CN106730765B - The health-care bicycle of the stepless control of the mobile terminal Android/IOS APP is ridden bench control system - Google Patents
The health-care bicycle of the stepless control of the mobile terminal Android/IOS APP is ridden bench control system Download PDFInfo
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- CN106730765B CN106730765B CN201611157597.6A CN201611157597A CN106730765B CN 106730765 B CN106730765 B CN 106730765B CN 201611157597 A CN201611157597 A CN 201611157597A CN 106730765 B CN106730765 B CN 106730765B
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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
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
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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
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
- A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
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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
- 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
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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
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Feedback Control In General (AREA)
Abstract
A kind of health-care bicycle of the stepless control of the mobile terminal Android/IOS APP is ridden bench control system, including display module, the mobile terminal Android/IOS APP main control module, real scene video module, information storage module, bluetooth module, for building body platform main control module, resistance module and sensor module.User is ridden platform using the mobile terminal the Android/IOS APP wireless control health-care bicycle on mobile phone.For building body platform receives the resistance gear information from the mobile terminal Android/IOS APP, in conjunction with the electromagnet magnetic field size of the PWM output current control for building body platform of PID FUZZY ALGORITHMS FOR CONTROL percentage control for building body platform, aluminium dish is braked jointly with permanent magnet field, the resistance that user rides is generated, and riding speed is fed back into the mobile terminal Android/IOS APP.The mobile terminal Android/IOS APP can be set and store the identity and motion information of multiple users, Contrast on effect can be trained, it can also show the real time data information that user rides, and there is real scene video training function, can satisfy the body-building demand of different user.
Description
Technical field
It rides bench control system the present invention relates to a kind of health-care bicycle, the especially a kind of mobile terminal Android/IOS APP
The health-care bicycle of stepless control is ridden bench control system.
Background technique
With the development of society and the acceleration of urbanization process, the constitution of compatriots goes from bad to worse, and status is troubling, and
In the process of modernization, more and more people also start the importance for noticing health gradually, have gradually started body building.But
It is that the worsening of present natural environment, people's lives ambient conditions go fromes bad to worse, for example frequently occurs haze；And it is existing
Also still not mature enough in the civilization consciousness of the congestion of traffic frequent occurrence, driver, movable safety is also difficult outdoors by people
To be guaranteed；Summer excessively heat winter excessively severe cold is also not suitable for the mankind and carries out daily outdoor sports；Rainy day and platform
Wind day etc. even more directly hinders outdoor sport.Thus indoor sport at a kind of good selection, and weaken weather, when
Between, the limitations of the factors such as space.
Existing indoor sport training equipment prevailing price is higher, and structure implements complicated, appearance heaviness, such as treadmill etc.
Other fitness equipments, and bicycle is as simplest walking-replacing tool, for produced as bicycle and using big country China
For, substantially family is indispensable, and universality is high, low in cost；In urbanization process, land resource becomes more and more precious
It is expensive, as soon as it is indoors the bicycle platform of body-building, hardly to be influenced that daily instruction can be completed by any place, weather etc.
Practice.
And traditional bicycle exerciser does not have the mobile terminal Android/IOS APP and real scene video training mode, or even big
It is most all without user control terminal and display interface, can not feedback training data information, be not easy to acquire motion state signal, more
Not energetic every training quota, adjusts resistance gear inconvenience, changes drag effect and armstrong's patent is needed to adjust, gear increase and decrease
Unevenly, it is unable to step-less adjustment, therefore is not easy that user is allowed to obtain comfortably training experience, body-building intensity cannot be gradually increased, from
And reach good body-building effect.
Currently, the health-care bicycle for being directed to stepless control is ridden, the design of platform system is concentrated mainly on bike rack machinery
Structure, driving method etc., it is less for the Study on processing method in terms of specific stepless control.Xie Yu proposes one kind certainly
Fitness equipment system of driving a vehicle (a kind of bicycle body-building device system of Xie Yu: China, 204502268 [P] .2015-07-29), gives
A kind of Design of Mechanical Structure of Exercycle, and describe the principle of this kind of Design of Mechanical Structure in detail, but it is needed manually
Resistance adjustment is carried out, it is extremely inconvenient；Zhu Yi, Cao Yicong propose multi-functional body-sensing synchronous self vehicle body-building recreation system (Zhu Yi,
The multi-functional body-sensing synchronous self vehicle body-building recreation system of Cao Yicong: China, 204073263 [P] .2015-01-07), it realizes
Body-building is integrated with amusement, but it only describes bicycle and realization entertainment effect is connected to a computer, it is desired nonetheless to artificial
Control computer is removed, it is extremely inconvenient；Ma Yi, Feng Shu propose a kind of health and fitness facilities with online game and coach function
(Ma Yi, Feng Shu have the health and fitness facilities of online game and coach function: China, 105536202 [P] .2016-05-04),
It passes through usb data module and health and fitness facilities by the microcomputer in the installation online of the front end of health and fitness facilities, the port of the USB of microcomputer
Data-interface connection, user can be checked by microcomputer from task status or control treadmill or Exercycle operation shape
State, but its control platform is only limitted to microcomputer, it is inconvenient to use.
Summary of the invention
The present invention will overcome the disadvantages mentioned above of the prior art, and the present invention proposes that a kind of mobile terminal Android/IOS APP is wireless
The health-care bicycle of control is ridden bench control system.
The system has humanized operation interface first, and different users is allowed to record the movement feelings of oneself in body-building
Condition shows all kinds of body-building indexs；Secondly the system have real scene video module, when user can be allowed to ride indoors it can be seen that
Landscape video, just like the experience for facing open air；The system has used bluetooth wireless connection technology again, realizes wireless control；Most
The system controls PWM output electric current by combining PID FUZZY ALGORITHMS FOR CONTROL come percentage afterwards, realizes the stepless of body-building intensity
It adjusts.
The present invention is that technical solution used by solving prior art problem is:
A kind of health-care bicycle of the stepless control of the mobile terminal Android/IOS APP is ridden bench control system, Android/
The mobile terminal IOS APP is mounted in the Android or iPhone of user, bicycle rack on for building body platform, for building body platform by
External power supply power supply.The health-care bicycle of the mobile terminal the Android/IOS APP wireless control is ridden bench control system packet
It includes:
1) display module, input are all static and dynamic datas, these data are by the mobile terminal Android/IOS APP
Main control module be uniformly processed after be transmitted to display module again, for showing user interface and all kinds of body-building information, including with
Family identity information is shown, real-time training feedback data are shown, bluetooth connection information is shown and product related information etc., also to right
Than the history training effect of each user.Identity information includes height, weight, gender and date of birth of user etc.；Training in real time
The information such as feedback data includes real-time speed, power, mileage of riding, the time of riding, consume energy, gear of riding；Bluetooth connection
Information shows the bluetooth connection including the other bluetooth equipment lists and the mobile terminal Android/IOS APP that can currently match
State；Product related information includes the version information of product, the contact method of development teams, the connection of official website homepage and uses side
It helps.
2) real scene video module is ridden outdoor scene recorded video for one section of first visual angle to be played simultaneously when user rides.
It is Real-time Feedback velocity information that it, which is inputted, will be on real time speed information by sensor module and bluetooth module by for building body platform
After being transmitted to the main control module of the mobile terminal Android/IOS APP, by treated, Real-time Feedback velocity information is transmitted to main control module again
Real scene video module.It records one section of first visual angle in advance by developer to ride real scene video, when Real-time Feedback speed is not zero
When play video, Real-time Feedback speed then suspends video when being zero.I.e. real scene video can be played with riding for user, with
The stopping of user and suspend broadcasting, allow user that can also see some roadside landscape by the real scene video while riding, have
A kind of body faces the outdoor feeling ridden, and enhances the experience of riding of user.
3) information storage module, for saving identity information, personal settings and the historic training data of user.User sets
Set, modify and save the identity informations such as height, weight, gender and date of birth；Language is arranged in personal settings and unit is public affairs
System is made in Great Britain；Historic training data is used to compare the historic training data of each user.When the identity that user will be arranged or modify is believed
After breath and customized information input and after each training data upload, the main control module of the mobile terminal Android/IOS APP
These information and data can be handled and be transmitted to information storage module, under information storage module will save these information and data
Come.
4) mobile terminal Android/IOS APP main control module, input are the reality that the sensor module of for building body platform acquires
When velocity information and the user identity information, customized information and the resistance gear that are arranged on the APP of the mobile terminal Android/IOS
Data are exported to display module, real scene video module and information storage module etc. again after treatment, and pass through indigo plant by information etc.
Resistance gear information is sent to for building body platform by tooth module.Main control module mainly completes speed, power, mileage of riding, rides
The calculating and processing of the data such as time, consumption energy；Also the Showing Effectiveness On Screen of display module is controlled；And bluetooth mould can be passed through
Block receives the velocity information from for building body platform, and the resistance gear information of user setting is sent to for building body platform.
5) the bluetooth connection function of carrying in mobile phone is utilized for the mobile terminal Android/IOS APP in bluetooth module, uses
In establishing wireless telecommunications with for building body platform, the bluetooth equipment nearby connected is detected, and its title is arranged out for user
It selects, bluetooth icon appears dimmed under not-connected status, and bluetooth icon is shown in red under connection status；For for building body
Platform, bluetooth module master chip use low-power consumption bluetooth 4.0 and later series, for establishing with the mobile terminal Android/IOS APP
Wireless telecommunications passively establish connection with other bluetooth equipments.The main control module of the mobile terminal Android/IOS APP sets user
The resistance gear information set inputs to bluetooth module, and resistance gear information is transmitted to the master control mould of for building body platform by bluetooth module again
Block is handled；The main control module of for building body platform will be transmitted to bluetooth after the collected real time speed information processing of sensor module
Module, bluetooth module are again handled the main control module that real time speed information is transmitted to the mobile terminal Android/IOS APP.
6) resistance module is mainly made of electromagnet, permanent magnet and aluminium dish.According to electromagnetic induction principle, the PWM electricity of input
Stream size can change the magnetic field size of electromagnet, and the superposition magnetic fields of electromagnet and permanent magnet form whirlpool on the surface of aluminium dish
Stream, aluminium dish rotation generates interaction force between the magnetic field Shi Yuyuan, to generate the resistance ridden.
The for building body platform, compared to other draught control circuit arrangements using relay, replaces on circuit
The draught control circuit arrangement of motor module is used to control the resistance that PWM output size of current is ridden with step-less adjustment.Motor
Module volume is smaller, convenient for the design of circuit and platform appearance of riding；Motor module change both forward and reverse directions it is more steady, eliminate by
Current break caused by relay switchs suddenly is caused by single-chip microcontroller the problem of rush of current；And motor module compared to after
Electric appliance is only opened and two kinds of operating modes of closure, and motor module working method is more various, so that the range of riding resistance becomes
It is adjustable.
7) sensor module, speed acquisition sensor use Hall sensor.Hall sensor is according to magnetoelectric induction principle
The current impulse number that the small magnet on the iron pan being connected with for building body platform axle center causes is acquired, the data information of acquisition is defeated
Out to the main control module of for building body platform, so that main control module calculates the rotational frequency in axle center, so that is ridden is real-time
Speed.
8) for building body platform main control module is mainly made of single-chip microcontroller and other auxiliary circuits.It is adopted for realizing sensor
The processing of the real time speed information of collection, main control module receive the iron plate being connected with for building body platform axle center that Hall sensor uploads
On small magnet cause pulse number data, the rotational frequency in axle center is converted into conjunction with the time interval between each pulse,
Finally obtain the real-time linear velocity ridden；The real time speed information calculated is sent to Android/IOS by bluetooth module
Mobile terminal APP；And according to the resistance gear command information received from the mobile terminal Android/IOS APP, in conjunction with PID Fuzzy Control
Algorithm processed controls the drag size ridden to adjust the PWM percentage of current size of for building body platform with stepless；And it can control
LED light circulation flashing, accordingly changes the period of LED light circulation flashing according to the size for the real-time riding speed being calculated, i.e.,
The flashing of LED light Rapid Circulation is controlled when riding speed is very fast, and LED light is controlled when riding speed is slower and slowly recycles flashing.
The for building body platform main control module obtains the connected iron pan in real-time for building body platform axle center from sensor module
On small magnet cause pulse number, the rotational frequency in axle center is converted into conjunction with the time interval between each pulse, is being disappeared
Under the premise of going interference bring jump data and guaranteeing the real-time of data processing, have chosen Hall sensor receive it is several
Time used in subpulse takes the mode of its average value to calculate the real-time linear velocity ridden.If not eliminating interference bring jump
Data, the then velocity information obtained will be inaccurate；If the data of pulsatile once is only taken to handle, since each module of single-chip microcontroller needs
Certain working time is wanted, the tachometric survey upper limit is caused to be limited；If taking multiple pulse data to handle, speed
When slower, velocity information will lose real-time.So speed testing mode of this mode compared to other platforms of riding, obtained speed
Spending information has higher real-time, and obtained speed data is also more accurate, and tachometric survey upper range is higher, completely
Meet the measurement of mankind's extreme sport real-time speed.
The for building body platform main control module receives the resistance shelves of user setting from the mobile terminal Android/IOS APP
After the information command of position, the size of current that PID FUZZY ALGORITHMS FOR CONTROL carrys out the output of percentage step-less adjustment pwm circuit is combined, thus
The aluminium dish of rotation is braked in step-less adjustment electromagnet magnitude of field intensity, the electromagnet magnetic field of generation after being superimposed with permanent magnet field,
The final step-less adjustment realized to for building body platform riding resistance.Control algolithm was not used to be directly changed magnetic resistance size in the past
Control mode can bring control not accurate and resistance changes uneven problem, so the present invention has used PID fuzzy control to calculate
Method, and the control mode of percentage control PWM output size of current is used, control precision is higher, and the resistance of each gear becomes
Change linear stepless alternation.The PID fuzzy control method is as follows:
1. selecting the variable quantity ec of magnetic resistance error e and error as controller input quantity, PWM percentage of current size is selected
As output control amount；
2. being blurred to collected precise volume, it is equipped with domain V, there are n accurate magnetic resistance data xi∈ V (i=1,
2 ..., n), while having m fuzzy set.Aj∈ V (j=1,2 ..., m), if there is xi, so that degree of membershipThen
Title belongs to fuzzy set Aj, indicate are as follows:
Above-mentioned formula is expressed as precise volume xiDegree of membershipBelong to fuzzy quantity Aj.The domain for taking error is X, error
The domain of variation is Y, and the domain of control amount is Z.
Fuzzy quantity is described with fuzzy set, E indicates the actual value f of tested magnetic resistance to given magnetic resistance value f0Deviation e=
f-f0Fuzzy set, EC indicate change rate of magnetic reluctance fuzzy set, U indicate control PWM percentage of current size fuzzy set
It closes；According to the relationship between fuzzy division and quantization, taking fuzzy subset's number of E, EC, U is respectively 7,7,5, then fuzzy set
It indicates are as follows:
Wherein, these vocabulary such as " NB ", " NM ", " NS ", " ZO ", " PS ", " PM ", " PB ", " Z " are fuzzy quantity；
The be subordinate to fuzzy quantity A of precise volume x is determined by membership functionjDegree of membership；Membership function is sought, i.e. determination is subordinate to
The shape of function；Fuzzy variable is set as Normal Type fuzzy variable, membership function are as follows:
Wherein, a is expressed as corresponding to fuzzy quantity AjPrecise volume, the size of δ directly affects the shape of membership function curve；
3. establishing knowledge base by fuzzy reasoning, obtaining fuzzy control rule；With " ifA and B then C " (if A and
B then C) language describes control rule, and wherein A, B are input quantity, and C is output quantity；The fuzzy control language of this system is by " ifE
The composition of conditional statement as=PB and EC=PB then U=PB ", this system form 49 control rules；
4. passing through reasoning, anti fuzzy method according to the rule that control rule determines.Further according to fuzzy quantity determined above, obtain
To the relationship R of each rulek, indicate are as follows:
Wherein, i=1,2 ..., 7；J=1,2 ..., 7；K=1,2 ..., 49, "×" indicates the direct product of set, EiAnd ECjPoint
It is not the fuzzy quantity for belonging to E and EC, UijBe input quantity be EiAnd ECjIn the case where, it is obtained according to fuzzy control rule defeated
Fuzzy quantity out；The fuzzy relation R of sentence decision is obscured according to eachk, the control rule of whole system must be described, therefore, always
Fuzzy relationship matrix r indicate are as follows:
According to fuzzy inference synthesis rule, the control amount of output should be fuzzy set U:
Wherein,To synthesize symbol, thus, it is corresponding that each subset in corresponding E and EC domain is calculated according to above formula
U is exported, therefore, fuzzy relation matrix is established, U value is obtained according to the fuzzy relation matrix found out, establish fuzzy control table；
5. carrying out anti fuzzy method to output quantity, by fuzzy reasoning, the precise volume being blurred is utilized into following weightings
Method of average expression formula
Anti fuzzy method is carried out, actual control execution amount is obtainedWherein, uiFor output corresponding to i-th of fuzzy subset
Amount, μ (ui) it is membership function.
The advantages and positive effects of the present invention are:
Present invention employs the mobile terminal Android/IOS APP to ride platform to control health-care bicycle, compared to traditional machine
Tool stick and other user terminals controller, the mobile terminal Android/IOS APP is mountable on the mobile phone of user, saves
Power shifting bar and user terminal controller bring instrument cost of manufacture；It is controlled without having to worry about power shifting bar and user terminal
Device bring mechanical breakdown；Without the battery consumption for user terminal controller overspending；APP can be with online upgrading, side
Just developer carries out problem reparation and product up-gradation to it；Controller occurs in the form of APP, has also complied with electric appliance intelligence now
The trend of change, it is easier to be received by user.
The present invention compares the indoor training platform of other classifications, and low in cost, structure is simple, builds conveniently, convenient for placement
It moves, can satisfy various types of user demand；The present invention passes through machinery compared to traditional training cycles platform
Riding resistance is adjusted, is more optimized using the mobile terminal Android/IOS APP and in conjunction with PID FUZZY ALGORITHMS FOR CONTROL resistance trimming, using letter
The interface display of breathization, the wireless manipulation of facilitation, detailed-oriented stepless resistance trimming, and introduce the real scene video training mould of hommization
Formula allows user to obtain body-building information, the body-building intensity of quantification and the experience effect of comfortableization of relative data.Modern personage
Matter is plentiful, but most of shortage movements, body inferior health, a kind of bicycle of the stepless control of the mobile terminal Android/IOS APP are strong
Body platform of riding is the excellent selection taken exercises after study, office, rest, popular, inexpensive, just placement, easy to operate, resistance
The features such as power is big facilitates nationwide fitness programs.
Detailed description of the invention
Fig. 1 is platform composition schematic diagram of the invention.
Fig. 2 is control principle block diagram of the invention.
Specific embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing.
A kind of health-care bicycle based on the mobile terminal Android/IOS APP control is ridden bench control system, as shown in Figure 1,
Platform composition includes the mobile terminal Android/IOS APP1 and for building body platform 4.The mobile terminal Android/IOS APP1 is mounted on use
On the mobile phone at family, convenient for user setting and storage identity and customized information, the real-time motion data letter ridden can also be shown
Breath, or use real scene video training mode 2, on for building body platform 4, user's middle body-building of riding is ridden for the rear wheel frame of bicycle 3
The shaft of row platform 4 can give the rear wheel drag of bicycle 3, thus achieve the effect that sport and body-building, for building body platform 4 and Android/
It is established and is wirelessly connected by bluetooth between the APP1 of the mobile terminal IOS, to the information such as transport resistance gear and real-time riding speed.
In conjunction with Fig. 2, the principle of the invention patent and use process is as follows:
The mobile terminal Android/IOS APP is mounted on the mobile phone of user, and for building body platform is powered by external power supply.According to
It puts up indoor body-building to the description of Fig. 1 to ride after platform, user can carry out cycling body building indoors.
1) first user open the mobile terminal Android/IOS APP set interface, be arranged using contact action, modified
And all kinds of body-building information of storage user, the main control module of the mobile terminal Android/IOS APP pass after receiving these data informations
It is saved to information storage module, and establishes bluetooth connection；
2) riding resistance gear can be adjusted by touch operation in user interface user, Android/IOS is moved
Moved end APP main control module transmits wirelessly the instruction of resistance gear to for building body platform by bluetooth module；
3) gear information obtained from its bluetooth module is combined the magnetic resistance fed back to believe by for building body platform main control module
Breath adjusts PWM size of current by percentage to control the energization of electromagnet in resistance module with PID FUZZY ALGORITHMS FOR CONTROL
Size of current, to change the magnetic field of electromagnet, wherein the specific control mode of PID FUZZY ALGORITHMS FOR CONTROL is as follows:
1. the magnetic resistance error e for the riding resistance for selecting practical magnetic resistance and user to be arranged on the APP of the mobile terminal Android/IOS
Variable quantity ec with error selects PWM percentage of current size as output control amount as controller input quantity；
2. being blurred to collected precise volume, it is equipped with domain V, there are n accurate magnetic resistance data xi∈ V (i=1,
2 ..., n), while having m fuzzy set.Aj∈ V (j=1,2 ..., m), if there is xi, so that degree of membership piece powerThen claim to belong to fuzzy set Aj, indicate are as follows:
Above-mentioned formula is expressed as precise volume xiDegree of membershipBelong to fuzzy quantity Aj.The domain for taking error is X, error
The domain of variation is Y, and the domain of control amount is Z.
Fuzzy quantity is described with fuzzy set, E indicates the actual value f of tested magnetic resistance to given magnetic resistance value f0Deviation e=
f-f0Fuzzy set, EC indicate change rate of magnetic reluctance fuzzy set, U indicate control PWM percentage of current size fuzzy set
It closes.According to the relationship between fuzzy division and quantization, taking fuzzy subset's number of E, EC, U is respectively 7,7,5.System takes magnetic resistance
Basic domain respectively (- 5N ,+5N), (- 2N ,+2N), (0,1) of error e, magnetic resistance error change ec, control amount u.System is defeated
Control amount is used to control PWM percentage of current size to achieve the purpose that control PWM output size of current motor module out
It is exactly 0%~100% that maximum number of steps and minimum step number, which are converted into PWM percentage of current, and PWM electric current is up to 5mA,
So PWM electric current is 0mA~5mA, (0,1) is corresponded respectively to, i.e., when u=0 at that time, shows that electric current is minimum 0mA, u=1
When, electric current is maximum 1mA, and so on.And magnetic resistance is then between ± 5N, i.e., actual measurement magneto resistive ratio sets the low 5N of magnetic resistance then electric current
Maximum, then electric current is minimum by the actual measurement magneto resistive ratio setting high 5N of magnetic resistance.In conjunction with the situation of change that magnetic resistance controls, the quantized level of e, ec sum
Number is set to 11, i.e. the discrete domain of sum is [- 5, -4, -3, -2, -1,0,1,2,3,4,5].The discrete domain of U be [0,1,2,
3,4,5] in control, if deviation is big, with big control amount, if deviation is small, with small control amount, so, fuzzy quantity is drawn
The width divided is the non-linear increase at a distance from neutral element with fuzzy quantity.With set expression are as follows: E=NB, NM, NS, ZO, PS,
PM,PB}；EC={ NB, NM, NS, ZO, PS, PM, PB }；U={ ZO, PS, PM, PB, Z }.(NB expression be negative it is big, during NM is negative,
NS be negative it is small, ZO zero, PS be positive it is small, PM be center, PB be it is honest, Z is expressed as maximum)
According to above-mentioned fuzzy subset, the membership function that each variable determines is determined respectively.Each membership function of E and EC are as follows:
The membership function of each fringe of U are as follows:
3. establishing knowledge base by fuzzy reasoning, obtaining fuzzy control rule；With " ifA and B then C " (if A and
B then C) language describes control rule, and wherein A, B are input quantity, and C is output quantity；The fuzzy control language of this system is by " ifE
The composition of conditional statement as=PB and EC=PB then U=PB ", this system forms 49 control rules, such as 1 institute of table
Show.
Table 1 controls specification table
4. passing through reasoning, anti fuzzy method according to the rule that control rule determines.Further according to fuzzy quantity determined above, obtain
To the relationship R of each rulek, indicate are as follows:
Wherein, i=1,2 ..., 7；J=1,2 ..., 7；K=1,2 ..., 49, "×" indicates the direct product of set, EiAnd ECjPoint
It is not the fuzzy quantity for belonging to E and EC,Be input quantity be EiAnd ECjIn the case where, it is obtained according to fuzzy control rule defeated
Fuzzy quantity out.Such as given a definition by above formula is available:
The fuzzy relation R of sentence decision is obscured according to eachk, available total fuzzy relationship matrix r:
According to fuzzy inference synthesis rule, the control amount of output should be fuzzy set U:
Wherein,To synthesize symbol, it may be assumed that
Calculate the corresponding output U of each subset in corresponding E and EC domain.
It solves fuzzy relation matrix, obtain the value of U according to the fuzzy relation matrix found out, establish as shown in Table 2 fuzzy
Control table.
2 fuzzy control table of table
5. carrying out anti fuzzy method to output U, actual output quantity is ruled out with weighted mean methodExpression are as follows:
After cycling, rotated with the shaft that bicycle rear directly compresses, aluminium dish fixed thereon and then rotates, aluminium
Panel surface in the magnetic field that electromagnet and permanent magnet are superimposed since eddy current effect produces many small magnetic fields, these magnetic fields and extraneous
Magnetic fields produce the effect for inhibiting aluminium dish rotation, finally have the effect for hindering bicycle rear rotation；
4) for building body platform main control module obtains on the connected iron pan in real-time for building body platform axle center from sensor module
The pulse number that small magnet causes, the rotational frequency in axle center is converted into conjunction with the time interval between each pulse, dry eliminating
Under the premise of disturbing bring jump data and guaranteeing the real-time of data processing, has chosen Hall sensor and receive 7 subpulses
Time used takes the mode of its average value to calculate the real-time linear velocity ridden；
5) real-time speed being calculated is transmitted to LED lamp control module by the main control module of for building body platform, and LED light will
The period for accordingly changing LED light circulation flashing according to the size for the real-time riding speed being calculated, i.e., when riding speed is faster
The flashing of LED light Rapid Circulation is controlled, LED light is controlled when riding speed is slower and slowly recycles flashing；
6) by treated, real-time riding speed value passes through bluetooth module wireless transmission to the main control module of for building body platform again
Give the mobile terminal Android/IOS APP；
7) main control module of the mobile terminal Android/IOS APP to the real-time speed value combination riding resistance gear that receives and
It rides after the time calculated, obtains the gym time of the user shown in display module user interface, real-time speed, rides
Distance, the power of consumption and calorie etc. are for reference；
8) main control module of the mobile terminal Android/IOS APP to the real-time speed value combination riding resistance gear that receives and
Ride the time calculated after obtained data can be equally used for real scene video module, the master of the mobile terminal Android/IOS APP
It controls module and real-time riding speed is transmitted to real scene video module, video, Real-time Feedback are played when Real-time Feedback speed is not zero
Then suspend video when speed is zero.
It is the control situation of whole system, the display module of the mobile terminal Android/IOS APP and depositing for bluetooth module above
The operation of user is being allowed to become simple and convenient, real scene video training mode makes user for body-building experience richer.
It is emphasized that the embodiment that the present invention narrates be it is illustrative, without being restrictive, therefore the present invention includes
It is not limited to embodiment described in specific embodiment, it is all to be obtained according to the technique and scheme of the present invention by those skilled in the art
Similar other embodiments out, also belong to protection scope of the present invention.
Claims (1)
- The bench control system 1. a kind of health-care bicycle of the stepless control of the mobile terminal Android/IOS APP is ridden, Android/IOS Mobile terminal APP is mounted in the Android or iPhone of user, and bicycle rack is on for building body platform, and for building body platform is by external Power supply power supply；The health-care bicycle of the stepless control of the mobile terminal Android/IOS APP is ridden bench control system, comprising:1) display module, input are all static and dynamic datas, these data by the mobile terminal Android/IOS APP master Control module is transmitted to display module after being uniformly processed again, for showing user interface and all kinds of body-building information, including user's body Information is shown part, real-time training feedback data are shown, bluetooth connection information is shown and product related information, also to compare each use The history training effect at family；Identity information includes height, weight, gender and the date of birth of user；Real-time training feedback data Including real-time speed, power, mileage of riding, the time of riding, consume energy, gear information of riding；Bluetooth connection information display packet Include the bluetooth connection status of the other bluetooth equipment lists and the mobile terminal Android/IOS APP currently matched；Product correlation letter Breath includes the version information of product, the contact method of development teams, the connection of official website homepage and uses help；2) real scene video module is ridden outdoor scene recorded video for one section of first visual angle to be played simultaneously when user rides；Its is defeated Enter for Real-time Feedback velocity information, is uploaded to real time speed information by sensor module and bluetooth module by for building body platform After the main control module of the mobile terminal Android/IOS APP, by treated, Real-time Feedback velocity information is transmitted to outdoor scene to main control module again Video module；Video is played when Real-time Feedback speed is not zero, Real-time Feedback speed then suspends video when being zero；Real scene video It can be played with riding for user, suspend broadcasting with the stopping of user；3) information storage module, for saving identity information, personal settings and the historic training data of user；User setting, Modification and the identity information for saving height, weight, gender and date of birth；Personal settings be arranged language and unit be metric system or It is made in Great Britain；Historic training data is used to compare the historic training data of each user；When user will be arranged or modification identity information and After customized information input and after each training data upload, the main control module of the mobile terminal Android/IOS APP can be located It manages these information and data and is transmitted to information storage module, information storage module will preserve these information and data；4) mobile terminal Android/IOS APP main control module, input are the real-time speed that the sensor module of for building body platform acquires Identity information, customized information and the resistance gear letter that degree information and user are arranged on the APP of the mobile terminal Android/IOS Breath, after treatment again exports data to display module, real scene video module and information storage module, and pass through bluetooth module Resistance gear information is sent to for building body platform；Main control module completes speed, power, mileage of riding, time of riding, consumption energy Measure the calculating and processing of data；Also the Showing Effectiveness On Screen of display module is controlled；And it can be received by bluetooth module from strong Body is ridden the velocity information of platform, and the resistance gear information of user setting is sent to for building body platform；5) bluetooth module, for the mobile terminal Android/IOS APP, be utilized in mobile phone carry bluetooth connection function, for and For building body platform establishes wireless telecommunications, detects the bluetooth equipment that nearby can connect, and its title is arranged out for user It selects, bluetooth icon appears dimmed under not-connected status, and bluetooth icon is shown in red under connection status；For for building body Platform, bluetooth module master chip use low-power consumption bluetooth 4.0 and later series, for establishing with the mobile terminal Android/IOS APP Wireless telecommunications passively establish connection with other bluetooth equipments；The main control module of the mobile terminal Android/IOS APP sets user The resistance gear information set inputs to bluetooth module, and resistance gear information is transmitted to the master control mould of for building body platform by bluetooth module again Block is handled；The main control module of for building body platform will be transmitted to bluetooth after the collected real time speed information processing of sensor module Module, bluetooth module are again handled the main control module that real time speed information is transmitted to the mobile terminal Android/IOS APP；6) resistance module is mainly made of electromagnet, permanent magnet and aluminium dish；According to electromagnetic induction principle, the PWM electric current of input is big The superposition magnetic fields of the small magnetic field size that can change electromagnet, electromagnet and permanent magnet form vortex, aluminium on the surface of aluminium dish Disk rotation generates interaction force between the magnetic field Shi Yuyuan, to generate the resistance ridden；7) sensor module, speed acquisition sensor use Hall sensor；Hall sensor is acquired according to magnetoelectric induction principle The current impulse number that small magnet on the iron pan being connected with for building body platform axle center causes, by the data information of acquisition export to The main control module of for building body platform, so that main control module calculates the rotational frequency in axle center, thus the real-time speed ridden；8) for building body platform main control module is mainly made of single-chip microcontroller and other auxiliary circuits；For realizing sensor acquisition The processing of real time speed information, main control module receive on the iron plate being connected with for building body platform axle center that Hall sensor uploads The pulse number data that small magnet causes, the rotational frequency in axle center are converted into conjunction with the time interval between each pulse, finally The real-time linear velocity ridden；The real time speed information calculated is sent to Android/IOS movement by bluetooth module Hold APP；And according to the resistance gear command information received from the mobile terminal Android/IOS APP, calculated in conjunction with PID fuzzy control Method controls the drag size ridden to adjust the PWM percentage of current size of for building body platform with stepless；And control LED light circulation Flashing, according to the size for the real-time riding speed being calculated accordingly change LED light circulation flashing period, i.e., riding speed compared with Control LED light Rapid Circulation flashing when fast controls LED light and slowly recycles flashing when riding speed is slower；The for building body platform main control module receives the resistance gear letter of user setting from the mobile terminal Android/IOS APP After breath instruction, the size of current that PID FUZZY ALGORITHMS FOR CONTROL carrys out the output of percentage step-less adjustment pwm circuit, the PID are combined Fuzzy control method is as follows: 21) selecting the variable quantity ec of magnetic resistance error e and error as controller input quantity, select PWM electric current Percentage size is as output control amount；22) collected precise volume is blurred, is equipped with domain V, there are n accurate magnetic resistance data xi∈ V (i=1,2 ..., N), while there is m fuzzy set；Aj∈ V (j=1,2 ..., m), if there is xi, so that degree of membershipThen claim to belong to In fuzzy set Aj, indicate are as follows:Above-mentioned formula is expressed as precise volume xiDegree of membershipBelong to fuzzy quantity Aj；The domain for taking error is X, error change Domain be Y, the domain of control amount is Z；Fuzzy quantity is described with fuzzy set, E indicates the actual value f of tested magnetic resistance to given magnetic resistance value f0Deviation e=f-f0's Fuzzy set, EC indicate the fuzzy set of change rate of magnetic reluctance, and U indicates the fuzzy set of control PWM percentage of current size；According to Relationship between fuzzy division and quantization, taking fuzzy subset's number of E, EC, U is respectively 7,7,5, then fuzzy set indicates are as follows:Wherein, " NB ", " NM ", " NS ", " ZO ", " PS ", " PM ", " PB ", " Z " these vocabulary are fuzzy quantity；The be subordinate to fuzzy quantity A of precise volume x is determined by membership functionjDegree of membership；Membership function is sought, that is, determines membership function Shape；Fuzzy variable is set as Normal Type fuzzy variable, membership function are as follows:Wherein, a is expressed as corresponding to fuzzy quantity AjPrecise volume, the size of δ directly affects the shape of membership function curve；23) by fuzzy reasoning, knowledge base is established, fuzzy control rule is obtained；With " if A and B then C " (if A and B Then C) language come describe control rule, wherein A, B be input quantity, C is output quantity；The fuzzy control language of this system is by " if E The composition of conditional statement as=PB and EC=PB then U=PB ", this system form 49 control rules；24) rule determined according to control rule, passes through reasoning, anti fuzzy method；Further according to fuzzy quantity determined above, obtain every The relationship R of one rulek, indicate are as follows:Wherein, i=1,2 ..., 7；J=1,2 ..., 7；K=1,2 ..., 49, "×" indicates the direct product of set, EiAnd ECjIt is respectively Belong to the fuzzy quantity of E and EC, UijBe input quantity be EiAnd ECjIn the case where, the output mould that is obtained according to fuzzy control rule Paste amount；The fuzzy relation R of sentence decision is obscured according to eachk, the control rule of whole system, therefore, total mould must be described Pasting relational matrix R indicates are as follows:According to fuzzy inference synthesis rule, the control amount of output should be fuzzy set U:Wherein,To synthesize symbol, thus, the corresponding output of each subset in corresponding E and EC domain is calculated according to above formula Therefore U establishes fuzzy relation matrix, obtains U value according to the fuzzy relation matrix found out, establish fuzzy control table；25) anti fuzzy method is carried out to output quantity, by fuzzy reasoning, the precise volume being blurred is utilized into following weighted averages Method expression formulaAnti fuzzy method is carried out, actual control execution amount u is obtainedo, wherein uiFor output quantity corresponding to i-th of fuzzy subset, μ (ui) it is membership function；The for building body platform main control module obtains on the connected iron pan in real-time for building body platform axle center from sensor module The pulse number that small magnet causes, the rotational frequency in axle center is converted into conjunction with the time interval between each pulse, dry eliminating Under the premise of disturbing bring jump data and guaranteeing the real-time of data processing, has chosen Hall sensor and receive arteries and veins several times The punching time used takes the mode of its average value to calculate the real-time linear velocity ridden.
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| CN107198860A (en) * | 2017-07-18 | 2017-09-26 | 义乌畅为智能科技有限公司 | The Intelligentized Information system of for building body platform adapter |
| CN107198852B (en) * | 2017-07-20 | 2022-09-02 | 青岛艺格运动器材有限公司 | Wireless control oil resistance material system |
| CN107875583A (en) * | 2017-12-15 | 2018-04-06 | 辽宁工业大学 | A kind of multi-functional abdomen-in exercise machine and its locomotor ratings method |
| CN108273239B (en) * | 2018-03-28 | 2023-08-08 | 常州纺织服装职业技术学院 | Indoor high-simulation horse self-riding movement riding table system |
| CN108830934B (en) * | 2018-04-27 | 2022-06-17 | 浙江工业大学 | Real-scene motion control method for riding training system |
| CN109060211B (en) * | 2018-07-12 | 2020-11-06 | 北京黑鸟科技有限公司 | Power measuring device for riding platform |
| CN109100969B (en) * | 2018-07-26 | 2020-04-24 | 浙江工业大学 | Low-power intelligent body-building riding platform control system |
| CN109100968B (en) * | 2018-07-26 | 2020-04-24 | 浙江工业大学 | Intelligent body-building riding platform system based on FreeRTOS embedded real-time operating system |
| CN109002025B (en) * | 2018-08-23 | 2021-02-02 | 浙江工业大学 | Networking riding control system based on common riding platform |
| CN109324538A (en) * | 2018-08-23 | 2019-02-12 | 浙江工业大学 | Body-sensing divertical motion control system based on intelligent platform of riding |
| CN109224398B (en) * | 2018-08-23 | 2020-04-24 | 浙江工业大学 | Intelligent riding platform control system with adjustable input voltage |
| CN112882410A (en) * | 2021-01-11 | 2021-06-01 | 太原理工大学 | Real-time control's cabin system of riding that man-machine environment fuses altogether |
| CN113694494B (en) * | 2021-09-01 | 2022-08-30 | 深圳动趣科技有限公司 | Exercise bicycle magnetic resistance control method and device and exercise bicycle |
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