CN109621328A - A kind of strength building system and its feedback - Google Patents
A kind of strength building system and its feedback Download PDFInfo
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- CN109621328A CN109621328A CN201811168362.6A CN201811168362A CN109621328A CN 109621328 A CN109621328 A CN 109621328A CN 201811168362 A CN201811168362 A CN 201811168362A CN 109621328 A CN109621328 A CN 109621328A
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Classifications
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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
- A63B21/15—Arrangements for force transmissions
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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
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
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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
- 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
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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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
- A63B2071/0647—Visualisation of executed movements
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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
- A63B2071/065—Visualisation of specific exercise parameters
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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
- A63B2208/00—Characteristics or parameters related to the user or player
- A63B2208/02—Characteristics or parameters related to the user or player posture
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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
- A63B2220/50—Force related parameters
- A63B2220/51—Force
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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
- A63B2220/806—Video cameras
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The present invention provides a kind of strength building system and its feedbacks, including control system, driving device and transmission mechanism, the control system is connected with cloud storage system, strength is passed to user by transmission mechanism by the driving device, detection device is set in the transmission approach of power, the detection device is connect with control system, and the data that will test are sent to control system, the control system is connect with driving device, and then adjust the output data of driving device, the feedback includes resistance feedback control methods, acceleration or Angular Acceleration Feedback control method and PID/feedback control method neural network based.Strength building system provided by the invention and its feedback are applicable not only to a variety of fitness equipments, realize accurate control, adapt to environmental change, and have stronger stability, versatile, and then guarantee the accurate control of entire control system.
Description
Technical field
The present invention relates to body building fields, and in particular to a kind of strength building system and its feedback.
Background technique
There are three types of currently used strength building modes: constant speed, isometric, isotonic.Wherein, long patterns are waited to keep motor not
It rotates, although the pulling force of such arm of force people can change, the arm of force is fixed.Ideally (i.e. system zero hinders
Power), isotonic mode is that the output torque of control motor remains unchanged, and people's torque used when pulling instrument is also fixed.
Constant velocity mode is that the revolving speed of control motor remains unchanged, and for such people when pulling instrument, movement velocity is also fixed.
Traditional exercising device supports isotonic or isometric strength training mode mostly.Minority support Isokinetic training mode etc.
Fast equipment is mainly used in injury recovery and scientific research field, uses for usual rarely seen someone of Isokinetic training instrument.Through grinding
Study carefully and show that the training of constant velocity mode is very effective to strength building, so constant velocity mode is supported to help to improve training effect.It is existing
Some conventional exercises instruments, Resistance Setting are fixed numerical value (by adding and subtracting weight stack manually).It is tested both at home and abroad through sporting world
It proves, becomes the resistance exercises such as resistance exercise ratio and have better effect, for example constant velocity mode is exactly a kind of variable resistance power.But according to one
Fixed rule, for example be in different displacements according to body and realize that corresponding resistance or different speed correspond to different resistances
Power.Existing instrument is difficult to realize arbitrarily to change resistance according to setting.For the complete movement of detection training, the setting one before training is needed
A or multiple position thresholds complete one-off according to location determination.But current traditional instruments are without this function.It is existing
Motor-driven exercising device, in training change resistance when, such as retractable movement switching position when, variation can it is very unexpected,
It is easy to impact training action, and causes control to be shaken in critical point, it is unstable.And in actual use, by
In factors such as Motor Control error, main axis resistance, pulley and flexible piece gearing friction resistances, it can all make reality output
Power and setting value generate relatively large deviation, be unable to reach accurate control.
Summary of the invention
In view of this, the present invention is directed to propose a kind of strength building system and its feedback, to solve existing skill
Metering training system training mode is single in art and reality output power and setting value generate relatively large deviation, nothing in use
The problem of method accurately controls
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of strength building system, including control system, driving device and transmission mechanism, the control system and cloud
Storage system is connected, and strength is passed to user by transmission mechanism by the driving device, sets in the transmission approach of power
Detection device is set, the data that the detection device connect with control system, and will test are sent to control system, the control
System is connect with driving device, and then adjusts the output data of driving device.
Further, the driving device is set as servo motor, and the lower part of body-building equipment is arranged in the servo motor,
Human body auxiliary device is additionally provided on the body-building equipment.
Further, the servo motor is connect by bearing with transmission mechanism, and the end side setting of the bearing is for branch
Support bearing bearing block.
Further, the transmission mechanism includes the first synchronizing wheel, the second synchronizing wheel and synchronous belt, and described first is synchronous
Wheel is set on bearing, and first synchronizing wheel is connect by synchronous belt with the second synchronizing wheel.
Further, second synchronizing wheel is set on transmission shaft, connecting rocker arm on the transmission shaft, the rocker arm
The other end connects the second adjustment disk, and second adjustment disk adjusts the movement for bar of stretching one's legs.
Further, the detection device is set as strain gauge, and servo motor is arranged in the strain gauge
On at least one position in output end, synchronous belt, rocker arm or bar of stretching one's legs.
Compared with the existing technology, strength building system of the present invention has the advantage that
(1) strength building system of the present invention be suitable for a variety of fitness equipments, while can according to Training scene with
And user needs to adjust the quantity of driving device and transmission mechanism, strong applicability, and uses Ethernet auto-control skill
Art compared with prior art, has reached that high speed is real-time, jamproof communication.
(2) leg strength training device of the present invention can detect the real time data in power transmit process in time, reduce
Motor reality output force value and physical presence deviation meet the needs accurately controlled；Different users can basis when using
The physical condition of oneself arbitrarily adjusts screen angle, improves the broad applicability of force exerciser；User can check movement
Real time data in the process monitors in real time convenient for realizing to motion process.
The present invention also provides a kind of feedbacks of strength building system, use above-described strength building system
System, the feedback include resistance feedback control methods, acceleration or Angular Acceleration Feedback control method and are based on refreshing
PID/feedback control method through network.
Further, the step of resistance feedback control methods include: to be stored with equipment in the controls in normal work
Make the default force value under situation, strain gauge can detect practical force value that user receives and will user when in use
It is sent to control system, and control system is obtained by calculating the difference of practical force value and default force value that strain gauge detects
The error of power output, the resistance that control system is exported according to the error transfer factor motor for the power being calculated, i.e., by the preset value of power and
The difference of actual value feeds back to motor and carries out negative-feedback adjustment, and then eliminates resistance error.
Further, the acceleration or the step of Angular Acceleration Feedback control method include: that motor and transmission mechanism exist
When strength is driven, rotary inertia can be generated, rotary inertia comes from motor itself, transmission main shaft, turntable, and rotary inertia and motor are turned round
There are quantitative relationships for the resultant force and torque of square, the external force that user's limbs apply and frictional resistance:
M+F*R=J* α
Wherein, F is the resultant force of external force and frictional resistance that sportsman's limbs generate shaft；
R is the arm of force of sportsman's limbs to shaft；
M is the output torque of servo motor itself；
J is the rotary inertia of rotational structure；
α is the angular acceleration of rotational structure；
Wherein, acceleration=angular acceleration * radius, control system pass through measurement acceleration or angular acceleration, force value, according to
Quantitative equation, the output of feedback adjustment torque.
Further, the PID/feedback control method neural network based are as follows: the sensing of automatic collection strain gauge
Data simultaneously pass through Learning Algorithm, calculate the parameter of kp, ki, kd, and then obtain feedback quantity, carry out in time to motor
Adjustment, last whole system can follow always output as close possible to the force of default force value in user's motion process.
It is accurate that strength building system feedback control method provided in this embodiment can not only make strength building system realize
Control, adapts to environmental change, and have stronger stability, versatile, and then guarantees the accurate control of entire control system
System.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is strength training system schematic diagram under Smaller load resistance exercise scene described in the embodiment of the present invention；
Fig. 2 is strength training system schematic diagram under big load resistance Training scene described in the embodiment of the present invention；
Fig. 3 is that leg strength training device axis described in the embodiment of the present invention regards schematic diagram；
Fig. 4 is leg strength training device schematic side view described in the embodiment of the present invention；
Fig. 5 is resistance feedback control method schematic diagram described in the embodiment of the present invention；
Fig. 6 is the PID/feedback control method schematic diagram based on BP neural network described in the embodiment of the present invention；
Fig. 7 is BP neural network structure chart described in the embodiment of the present invention.
Description of symbols:
It is bracket -1, seat -2, bar -3 of stretching one's legs, handrail -4, rocker arm -7, servo motor -6, transmission shaft -8, front side board -9, preceding
Baffle -10, rear baffle -11, bar -12, the first adjustment disk -13, frame -14, backing pin -15, back side panel -16, bearing block -17,
Bearing -18, the first synchronizing wheel -19, the second synchronizing wheel -20, synchronous belt -21, the second adjustment disk -22, convex block -23
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In addition, the description of " first " that is previously mentioned in an embodiment of the present invention, " second " etc. is used for description purposes only, and
It should not be understood as its relative importance of indication or suggestion or implicitly indicate the quantity of indicated technical characteristic.It limits as a result,
Having the feature of " first ", " second " can explicitly or implicitly include at least one of the features.In addition, between each embodiment
Technical solution can be combined with each other, but must based on can be realized by those of ordinary skill in the art, work as technical side
There is conflicting or cannot achieve when and will be understood that the combination of this technical solution is not present in the combination of case, also not in the present invention
It is required that protection scope within.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Embodiment 1
Present embodiments provide a kind of strength building system, including control system, driving device, transmission mechanism, detection dress
Set and display device, the control system be connected with cloud storage system, it can be achieved that load strength and speed high-precision
Output, and beyond the clouds and user can check data by mobile phone terminal by data real-time storage.The driving device is used and is watched
Motor is taken, position sensor is set inside servo motor, for recording position of the motor in some cycles, and can be to motor
Position persistently sampled, thus recognition cycle recycle, so as in the multiple rotation periods of motor continue record position.
The control system includes upper computer control system and lower computer control system.
The display device is fixed on pole bracket, and pole bracket is fixed on again in the main body of sports apparatus, and described
Pole bracket is set as the device of adjustable angle, not only beautiful but also do not influence to use, when converting training action, screen optimal viewing angle
It can also change therewith, user only needs pulling gently or adjustment display screen angle to be suitable for current visual angle, and
And screen angle can be adjusted according to the physical condition of each user oneself when switching between different users, it can arbitrarily adjust
Highly, far and near, pitching, adapts to different heights, visual angle, distance etc..
Strength is passed to user by transmission mechanism by the driving device, and training action may be rotation or linear fortune
Dynamic, according to manner of execution, transmission device needs to be converted to motor power output into appropriate output form.Simultaneously as training is logical
Often need tens kilograms to up to a hundred kilograms of resistance, the torque that transmission mechanism would generally be exported motor by torque conversion mechanism
Amplification.
Further, installation detecting device during power transmits, the actual resistance that monitoring user bears, detection dress
Any position that may be mounted in power transmission is set, preferred detection device is positioned close to one end of user, can be more preferable
The practical power being subject to of detection user.
Further, control system is by data real-time storage beyond the clouds storage system, can be with after user's login system
Data are checked by mobile phone.Preferably, user can be logged in by barcode scanning or fingerprint.So that user is in the process used
In can check the data such as number that the speed of movement, force and movement are completed at any time by mobile phone, be convenient for monitoring moving
Process, while being conducive to being widely used to promote for the strength building system.
Further, as illustrated in fig. 1 and 2, strength building system provided in this embodiment, driving device and transmission mechanism
Quantity, which can according to need, to be changed.Under Smaller load resistance exercise scene, it is only necessary to 1 set of driving device and transmission mechanism
System, connection relationship are as shown in Figure 1；In the case where needing big load resistance Training scene, two sets of driving devices and driver are needed
Structure is individually placed to the left and right sides of system, and the synchronously control of two sets of driving devices, two sets of driving dresses are actively carried out by slave computer
It sets and is operated synchronously with transmission mechanism, respectively undertake the strength of half.Two sets of transmission system machine detecting devices all synchronous feedbacks are examined simultaneously
Signal is surveyed, and converges to lower computer control system and synchronizes and handled.
Further, in order to reach accurate, real-time control effect, the strength building system of the present embodiment uses Ethernet
Auto-control technology is connected automatically controlled device with wired cable, runs EtherCAT agreement, composition real time high-speed, peace
Full communication system.
Further, strength building system provided in this embodiment is suitable for a variety of fitness equipments, it is preferred that is suitable for history
It is close this, leg strength training device etc., such as stretch one's legs device and the device etc. that bends one's legs.
Strength building system provided in this embodiment is suitable for a variety of fitness equipments, at the same can according to Training scene and
User needs to adjust the quantity of driving device and transmission mechanism, strong applicability, and uses Ethernet auto-control technology
Compared with prior art, reached that high speed is real-time, jamproof communication.
Strength building system provided in this embodiment is suitable for a variety of fitness equipments, at the same can according to Training scene and
User needs to adjust the quantity of driving device and transmission mechanism, strong applicability, and uses Ethernet auto-control technology
Compared with prior art, reached that high speed is real-time, jamproof communication.
Embodiment 2
The present invention provides a kind of body-building equipments with strength building system described in embodiment 1, including training device
And control device, the training device are provided with human body auxiliary device, are used to support trainer, for example, the human body in the device that bends one's legs
Ancillary equipment is set as eight letter stencil stools.
The control device is driven by motor, and the whole position for being biased to lower part of body-building equipment, i.e. motor is arranged in motor
It is disposed proximate to the position on ground.
By taking leg strength training device as an example, specifically, as shown in Figures 3 and 4, human body is auxiliary in the leg strength training device
It helps device to be set as seat 2, and is used to support seat 2, the top two sides setting of the seat 2 in 2 lower part of seat setting bracket 1
Handrail 4 guarantees that user's posture when using the force exerciser is steady.Frame 14, institute is arranged in the external of the control device
On the one hand the setting for stating frame 14 and bracket 1 plays a certain protective role control device, be on the other hand able to maintain leg
The stability in use of force exerciser.
The lower section of seat 2 is provided with servo motor 6, the servo motor 6 is connected by drive mechanism with control device
It connects, specifically, being provided with the encoder of position sensor inside servo motor 6, is instructed in user using the leg power
When practicing device, encoder is able to record position of the motor in some cycles, and can the position to motor persistently sample, thus
Recognition cycle circulation, to continue record position in the multiple rotation periods of motor, consequently facilitating user adjusts training action.
And position is detected using encoder, very high position resolution may be implemented, can satisfy wanting of being precisely controlled
It asks.Encoder and motor or main shaft rotate synchronously, pursuit movement position, and can find out real-time velocity and acceleration letter
Breath, fully meets the needs accurately controlled.
Further, servo motor 6 is connect by bearing 18 with transmission mechanism, and bearing block is arranged in the one end of bearing 18
17, it is used to support the steady operation of bearing, and the first synchronizing wheel 19 is arranged on the bearing 18, first synchronizing wheel 19 is logical
It crosses synchronous belt 21 to connect with the second synchronizing wheel 20, the top of the first synchronizing wheel 19 is arranged in second synchronizing wheel 20, and first is same
Region locating for step the 19, second synchronizing wheel 20 of wheel and synchronous belt 21 is in the protection scope of the formation of frame 14.
Further, the second synchronizing wheel 20 is arranged in the guard interval that front side board 9 and back side panel 16 are formed, thus by the
Two synchronizing wheels are separated with user, prevent from causing to accidentally injure when user encounters the second synchronizing wheel in use, while to
Two synchronizing wheels play a certain protective role, and then guarantee its stability in use.
Further, the second synchronizing wheel 20 is set on transmission shaft 8, and user is instructed using leg strength training device
When practicing, servo motor 6 transmits the force to the first synchronizing wheel 19, then transmits the force to biography by synchronous belt 21 and the second synchronizing wheel 20
Moving axis 8, transmission shaft 8 transmit the force to rocker arm 7, and the rocker arm 7 controls the movement for bar 3 of stretching one's legs by the second adjustment disk 22.It is another
The physical qualification of aspect different users is different, and lower-leg length is also different, further, pin is arranged on the second adjustment disk 22
Nail hole can adjust distance of the bar 3 apart from seat 2 of stretching one's legs by different pin holes, facilitate different users' foot to hook and stretch one's legs
Bar improves its broad applicability.
Further, mount stress sensor during power transmits, the actual resistance that monitoring user bears, stress
Sensor may be mounted at any position in power transmission, and preferred strain gauge is positioned close to one end of user, can
Preferably to detect the practical power being subject to of user.Specifically, strain gauge may be mounted at the output end, same of servo motor
It walks at least one position in band 21, rocker arm 7 or bar 3 of stretching one's legs, and the strain gauge is connect with control system.
Further, the first postive stop baffle 10, the are additionally provided in the guard interval that front side board 9 and back side panel 16 are formed
Two postive stop baffles 11 and the first adjustment disk 13, the first postive stop baffle 10 and the second postive stop baffle 11 are adjusted by bolt and first
Disk 13 is fixedly connected, and the first postive stop baffle 10, the second postive stop baffle 11 and 13 three's collective effect of the first adjustment disk are to adjust
The rotational angle of rocker arm 7.First adjustment disk 13 is connect by transmission shaft 8 with rocker arm 7, to rocker arm 7 play axially position with
The effect of adjustment speed.
It is provided with bar 12 between first postive stop baffle 10 and the second postive stop baffle 11, when rocker arm 7 rotates to centainly
When angle, the first postive stop baffle 10 or the second postive stop baffle 11 can be contacted with bar 12, and the bar 12 is for limiting first
The rotational angle of postive stop baffle 10 and the second postive stop baffle 11 guarantees that rocker arm 7 rotates in normal range.
Further, backing pin 15 is set in the lower section of transmission shaft 8, the backing pin 15 is arranged in the first adjustment disk 13 and rocker arm
It between 7 and is connected on rocker arm 7, it is preferred that two crescent convex blocks are set close to the side of rocker arm 7 in the first adjustment disk 13
23, the convex block 23 of crescent can be bumped against when rocker arm 7 turns to certain angle, prevent motor when breaking down uncontrolled to making
User damages.
Further, display device is fixed on frame by pole bracket, different users can root when using
Screen angle is arbitrarily adjusted according to the physical condition of oneself, improves the broad applicability of force exerciser.
Further, user can log in control system by the two dimensional code on scanning leg strength training device, in turn
Real time data when checking trained monitors in real time convenient for realizing to motion process.It preferably, can also be in leg strength training device
Upper setting fingerprint beaching accommodation, user can also be logged in by fingerprint.
Compared with prior art, leg strength training device provided in this embodiment can detect in time in power transmit process
Real time data, reduce motor reality output force value and physical presence deviation, the needs that satisfaction accurately controls；Different users
Screen angle can arbitrarily be adjusted according to the physical condition of oneself when use, improve the broad applicability of force exerciser；It uses
Person can check the real time data in motion process, monitor in real time convenient for realizing to motion process.
Embodiment 3
As shown in figure 5, in order to eliminate the deviation that the power and setting value of equipment output in actual use generate, the present embodiment exists
A kind of resistance feedback control method is used on the basis of embodiment 1, specifically, using stress sensing during resistance transmission
Device monitors the actual resistance that user bears.When actual resistance and setting resistance have resistance error, control electricity is fed back to immediately
Machine, the resistance of adjustment motor output, eliminates resistance error.Wherein the strain gauge can be used to detect torque, pulling force, open
Power, pressure etc..
Further, strain gauge can also be by monitoring reaction force come indirect measuring resistance, for example, in user
When vertical pick-up drag, sensor can be installed in user underfooting, because when upper extract body, active force one that human body receives
Part can be converted to the holding power on ground.In this case, due to the deformation of human body, understand some power and be converted into elastic potential
It can store.
Further, resistance can use direct feedback method, firstly, being stored with equipment in the controls in normal work
Make the default force value under situation, strain gauge can detect practical force value that user receives and will user when in use
It is sent to control system, and control system is obtained by calculating the difference of practical force value and default force value that strain gauge detects
The error of power output, it may be assumed that
The default force value for practical force value-system that the error of power=strain gauge is surveyed
The resistance that control system is exported according to the error transfer factor motor for the power being calculated as a result, i.e., by the preset value of power
Motor is fed back to the difference of actual value and carries out negative-feedback adjustment, and then eliminates resistance error.
Resistance feedback control method provided in this embodiment has carried out direct regulation and control for the resistance of system final output,
Under movement, stationary state, accelerate, have effect under deceleration regime.The data that resistance ring detects can store and carry out data
Analysis.Resistance ring can eliminate the introduced deviation of mechanical structure, provide more accurate draught control.It is provided in this embodiment
Leg strength training device can not only support isometric, isotonic, three kinds of training modes of constant speed, and feedback control loop firmly carrys out mould
The characteristics of motion of quasi- conventional arrangement supports simulation tradition to match the mode of heavy load, so that user has more training selections.
Embodiment 4
But the collected error of the direct feedback method of power described in embodiment 3 is passed through feedback path in actual use
There is delay when passing motor, which will lead to the correction value of power for the amendment demand of current time power or mistake
Small or excessive, finally making revised force value, there are biggish concussions, or even diverging to restrain, and forms surge.By
This is that further realize accurately controls, and the present embodiment provides a kind of using acceleration or angle on the basis of embodiment 3
Accelerator feedback method, specifically, motor and transmission mechanism can generate rotary inertia, rotary inertia is from electricity when strength is driven
The resultant force of machine itself, transmission main shaft, turntable, rotary inertia and Motor torque, the external force that user's limbs apply and frictional resistance
There are quantitative relationships with torque:
M+F*R=J* α
Wherein, F is the resultant force of external force and frictional resistance that sportsman's limbs generate shaft；
R is the arm of force of sportsman's limbs to shaft；
M is the output torque of motor itself；
J is the rotary inertia of rotational structure；
α is the angular acceleration of rotational structure；
Due to acceleration=angular acceleration * radius, so system passes through measurement acceleration or angular acceleration, force value, according to
Quantitative equation, so that it may which the output of feedback adjustment torque achievees the purpose that control system output strength.
It is provided in this embodiment using the feedback of acceleration or angular acceleration compared with Example 3, avoid
Due to delay bring concussion, so that strength building system realizes more accurate control.
Embodiment 5
It as shown in Figures 6 and 7, can be with system shape since resistance, frictional force, the motor error etc. in system are all non-quantitatives
State variation, so the precise control model of whole system can not be provided.The present embodiment establishes one on this basis
System Controlling model, while achieving the purpose that accurately to control using adaptive feedback modifiers method.The present embodiment is upper as a result,
It states and provides a kind of PID control method neural network based on the basis of embodiment.
The complete formula of PID control is as follows:
U (t)=Kp*e (t)+Ki ∑ e (t)+Kd [e (t)-e (t-1)]+u0
E (t)=y (t)-r (t).Y (t) is that strain gauge detects force value, and r (t) is the default force value of control system.
U (t) is the correction amount for feeding back to motor.
In formula Kp, Ki, Kd be respectively ratio, integral, differential coefficient.
Because the presence of the I in PI system can make the response speed of entire control system be affected, D differential term is mainly used
To solve the problems, such as the response speed of system.
But the problem of for simple PID control method: since strength building system is affected by external broach, no
In the case of same machine, different default force value, the parameter of feedback modifiers is all different, and can not be adapted to set of parameter all
Situation.And large-scale parallel processing possessed by neural network and the storage of distributed information；It is extremely strong learn by oneself, associate it is fault-tolerant
Ability；Good adaptive and self-organization；Meet the requirement of nonlinear system engineering.PID control will obtain preferably as a result,
Control effect just must form existing mutual cooperation in control amount by adjusting example, three kinds of integral, differential control actions is cand be compared to
The relationship mutually restricted again.This relationship is not necessarily simple linear combination, can be with from varied nonlinear combination
Find out the optimum coefficient of three.Any non-linear expression's ability, can pass through to system performance possessed by neural network
It practises to realize the PID control with optimal combination.
Preferably, radial base neural net, BP neural network, Hopfield mind can be used in the neural network of the present embodiment
Through network, self organizing neural network etc., optimal regularization method such as SVM can also be used.
Preferably, the present embodiment uses the PID control method based on BP neural network, using three layers of BP structure, structure
As shown in figure 5, it has m (m=4) a input node, q implicit nodes, 3 output nodes.The number m (m=4) of input variable
Complexity depending on controlled system.Output node respectively corresponds three parameters pk, ik, dk of PID controller, due to pk,
Ik, dk cannot be negative, so the negated negative Sigmoid function of output layer neuron activation functions.
4 input nodes, x1~x4, take respectively preset in system force value, sensor actual samples force value, default force value with
Sample difference, acceleration or the angular acceleration transducer sampled value of force value.
By setting the learning rate and inertia coeffeicent of neural network, convergence rate is adjusted.
When user's applied force, the sensing number of the PID system meeting automatic collection strain gauge based on BP neural network
According to and by neural network, the parameter of kp, ki, kd are calculated, and then obtains feedback quantity, motor is adjusted in time, it is last whole
A system can follow always output as close possible to the force of default force value in user's motion process.
PID control method provided in this embodiment based on BP neural network, not only adapts to environmental change, and have compared with
Strong stability, it is versatile, and then guarantee the accurate control of entire control system.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of strength building system, including control system, driving device and transmission mechanism, the control system are deposited with cloud
Storage system is connected, and strength is passed to user by transmission mechanism by the driving device, which is characterized in that in the transmission of power
Detection device is set in approach, the detection device is connect with control system, and the data that will test are sent to control system,
The control system is connect with driving device, and then adjusts the output data of driving device.
2. strength building system according to claim 1, which is characterized in that the driving device is set as servo motor
(6), the lower part of body-building equipment is arranged in the servo motor (6), is additionally provided with human body auxiliary device on the body-building equipment.
3. strength building system according to claim 2, which is characterized in that the servo motor (6) passes through bearing (18)
It is connect with transmission mechanism, the end side setting of the bearing (18) is used to support the bearing block (17) of bearing (18).
4. strength building system according to claim 1, which is characterized in that the transmission mechanism includes the first synchronizing wheel
(19), the second synchronizing wheel (20) and synchronous belt (21), first synchronizing wheel (19) are set on bearing (18), and described first
Synchronizing wheel (19) is connect by synchronous belt (21) with the second synchronizing wheel (20).
5. strength building system according to claim 4, which is characterized in that second synchronizing wheel (20) is set in transmission
On axis (8), the other end of connecting rocker arm (7) on the transmission shaft (8), the rocker arm (7) connects the second adjustment disk (22), described
Second adjustment disk (22) adjusts the movement for bar (3) of stretching one's legs.
6. strength building system according to claim 1, which is characterized in that the detection device is set as stress sensing
Device, the strain gauge are arranged in the output end of servo motor, synchronous belt (21), rocker arm (7) or bar of stretching one's legs (3) extremely
On a few position.
7. a kind of feedback of strength building system, which is characterized in that use any one of claim 1 to 6 institute
The strength building system stated, the feedback include resistance feedback control methods, acceleration or Angular Acceleration Feedback control
Method and PID/feedback control method neural network based.
8. the feedback of strength building system according to claim 7, which is characterized in that the resistance feedback control
The step of preparation method includes: to be stored with the default force value of equipment under normal operating condition in the controls, and user is using
When strain gauge can detect practical force value that user receives and send it to control system, control system passes through meter
Calculate the error that the difference of practical force value and default force value that strain gauge detects must contribute, control system is according to being calculated
Power error transfer factor motor output resistance, i.e., by the difference of the preset value of power and actual value feed back to motor carry out negative-feedback
Adjustment, and then eliminate resistance error.
9. the feedback of strength building system according to claim 7, which is characterized in that the acceleration or angle
The step of acceleration feedback control method includes: motor and transmission mechanism in strength transmission, can generate rotary inertia, rotation is used
Amount comes from motor itself, transmission main shaft, turntable, and the external force and friction that rotary inertia and Motor torque, user's limbs apply hinder
There are quantitative relationships for the resultant force and torque of power:
M+F*R=J* α
Wherein, F is the resultant force of external force and frictional resistance that sportsman's limbs generate shaft；
R is the arm of force of sportsman's limbs to shaft；
M is the output torque of servo motor itself；
J is the rotary inertia of rotational structure；
α is the angular acceleration of rotational structure；
Wherein, acceleration=angular acceleration * radius, control system is by measurement acceleration or angular acceleration, force value, according to quantitative
Formula, the output of feedback adjustment torque.
10. the feedback of strength building system according to claim 7, which is characterized in that described based on nerve
The PID/feedback control method of network are as follows: the sensing data of automatic collection strain gauge simultaneously passes through Learning Algorithm,
The parameter of kp, ki, kd are calculated, and then obtains feedback quantity, motor is adjusted in time, last whole system can be transported in user
During dynamic, follow output as close possible to the force of default force value always.
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| CN201821627105.XU Active CN209378388U (en) | 2017-10-09 | 2018-10-08 | A kind of strength building system |
| CN201811168362.6A Pending CN109621328A (en) | 2017-10-09 | 2018-10-08 | A kind of strength building system and its feedback |
| CN201811169344.XA Active CN109621330B (en) | 2017-10-09 | 2018-10-08 | Strength training system and electric control method |
| CN201811169320.4A Active CN109621329B (en) | 2017-10-09 | 2018-10-08 | Strength training system and protection method |
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| CN109621330B (en) | 2023-07-07 |
| CN209378388U (en) | 2019-09-13 |
| CN109621329A (en) | 2019-04-16 |
| CN209378389U (en) | 2019-09-13 |
| CN109621329B (en) | 2021-07-06 |
| CN109621330A (en) | 2019-04-16 |
| CN209422875U (en) | 2019-09-24 |
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