CN112090024B - Exercise machine torque output control method and device, exercise machine and medium - Google Patents
Exercise machine torque output control method and device, exercise machine and medium Download PDFInfo
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
- A63B21/0058—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 using motors
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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
- A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
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- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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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- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
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Abstract
The invention discloses a method and a device for controlling the torque output of fitness equipment, the fitness equipment and a medium. The fitness equipment comprises a motor and a pull rope, wherein the motor outputs torque through the pull rope, and the method comprises the following steps: the pull force when obtaining the user pulling stay cord, the operating condition of motor is confirmed according to the pull force, when operating condition is the target condition, the control motor output and the opposite torque of direction of rotation of motor to the rotation inertia of compensation motor makes the motor no longer continue to rotate because of rotating inertia, thereby makes user's exerting oneself continuous, has optimized output torque, can improve the training effect, avoids causing the injury to the user.
Description
Technical Field
The embodiment of the invention relates to the technical field of fitness equipment, in particular to a method and a device for controlling the torque output of the fitness equipment, the fitness equipment and a medium.
Background
As the general public begins to pursue a healthier and more full lifestyle, fitness equipment begins to be generally accepted by the public.
Traditional strength training equipment usually adopts the mode of counter weight to provide the training load for the user, and this kind of body-building apparatus mainly includes drive mechanism and counterweight group, and counterweight group is as body-building apparatus's load, and counterweight group includes a plurality of balancing weights, and when using, the person of building body realizes the training through the selected balancing weight in the drive mechanism pulling counterweight group. However, the weight is usually increased or decreased in steps, and cannot be changed continuously, so that the user cannot be matched with the most suitable training load. Therefore, strength training equipment which adopts a motor to output a training load is produced. By adjusting the torque output by the motor, the most suitable training load can be accurately matched for each user.
However, when the existing strength apparatus adopts the motor to simulate load, when the user stops pulling the rope, the motor still continues to rotate for a certain distance due to inertia caused by the rotational inertia of the motor rotor, so that the user cannot continuously exert force to influence the training effect, and even the user can be injured.
Disclosure of Invention
The invention provides a method and a device for controlling the torque output of a fitness device, the fitness device and a medium, so that the output of a user is continuous when the user stops pulling a rope, the output torque is optimized, the training effect can be improved, and the user is prevented from being injured.
In a first aspect, an embodiment of the present invention provides a method for controlling torque output of an exercise machine, where the exercise machine includes a motor and a pull rope, and the motor outputs torque through the pull rope, including:
acquiring the pulling force when a user pulls the pull rope;
determining the working state of the motor according to the tension;
and when the working state is a target state, controlling the motor to output a torque opposite to the rotation direction of the motor so as to compensate the rotation inertia of the motor.
Optionally, one end of the pull rope is provided with a tension sensor, and the acquiring of the tension of the user when pulling the pull rope includes:
acquiring an electric signal output by a tension sensor;
and determining the pulling force when the user pulls the pull rope according to the electric signal.
Optionally, the determining the working state of the motor according to the pulling force includes:
judging whether the tension is equal to zero or not;
and when the tension is zero, determining that the working state of the motor is a target state.
Optionally, controlling the motor to output a torque opposite to a rotation direction of the motor includes:
acquiring the rotating speed of the motor;
acquiring the current of the motor;
controlling the motor to output a torque opposite to a rotation direction of the motor based on the pulling force, the rotation speed, and the current.
Optionally, the motor is a permanent magnet synchronous motor, the permanent magnet synchronous motor is connected to a three-phase inverter, the three-phase inverter is configured to supply power to the permanent magnet synchronous motor, and obtaining the current of the motor includes:
and acquiring the phase A current and the phase B current output by the three-phase inverter.
Optionally, the controlling the motor to output a torque opposite to the rotation direction of the motor based on the pulling force, the rotation speed, and the current includes:
determining a set rotating speed according to the set torque;
determining a set quadrature axis current according to the set rotating speed;
determining the phase A current and the phase B current output by the three-phase inverter according to the set direct-axis current and the set quadrature-axis current;
converting the phase A current and the phase B current output by the three-phase inverter through a Clark-park transformation to obtain a direct-axis current and a quadrature-axis current;
performing feedback regulation on the set rotating speed of the motor based on the tension;
performing feedback regulation on the set quadrature axis current based on the rotating speed of the motor;
and performing feedback regulation on the phase A current and the phase B current output by the three-phase inverter based on the direct-axis current and the quadrature-axis current, and further controlling the motor to output a torque opposite to the rotation direction of the motor.
Optionally, after the controlling the motor to output a torque opposite to a rotation direction of the motor, the method further includes:
and controlling the motor to output preset torque so as to retract the pull rope.
In a second aspect, embodiments of the present invention further provide an exercise machine torque output control apparatus, where the exercise machine includes a motor and a pull cord, and the motor outputs a torque through the pull cord, the apparatus including:
the pull force acquisition module is used for acquiring the pull force when a user pulls the pull rope;
the working state determining module is used for determining the working state of the motor according to the pulling force;
and the torque output control module is used for controlling the motor to output a torque opposite to the rotation direction of the motor when the working state is a target state so as to compensate the rotation inertia of the motor.
Optionally, one end of the pull rope is provided with a tension sensor, and the tension acquiring module includes:
the electric signal acquisition unit is used for acquiring an electric signal output by the tension sensor;
and the tension determining unit is used for determining the tension when the user pulls the pull rope according to the electric signal.
Optionally, the working state determining module includes:
the tension judging unit is used for judging whether the tension is equal to zero or not;
and the target state determining unit is used for determining that the working state of the motor is the target state when the pulling force is zero.
Optionally, the torque output control module comprises:
the rotating speed obtaining submodule is used for obtaining the rotating speed of the motor;
the current acquisition submodule is used for acquiring the current of the motor;
and the torque determination submodule is used for controlling the motor to output torque opposite to the rotation direction of the motor based on the pulling force, the rotating speed and the current.
Optionally, the motor is a permanent magnet synchronous motor, the permanent magnet synchronous motor is connected to a three-phase inverter, the three-phase inverter is used for supplying power to the permanent magnet synchronous motor, and the current obtaining submodule includes:
and the current acquisition unit is used for acquiring the A-phase current and the B-phase current output by the three-phase inverter.
Optionally, the torque determination submodule includes:
a set rotation speed determination unit for determining a set rotation speed according to the set torque;
the set quadrature axis current determining unit is used for determining set quadrature axis current according to the set rotating speed;
the first current determining unit is used for determining the phase A current and the phase B current output by the three-phase inverter according to the set direct-axis current and the set quadrature-axis current;
the second current determining unit is used for converting the A-phase current and the B-phase current output by the three-phase inverter through Clark-park to obtain a direct-axis current and a quadrature-axis current;
the first feedback adjusting unit is used for performing feedback adjustment on the set rotating speed of the motor based on the pulling force;
the second feedback adjusting unit is used for performing feedback adjustment on the set quadrature axis current based on the rotating speed of the motor;
and the third feedback adjusting unit is used for performing feedback adjustment on the A-phase current and the B-phase current output by the three-phase inverter based on the direct-axis current and the quadrature-axis current so as to control the motor to output a torque opposite to the rotation direction of the motor.
Optionally, the exercise machine torque output control device further comprises:
and the preset torque output module is used for controlling the motor to output preset torque so as to withdraw the pull rope after controlling the motor to output torque opposite to the rotation direction of the motor.
In a third aspect, embodiments of the present invention also provide an exercise apparatus, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement an exercise machine torque output control method as provided by the first aspect of the present invention.
In a fourth aspect, embodiments of the present invention also provide a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method for controlling the torque output of an exercise machine according to the first aspect of the present invention.
The embodiment of the invention provides a method for controlling the torque output of a body-building apparatus, wherein the body-building apparatus comprises a motor and a pull rope, the motor outputs torque through the pull rope, and the method comprises the following steps: the pull force of the user when pulling the pull rope is obtained, the working state of the motor is determined according to the pull force, when the working state is the target state, the motor is controlled to output torque opposite to the rotating direction of the motor, so that the rotating inertia of the motor is compensated, the motor does not continue to rotate due to the rotating inertia, the output of the user is continuous, the output torque is optimized, the training effect can be improved, and the injury to the user is avoided.
Drawings
FIG. 1A is a flowchart illustrating a method for controlling torque output of an exercise apparatus according to an embodiment of the present invention;
FIG. 1B is a schematic illustration of an exercise apparatus according to an embodiment of the present invention;
FIG. 1C is a schematic diagram of an internal structure of an exercise apparatus according to an embodiment of the present invention;
FIG. 2A is a flowchart of a method for controlling torque output of an exercise apparatus according to a second embodiment of the present invention;
fig. 2B is a schematic diagram illustrating internal logic processing of a motor according to a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a torque output control device for an exercise apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an exercise apparatus according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1A is a flowchart of an exercise machine torque output control method according to an embodiment of the present invention, where this embodiment is applicable to a situation where a user output is discontinuous due to rotational inertia of a motor when the user stops pulling a rope, so as to affect a training effect, and the method may be executed by an exercise machine torque output control device according to an embodiment of the present invention, where the device may be implemented in a software and/or hardware manner, and is integrated into an exercise machine according to an embodiment of the present invention, as shown in fig. 1A, where the method specifically includes the following steps:
and S101, acquiring the pulling force when the user pulls the pulling rope.
Fig. 1B is a schematic diagram of an exercise apparatus according to an embodiment of the present invention, and fig. 1C is a schematic diagram of an internal structure of an exercise apparatus according to an embodiment of the present invention, in particular, the exercise apparatus may be a chest expander, which is used for exercising upper limb muscles. As shown in fig. 1B and 1C, the exercise machine includes a motor 10, a speed reducer 20, a controller 30, a transmission mechanism, and a pull cord 40. The decelerator 20 serves to reduce the rotation speed of the motor 10, thereby increasing the output torque. The controller 30 is used to control the output torque of the motor. The transmission mechanism comprises a transmission belt 51, a first transmission wheel 52 and a second transmission wheel 53, one end of the transmission belt 51 is wound on the output wheel 11 of the motor 10, the other end of the transmission belt 51 is wound on the first transmission wheel 52, the first transmission wheel 52 and the second transmission wheel 53 synchronously and coaxially rotate, one end of the pull rope 40 is wound on the second transmission wheel 53, the other end (free end) of the pull rope 40 is arranged outside the fitness equipment, the free end is provided with a pull ring 41 for a user to hold, and torque is output through the pull rope when the motor rotates. The force generated by the torque output by the motor when the motor rotates on the pull rope is used as a training load, and the direction of the force is opposite to that of the pulling force applied to the free end by a user, so that the aim of exercising muscles is fulfilled.
Specifically, the pulling force applied to the pulling rope 40 by the user is continuously acquired at a certain acquisition frequency during the exercise of the user. Specifically, in the embodiment of the present invention, the collection manner of the tension is not limited, and for example, the tension may be collected by a tension sensor.
And S102, determining the working state of the motor according to the pulling force.
Specifically, the working state of the motor can be determined by comparing the pulling force obtained for many times. In the embodiment of the invention, the working state of the motor comprises a load state and an idle state. In the loaded state, the motor 10 has a certain load, i.e. the user applies a pulling force to the motor 10 via the pull cord 40, wherein the pulling force on the pull cord 40 is not zero. In the unloaded state, the load of the motor 10 is zero, i.e., the tension on the pull cord 40 is zero. The target state is set to a time when the load of the motor 10 is zero (i.e., no-load state).
And S103, controlling the motor to output a torque opposite to the rotation direction of the motor when the working state is the target state so as to compensate the rotation inertia of the motor.
Specifically, when it is determined that the operating state of the motor 10 is the target state according to the tension, the motor 10 is controlled to output a torque opposite to the rotation direction of the motor 10 to compensate for the rotational inertia of the motor 10. That is, when the user stops pulling the rope, the controller 30 controls the motor 10 to output a torque opposite to the current rotation direction of the motor 10, so as to compensate the rotation inertia of the motor 10, so that the motor 10 does not continue to rotate, so that the output of the user is continuous, the output torque is optimized, the training effect can be improved, and the injury to the user is avoided.
The embodiment of the invention provides a method for controlling the torque output of a body-building apparatus, wherein the body-building apparatus comprises a motor and a pull rope, the motor outputs torque through the pull rope, and the method comprises the following steps: the pull force of the user when pulling the pull rope is obtained, the working state of the motor is determined according to the pull force, when the working state is the target state, the motor is controlled to output torque opposite to the rotating direction of the motor, so that the rotating inertia of the motor is compensated, the motor does not continue to rotate due to the rotating inertia, the output of the user is continuous, the output torque is optimized, the training effect can be improved, and the injury to the user is avoided.
Example two
Fig. 2A is a flowchart of a method for controlling a torque output of an exercise machine according to a second embodiment of the present invention, where the second embodiment of the present invention is optimized based on the first embodiment, and a detailed process of controlling the motor to output a torque opposite to a rotation direction of the motor according to the second embodiment of the present invention is described in detail, specifically, as shown in fig. 2A, the method according to the second embodiment of the present invention may include the following steps:
s201, acquiring an electric signal output by the tension sensor.
Specifically, as shown in fig. 1B, a tension sensor 60 is disposed near the free end of the pull cord 40, and the tension sensor 60 is used for converting the tension into a measurable electrical signal. Specifically, the elastic body in the tension sensor 60 elastically deforms under the action of tension, so that the resistance strain gauge (conversion element) adhered to the surface of the elastic body also deforms, the resistance value of the resistance strain gauge changes (increases or decreases) after the resistance strain gauge deforms, and the resistance change is converted into an electrical signal (voltage or current) through a corresponding measuring circuit, so that the process of converting the tension into the electrical signal is completed.
And S202, determining the pulling force when the user pulls the pulling rope according to the electric signal.
And after receiving the electric signal output by the tension sensor, determining the tension of the pull rope pulled by the user according to the corresponding relation between the strength of the electric signal and the tension.
S203, judging whether the tension is equal to zero or not.
Specifically, after the pulling force is obtained, whether the magnitude of the pulling force is zero is further judged. In other embodiments of the present invention, it may also be determined whether the tension is equal to zero directly according to the strength of the electrical signal output by the tension sensor, which is not limited herein.
And S204, when the tension is zero, determining that the working state of the motor is a target state.
Specifically, the working state of the motor when the pulling force is zero (i.e., the motor is in an unloaded state) is taken as a target state.
And S205, acquiring the rotating speed of the motor.
Specifically, in the embodiment of the present invention, as shown in fig. 1B, the position sensor 70 inside the motor 10 can detect the position change (angle change) of the rotating shaft when the motor rotates, and the rotational speed of the motor can be obtained by calculating the differential of the position with respect to time. In other embodiments of the present invention, the rotation speed of the motor may be obtained by other methods, for example, a light reflection method, in which a white line is arranged on a rotating portion of the motor, a strong beam of light is used for illumination, a photoelectric element is used for detecting reflected light to form a pulse signal, and the pulse is counted within a certain time period, so as to convert the rotation speed of the motor. Of course, the rotation speed of the motor may also be detected by a magnetoelectric method, a grating method, a hall switch detection method, or the like, which is not limited herein.
And S206, acquiring the current of the motor.
Fig. 2B is a schematic diagram of internal logic processing of a motor according to a second embodiment of the present invention, and exemplarily, as shown in fig. 2B, in an embodiment of the present invention, the motor is a Permanent Magnet Synchronous Motor (PMSM), the PMSM is connected to a three-phase inverter, the three-phase inverter is configured to supply power to the PMSM, and the three-phase inverter outputs three-phase ac power to the PMSM.
Receiving DC voltage U by three-phase inverterdcAnd converts the direct current into three-phase alternating current. The current of the three-phase alternating current is respectively A phase current iaPhase i of B-phase currentbAnd C phase current ic. The embodiment of the invention collects the phase A current and the phase B current output by the three-phase inverter as the current of the motor.
It should be noted that, in other embodiments of the present invention, the motor may also be another type of motor, for example, a magnetically excited synchronous motor, a permanent magnet asynchronous motor, or a magnetically excited asynchronous motor, and the embodiments of the present invention are not limited herein.
And S207, controlling the motor to output torque opposite to the rotation direction of the motor based on the tension, the rotation speed and the current.
Specifically, the torque output by the motor is subjected to feedback regulation based on the tension, the rotating speed and the current, and then the motor is controlled to output the torque opposite to the rotating direction of the motor.
Exemplarily, as shown in fig. 2B, the step S207 specifically includes the following steps:
s2071, the set rotating speed is determined according to the set torque.
Specifically, the user sets a suitable torque output curve according to the exercise requirement of the user, when the user pulls the pull rope 40, the motor 10 outputs a corresponding set torque T according to the position of the pull rope 40, and determines a set rotating speed w according to the corresponding relationship between the set torque T and the rotating speed of the motor.
Specifically, the relationship between the rotational speed and the torque is shown in the following formula:
wherein, P is the power of the motor, T is the torque, and w is the rotating speed of the motor.
And S2072, determining the set quadrature axis current according to the set rotating speed.
Specifically, the set quadrature axis current i is determined according to the relationship between the set rotating speed w and the quadrature axis currentq*。
And S2073, determining the A-phase current and the B-phase current output by the three-phase inverter according to the set direct-axis current and the set quadrature-axis current.
Specifically, according to the set quadrature axis current iqDetermining quadrature axis voltage U according to corresponding relation of quadrature axis voltageq(ii) a Similarly, according to the set direct axis current idDetermining direct axis voltage U according to corresponding relation of direct axis voltaged. To straight axis voltage UdAnd quadrature axis voltage UqPerforming park inverse transformation to obtain voltages UαAnd Uβ. Then to the voltage UαAnd UβAnd performing Space Vector Pulse Width Modulation (SVPWM) to obtain a switching signal so as to control the output current of the three-phase inverter.
And S2074, converting the A-phase current and the B-phase current output by the three-phase inverter through Clark-park to obtain direct-axis current and quadrature-axis current.
Specifically, the acquired A-phase current i is measuredaAnd phase B current ibChanging the static three-coordinate system into static two-coordinate system by Clarke transformation to obtain current iαAnd current iβ. Current iαAnd current iβAfter Park transformation, will be staticThe two coordinate systems are changed into two rotating coordinate systems to respectively obtain the direct-axis current idAnd quadrature axis current iq。
And S2075, performing feedback regulation on the set rotating speed of the motor based on the pulling force.
Specifically, the force corresponding to the set torque and the obtained pulling force F are subtracted, and proportional integral derivative adjustment is performed on the set rotating speed according to the calculation result.
And S2076, performing feedback regulation on the set quadrature axis current based on the rotating speed of the motor.
Specifically, the set rotation speed feedback-adjusted in step S2075 and the collected rotation speed of the motor are subtracted, and the proportional integral derivative adjustment is performed on the set quadrature axis current according to the operation result.
And S2077, performing feedback regulation on the phase A current and the phase B current output by the three-phase inverter based on the direct-axis current and the quadrature-axis current, and further controlling the motor to output a torque opposite to the rotation direction of the motor.
Specifically, the set quadrature axis current feedback-adjusted in step S2076 and the collected quadrature axis current iqCarrying out subtraction operation, carrying out proportional integral derivative adjustment on quadrature axis voltage according to the operation result, and carrying out feedback adjustment on the set direct axis current and the collected direct axis current i in the step S2076dAnd carrying out subtraction operation and carrying out proportional integral differential regulation on the direct-axis voltage according to the operation result. And performing park inverse transformation on the direct-axis voltage and the quadrature-axis voltage after feedback regulation, and then performing space vector pulse width modulation to obtain a switching signal after feedback regulation, so as to feedback regulate the output current of the three-phase inverter and control the motor to output a torque opposite to the rotation direction of the motor.
Through the feedback adjustment process, the accurate control of the torque output of the motor is realized, the set tension force of the pull rope is always kept, the problem that the training effect is influenced by discontinuous output of a user and even the injury of the user is possibly caused is avoided.
And S208, controlling the motor to output preset torque so as to retract the pull rope.
The strength training can be generally divided into a force application stage and a load release stage, wherein the force application stage is a stage of rapid physical strength burst, and the pull rope is stretched; the load release stage is a stage of smoothly and rapidly reducing the load, and the pull rope is retracted. There are generally two situations where the pull on the pull cord is zero, one when the user is pulling to an extreme position during the force stage, and another when the user accidentally takes off his/her hands during the force stage or the load release stage. In the first situation, the motor is required to output a preset torque after outputting a torque opposite to the rotation direction of the motor, wherein the preset torque is a very small torque, so that the motor slowly retracts the pull rope, and muscle damage caused by too fast release of a load is avoided; in the second situation, the motor is required to output a preset torque after outputting a torque opposite to the rotation direction of the motor, the preset torque is a very small torque, so that the motor slowly retracts the pull rope, and the situation that the pull rope is rapidly retracted to cut a user is avoided. In either case, the motor outputs a preset torque after outputting a torque opposite to the rotation direction of the motor, and the preset torque is a small torque so that the motor slowly retracts the pull rope.
Furthermore, if the user still wants to exert force during the process of retracting the pull rope, whether to continue to retract the pull rope can be judged according to the magnitude of the pulling force. Specifically, when the pulling force applied to the pulling rope by the user is detected to be greater than or equal to the set value, the motor is controlled to output the torque set by the user, and the torque is greater than the preset torque so that the user can continue to exercise. When the pulling force exerted on the pull rope by the user is detected to be smaller than the set value, the torque output by the motor is controlled to be unchanged, and the pull rope is continuously and slowly retracted with the preset torque.
The embodiment of the invention provides a method for controlling the torque output of a body-building apparatus, wherein the body-building apparatus comprises a motor and a pull rope, the motor outputs torque through the pull rope, and the method comprises the following steps: the pull force of the user when pulling the pull rope is obtained, the working state of the motor is determined according to the pull force, when the working state is the target state, the motor is controlled to output torque opposite to the rotating direction of the motor, so that the rotating inertia of the motor is compensated, the motor does not continue to rotate due to the rotating inertia, the output of the user is continuous, the output torque is optimized, the training effect can be improved, and the injury to the user is avoided. In addition, the current and the rotating speed of the motor and the pulling force of the user acting on the pull rope are collected to perform feedback adjustment, so that the torque output of the motor is accurately controlled, the set pulling force always exists in the pull rope, and the problem that the training effect is influenced due to discontinuous user output is avoided. After the motor outputs the torque opposite to the rotation direction of the motor, a small preset torque is output, so that the motor slowly retracts the pull rope, and muscle injury caused by too fast release of the load or cut injury caused by fast retraction of the pull rope to users are avoided.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a torque output control device for an exercise machine according to a third embodiment of the present invention, and as shown in fig. 3, the exercise machine includes a motor and a pull rope, the motor outputs torque through the pull rope, and the device includes:
the pulling force obtaining module 301 is used for obtaining the pulling force when the user pulls the pulling rope;
a working state determining module 302, configured to determine a working state of the motor according to the tension;
and a torque output control module 303, configured to control the motor to output a torque opposite to a rotation direction of the motor when the operating state is the target state, so as to compensate for rotational inertia of the motor.
Optionally, one end of the pull rope is provided with a tension sensor, and the tension obtaining module 301 includes:
the electric signal acquisition unit is used for acquiring an electric signal output by the tension sensor;
and the tension determining unit is used for determining the tension when the user pulls the pull rope according to the electric signal.
Optionally, the working state determining module 302 includes:
the tension judging unit is used for judging whether the tension is equal to zero or not;
and the target state determining unit is used for determining that the working state of the motor is the target state when the pulling force is zero.
Optionally, the torque output control module 303 includes:
the rotating speed obtaining submodule is used for obtaining the rotating speed of the motor;
the current acquisition submodule is used for acquiring the current of the motor;
and the torque determination submodule is used for controlling the motor to output torque opposite to the rotation direction of the motor based on the pulling force, the rotating speed and the current.
Optionally, the motor is a permanent magnet synchronous motor, the permanent magnet synchronous motor is connected to a three-phase inverter, the three-phase inverter is used for supplying power to the permanent magnet synchronous motor, and the current obtaining submodule includes:
and the current acquisition unit is used for acquiring the A-phase current and the B-phase current output by the three-phase inverter.
Optionally, the torque determination submodule includes:
a set rotation speed determination unit for determining a set rotation speed according to the set torque;
the set quadrature axis current determining unit is used for determining set quadrature axis current according to the set rotating speed;
the first current determining unit is used for determining the phase A current and the phase B current output by the three-phase inverter according to the set direct-axis current and the set quadrature-axis current;
the second current determining unit is used for converting the A-phase current and the B-phase current output by the three-phase inverter through Clark-park to obtain a direct-axis current and a quadrature-axis current;
the first feedback adjusting unit is used for performing feedback adjustment on the set rotating speed of the motor based on the pulling force;
the second feedback adjusting unit is used for performing feedback adjustment on the set quadrature axis current based on the rotating speed of the motor;
and the third feedback adjusting unit is used for performing feedback adjustment on the A-phase current and the B-phase current output by the three-phase inverter based on the direct-axis current and the quadrature-axis current so as to control the motor to output a torque opposite to the rotation direction of the motor.
Optionally, the exercise machine torque output control device further comprises:
and the preset torque output module is used for controlling the motor to output preset torque so as to withdraw the pull rope after controlling the motor to output torque opposite to the rotation direction of the motor.
The exercise machine torque output control device can execute the exercise machine torque output control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
An exercise apparatus according to a fourth embodiment of the present invention is provided, and fig. 4 is a schematic structural diagram of the exercise apparatus according to the fourth embodiment of the present invention, as shown in fig. 4, the exercise apparatus includes:
a processor 401, a memory 402, a communication module 403, an input device 404, and an output device 405; the number of processors 401 in the exercise apparatus may be one or more, and one processor 401 is taken as an example in fig. 4; the processor 401, memory 402, communication module 403, input device 404, and output device 405 of the exercise machine may be connected by a bus or other means, as exemplified by the bus connection in figure 4. The processor 401, memory 402, communication module 403, input device 404, and output device 405 described above may be integrated on the exercise machine.
The memory 402 may be used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as the modules corresponding to the exercise torque output control methods in the above-described embodiments (e.g., the tension obtaining module 301, the operating state determining module 302, and the torque output control module 303 in an exercise torque output control device). The processor 401 executes the software programs, instructions and modules stored in the memory 402 to perform various functional applications and data processing of the exercise machine, i.e., to implement the exercise machine torque output control method described above.
The memory 402 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the microcomputer, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 402 may further include memory located remotely from the processor 401, which may be connected to an electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
And a communication module 403, configured to establish a connection with an external device (e.g., an intelligent terminal), and implement data interaction with the external device. The input device 404 may be used to receive entered numeric or character information and generate key signal inputs relating to user settings and function controls of the exercise machine.
The exercise machine provided by the embodiment can execute the exercise machine torque output control method provided by the first embodiment and the second embodiment of the invention, and has corresponding functions and beneficial effects.
EXAMPLE five
An embodiment of the present invention provides a storage medium containing computer-executable instructions, wherein the computer program is stored on the storage medium, and when the computer program is executed by a processor, the method for controlling the torque output of the exercise machine according to any of the above embodiments of the present invention is implemented, the method comprising:
acquiring the pulling force when a user pulls the pull rope;
determining the working state of the motor according to the tension;
and when the working state is a target state, controlling the motor to output a torque opposite to the rotation direction of the motor so as to compensate the rotation inertia of the motor.
Of course, embodiments of the present invention provide a storage medium containing computer-executable instructions that are not limited to the method operations described above, but may also perform related operations in controlling the torque output of an exercise machine provided by embodiments of the present invention.
It should be noted that the apparatus, exercise machine, and storage medium embodiments are described for simplicity because they are substantially similar to the method embodiments, and reference may be made to some of the description of the method embodiments for relevant points.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes instructions for enabling an exercise apparatus to execute the exercise apparatus torque output control method according to any embodiment of the present invention.
It should be noted that, in the above apparatus, each of the modules, sub-modules, units and units included in the apparatus is merely divided according to functional logic, but is not limited to the above division as long as the corresponding function can be achieved; in addition, the specific names of the functional modules are only for convenience of distinguishing from each other and are not used for limiting the protection scope of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by suitable instruction execution devices. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. An exercise machine torque output control method, wherein the exercise machine includes a motor and a pull cord through which the motor outputs torque, comprising:
acquiring the pulling force when a user pulls the pull rope;
determining the working state of the motor according to the tension;
when the working state is a target state, controlling the motor to output a torque opposite to the rotation direction of the motor so as to compensate the rotation inertia of the motor;
after the controlling the motor to output a torque opposite to a rotation direction of the motor, further comprising:
and controlling the motor to output preset torque so as to retract the pull rope.
2. The method of claim 1, wherein a tension sensor is disposed at one end of the pull cord, and the obtaining of the tension of the pull cord when the user pulls the pull cord comprises:
acquiring an electric signal output by a tension sensor;
and determining the pulling force when the user pulls the pull rope according to the electric signal.
3. An exercise machine torque output control method as claimed in claim 1 wherein said determining an operating state of said motor from said tension comprises:
judging whether the tension is equal to zero or not;
and when the tension is zero, determining that the working state of the motor is a target state.
4. An exercise machine torque output control method as claimed in any one of claims 1 to 3 wherein controlling said motor to output a torque in a direction opposite to the direction of rotation of said motor comprises:
acquiring the rotating speed of the motor;
acquiring the current of the motor;
controlling the motor to output a torque opposite to a rotation direction of the motor based on the pulling force, the rotation speed, and the current.
5. An exercise machine torque output control method as claimed in claim 4 wherein said motor is a permanent magnet synchronous motor connected to a three phase inverter for powering said permanent magnet synchronous motor, said obtaining current of said motor comprising:
and acquiring the phase A current and the phase B current output by the three-phase inverter.
6. An exercise machine torque output control method as claimed in claim 5 wherein said controlling said motor to output a torque opposite to a direction of rotation of said motor based on said tension, said rotational speed and said current comprises:
determining a set rotating speed according to the set torque;
determining a set quadrature axis current according to the set rotating speed;
determining the phase A current and the phase B current output by the three-phase inverter according to the set direct-axis current and the set quadrature-axis current;
converting the phase A current and the phase B current output by the three-phase inverter through a Clark-park transformation to obtain a direct-axis current and a quadrature-axis current;
performing feedback regulation on the set rotating speed of the motor based on the tension;
performing feedback regulation on the set quadrature axis current based on the rotating speed of the motor;
and performing feedback regulation on the phase A current and the phase B current output by the three-phase inverter based on the direct-axis current and the quadrature-axis current, and further controlling the motor to output a torque opposite to the rotation direction of the motor.
7. An exercise machine torque output control apparatus, wherein the exercise machine includes a motor and a pull cord through which the motor outputs torque, the apparatus comprising:
the pull force acquisition module is used for acquiring the pull force when a user pulls the pull rope;
the working state determining module is used for determining the working state of the motor according to the pulling force;
the torque output control module is used for controlling the motor to output torque opposite to the rotation direction of the motor when the working state is a target state so as to compensate the rotation inertia of the motor;
and the preset torque output module is used for controlling the motor to output preset torque so as to withdraw the pull rope after controlling the motor to output torque opposite to the rotation direction of the motor.
8. An exercise machine, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the exercise machine torque output control method of any one of claims 1-6.
9. A computer-readable storage medium, on which a computer program is stored, which program, when executed by a processor, carries out the method of controlling the torque output of an exercise machine according to any one of claims 1 to 6.
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| CN114832282B (en) * | 2021-02-02 | 2024-01-23 | 广州视源电子科技股份有限公司 | Motor control method and device, storage medium and electronic equipment |
| CN114904207B (en) * | 2021-02-10 | 2024-02-27 | 广州源动智慧体育科技有限公司 | Control method and device for strength training instrument and strength training instrument |
| CN113357918A (en) * | 2021-05-13 | 2021-09-07 | 武汉钢铁有限公司 | Steel loading machine hovering control method, device, system and storage medium |
| CN113384853A (en) * | 2021-05-31 | 2021-09-14 | 北京觅淘智联科技有限公司 | Passive training fitness method and device |
| CN115177926B (en) * | 2022-06-30 | 2024-05-07 | 杭州龙蓓格科技有限公司 | Digital body-building system with multiple safety protection for user |
| CN115253151A (en) * | 2022-06-30 | 2022-11-01 | 杭州龙蓓格科技有限公司 | Intelligent digital energy self-circulation body-building system |
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