CN108322132A - A kind of servo motor torque control system in exercise rehabilitation equipment and control method - Google Patents
A kind of servo motor torque control system in exercise rehabilitation equipment and control method Download PDFInfo
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- CN108322132A CN108322132A CN201810288414.7A CN201810288414A CN108322132A CN 108322132 A CN108322132 A CN 108322132A CN 201810288414 A CN201810288414 A CN 201810288414A CN 108322132 A CN108322132 A CN 108322132A
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- servo motor
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- exercise
- rehabilitation equipment
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 230000000694 effects Effects 0.000 claims abstract description 12
- 239000000463 material Substances 0.000 claims description 8
- 238000004088 simulation Methods 0.000 claims description 4
- 210000000577 adipose tissue Anatomy 0.000 claims description 3
- 230000037147 athletic performance Effects 0.000 claims description 3
- 230000036772 blood pressure Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 5
- 239000002360 explosive Substances 0.000 abstract description 4
- 230000036541 health Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 14
- 238000005516 engineering process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000011088 calibration curve Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
-
- 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
-
- 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
- A63B2225/15—Miscellaneous features of sport apparatus, devices or equipment with identification means that can be read by electronic means
Abstract
The present invention discloses servo motor torque control system and control method in a kind of exercise rehabilitation equipment, system includes exercise rehabilitation equipment, servo motor, intelligent control panel, identification module, master controller, Cloud Server and sensor, and servo motor connects exercise rehabilitation equipment and as the resistance device of exercise rehabilitation equipment；Master controller controls the torque of the servo motor according to preset target resistance parameter and the user's current motion information detected in real time by sensor.Its effect is：Permanent moment of torsion control can be provided, existing counterweight mode is solved and generate resistance there are inertia the problems such as big, motion process medium velocity variation cannot be too fast, and explosive force train on is bad；Can also solve the problems, such as existing counterweight mode to generate resistance that not adapt to movement overall process, exercise mode single by Parameters variation moment of torsion control；Resistance curve (parameter) is stored in master controller or cloud service platform, is that user is customized by moving expert or rehabilitation doctor, provides the health training of science to the user.
Description
Technical field
The present invention relates to the servo motor moment of torsion control systems in electronic technology field more particularly to a kind of exercise rehabilitation equipment
System and control method.
Background technology
Currently, domestic strength trainer material generally existing load is single, startup inertia is big, process power is non-constant, automatic
How modern advanced serve motor control technology is dissolved into exercise rehabilitation training sports equipment by the problems such as change degree is low,
Change current exercise rehabilitation equipment and generally uses metal weights disk or the method adjustment exercise intensity of physical equipment adjustment frictional force
Present situation.
In exercise rehabilitation treatment, suitable exercise dynamics and its method seem increasingly important, in current rehabilitation,
Rehabilitation performs physical exercise by unarmed or simple instrument, while physiatrician being needed to carry out guidance assistance on one side, comes
Passive exercise is carried out, is that rehabilitation is correctly taken exercise.The training method and exercise dynamics of this mode are difficult grasp, and
The personal horizontal influence of physiatrician is will receive, and cost is higher, can not carry out whenever and wherever possible, lack training evaluation system
With the objective data of reconditioning effect, it is difficult to ensure final rehabilitation effect.So providing a kind of modernization, intelligence
Hurt of rehabilitation scheme be particularly important in today's society.
Invention content
Present invention firstly provides the servo motor torque control system in a kind of exercise rehabilitation equipment, which passes through servo
Motor generates different torques and has different loads to simulate exercise rehabilitation equipment, it is made to be provided under different gestures to user
Resistance, it is existing because of itself to solve existing traditional health equipment counter weight type, air-resistance type or electromagnetism control flywheel-type resistance system
Resistance caused by quality causes the non-constant problem of resistance with acceleration of motion.
To achieve the goals above, specific technical solution of the present invention is as follows：
A kind of servo motor torque control system in exercise rehabilitation equipment, including exercise rehabilitation equipment and servo motor,
Its key is：It is additionally provided with intelligent control panel, identification module, master controller, Cloud Server and sensor, it is described
On the one hand intelligent control panel with the Cloud Server two-way communication, is on the other hand also connected with the master controller；In the intelligence
It can be embedded with the identification module in control panel；The master controller is connect with the servo motor, for realizing institute
The torque for stating servo motor is adjusted；The servo motor connects the exercise rehabilitation equipment and as the exercise rehabilitation equipment
Resistance device；Sensor is also connected on the exercise rehabilitation equipment, the master controller is according to preset target resistance parameter
The torque of the servo motor is controlled with the user's current motion information detected in real time by sensor.
Optionally, the intelligent control panel for realizing user information typing and displaying.
Optionally, the user information includes but not limited to：Face feature, gender, age, height, weight, heart rate, blood
Pressure, body fat rate.
In addition, the invention also provides the control method of above-mentioned control system, mainly include the following steps that：
S1：Receive drag parameter input by user；
S2：Target resistance curve is determined according to drag parameter set by step S1；
S3：Master controller exports corresponding torque according to target resistance curve controlled servo motor determined by step S2,
For realizing the simulation of different loads in exercise rehabilitation equipment.
Optionally, include the steps that passing through intelligent control panel typing user information in step S1.
Optionally, the drag parameter is obtained by exercise mode, is forged when user selects to enter by intelligent control panel
After refining pattern, intelligent control panel prompts user to complete specified athletic performance, and master controller obtains each fortune by sensor
The corresponding kinematic parameter of action, the body-building parameter for being most suitable for this user is calculated in conjunction with the Cloud Server as its resistance
Parameter.
Optionally, the drag parameter information storage of user is in Cloud Server, when using the exercise rehabilitation equipment, uses
Identify that identity, the exercise rehabilitation equipment obtain the corresponding parameter information of the user and go forward side by side automatically by identification module in family
Row parameter adjustment.
Optionally, the master controller realizes moment of torsion control by the operating current of control servomotor.
Optionally, the master controller detects the current movable information of user by sensor in real time, including but not limited to：
Body gesture, angle of having an effect, strength size, heart rate.Thus since, master controller just according to torque curve and these be collected into
Information controls servo motor, and the servo motor can then export specified torque.Simultaneously in same drag parameter pair
Target resistance calibration curve information under the different exercise modes answered is different, and calculated servo torque curve is just different, servo motor
Output torque is also just different.
Based on foregoing description it is appreciated that a kind of servo motor torque control system provided by the invention and control method,
Applied to the mode that on athletic rehabilitation equipment, can replace by clump weight generation resistance.This method can be according to user setting
Drag parameter determines corresponding resistance curve, by the resistance curve control servomotor in different location, different time, difference
Different torques is exported when speed, to realize the simulation to various loads, and torque is can to change with change in location,
Change with velocity variations, solve existing traditional clump weight provide inertia existing for resistance is big, movement velocity variation cannot be too
Soon, the problems such as resistance is non-constant, and explosive force train on is bad.
The torque control mode of servo motor proposed by the present invention refers to that servo motor is revolved by the constant-torque that system gives
Turn, that is, keeps the output of motor current ring constant.Human body using the servo motor torque as sources of resistance body-building equipment to being applied
Active force applies external torque load to the servo motor, when the external loading torque is greater than or equal to the servo
The output torque of motor setting, then the constant-torque of the output torque holding setting of the servo motor is constant, the servo electricity
Machine follows movement；When the external loading torque is less than the constant-torque of servo motor setting, then the motor is kept quiet
Only state, while output torque is kept constant；According to (the effect between two objects of interaction of newton third law of motion
Power and reaction force are always equal in magnitude, and direction is on the contrary, act on same straight line), i.e., human body by or apply try hard to keep
Hold it is constant, to promote rehabilitation training effect, it is ensured that reconditioning safety.
It is controlled by the above method, user setting drag parameter (curve), the fitness equipment receives user's setting
Or input drag parameter curve, generate target resistance curve by control software data；Then control software is according to the use
Servo motor described in the target resistance curve controlled at family exports corresponding torque；Since in this way, the resistance that fitness equipment generates is complete
Full fit object resistance curve, meets the purpose of rehabilitation training.
In addition, resistance curve is by the way that, there are master controller or cloud service platform, data source is in each after testing in advance
Expert and rehabilitation doctor are moved, the exercise mode of diversification can be provided.
In conclusion the remarkable result of the present invention is：
1) exercise rehabilitation exercise is carried out, it is possible to provide permanent moment of torsion control solves existing counterweight mode and generates resistance in the presence of used
Property big, motion process medium velocity variation cannot be too fast, the problems such as explosive force train on is bad.
2) exercise rehabilitation exercise is carried out, it is possible to provide change moment of torsion control by parameter (curve), solve existing counterweight mode
It generates resistance and does not adapt to movement overall process, the single problem of exercise mode.
3) resistance curve (parameter) is stored in master controller or cloud service platform, by moving expert or rehabilitation doctor
It is customized for user, provide the health training of science to the user.
Description of the drawings
Fig. 1 is the system principle diagram of the specific embodiment of the invention；
Fig. 2 is the relativity figure of servo motor torque and operating current；
Fig. 3 is the relativity figure of servo motor torque, velocity of rotation and operating current；
Fig. 4 is the mounting structure schematic diagram of recovery and healthy equipment in specific embodiment.
Figure number explanation：1- intelligent control panels, 2- master controllers, 3- sensor units, 4- servo motors.
Specific implementation mode
In order to keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and
Specific embodiment is described in detail.
As shown in Figure 1, the present embodiment discloses the servo motor torque control system in a kind of exercise rehabilitation equipment, including it is strong
Body rehabilitation material and servo motor, intelligent control panel, identification module, master controller, Cloud Server and sensor,
On the one hand the intelligent control panel with the Cloud Server two-way communication, is on the other hand also connected with the master controller；Institute
It states and is embedded with the identification module in intelligent control panel；The master controller is connect with the servo motor, for real
The torque of the existing servo motor is adjusted；The servo motor connects the exercise rehabilitation equipment and as the body-building rehabilitation apparatus
The resistance device of material；Sensor is also connected on the exercise rehabilitation equipment, the master controller is according to preset target resistance
Parameter and the user's current motion information detected in real time by sensor control the torque of the servo motor.
Intelligent control panel can provide information input and the information displaying of user, when user uses the body-building for the first time
Rehabilitation material need to include but not limited to by the identification module typing information, the information：Face feature, property
Not, age, height, weight, heart rate, blood pressure, body fat rate.
When user uses the exercise rehabilitation equipment for the first time, need to prompt to complete specified letter according to the intelligent control panel
Single athletic performance, the master controller will record the kinematic parameter of active user, and can be calculated most by cloud service
Be suitble to the body-building parameter (curve) of this user, this parameter to can be used as reference parameter, user can also according to own bodies situation into
Row is changed at any time.Movement each time backward, user can identify identity, the body-building rehabilitation apparatus by identification module
Material will switch user information, carry out parameter adjustment, and user can carry out parameter adjustment, while body-building rehabilitation apparatus according to when daily planning
Material can also record kinematic parameter simultaneously, and the beneficial exercise rehabilitation for reaching incremental tempers purpose.
The master controller obtains user's setup parameter (curve) from the intelligent control panel, according to the ginseng of acquisition
Number (curve), control servomotor output changes with parameter (curve) and the torque of variation.The servo motor is described
Constant-torque can be selected to export or change torque output under the control of master controller.
As shown in Fig. 2, torque follow current changes and changes, output current can be controlled by the master controller
System, to achieve the purpose that control mode.The master controller obtains user's setup parameter (song from the intelligent control panel
Line), the master controller just exports corresponding current curve according to the parameter, so that torque is defeated according to curve
Go out, reach the variation torque output that we want, as seen in Figure 2, master control by the control to output current, but
Realize that output torque changes with curent change, the change curve waveform of the two is consistent.
As shown in figure 3, under the constant-torque output, exercise rehabilitation user need not bear very big in exercise
Inertia, the practice of velocity variations can be carried out, it is not necessary to worry pull.We add double closed loop speed regulation system system inside master controller
System.In normal load, the speed regulator of double loop speed-regulating system is unsaturated, by the adjustment effect of speed regulator, makes
Harder mechanical property can be had by obtaining system itself.From static characteristic, der Geschwindigkeitkreis requires electric current promptly to follow rotating speed
Variation, and electric current loop tries hard to keep electric current constant；When servo motor shock load, on axis torque destroyed, to produce
The landing of motor speed is given birth to, the master controller measures this motor speed loss by sensor, feeds back to speed regulator
Input terminal, makes it play adjustment effect, and current regulator then follows the output voltage of speed regulator to play adjustment effect, makes to watch
The increasing of armature voltage is taken, the torque of servo motor increases, is adjusted so that servo motor within a time quickly
Output torque reach balance.In conclusion either in the case of normal load condition or burst load, the master controller
Constant-torque output can be reached, that is to say, that after setting permanent torque mode, user is using body-building rehabilitation apparatus
When material, the use habit of itself, at the beginning suddenly have an effect, the velocity variations in exercise routine do not interfere with the defeated of permanent torque
Go out, has on the one hand achieved the purpose that permanent torque is taken exercise, another party also provides guarantee for safety body-building.
Under the variation torque output, the posture and strength of user, and root are detected by the sensor
It is calculated in the master controller according to input parameter (curve), output variation in real time follows torque, can be according to user
Exercise posture and exercise force variation and change, such mode be also more suited for rehabilitation carry out passive exercise.More than
The data of any exercise will all upload cloud service, for using in other occasion, time later, and can be carried out with expert data
It compares, exports more objective reliable motion exercise plan.
Above system and method can be applied in exercise rehabilitation equipment shown in Fig. 4, it can be seen from the figure that, intelligent control
Panel 1 is set to body front, convenient for identity information and kinematic parameter typing, be conveniently operated and watch, master controller 2 is located at
In body, various sensors constitute sensor unit 3 and are connected with corresponding transmission parts, and servo motor 4 is arranged in cabin,
And it is connected with stressed member by various transmission systems.The exercise rehabilitation equipment can be according to the drag parameter determination pair that user selects
The resistance curve answered calculates torque curve control servomotor in different location, different time, difference by the resistance curve
Different torque is exported under speed, to realize the simulation to various loads, and torque is can to change with change in location,
Change with velocity variations, changes over time and change.It solves existing clump weight and generates inertia present in the system of resistance
Greatly, the problems such as movement velocity variation cannot be too fast, and explosive force train on is bad.
In conclusion in the case of this system and method, either normal load condition or burst load, the master control
Device can reach constant-torque output, that is to say, that after setting permanent torque mode, user is using exercise rehabilitation
When equipment, the use habit of itself, at the beginning suddenly have an effect, the velocity variations in exercise routine do not interfere with permanent torque
On the one hand output has achieved the purpose that permanent torque is taken exercise, another party also provides guarantee for safety body-building.
Finally, it should be noted that the present embodiment description is merely a preferred embodiment of the present invention, the ordinary skill of this field
Personnel under the inspiration of the present invention, without prejudice to the purpose of the present invention and the claims, as can making multiple types
It indicates, such transformation is each fallen within protection scope of the present invention.
Claims (9)
1. the servo motor torque control system in a kind of exercise rehabilitation equipment, including exercise rehabilitation equipment and servo motor,
It is characterized in that：It is additionally provided with intelligent control panel, identification module, master controller, Cloud Server and sensor, the intelligence
Energy control panel one side and the Cloud Server two-way communication, are on the other hand also connected with the master controller；In the intelligence
The identification module is embedded in control panel；The master controller is connect with the servo motor, for realizing described
The torque of servo motor is adjusted；The servo motor connects the exercise rehabilitation equipment and as the resistance of the exercise rehabilitation equipment
Power apparatus；Be also connected with sensor on the exercise rehabilitation equipment, the master controller according to preset target resistance parameter and
The user's current motion information detected in real time by sensor controls the torque of the servo motor.
2. the servo motor torque control system in exercise rehabilitation equipment according to claim 1, it is characterised in that：It is described
Intelligent control panel for realizing user information typing and displaying.
3. the servo motor torque control system in exercise rehabilitation equipment according to claim 2, it is characterised in that：It is described
User information includes but not limited to：Face feature, gender, age, height, weight, heart rate, blood pressure, body fat rate.
4. the control method of servo motor torque control system as described in claim 1, it is characterised in that include the following steps：
S1：Receive drag parameter input by user；
S2：Target resistance curve is determined according to drag parameter set by step S1；
S3：Master controller exports corresponding torque according to target resistance curve controlled servo motor determined by step S2, is used for
Realize the simulation of different loads in exercise rehabilitation equipment.
5. control method according to claim 4, it is characterised in that：Step S1 includes passing through intelligent control panel typing
The step of user information.
6. control method according to claim 5, which is characterized in that the drag parameter is obtained by exercise mode, when
After user enters exercise mode by intelligent control panel selection, it is dynamic that intelligent control panel prompts user to complete specified movement
Make, master controller is obtained the kinematic parameter corresponding to each athletic performance by sensor, calculated in conjunction with the Cloud Server
The body-building parameter of this user is most suitable for as its drag parameter.
7. according to the control method described in any one of claim 4-6, which is characterized in that the drag parameter information storage of user
In Cloud Server, when using the exercise rehabilitation equipment, user identifies identity, the body-building by identification module
Rehabilitation material obtains the corresponding parameter information of the user and carries out parameter adjustment automatically.
8. control method according to claim 7, which is characterized in that the work that the master controller passes through control servomotor
Make electric current and realizes moment of torsion control.
9. control method according to claim 4, which is characterized in that the master controller detects use in real time by sensor
The current movable information in family, including but not limited to：Body gesture, angle of having an effect, strength size, heart rate.
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| CN201810288414.7A CN108322132A (en) | 2018-04-03 | 2018-04-03 | A kind of servo motor torque control system in exercise rehabilitation equipment and control method |
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| CN201810288414.7A CN108322132A (en) | 2018-04-03 | 2018-04-03 | A kind of servo motor torque control system in exercise rehabilitation equipment and control method |
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| CN108322132A true CN108322132A (en) | 2018-07-24 |
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| CN201810288414.7A Pending CN108322132A (en) | 2018-04-03 | 2018-04-03 | A kind of servo motor torque control system in exercise rehabilitation equipment and control method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109711876A (en) * | 2018-12-19 | 2019-05-03 | 象山兑鹏电子科技有限公司 | A kind of customization body-building course marketing system and method |
| CN110251832A (en) * | 2019-07-10 | 2019-09-20 | 北京京一合符医药科技发展有限公司 | A kind of adaptive rehabilitation training treadmill system and its control method |
| CN111001138A (en) * | 2019-12-18 | 2020-04-14 | 宁波易力加运动科技有限公司 | Servo load control method for explosive force training of intelligent fitness equipment |
| CN111035886A (en) * | 2019-12-18 | 2020-04-21 | 宁波易力加运动科技有限公司 | Servo load control method of intelligent fitness equipment |
| CN111265842A (en) * | 2020-03-09 | 2020-06-12 | 北京奥康达体育产业股份有限公司 | Multifunctional fitness management terminal |
| CN113134219A (en) * | 2020-01-20 | 2021-07-20 | 厦门趣练健康科技有限公司 | Fitness equipment, fitness equipment control system and control method thereof |
| CN113750445A (en) * | 2021-09-08 | 2021-12-07 | 中国科学院理化技术研究所 | Counterweight control method, control device and counterweight device |
| CN114337388A (en) * | 2021-12-24 | 2022-04-12 | 广东麦珂威尔健康科技有限公司 | Dual-motor fitness equipment driving device based on linear Hall and control method thereof |
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| CN113750445A (en) * | 2021-09-08 | 2021-12-07 | 中国科学院理化技术研究所 | Counterweight control method, control device and counterweight device |
| CN114337388A (en) * | 2021-12-24 | 2022-04-12 | 广东麦珂威尔健康科技有限公司 | Dual-motor fitness equipment driving device based on linear Hall and control method thereof |
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