CN103945904B - Sports equipment - Google Patents
Sports equipment Download PDFInfo
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- CN103945904B CN103945904B CN201280052998.9A CN201280052998A CN103945904B CN 103945904 B CN103945904 B CN 103945904B CN 201280052998 A CN201280052998 A CN 201280052998A CN 103945904 B CN103945904 B CN 103945904B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/06—Training appliances or apparatus for special sports for rowing or sculling
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/16—Training appliances or apparatus for special sports for cycling, i.e. arrangements on or for real bicycles
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
- A63B2023/0411—Squatting exercises
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/06—Training appliances or apparatus for special sports for rowing or sculling
- A63B2069/062—Training appliances or apparatus for special sports for rowing or sculling by pulling on a cable
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/40—Acceleration
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0028—Training appliances or apparatus for special sports for running, jogging or speed-walking
Abstract
The present invention relates to a kind of sports equipment, including one for the power by user the load elements of movement, one electric actuator (1), this electric actuator includes mobile parts, this load elements is connected to this and moves parts and this load elements can move this and move parts, one computer (12), a control signal for electric actuator can be generated, one acceleration transducer is connected to this and moves parts to measure the acceleration of mobile parts and to transmit the acceleration after measuring to computer (12), one power can be applied on this load elements by the mode of mobile this signal of unit response by electric actuator, it is characterized in that, this computer (12) can generate this control signal according to the acceleration after measuring, so should the power that be applied by electric actuator (1) include one substantially to measured by this acceleration transducer after the contribution of the proportional artificial inertia of acceleration.
Description
Technical field
The present invention relates to sports equipment field.Especially, the present invention relates to the field of machines passing on device with electric motor, this motor passes on device for developing or the muscular tissue of the user that recombinates, and is especially used to the cultivation again of training or user's muscle.Muscular movement equipment specifically has weight training machine and inertia machine.
Background technology
The operation principles of weight training machine is, by applying a power reversely to move the weight of casting pig, user moves the counterweight being made up of cast iron or other materials.These machines are forcing presses, dumbbell, guiding load device etc..
Inertia machine operates in a different manner.Such as, these include arranging a cast iron disk in the motion around a rotating shaft.Therefore user must apply enough power to overcome the inertia of machine.The implementing principle of some machines is to utilize wing portion system to place fluid at the volley.Although the fluid placed at the volley has inertia, but in these machines, first user must overcome the viscous friction caused by fluid.Other machines utilizes the principle of eddy-current system to generate these viscous frictions.These machines producing viscous friction are rowing machine or the machine of Exercycle type obviously.
Summary of the invention
According to an embodiment, the present invention provides a sports equipment, including
One load elements, is used for the power displacement by user,
One electric actuator, including mobile parts, this load elements is connected to mobile parts and this load elements can replace this and move parts,
One computer, it is possible to electric actuator is produced a control signal, and
One acceleration transducer, this acceleration transducer is connected to mobile parts, for measuring the acceleration of mobile parts and for transmission measurement post-acceleration to computer,
This electric actuator can pass through movable part and apply a power on load elements, with responsive control signal,
Wherein, this computer can calculate the power that the acceleration after this basis is measured applies by acceleration transducer, and by this way, electric actuator the power applied includes the contribution of one and the proportional artificial inertia of acceleration after the measurement of this acceleration transducer.
According to an embodiment, computer can generate control signal according to the acceleration after measuring and proportionality coefficient, and computer can according to from position, at least one the parameter change proportionality coefficient chosen in the acceleration of speed and mobile parts
According to an embodiment, computer can generate control signal, and by this way, electric actuator the power applied includes the contribution of an extra load presenting predetermined direction.
According to an embodiment, computer can generate control signal, and by this way, when the direction of the acceleration after measuring is contrary with the contribution of predetermined direction, the contribution of artificial inertia is identical with the contribution direction of predetermined direction.
According to an embodiment, computer can generate control signal, by this way, when the acceleration after measuring is identical with the contribution direction of electric actuator (1,76) predetermined direction, cancels the contribution of artificial inertia.
According to an embodiment, the connection between load elements (6,69) and mobile parts includes a decelerator for reducing motor force.Generally, the user of deceleration loading element is generated an extra real inertia by such a decelerator.According to an embodiment, there is the contribution of the artificial inertia that electric actuator applies can offset all or part of of the extra real inertia that generated by decelerator.
According to an embodiment, equipment includes a velocity sensor being suitable to measure mobile member velocity, and, computer can generate control signal, by this way, this electric actuator the power applied includes the contribution of a viscous friction substantially proportional with the speed measured by velocity sensor.
According to an embodiment, electric actuator is a linear electric machine.
According to an embodiment, electric actuator is a turning motor, wherein moves parts and includes the rotor of a turning motor.
According to an embodiment, acceleration transducer includes:
One position coder being connected to mobile parts, for measuring this position moving parts, this position coder produces a position signalling,
Splitter component, this splitter component is suitable to branch position signalling to determine the acceleration of mobile parts.
According to an embodiment, sports equipment is to choose from the set including rowing machine, Exercycle, act bar and guiding load device.
According to an embodiment, mobile parts include one and rotate the motor shaft installed, this motor shaft is connected to a decelerator, one pulley is connected to this decelerator, article one, one end of hawser is fixed in this pulley, the other end of this hawser is fixed in operating element, and this hawser can be rolled up on this pulley.
According to an embodiment, this sports equipment includes a personal-machine interface, arranges a proportionality coefficient between the contribution of the artificial inertia after allowing users to acceleration after a measurement and calculating.
According to an embodiment, this computer can calculate the power applied, by this way, electric actuator the power applied includes the contribution additionally presenting a predetermined direction, and this man machine interface enables a user to arrange the contribution of the extra load independent of proportionality coefficient.
According to an embodiment, this man machine interface enables a user that the contribution of this extra load is set to null value.
According to an embodiment, load elements can be middle mobile in the vertical direction, and this computer can calculate, when the power not applied by user, the power applied, by this way, the power applied by electric actuator includes the acquiescence contribution of a load, counteract a specified weight of this load elements, when lacking the power applied by user, it does not have cause any idiopathic displacement of this load elements.
According to an embodiment, the present invention also provides for a kind of method for controlling sports equipment, including:
Measure the acceleration of mobile parts of electric actuator, be applied to and be connected to this power moving on the load elements of parts responding user,
A control signal is generated according to the acceleration after measuring, and use this control signal to control electric actuator, by this way, the electric actuator on load elements moves parts via this, including one with this measurement after the contribution of the substantially proportional artificial inertia of acceleration.
One theory of institute of the present invention foundation is, on an exercise machine, when user uses this machine, simulation is different from the inertia of the real inertia of exercise machine and is currently in use an electric actuator.
One theory of institute of the present invention foundation is a kind of machine of design, and this machine makes change weight and inertia independently be possibly realized.
Some aspects of the present invention start from, and simulate the theory of the extra weight using electric actuator on this exercise machine.
Some aspects of the present invention start from, and simulate the theory of the extra frictional force using electric actuator on this exercise machine.
Some aspects of the present invention start from the observation motion of the motion of " inertia " type feature of inertia machine Yu " weight " type feature of weight machine coupled together, and this observation relates to the notable space saved and the investment that a cost is relatively low.
Some aspects of the present invention start from carrying out generating in the moment of muscular movement the theory of extra inertia force user, and cancel the theory of these inertia force in other stages of muscular movement.
Some aspects of the present invention start from the generation inertia force when not having dead load, with the reverse moved for the agglomerate initiated on the track approximate horizontal, produce the theory of muscle pressure.
In the specific embodiment that present invention below is many, only illustrate with given example and in unlimited fashion, with reference to accompanying drawing, the present invention will be best understood from, and other purposes, details, feature and advantage also can become apparent from.
Accompanying drawing explanation
In these figures:
Fig. 1 is the schematic diagram of a sports equipment including a motor.
Fig. 2 is the schematic diagram of the control system of a motor shown in FIG.
Fig. 3 is an operation corresponding to user, the chart according to the position of the time of handle described in FIG and acceleration.
Fig. 4 is an operation according to the equipment in Fig. 7, motor the chart of the power applied.
Fig. 5 is an operation according to equipment, motor the chart of the power applied, and this equipment is according to the Fig. 3 first kind corresponding to motion.
Fig. 6 is an operation according to equipment, motor the chart of the power applied, and this equipment is according to the Fig. 3 Second Type corresponding to motion.
Fig. 7 is the schematic diagram of the variant of a sports equipment.
Fig. 8 be one according to another embodiment, including the schematic diagram of partial cross sectional of the sports equipment of a motor.
Fig. 9 is the functional schematic diagram of the control system of motor for presenting in fig. 8.
Figure 10 be one for reversing the schematic diagram of motion that runner moves.
Figure 11 is the schematic diagram of the operation of a hysteresis comparator, and this hysteresis comparator can be used in the control system in Fig. 9.
Detailed description of the invention
Fig. 1 and 2 elaborates a sports equipment, can perform the control method according to invention wherein.With reference to Fig. 1, sports equipment includes one can rotating driveshaft 2 apply the electric motor 1 of a torque on axle 2.Axle 2 is mounted with a pulley 3 tightly.One end of hawser 4 is fixed in the groove of pulley 3.This hawser 4 can be involved in groove around pulley 3.The other end 5 of hawser secures a handle 6, can affect equipment when practising muscular movement by his or her muscle strength by this handle user.
Motor 1 includes one position encoded 10, for measuring the position of motor shaft 2.This position is sent to electron plate 7 with the form of position signalling 9.This electron plate 7 is used for receiving this position signalling and utilizing position signalling 9 to produce control signal.By this control signal, electron plate 7 controls the torque that motor 1 generates, and to control the power that motor 1 applies, described applying power is sent to handle 6 via pulley 3 and hawser 4.For this, control signal is sent to motor 1 via connecting 8 by electron plate 7.The supply of electric power parts being included in motor 1 receive this control signal, and from this control signal, described supply of electric power parts provide certain electric current to motor 1.Therefore the electric current that supply of electric power parts provide causes a torque on mobile parts 2, and therefore, causes a power via pulley 3 and hawser 4 on handle 6.The electric current that the power that motor 1 applies and supply of electric power parts provide to motor 1 is substantially proportional.
In order to produce different muscle pressures, it is possible to perform many control methods in such a equipment.First example is to pretend there is the predetermined quality hanging on hawser, i.e. the load of a constant direction and intensity is applied on handle 6 by motor torque.
When user manipulates handle 6 at the volley, for utilizing the power of his or her muscle strength antagonism motor 1.Such as, can with, in the motion of this apparatus exercise, for being positioned at the top of equipment, and utilizing his or her hands to perform a traction behavior from lower position to higher position on handle 6 at one.In this displacement upwards, user must pull against the downward power that motor 1 applies on handle 6.When handle 6 arrives higher position, user makes adverse movement and handle 6 returns to lower position, is still retrained by identical power simultaneously, and this identical power is identical with the direction of motor 1.In decline process, user with and slow down handle to bottom offset.Therefore this sports equipment simulates the quality having to alternately be lifted up and down by user.
In this motion, position signalling is sent to electron plate 7 constantly, and this electron plate calculates and the corresponding control signal of continuous transmission is to motor.Therefore, equipment controls the power produced by motor 1 in whole motor process.
But, at a time would be likely to occur a slight shift, this moment refers to: when encoder by delivering position by motor 1 and is applied moment and sends moment of control signal and the moment of the response of electron plate 7 to.
With reference to Fig. 2, the control method of motor will be made according to second example now and describing more specifically.
Electron plate 7 includes a microprocessor 20 herein.The position of the axle of motor 2 measured by position coder 10, and this position is encoded as a position signalling, and this position signalling sends microprocessor 20 to via connecting 38.Therefore, in one embodiment, it is possible to every 30ms and preferably every 5ms send this measurement.In this microprocessor 20, this position signalling is transmitted to this splitter component branch position signalling of a splitter component 13. via connecting 18, therefore generates a rate signal, and this rate signal is transmitted to the second splitter component 14 via connecting 15.This second splitter component branch rate signal, therefore generates an acceleration signal.It is transmitted to a computation model 12 via connecting 17 to acceleration signal.Additionally, position signalling and rate signal are respectively delivered to computation model 12 via connecting 11 and 16.This computation model 12 calculates control signal, to be supplied to motor, and sends it to motor via connecting 19.
More specifically, control signal is calculated from acceleration, to such an extent as to the power that the motor 1 on handle 6 applies includes downward load and a predetermined artificial inertia.
For this, this computation model 12 take into account the set of the moment that motor 1 applies and the inertia of the rotating part of equipment, and this equipment is the same with this motor, is axle 2, pulley 3, hawser 4 and handle 6.
It practice, when user's control handle 6:
(1)
Wherein,It is the power that user applies on handle 6,It is the power that motor 1 is applied and controlled by computation model 12 on handle 6,It is the quality of the inertia of the mobile parts bringing handle 6 and handle 6, andIt it is the acceleration of handle 6.
The equation (1) is corresponding to the dynamic (dynamical) basic principle suitable in translation system.But, the computing staff of this area will be understood that the moment putting on rotary system can model in an identical manner.
The power applied by motorAssembly is caused by control signal: a fixation kit representing load including twoAnd an assembly proportional to acceleration, this assembly represents artificial inertia.Therefore:
(2)
Wherein, according to proportionality coefficientDefine power:
(3)
It it is the parameter being programmed in computation model 12.
Equation (1) can be written as:
(4)
So, if the proportionality coefficient k being used for producing control signal is negative, namely, then one inertia lower than the real inertia of equipment of equipment simulating, say, that the inertia of equipment choice parts.If proportionality coefficient k is positive, then equipment simulating one is higher than the inertia of the real inertia of equipment.
By the user interface not being demonstrated out, user could alter that fixation kitValue and scaling factorValue, and therefore determine that he or she wants the type of force of exercise.Therefore, change what the load of inertia was possible to independently.Therefore a large amount of muscle movement type can be supplied to user.
User interface is connected to computation model 12, and be able to receive that about position, speed, acceleration data, or the information calculated from these data, for instance the force provided or the strength distributed.These data and information are calculated from acceleration, speed and position signalling by computation model 12, and this acceleration, speed and position signalling are respectively delivered to computation model 12 via connecting 17,16 and 11.According to these data and this information, user interface can pass through to show that this information is from sensuously stress user.This user can keep a close eye on the level of his or she force in his or her sports by this way.But, these pressure are likely to be of different character, for instance it is contemplated that sound pressure.Additionally, user interface includes allowing users to change fixation kitValue and scaling factorThe control element of value, it is preferred to separate.Such as, these elements are on a user interface corresponding to predetermined fixation kitAnd scaling factorButton.These are to therefore defining some type of sports.One memory element, for instance the memorizer in computation model 12, is store this information and data to be possibly realized.By this storage, user can pay close attention to the trend of his or she performance level at any time.
Reference Fig. 3,5 and 6, it will describe some concrete examples moved produced by the said equipment.
Fig. 3 is demonstrated by the handle 6 position along the axis z in Fig. 1, and according to the time in reference Fig. 1 tensile stress represented, the acceleration of handle 6.This dashed curve 21 represents the position of the handle measured by position coder 10.This full curve 22 represents the acceleration corresponding to position curve 21.By convention, axle z is in FIG downwardly.The point 24 of position curve 21 therefore corresponds to work as handle 6 when low level, and puts 23 high positions corresponding to handle.
In order to put the diagram between 23 and point 25, position curve 21 is generally sine curve.Therefore, acceleration is along also form a sine curve during this.So, position curve is no longer sine curve, and degree of hence speeding up is no longer sine curve.
Fig. 5 is demonstrated by the power that user is applied by motor 1 according to the time of the interval identical with Fig. 3.Curve 28 is constant in the level of threshold value 26.In practice, corresponding first motion of Fig. 5, wherein computation model provides, to motor, a control signal of knowing clearly, and by this way, the power that relative user applies is constant.For this, computation model creates a control signal caused by power, and described power has a load component equal with threshold value and a zero inertia assembly.In this motion, therefore user independently operates relative to the real inertia of dead load and system.
Fig. 6 is demonstrated by the second motion, make use of the principle with reference to the first motion described by Fig. 5 this second motion parts.Curve 40 represents the power that motor 1 generates in this motion.It includes two stages: a higher stage 31, and curve is constant in the level of threshold value 27 in this stage, and a relatively low stage, and curve adopts the form of acceleration in the level of threshold value 27 in this stage.In practice, the acceleration after measuring is positive, and user is subject to the constraint of the carrying corresponding to threshold value 27, this it is to say, herein, in the higher stage 31 of handle operation, wherein handle is close to its high position 23.But, acceleration after measuring is negative, user is subject to the constraint of an extra inertia force, this inertia force is identical with the direction of carrying, this is that is, during the relatively low stage 29, when handle arrival low level 24 and user slow down decline, on handle, then accelerate to the traction behavior that performance one is towards high-order 23.This relatively low stage corresponds to the stage 30, and during this stage, acceleration is negative.So, when he or she arrives low level and wants to lift handle towards a high position, user is subject to the constraint of an extra artificial inertia, and that is this be the strongest at this moment his or her muscle pressure.Therefore, sports equipment makes generation one extra pressure be possibly realized, and this extra pressure is to act on this user with the rightabout motion of this user.
In order to implement the second motion, computation model 12 provides proportionality coefficient identified below:
If,(5)
If,, namely(6)
WhereinIt it is predetermined normal number.
Above-mentioned move through elaboration and provide.Particularly, computation model can to waste time method control proportionality coefficient k.Such as, computation model can according to the position of handle or rapid change proportionality coefficient.Therefore, in a variant, when handle arrives an ad-hoc location, sports equipment creates the assembly of an extra inertia.In a variant of this sports equipment, when speed is a specific direction, add the assembly of this extra inertia.In such manner, it is possible to be that developing of muscle produces motion favourable in a large number.When they are when an ad-hoc location, this makes more strongly compressing user's muscle be possibly realized significantly.
In the variant of the equipment represented by Fig. 1, motor shaft 2 is connected to the decelerator with a speed reducing ratio r.In order to make equipment diminish, the existence of such a decelerator makes the relatively significant power that is simultaneously generated reducing motor size be possibly realized.Pulley 3 is fixed on the output shaft of decelerator.On this variant, the existence of decelerator substantially increases the real inertia that the mobile parts of motor 1 apply to handle 6.The inertia that the rotating part of decelerator applies too increases the real inertia of equipment.The inertia that motor and decelerator apply to the output of decelerator can be written as:
(7)
Inertia with deceleratorReal inertia with motor.Therefore, if speed-up ratio r is high, then considerably increase the real inertia of system.Therefore, negative scaling factorUse make all or part of inertia offset in this variant caused by this one speed reducer be possibly realized.When the acceleration that the acceleration making a living into artificial inertia force and measure is motor shaft 2, this counteracting is more accurate, to such an extent as to this measurement considers the impact of decelerator, by ratio r, the impact being made up of the acceleration of the increase on motor shaft 2 relates to the acceleration applied on handle 6.
Provide by way of explanation with reference to the foolproof sports equipment described by Fig. 1 and 2, but the present invention is not restricted to such sports equipment.Especially, the present invention can be suitable for any kind of exercise machine stressing on any position of health.Such as, the present invention can be suitable for forming machine of rowing the boat, Exercycle or lift the equipment of bar type.
With reference to Fig. 7, sports equipment 50 is demonstrated by, by push-pull mode practice arm muscle, wherein implementing according to control method of the present invention.
Equipment 50 includes two levers 53, and this lever can be moved selectively forward or backward by user.Each of this lever 53 is both connected to an electric motor 54, and this motor is controlled by controlling equipment 55.According to an embodiment, in the way of generating the power of the curve 33 represented in Fig. 4, control motor 54.For purposes of simplicity, the rotary motion of lever is close to the linear movement along axis x.
Therefore, Fig. 4 is demonstrated by, and when the sports equipment represented in the figure 7, acts on the force of user.Curve 33 is demonstrated by the power generated by motor, and shows the value proportional to accelerating curve 30.It is assumed that user carries out compression motion on lever 53, by this way, the position after measurement is identical with Fig. 3 with acceleration, and axis x replaces axis z herein.In such motion, control equipment 55 submits a control signal to motor 54, and described motor does not have therefore any load component.Motor 54 only creates an artificial inertia assembly.Therefore, the force that user suffers is proportional to acceleration, and therefore corresponds to do not have loaded simulation inertia, and described inertia is more than the real inertia of equipment.
This have artificial inertia and do not have the pressure type of extra load to be also advantageous that in the exercise machine stress on leg muscle.In practice, motor the muscle pressure produced, when it is controlled by this way, approximately correspond to turn in horizontal physical features superinverse runner motion must muscle pressure.Such motion is set forth in Fig. 10.
In Fig. 10, runner 34 is initial to run at a relatively high speed on the direction of axis x, as shown in velocity 35.Motion last, runner 34 with higher speed with axis x opposite direction on run, as shown in velocity 36.During movement, runner 34 therefore has to slow down his or her motion until stopping, for instance what occur on an x0 is the same, then again speeds up in the other directions.During this motion, the muscle of runner 34 is therefore pressurized, substantially overcomes runner he or she this inertia on the direction of axis x.Due to gravity with motion to vertical, not createing any specific muscle pressure in this motion, this is it is to say, the muscle pressure for this motion is a simple inertial pressure.When the reverse of this direction situation is very common in ball game, it is programmed to generate the exercise machine of this type pressure advantageously, for instance rugby or football.
Similarly, the control program that artificial inertia force and constant load connect is made generation one muscle pressure be possibly realized by one, and this muscle pressure is similar to and completes identical motion in the physical features tilted.
The equipment making simulation one extra sticky frictional force be possibly realized will be described now.This equipment is similar to setting described in Fig. 7, and includes a microprocessor, and the microprocessor 20 of this microprocessor and the control system described in Fig. 2 has identical structure.The power herein applied by motor includes three kinds of assemblies.In front two, assembly corresponds to above-mentioned load component and inertia assembly.The third assembly is a viscous friction assembly.Therefore:
(8)
Wherein powerCorresponding to viscous friction assembly, according to proportionality coefficientWith handle speedDefine:
(9)
SpeedBeing determined by computation model 12 Negotiation speed signal, this rate signal is transmitted to computation model 12 via connecting 16.
Therefore, when user's shift lever in one direction, motor generates a moment on lever, except an inertia assembly, also includes the viscous friction assembly proportional to lever velocity of displacement.This viscous friction assembly causes an extra pressure, and this pressure is contrary with the direction of motion of user.So, one viscous friction of equipment simulating, described viscous friction can be produced by the machine comprising wing portion system.
CoefficientIt can be the constant in a memorizer being stored in microprocessor 20.In the way of identical with inertia assembly, computation model 12 can control proportionality coefficient in many ways.Such as, computation model can according to the position change proportionality coefficient of handle。
With reference to Fig. 8 and 9, the following is the description of another exercise machine 60 utilizing electric motor.The form of this machine 60 is quite similar with the weight machine being referred to as deep-knee-bend machine.But, it can provide wider muscle pressure scope.
The structure of machine includes a metab being placed on the ground 61, shown in the cross section in Fig. 8, and a guide pillar 62 being perpendicularly fixed at base 61.The upper surface of base 61 constitutes one to be intended to hold an athletic platform 68, for instance in standing place as shown by dashed lines.By the guider not represented, a bracket 63 is installed to slide on cylinder 62, as long as being vertically movable along cylinder 62.According to an embodiment, bracket 63 is the structure on one or four limits, encloses cylinder 62 completely, both has a square-section.Support 63 supports supporting rod 69, and this supporting rod extends on platform 68, and is intended to according to required motion, for instance, the height at his or she shoulder, arm or leg engages with athlete.
Article one, feed belt 61 is installed in cylinder 62, and extends between guide wheel 65 and drive pulley 66, and this guide wheel is installed in the pivot on cylinder 65 top, and this drive pulley is installed on and the pivot of cylinder 62 conllinear vertical with base.Belt 64 is the belt of dentation, carries out the back and forth movement of closed-loop path, in order to be fricton-tightly connected to drive pulley 66 between pulley 65 and 66.One of bracket 63 Liang Tiao branch being firmly adhered to belt 64, for instance by rivet 67 or other fixed forms, by this way, it is also fricton-tightly connected to drive pulley 66, and any rotation of pulley 66 is all converted to vertically moving of bracket 63.Better, belt 64 is made up of the cingulum of AT10 type, and the two ends of this cingulum are fixed in bracket 63, by this way, thus the loop closed on bracket 63.
Motor unit 70 is placed in base 61, and is connected to drive pulley 66 via decelerator 71.More specifically, decelerator 71 includes a power shaft 72, and this power shaft is fricton-tightly connected on the motor shaft of motor unit, illustrates to Fig. 9 more details this power shaft and an output shaft 73 supporting drive pulley 66.Decelerator 71 is applied with speed reducing ratio r, i.e. a w1/w2=r between the rotating speed w1 and the rotating speed w2 of axle 73 of axle 72.According to an embodiment, between 3 to 100, select speed reducing ratio r, and preferably between 5 to 30.
Machine 60 also includes a control station 74, and this control station is firmly adhered on base 61 or independent of this base.Additionally, a feed cable 75 leaves base 61 to connect electrical network. machine 60 does not need special power supply, and therefore, it is possible to is driven by everyday home electrical network.
Fig. 9 is more specifically demonstrated by motor unit 70 and its control unit 80, and this motor unit is placed in base 61.Motor unit 70 includes an electric motor 76, for instance a self driven synchronous motor, and a rheonome 77, and this rheonome controls source current 78 and arrives motor 76.
Self driven synchronous motor illustrates a constant rotor flux.This magnetic flux is created by the permanent magnet installed in the rotor or coil, and variable stator magnetic linkage is made up of a three-phase windings simultaneously, and this three-phase windings enables it to be positioned as all directions.The Electronic Control of this motor is in that to control the stage of current wave, in order to manufacture a rotating excitation field, always 90 ° of magnetic field exceeding Magnet, in order to maximize moment.In these cases, the motor torque on motor shaft 2 is proportional to stator current.This electric current is accurately controlled in real time via rheonome 77 by control unit 80.
For this, control unit 80 includes a low-level controller 81, such as FPGA type, this controller receives position signalling from the position coder 84 of motor shaft 2, and calculates in real time from position signalling 83 to the instantaneous value determining the position of motor shaft 2, speed and acceleration.Such as, position coder 84 is optics, provides two quadrature square wave signals according to known technology.
High-caliber controller 82 includes a memorizer and a processor and the control program according to the information and executing complexity provided in real time by low-level controller 81.Possible control program is described above to 6 by reference to Fig. 3.
Panel 74 connects 85 by TCP/IP, wire or wirelessly it is connected to this high level controller 82, and this panel includes an interface, this interface enables this athlete or his or her coach to select pre-recorded motor program or to pre-set the parameter of this program, and is in the way of personalization.In the example presented, interface is one piece of touch screen 86, including a cursor 87, for arranging load along preset rangeValue, an and cursor 88, for arranging the value of coefficient k along predetermined scope, i.e. artificial inertia force。
According to performed motor program, the information that high level controller 82 place reason low-level controller 81 provides in real time, and calculate the instantaneous moment applied by electric machine assembly 70.Low-level controller 81 generates a control signal 90 corresponding to this instantaneous moment, and sends signal 90 to rheonome 77, for instance with the form of the analog control voltage of change between 0 to 10V.As variant, it is also possible to use a CAN digital interface.
The simulation control program being possibly realized of need not moving can be made to have a lot.It is preferred that regardless of the details of program, it is always up controlling the athlete of machine 60 and machine 60, and the pressure that athlete is applied on handrail 69 by this machine is made a response.For this, machine 60 is preferably able to the direction that athlete is made is changed make a response rapidly, the frictional force no matter certainly existed in this mechanical system.
For this, according to an embodiment, high level controller 82 implements a friciton compensation algorithm, now begins to explain this friciton compensation algorithm.
The quality of support 63 is represented as mc.Fc=mc.g and represents that motor 76 must be applied to the power on belt 64, and to compensate the weight of support 63, and user does not need to support any load.This algorithm uses parameter a and the b that defined by the fact, and this fact is if motor 76 is suitable for Fc+a, and support 63 is forward, the limit that moves upward, and if motor 76 be suitable for Fc-b, support 63 be reversely, the limit that moves downward.These parameters can be passed through repetition test measurement and draw.This algorithm, when user executes the change of stressed direction, determines the transformation of b from power Fc+a to power Fc.This algorithm is suitable for the rule of the linear speed v and coefficient k f that employ support 63, it may be assumed that
(10)
(11)
Wherein, Fch0 specifies acquiescence to be applied to the power on belt 64, the value being namely suitable for when cursor 87 is placed on zero graduation by motor 76.In other words, this load is applied in the two directions selectively if cursor 37 is placed on 3000N scale for motor program, and support 63 weight 60kg, then electric motor will apply the power applying a 2400N close to the power of 3600N in a downward direction in an upward direction.
Therefore, coefficient k f is more high, and the reaction of the machine direction change to being applied by user is more fast.The specific restriction of more than one, a ferocious reaction will may require that the frequency domain filter of tachometric survey, for instance the frequency domain filter of single order low-pass type.
According to selected program out, such as, when artificial inertia force is proportional to acceleration, and/or the speed that is suitable for motor of viscous force proportional time, or when program provides different reactions on concentric direction or eccentric direction, it may happen that interrupt when power after the calculating being suitable for reverses in direction, the comfort level that machine is necessarily suitable for by this interruption is unfavorable.
According to an embodiment, high level controller 82 implements an algorithm, and this algorithm makes to avoid these interruptions to be possibly realized.In order to accomplish this point, by the hysteresis comparator shown in Figure 11, controller 82 is by the change by having detected direction of rate signal.
In the beginning of concentric phase place, if speed v > e, then controller 82 causes the transformation from F2 to F1.This change is to make with the constant rate of speed of change, for instance the about constant rate of speed of 200N/s.
Similarly, according to want from concentric phase place to bias for transformation, when speed becomes bearing, and during lower than marginal value v <-e, controller 82 causes the transformation from F1 to F2.Threshold value e selects in the way of enough stability, i.e. when athlete determines to stop his or her motion, motor will not transfer F2 to from F1 prematurely.
In fig. 11, it is notable that be not applied by system according to the curve that the power of the speed between value F1 and F2 changes, and in fact depend on the behavior of user, that is, how he or she change speed according to the time, owing to system is applied with the rate of change of a power according to the time.
If additionally, the change in location of mobile parts is not above specific restriction between changing at two, for instance 10cm, control program is likely to the consecutive variations stoping motor to be performed for more than two.
In another embodiment, motor program also includesContribution, this elastic force is according to proportionality coefficientAnd the position of bracket 63Define:
(12)
WhereinIt is parameterized reference height, and position z is determined by low-level controller 81.
It will therefore be appreciated that, by connecting, selecting, additional contribution can design many motor programs, this additional contribution be from include one with measure after the proportional contribution of artificial inertia of acceleration, one and measurement after the contribution of the proportional viscous friction of speed and a predetermined load contribution set choose.According to an embodiment, man machine interface allows users to be independently arranged the parameter of each contribution, especially coefficientWith。
Although above-described embodiment includes electric rotating machine, but above-mentioned control method can be used for the electric actuator of any other type.Especially, linear electric machine can be used for one power of generation on operating element.
Additionally, the calculating of control signal can carry out by different way, in single or scattered mode, by hardware and or the method for component software.The nextport hardware component NextPort that can use is customization integrated circuit ASIC, programmable logic array FPGA or microprocessor.Component software can be written as different programming languages, for instance C, C++, Java or VHDL.This list is also not exhaustive.
Although being combined with some specific embodiments, the invention has been described, it is obvious that it is in no way limited to this, and it includes technical equivalents and the combination thereof of all of described method, and condition is that the latter belongs within the scope of the present invention.
Verb " comprising " used or " including " and version thereof are not excluded for except the existence of the element described in claim and the element except step and step.The indefinite article "a" or "an" used for element or step does not exclude the presence of multiple this element or step, unless otherwise prescribed.Certain methods or module can be replaced by same hardware element.
In the claims, any reference marks between bracket is all not construed as limitations on claims.
Claims (14)
1. a sports equipment includes:
One load elements (6,69), is used for the power displacement by user,
One electric actuator (1,76), moves parts (2) including one, and this load elements (6,69) is connected to mobile parts and this load elements can shift this and move parts,
One computer (12,80), it is applicable to calculate the power applied by electric actuator, and for this electric actuator being produced a control signal according to the applying power after calculating, by this way, applied power by electric actuator (1), with in response to this control signal, this control signal corresponding to the applying power after this calculating and
One acceleration transducer, this acceleration transducer is connected to this and moves parts (2), for measuring this acceleration moving parts and for transmitting this measurement post-acceleration to this computer (12,80),
This electric actuator can pass through movable part in load elements (6,69) one power of upper applying, to respond this control signal,
Wherein, this computer (12,80) is able to calculate the power that the acceleration after this basis is measured applies by acceleration transducer, it is characterised in that this equipment also includes:
The memory element of one computer, this memory element stores the proportionality coefficient between the contribution added of the acceleration after measurement and artificial inertia, and
One man machine interface (86), this man machine interface can make this proportionality coefficient of user setup,
This computer can calculate the additional contribution of this artificial inertia according to the acceleration after measuring and proportionality coefficient, according to the power that the acceleration calculation after measuring applies, the power of this applying includes the additional contribution of the artificial inertia proportional to the acceleration after the measurement obtained by computer, this additional contribution is the result after the acceleration after measuring is multiplied with storage proportionality coefficient in the memory unit, by this way, by the electric actuator (1 in response to this control signal, 76) power applied include one measure to this acceleration transducer after the additional contribution of proportional and proportional with the storage proportionality coefficient in the memory unit artificial inertia of acceleration.
2. sports equipment as claimed in claim 1, it is characterised in that this computer (12,80) can according to from position, at least one parameter change proportionality coefficient chosen in the acceleration of speed and mobile parts.
3. sports equipment as claimed in claim 1, it is characterised in that this computer (12,80) applying power can be calculated, by this way, by electric actuator (1,76) power, applied includes the additional contribution presenting the extra load of a predetermined direction.
4. sports equipment as claimed in claim 3, it is characterised in that this computer (12,80) applying power can be calculated, by this way, when the direction of the acceleration after measuring is contrary with the contribution of predetermined direction, the contribution added of artificial inertia is identical with the contribution direction of predetermined direction.
5. sports equipment as claimed in claim 4, it is characterized in that, this computer (12,80) applying power can be calculated, by this way, when the acceleration after measuring is identical with the contribution direction of electric actuator (1,76) predetermined direction, cancel the additional contribution of artificial inertia.
6. the sports equipment as according to any one of claim 1 to 5, it is characterised in that the connection between load elements (6,69) and mobile parts includes for reducing the decelerator of motor force.
7. the sports equipment as according to any one of claim 1 to 5, it is characterized in that, it includes a velocity sensor being suitable to measure the speed of mobile parts (2), and, computer (12,80) can generate control signal, by this way, the power applied by this electric actuator (1,76) includes the additional contribution of a viscous friction proportional to the speed measured by velocity sensor.
8. the sports equipment as according to any one of claim 1 to 5, it is characterised in that this electric actuator (1,76) is a linear electric machine or single-revolution motor.
9. the sports equipment as according to any one of claim 1 to 5, it is characterised in that this acceleration transducer includes:
One position coder (10,84), this position coder is connected to this and moves parts (2), and to measure this position moving parts, this position coder (10,84) produces a position signalling,
Splitter component (13,14), this splitter component is suitable to branch position signalling to determine the acceleration of mobile parts (2).
10. the sports equipment as according to any one of claim 1 to 5, it is characterised in that this sports equipment is to choose from the assembly including rowing machine, Exercycle, act bar and guiding load device.
11. the sports equipment as according to any one of claim 1 to 5, it is characterized in that, this computer (12,80) power applied can be calculated, by this way, the power applied by electric actuator (1,76) includes the additional contribution of an extra load presenting a predetermined direction, and this man machine interface (86) enables a user to arrange this additional contribution independent of the extra load of proportionality coefficient.
12. sports equipment as claimed in claim 11, it is characterised in that this man machine interface (86) is configured such that the contribution of this extra load can be set to null value by a user.
13. the sports equipment as according to any one of claim 1 to 5, it is characterized in that, this load elements (69, 63) can move in a vertical direction, and this computer (12, 80) can calculate, when the power not applied by user, the power applied, by this way, by electric actuator (1, 76) power applied includes the additional contribution of the acquiescence of a load, offset this load elements (69, 63) a specified weight, when lacking the power applied by user, do not cause this load elements (69, 63) any idiopathic displacement.
14. for the method controlling a sports equipment, including:
Measure the one of an electric actuator and move the acceleration of parts (2), put on the power being connected to this load elements moving parts (6,69) responding user,
Calculate the power applied by this electric actuator according to the acceleration after this measurement and
Generate a control signal, for controlling this electric actuator (1,76) with this control signal, by this way, this electric actuator (1,76) power applied, to respond this control signal, this control signal is corresponding to the applying power after this calculating
It is characterized in that, including step:
One man machine interface (86) is provided, this man machine interface can enable user acceleration after a measurement and calculate after artificial inertia additional contribution between a proportionality coefficient is set,
This proportionality coefficient is stored in the memory unit,
Acceleration after this measurement is multiplied by proportionality coefficient to obtain the additional contribution of this artificial inertia, and
Obtain the power of the applying calculated according to the acceleration after measuring, the power of this applying includes the additional contribution of the artificial inertia proportional to the acceleration after measurement, by this way, at load elements (6,69) this electric actuator (1 on, 76) parts (2) are moved for responding the power that applies of this control signal via this, including the contribution added of an artificial inertia proportional to the acceleration after this measurement.
Applications Claiming Priority (3)
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| FR1159739 | 2011-10-27 | ||
| FR1159739A FR2981857B1 (en) | 2011-10-27 | 2011-10-27 | EXERCISE MACHINE |
| PCT/FR2012/052466 WO2013060999A1 (en) | 2011-10-27 | 2012-10-26 | Exercise machine |
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| CN103945904A CN103945904A (en) | 2014-07-23 |
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Also Published As
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| AU2012328194A1 (en) | 2014-05-29 |
| WO2013060999A1 (en) | 2013-05-02 |
| ES2570329T3 (en) | 2016-05-17 |
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| CA2853540A1 (en) | 2013-05-02 |
| CN103945904A (en) | 2014-07-23 |
| DK2771079T3 (en) | 2016-05-02 |
| FR2981857B1 (en) | 2014-11-21 |
| CA2853540C (en) | 2019-01-08 |
| EP2771079B1 (en) | 2016-02-03 |
| FR2981857A1 (en) | 2013-05-03 |
| EP2771079A1 (en) | 2014-09-03 |
| AU2012328194B2 (en) | 2018-04-12 |
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