在硬件方面,对于一路射频信号需要两路ADC对信号采样,硬件开销较大。因此,本系统采用DDC下变频解调方案[6, 14-16],通过单路ADC高速采样,数字混频、数字低通滤波和CORDIC算法实现对信号幅度与相位的高精度实时获取。相较与传统的IQ解调方式,只需一路射频信号用一路ADC采样,简化硬件系统设计,提高了系统的抗干扰性能,并且采样频率与射频信号没有特定的倍数关系,具有更高的精度、一致性和灵活性。在FPGA的实现中,所有模块均可按需配置,参数也可实时调整,便于后期升级和不同频率下的适配。
9.5 MeV超紧凑回旋加速器的谐振腔谐振频率为41.5 MHz,解调参数见表1图2为实时解调系统的频域仿真,为了将41.5 MHz的射频信号下变频至基带并提取其幅相信息,系统首先采用采样速率为250 MS/s的ADC对射频信号进行采样量化,再通过与两路正交的数字本振信号混频,实现频谱的搬移,得到基带信号和二次谐波信号,随后采用两级滤波器CIC+FIR进行带宽控制与旁瓣抑制。图2清晰地展示了整个数字下变频的信号处理流程:图2(a)为原始采样信号频谱,主频率位于41.5 MHz;图2(b)显示混频后基带信号与二次谐波分别位于零频域和83 MHz;图2(c)中CIC滤波器的截止频率为0.5 MHz,抽取率为16倍,可以看出83 MHz的二次谐波信号基本被滤除,但仍然存在较强旁瓣;而图(d)所示的FIR滤波器阶数为60 阶,截止频率为0.5 MHz,进一步的抑制了旁瓣,改善了信号的带宽特性,得到较为纯净的零中频基带IQ序列。得到IQ序列之后,进入CORDIC算法模块进行向量模式的坐标运算,得到腔体取样信号的幅度和相位信息,幅度相位信息用作于后续闭环控制的反馈信号。
CORDIC坐标旋转数字计算机(Coordinate Rotation Digital Computer)是一种常用于数字信号处理领域的算法[17],主要用于高效计算超越函数,如三角函数,反三角函数,对数和开平方等。由于FPGA硬件本身难以直接实现这些复杂函数的运算,CORDIC算法凭借仅依赖加法,减法和移位操作的特性,为FPGA提供了一种简洁、资源开销小的实现方案,特别适用于本系统幅度相位的实时计算。CORDIC算法的核心思想是通过一系列迭代坐标旋转操作,逐渐逼近目标函数。在本系统的应用中,采用向量模式(Vectoring Mode),将数字下变频得到的IQ序列作为输入向量的XY分量,通过将该向量迭代旋转,逐渐逼近至X轴,从而计算出所需的幅度和相位信息。CORDIC模块的计算精度主要受到两个因素的影响:输入数据的位宽和计算迭代次数,本文针对不同位宽和迭代次数对幅度和相位计算精度的影响进行了仿真分析,仿真结果如图3所示,图3(a)为平均幅度误差随迭代次数的变化曲线,图3(b)为平均相位误差随迭代次数变化曲线,可以观察到在迭代次数较少时,误差随迭代次数迅速下降,提升效果显著,当迭代次数超过16次后,误差逐渐趋于稳定,迭代次数的增加对于精度提升有限;输入数据的位宽越高,最终的误差越小,但高位宽对于硬件资源有更高的要求。综上所述,结合仿真结果可知,当迭代次数达到20次以上、输入位宽为32位时,CORDIC模块的幅度误差已稳定在1×10−8以下,相位误差可控制在0.001°以内,满足本系统对幅度和相位解调精度的要求。因此,在实际FPGA实现中,选取迭代次数为20次、输入数据位宽为32位作为最后的参数配置,既能保证较高的精度,同时也控制了硬件资源的占用。
为拓展CORDIC算法在全平面坐标系中的适用范围,本文设计了一种创新的象限预处理模块,解决数字下变频后所得IQ序列可能位于任意象限的问题。该模块通过坐标变换与角度补偿机制,将任意象限内的输入向量统一映射至第一象限,同时保留其原始象限信息,实现了对CORDIC核心算法的前置优化。其核心原理基于几何旋转的数学等效性:在判定IQ序列所属象限后,根据预设的相位偏移量对坐标进行修正,从而完成坐标映射与相位校正,变换逻辑如表2所示。完成象限预处理后,变换后的向量输入至CORDIC主模块,进行幅度与相位的精确计算。为验证象限预处理模块的有效性,在FPGA硬件上进行了上板测试,测试过程每次人为改变输入信号初始相位12°,图4为测试结果,可见经过象限预处理和CORDIC计算后,输出的相位信息能够准确还原信号的实际角度,验证了该模块在实际系统中的正确性与可靠性。
在9.5 MeV超紧凑回旋加速器运行过程中,谐振腔体在高功率射频激励下会产生热效应,导致腔体谐振频率发生微小漂移[18],为了补偿这一谐振频率漂移,本系统设计了低电平调谐环路,通过驱动步进电机带动微调电容前后移动,实现对腔体谐振频率的精细调节。根据9.5 MeV谐振腔体的既有设计参数,其腔体Q值为3800,微调电容板与Dee板间距在6.5 mm至18.5 mm范围内可调,对应的可调节谐振频率的范围为41.27~41.65 MHz,频率调节范围约±0.19 MHz,步进电机采用细分驱动,最小细分角度为0.225°。调谐环路的控制流程框图如图5所示,通过实时解调系统来完成正向功率信号和取样信号的相位检测,经由数字鉴相器处理后得到当前系统的失谐角[19],该失谐角作为误差信号输入至位置式PID模块中进行反馈计算。PID输出控制量送入电机驱动信号生成模块,用于生成控制步进电机的脉冲、方向和使能信号。驱动信号经过细分驱动器放大后,驱动电机转动,带动微调电容实现精细的机械位移,从而补偿谐振腔体的频率漂移,保证腔体的频率稳定。当腔体达到谐振状态并在谐振点附近保持稳定时,电机驱动完成并停止运行;此后,系统通过定时检测机制周期性读取失谐角,若失谐角超出±1°,则重新进入调谐流程,从而实现对腔体状态的持续跟踪与自动校正。若电机在运行中触及内外限位,主控模块会立即触发限位保护,关闭使能信号、停止脉冲输出,并根据需要反转方向信号,使系统进入联锁保护状态,以防止电机及机械结构损坏。
此外,调谐环路还引入了一键调谐功能,由于9.5 MeV超紧凑型回旋加速器腔体锻炼效果明显,可直接用低功率的连续信号驱动腔体,因此,无需改变激励信号的状态,只需要对调谐电机做自启动状态转换。一键调谐的运行过程为:首先进入初始化状态,完成调谐系统的初始化,随后转入调谐自搜索状态,调谐电机往内限位方向运动,直到触发限位,而后反转固定步数至闭环状态区间,直接闭环;若运行期间遇到异常,则通过对取样信号的幅度判定来决定是否关闭调谐系统,若取样信号幅度突然剧烈变化,则关断调谐系统,进入关停状态。
幅度环是低电平控制系统的核心组件,负责动态调节腔体激励信号的大小,从而控制馈入高频腔的功率大小[20]。在本系统的设计实现中,通过实时解调系统得到腔体取样信号的幅值信息,执行增量式PID运算、跨时钟域处理和幅度调制,实现腔压幅度稳定控制,在控制过程中存在多个不同频率的时钟域,为了实现数据在异步时钟域之间的稳定传输,本文设计了高可靠性的跨时钟域数据通路系统。本系统包含两个异步时钟域,ADC主时钟域和DAC时钟域,为确保信号稳定传输,采用两级同步策略:有效信号的传递通过同步器、边沿检测和电平转换同步器机制[21];幅度控制字通过异步FIFO[22]来实现安全传递,消除亚稳态。
图6所示,幅度环跨时钟域的数据通路包括控制信号与数据信号的传递机制。针对PID模块计算完成后的有效信号传递问题,由于其需从ADC时钟域传送至DAC时钟域,本系统首先采用三级同步器进行同步处理,以降低对信号建立时间与保持时间的要求,减小对物理布局布线的依赖性,从而提升跨时钟域信号采样的可靠性。随后通过对同步后信号的上升沿进行检测,生成一个单周期脉冲作为DAC时钟域的有效控制信号。
对于幅度调制模块调制完成信号的跨时钟域传递,系统采用电平转换同步器(Toggle Synchronizer)结构:将原脉冲信号转换为电平翻转信号,在目标时钟域(ADC时钟域)中通过同步器传递,并结合边沿检测机制,安全还原原始的脉冲有效信号。
而对于宽度为32 位的幅度控制字数据传输,系统采用异步FIFO实现跨时钟域传递。该FIFO的写端工作在ADC时钟域,读端工作在DAC时钟域;其写使能由PID模块的计算完成信号控制,读使能由FIFO的非空信号控制,从而确保32 位幅度控制字在异步时钟域之间的安全稳定传输。
在完成了数字化低电平控制算法的设计后,首先搭建了自闭环桌面实验平台,以验证该算法的可靠性和正确性。实验中通过DAC输出激励信号,并分别加载0~360°的相位调制和50 kHz的幅度调制,以模拟加速器在工作过程中腔体电压可能出现的相位和幅度扰动。调制后的激励信号经由传输线送入ADC通道,在FPGA内部通过所设计的实时数字下变频与解调算法进行处理。
解调结果如图7所示。从结果可以明显看出,相位调制信息在整个0~360°范围内均被准确还原,幅度调制信号也能够以较高的信噪比完整恢复。这表明本文提出的数字解调与象限预处理算法能够在高速采样与实时计算条件下,保持良好的解调精度和动态响应能力。
在与9.5 MeV超紧凑回旋加速器联合调试中,首先由数字化低电平输出射频激励信号经过固态放大器放大后,再由发射机实现高功率放大,经高频馈管传输后耦合至谐振腔内,形成加速电场,利用示波器同步采集谐振腔的取样信号和耦合器的反射信号。图8所示为不同闭环条件下的观测波形:在仅调谐闭环工作时,如图8(a)所示,取样信号存在毛刺,反射信号较大;在幅度与调谐双闭环条件下,如图8(b)所示,功率提升完成,取样信号平稳,反射信号明显减小,腔体处于谐振状态。开启高压离子源后,粒子在腔体电场作用下逐渐获得能量,沿螺旋轨迹向外运动;当达到9.5 MeV设计能量时,粒子被引向内靶,如图9所示,束流由40 μA稳定增加至100 μA,在动态鲁棒性方面,实验过程中出现过一次腔体打火现象。测试结果显示,系统在异常发生后,及时响应,关闭激励信号和双闭环系统,待异常消失后自动恢复工作状态,并重新建立起稳定闭环。为定量评估系统性能,进一步对采集的腔压幅度与失谐角数据进行记录和分析,采用ILA调试工具采集FPGA内部寄存器实时数据,采样参数设置为2路信号,8 192点深度,触发时钟为250 MHz的ADC主时钟。腔压幅度和失谐角稳定性均采用均方根误差(RMSE)计算得到,其定义为
$ \text{RMSE}=\sqrt{\dfrac{1}{N}\displaystyle\sum\limits_{i=1}^{N}{({{x}_{i}}-\overline{x})}^{2}} $
式中:$ {x}_{i} $为第i个采样点,$ \overline{x} $为均值,N为采样点数。
基于采集数据计算得到腔压幅度的RMSE波动约为0.047%,失谐角的RMSE偏差约为0.46°,验证了闭环控制的有效性与稳定性,图10展示了失谐角与腔压幅度在闭环条件下的短时稳定曲线。结果表明,所设计的控制系统具备较强的鲁棒性与可靠性,能够满足加速器工程应用的需求。
本文围绕9.5 MeV超紧凑回旋加速器中高频低电平控制系统的需求,设计并实现了一种基于FPGA的全数字低电平控制算法。系统采用数字下变频(DDC)解调完成对射频信号的实时解调;通过引入幅度和调谐双环路控制策略,并优化跨时钟域数据交互机制,实现了对幅度的稳定闭环控制。所设计的算法具有资源占用低、响应速度快、控制精度高等的特点,适配于超紧凑型回旋加速器。
在与9.5 MeV超紧凑回旋加速器的联合调试中,成功引出内靶束流100 μA,根据采集数据计算得到,腔压幅度RMSE波动约为0.047%,失谐角RMSE偏差约为0.46°,具备良好的抑制干扰与参数漂移能力。在动态调谐控制过程中表现出优异的跟踪性能与系统鲁棒性,满足工程应用需求。该研究为后续高集成度、可移植数字射频控制系统的开发提供了可行路径与工程参考。
未来工作中,将进一步探索基于神经网络的自适应控制和智能化算法的闭环优化,以增强系统在复杂工况下的稳定性;同时,将设计自启动流程程序,实现腔体调谐和幅相闭环的自动化操作;并在硬件实现方面,考虑向更高集成度与低功耗方向发展,以满足小型化加速器的应用需求。
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doi: 10.11884/HPLPB202638.250282
  • 接收时间:2025-09-04
  • 首发时间:2026-05-27
  • 出版时间:2026-04-15
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  • 收稿日期:2025-09-04
  • 修回日期:2026-01-06
  • 录用日期:2026-01-06
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    中国原子能科学研究院,北京 102413

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