CN112138328B - Exercise machine force-losing protection method and device, exercise machine and medium - Google Patents
Exercise machine force-losing protection 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
- A63B21/22—Resisting devices with rotary bodies
Abstract
The invention discloses a method and a device for protecting the strength of a fitness device, the fitness device and a medium. The method comprises the following steps: the method comprises the steps of obtaining load torque of a motor, determining the load state of the motor according to the load torque, and controlling the output torque of the motor to be reduced from a first torque to a second torque according to the load state and the load torque. At the moment that the user releases or takes off the power suddenly, the motor outputs a very small second torque, so that the problem that the human body is injured due to the fact that the relatively large first torque output by the motor acts on the human body when the user releases or takes off the power suddenly is avoided, and the safety of the fitness equipment is improved.
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 protecting the strength of the fitness equipment, the fitness equipment and a medium.
Background
Along with the continuous progress of society, the living standard of people is greatly improved, and people pay more and more attention to sports and fitness. The pure mechanical strength training equipment is the traditional fitness equipment widely used at present, the fitness equipment mainly comprises a transmission mechanism and a counterweight group, the counterweight group is used as the load of the fitness equipment, the counterweight group comprises a plurality of counterweights, and when the pure mechanical strength training equipment is used, a fitness person pulls the selected counterweights in the counterweight group through the transmission machine to realize training.
The traditional strength training equipment usually adopts a counterweight mode to provide training load for a user, but the counterweight usually increases or decreases by one step, and cannot be continuously changed, so that the most suitable training load cannot be matched for the user. 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.
The strength training can be generally divided into a force application stage and a load release stage, wherein the force application stage is a rapid human strength burst stage, and the load release stage is a load smooth rapid reduction stage. However, when the existing fitness equipment is used for strength training, the motor continuously keeps output of the set torque in the whole strength training process after the set torque is set, and when a user suddenly releases or takes off the strength, the set torque output by the motor is still constantly applied to a human body, so that the human body is easily injured.
Disclosure of Invention
The invention provides a method and a device for protecting the force-releasing of a body-building apparatus, the body-building apparatus and a medium, which are used for avoiding the problem that a larger first torque output by a motor acts on a human body to hurt the human body at the moment that a user releases or releases force suddenly, and improving the safety of the body-building apparatus.
In a first aspect, an embodiment of the present invention provides a method for protecting a fitness device from falling off, including:
acquiring load torque of a motor;
determining a load state of the motor according to the load torque;
and controlling the output torque of the motor to be reduced from a first torque to a second torque according to the load state and the load torque.
Optionally, the obtaining of the load torque of the motor includes:
acquiring the rotating speed of the motor;
acquiring the current of the motor;
determining the load torque based on the rotational 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 converting the A-phase current and the B-phase current output by the three-phase inverter through a Clark-park to obtain a quadrature axis current as the current of the motor.
Optionally, the determining the load torque based on the rotation speed and the current comprises:
and inputting the quadrature axis current and the rotating speed into a torque observer to obtain the load torque.
Optionally, inputting the quadrature axis current and the rotation speed into a torque observer to obtain the load torque, where the method includes:
calculating a first numerical value based on the number of pole pairs of the motor, flux linkage parameters and rotational inertia;
calculating the product of the quadrature axis current and the first value as a second value;
calculating the integral of the second numerical value to the time to obtain the observed value of the rotating speed;
determining the sign of the difference value between the observed value of the rotating speed and the rotating speed through a sign function;
calculating a product of the sign and a torque output coefficient as a third value;
and calculating the integral of the third value to the time to obtain the load torque.
Optionally, the determining the load state of the motor according to the load torque includes:
calculating the differential of the load torque to the time to obtain a fourth numerical value;
determining a load state of the motor based on the fourth value.
Optionally, the controlling the output torque of the motor to be switched from the first torque to the second torque according to the load state and the load torque includes:
determining that the load state of the motor is a target state, wherein the load torque of the motor is in a descending trend in the target state;
judging whether the load torque is smaller than a preset value;
and when the load torque is smaller than a preset value, controlling the output torque of the motor to be switched from a first torque to a second torque.
Optionally, the exercise device includes a motor and a pull rope, the motor outputs torque through the pull rope, and after controlling the output torque of the motor to be switched from a first torque to a second torque, the exercise device further includes:
acquiring the pulled-out length of a pull rope, wherein the pulled-out length is the distance between the free end of the pull rope and an initial position;
and controlling the output torque of the motor to be a first torque when the pulled-out length of the pull rope is zero.
In a second aspect, embodiments of the present invention further provide an exercise apparatus force-disengaging protection device, including:
the load torque acquisition module is used for acquiring the load torque of the motor;
the load state determining module is used for determining the load state of the motor according to the load torque;
and the output torque control module is used for controlling the output torque of the motor to be switched from a first torque to a second torque according to the load state and the load torque, and the second torque is smaller than the first torque.
Optionally, the load torque obtaining module 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;
a load torque determination submodule to determine the load torque based on the 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 converting the A-phase current and the B-phase current output by the three-phase inverter through a Clark-park to obtain a quadrature axis current as the current of the motor.
Optionally, the load torque determination submodule includes:
and the load torque determining unit is used for inputting the quadrature axis current and the rotating speed into a torque observer to obtain the load torque.
Optionally, the load torque determination unit includes:
the first calculating subunit is used for calculating a first numerical value based on the pole pair number, the flux linkage parameter and the rotational inertia of the motor;
the second calculating subunit is used for calculating the product of the quadrature axis current and the first numerical value as a second numerical value;
the third calculating subunit is used for calculating the integral of the second numerical value to time to obtain the observed value of the rotating speed;
a sign determining subunit, configured to determine, through a sign function, a sign of a difference value between the observed value of the rotation speed and the rotation speed;
a fourth calculation subunit configured to calculate a product of the sign and the torque output coefficient as a third numerical value;
and the fifth calculating subunit is used for calculating the integral of the third value to time to obtain the load torque.
Optionally, the load status determining module includes:
the fourth numerical value calculation submodule is used for calculating the differential of the load torque to time to obtain a fourth numerical value;
and the load state determining submodule is used for determining the load state of the motor based on the fourth numerical value.
Optionally, the output torque control module comprises:
the target state determining submodule is used for determining that the load state of the motor is a target state, and the load torque of the motor is in a descending trend in the target state;
the judgment submodule is used for judging whether the load torque is smaller than a preset value or not;
and the output torque control submodule is used for controlling the output torque of the motor to be switched from the first torque to the second torque when the load torque is smaller than a preset value.
Optionally, the exercise apparatus includes a motor and a pull rope, the motor outputs torque through the pull rope, and the exercise apparatus force-releasing protection device further includes:
the length acquisition module is used for acquiring the pulled-out length of the pull rope after the output torque of the motor is controlled to be switched from a first torque to a second torque, wherein the pulled-out length is the distance between the free end of the pull rope and the initial position;
the output torque control module is further configured to control the output torque of the motor to be a first torque when the pulled-out length of the pull rope is zero.
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 disengagement protection method as provided by the first aspect of the invention.
In a fourth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the exercise device force-loss protection method according to the first aspect of the present invention.
The force-losing protection method for the fitness equipment provided by the embodiment of the invention comprises the following steps: the method comprises the steps of obtaining load torque of a motor, determining a load state of the motor according to the load torque, and controlling output torque of the motor to be switched from first torque to second torque according to the load state and the load torque, wherein the second torque is smaller than the first torque. At the moment that the user releases or takes off the power suddenly, the motor outputs a very small second torque, so that the problem that the human body is injured due to the fact that the relatively large first torque output by the motor acts on the human body when the user releases or takes off the power suddenly is avoided, and the safety of the fitness equipment is improved.
Drawings
FIG. 1A is a flowchart illustrating a method for protecting a user from falling off of an exercise apparatus according to an embodiment of the present invention;
FIG. 1B is a schematic diagram illustrating variations in output torque and load torque provided by an embodiment of the present invention;
FIG. 2A is a flowchart illustrating a method for protecting a user from falling off 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. 2C is a processing logic diagram of a sliding mode torque observer according to a second embodiment of the present invention;
FIG. 2D is a logic diagram of an output torque according to a second embodiment of the present invention;
FIG. 2E is a schematic diagram of an exercise apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a third apparatus for protecting the force-disengaging mechanism of the exercise device according to the 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 a method for protecting a user from losing force of an exercise machine according to an embodiment of the present invention, where the embodiment is applicable to a situation where the user protects the user at an instant when the user suddenly releases or loses force, and the method can be implemented by a device for protecting the user from losing force of the exercise machine according to an embodiment of the present invention, where the device can be implemented in software and/or hardware, and is integrated into the exercise machine according to an embodiment of the present invention, as shown in fig. 1A, the method specifically includes the following steps:
and S101, acquiring the load torque of the motor.
Specifically, the load torque of the motor is the torque required by the motor to drive the load, the load torque is a variable and is in positive correlation with the size of the load, and in the embodiment of the invention, the load is the force applied by the utility personnel on the fitness equipment in the training process. In the embodiment of the invention, the load torque of the motor is continuously acquired at a certain frequency. For example, the load torque may be obtained by using a torque observer, or may be indirectly obtained by using a method of detecting a load magnitude, which is not limited herein.
In an embodiment of the present invention, the exercise device may include a training device that uses an output torque of a motor as a load, such as a tension training device, a weight training device, a spinning bike, or a rowing machine, which is not limited herein.
And S102, determining the load state of the motor according to the load torque.
Specifically, the variation trend of the load torque may be determined as the load state by comparing the load torques acquired a plurality of times. In the embodiment of the invention, the correspondence between the load torque of the motor and the load state of the motor may be established in advance. For example, in the test phase, the load torque may be subjected to test sampling, and a corresponding relationship between the load torque of the motor and the load state of the motor may be established.
For example, in some embodiments of the present invention, the variation trend of the load torque may be determined by comparing the magnitudes of the load torques acquired at any two adjacent time instants, and in other embodiments of the present invention, the variation trend of the load torque may also be determined by differentiating the load torque with respect to time, which is not limited herein.
In the embodiment of the present invention, the load state of the motor may include a loading state in which the load torque tends to increase and an unloading state in which the load torque tends to decrease.
And S103, controlling the output torque of the motor to be switched from the first torque to the second torque according to the load state and the load torque.
Fig. 1B is a schematic diagram illustrating changes in output torque and load torque according to an embodiment of the present invention, as shown in fig. 1B, specifically, when the load state of the motor is an unloading state and the load torque is a load torque
Less than a predetermined value TsWhen the moment when the user suddenly releases or releases the force is determined, the output torque T of the motor is controlledeBy a first torque T1Quickly switch to the second torque T2Wherein the second torque T2Less than the first torque T1. Wherein, in the embodiment of the present invention, the first torque T1The output torque of the electrodes, set by the user for normal training, during normal strength training,the electric machine continuously maintaining the first torque T1And (6) outputting. Preset value TsMay be slightly less than the first torque T1. Second torque T2Can be a very small torque, and at the moment that a user suddenly releases or removes the force, the motor outputs a very small second torque T2Avoid the moment when the user suddenly releases or releases the force, the first torque T outputted by the motor is larger1The utility model can be applied to human body to cause injury, and improve the safety of the fitness equipment.
The force-losing protection method for the fitness equipment provided by the embodiment of the invention comprises the following steps: the method comprises the steps of obtaining load torque of a motor, determining a load state of the motor according to the load torque, and controlling output torque of the motor to be switched from first torque to second torque according to the load state and the load torque, wherein the second torque is smaller than the first torque. At the moment that the user releases or takes off the power suddenly, the motor outputs a very small second torque, so that the problem that the human body is injured due to the fact that the relatively large first torque output by the motor acts on the human body when the user releases or takes off the power suddenly is avoided, and the safety of the fitness equipment is improved.
Example two
Fig. 2A is a flowchart of a method for protecting against force loss of an exercise apparatus according to a second embodiment of the present invention, which is optimized based on the first embodiment, and describes in detail a detailed process of acquiring a load torque of a motor and determining a load state according to the second embodiment of the present invention, specifically, as shown in fig. 2A, the method according to the second embodiment of the present invention may include the following steps:
s201, obtaining the rotating speed of the motor.
Specifically, in the embodiment of the present invention, the position sensor inside the motor may detect that the rotation of the motor is the position change of the rotating shaft, and the rotation speed of the motor may 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.
S202, obtaining the current of the motor.
Specifically, the current of the motor may be a driving current. 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, a three-phase inverter receives a dc voltage UdcAnd 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. 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 alternating current to the PMSM.
The A phase current i output by the three-phase inverteraAnd 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, the stationary coordinate systems are changed into the rotating coordinate systems to respectively obtain direct-axis current idAnd quadrature axis current iqThe quadrature axis current iqAs the current of the motor.
Further, as shown in fig. 2B, after receiving the rotation speed w of the motor collected by the position sensor, the internal processor performs differential processing on the rotation speed w of the collected motor, performs proportional differential adjustment (PI in the figure) in combination with the rotation speed set value w, and combines the quadrature axis current i obtained through park transformationqObtaining a set quadrature axis current iqThen, for the set quadrature axis current iqProportional differential regulation is carried out to obtain quadrature axis voltage Uq(ii) a Similarly, the internal processor receives the direct-axis current i obtained after park transformationdThen, the axial current i is aligneddProportional differential regulation is carried out to obtain a direct axis voltage Ud. 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 S203, determining the load torque based on the rotating speed and the current.
Specifically, in the embodiment of the present invention, the quadrature axis current and the rotational speed are input to the torque observer to obtain the load torque. In the closed-loop control of the permanent magnet synchronous motor, the traditional design of the rotating speed controller assumes that the load torque disturbance is zero or a fixed value, so that a transfer function between an actual value and a reference value of the rotating speed is obtained, and a design scheme of the controller is obtained by optimizing the closed-loop transfer function. However, when the load torque changes, the controller cannot well suppress the load disturbance at the same time, and the introduction of the feedforward compensation of the load torque to form a two-degree-of-freedom controller is a good solution. Direct measurement of load torque is costly and is greatly affected by instrument accuracy and response speed, so the torque observer becomes a good choice. Since the motor motion equation includes load torque, the observation of the rotor position and speed and the observation of the load torque are generally combined and still referred to as a torque observer.
Specifically, in the embodiment of the present invention, the torque observer may be a sliding mode torque observer, and fig. 2C is a processing logic diagram of a sliding mode torque observer provided in the second embodiment of the present invention, as shown in fig. 2C, the sliding mode torque observer receives a motor rotation speed w output by the position sensor, and a quadrature axis current i obtained after park transformationqThe sliding mode torque observer is used for measuring the rotating speed w and the quadrature axis current i of the motorqThe treatment process comprises the following steps:
calculating a first numerical value based on the number of pole pairs of the motor, flux linkage parameters and rotational inertia, and calculating quadrature axis current iqTaking the product of the first numerical value and the second numerical value as a second numerical value, calculating the integral of the second numerical value with time to obtain the observed value of the rotating speed, and determining the observed value of the rotating speed and the observed value of the rotating speed through a sign functionAnd calculating the product of the sign and the torque output coefficient as a third numerical value of the sign of the difference value, and calculating the integral of the third numerical value with respect to time to obtain an observed value of the load torque.
In an embodiment of the present invention, the sign of the difference between the observed value of the rotation speed and the rotation speed, and the observed value of the load torque are used as feedback signals to perform feedback adjustment on the observed value of the rotation speed.
In particular, the observed value of the rotational speed
The calculation formula of (the value observed by the sliding-mode torque observer) is as follows:
wherein p is the number of pole pairs of the motor, psiaIs the flux linkage parameter of the motor, J is the rotational inertia of the system,
and U is the sign of the difference between the observed value and the rotating speed.
The calculation formula of the sign U of the difference value between the observed value and the rotating speed is as follows:
wherein the content of the first and second substances,
the observed value of the rotation speed is w, the rotation speed (i.e. the rotation speed of the motor measured by the position sensor) is w, sign (x) is a sign function, k is the sensitivity coefficient of the motor, and the value of k is 1.
The calculation formula of the observed value of the load torque is as follows:
where g is the torque output coefficient, FIG. 2C
Is an integration operation.
And S204, calculating the differential of the load torque to the time to obtain a fourth numerical value.
FIG. 2D is a logic diagram of an output torque according to a second embodiment of the present invention, as shown in FIG. 2D, the torque observer is based on the quadrature axis current iqObserving the rotation speed of the motor to obtain the load torque
Then, the load torque is calculated
Differentiating the time to obtain a fourth value, wherein the fourth value is the load torque
Rate of change with respect to time.
And S205, determining the load state of the motor based on the fourth numerical value.
Specifically, the load state of the motor is determined according to the sign of the fourth numerical value, for example, when the fourth numerical value is a negative number, the load torque is determined to have a decreasing trend of change, that is, the load state of the motor is an unloading state; when the fourth value is positive, the load torque is determined to have an increasing trend, that is, the load state of the motor is a loaded state.
And S206, determining the load state of the motor as a target state, wherein the load torque of the motor is in a descending trend in the target state.
Specifically, the current load state of the motor is determined to be a target state, and the load torque of the motor is in a descending trend in the target state, namely the target state is an unloading state.
And S207, judging whether the load torque is smaller than a preset value.
Specifically, after the current state of the motor is determined as the target state, the load torque is further judged
Whether or not less than a preset value Ts。
And S208, when the load torque is smaller than the preset value, controlling the output torque of the motor to be switched from the first torque to the second torque.
The fitness equipment can be specifically a chest expander and is used for exercising upper limb muscles.
When loaded with torque
When the torque is smaller than the preset value, the moment when the user releases or releases the force suddenly is determined, and the output torque T of the motor is controlled at the momenteBy a first torque T1Quickly switch to the second torque T2Wherein the second torque T2Less than the first torque T1. Wherein, in the embodiment of the present invention, the first torque T1The output torque of the electrodes is set by the user for normal training, and the motor continuously maintains the first torque T during normal strength training1And (6) outputting. Preset value TsMay be slightly less than the first torque T1. Second torque T2Can be a very small torque, and at the moment that a user suddenly releases or removes the force, the motor outputs a very small second torque T1The pull rope is slowly retracted, so that the problem that the user is cut by rapidly retracting the pull rope in the moment that the user releases or takes off the force suddenly is avoided, and the safety of the fitness equipment is improved.
And S209, acquiring the pulled-out length of the pull rope, wherein the pulled-out length is the distance between the free end of the pull rope and the initial position.
Fig. 2E is a schematic structural diagram of an exercise apparatus, which may be a chest expander, for exercising upper limb muscles according to an embodiment of the present invention. As shown in fig. 2E, the exercise apparatus includes a housing 10, a pull cord 20, and a motor (not shown). The motor is arranged in the shell 10, one end of the pull rope 20 is connected with a rotating shaft of the motor, the free end of the pull rope 20 penetrates through a rope hole in the shell 10, and the free end P is connected with a pull ring 21 for a user to hold. 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.
The initial position of the free end P is the position O of the rope hole in the drawing, i.e. when no external force is applied to the free end P (or when no user is applied to the free end P), the free end P of the rope 20 is at the initial position O.
The pulled-out length of the cord 20 is a distance from the initial position O of the free end P of the cord 20 when an external force is applied to the free end P, and the pulled-out length of the cord 20 shown in fig. 2E is exemplarily a length of the line segment OP.
And S210, when the drawn length of the pull rope is zero, controlling the output torque of the motor to be a first torque.
Specifically, after the output torque of control motor switched to the second torque by first torque, the stay cord of chest expander slowly retrieved (pulled out length and shortened gradually) under the effect of second torque, when being pulled out length of stay cord was zero, when the stay cord replied to initial position promptly, the output torque of control motor was first torque, when avoiding taking exercise next time, the output torque that the user of exerting oneself and being far greater than the motor led to the fact the injury to the user.
The force-losing protection method for the fitness equipment provided by the embodiment of the invention comprises the following steps: the method comprises the steps of obtaining load torque of the motor through a torque observer, determining a load state of the motor according to the load torque, and controlling output torque of the motor to be switched from first torque to second torque according to the load state and the load torque, wherein the second torque is smaller than the first torque. In the moment that the user releases or takes off power suddenly, the motor outputs a very small second torque, so that the pull rope is slowly retracted, the problem that the user is cut due to the fact that the pull rope is rapidly retracted in the moment that the user releases or takes off power suddenly is avoided, and the safety of the fitness equipment is improved. In addition, when the stay cord was retrieved to initial position, the output torque of control motor was first moment, when avoiding taking exercise next time, the user of service exerts a force and is far greater than the output torque of motor and causes the injury to the user of service.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a force-disengaging protection device for an exercise machine according to a third embodiment of the present invention, as shown in fig. 3, the device includes:
a load torque acquisition module 301, configured to acquire a load torque of a motor;
a load state determination module 302 for determining a load state of the motor according to the load torque;
and the output torque control module 303 is configured to control the output torque of the motor to be switched from a first torque to a second torque according to the load state and the load torque, where the second torque is smaller than the first torque.
Optionally, the load torque obtaining module 301 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;
a load torque determination submodule to determine the load torque based on the 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 converting the A-phase current and the B-phase current output by the three-phase inverter through a Clark-park to obtain a quadrature axis current as the current of the motor.
Optionally, the load torque determination submodule includes:
and the load torque determining unit is used for inputting the quadrature axis current and the rotating speed into a torque observer to obtain the load torque.
Optionally, the load torque determination unit includes:
the first calculating subunit is used for calculating a first numerical value based on the pole pair number, the flux linkage parameter and the rotational inertia of the motor;
the second calculating subunit is used for calculating the product of the quadrature axis current and the first numerical value as a second numerical value;
the third calculating subunit is used for calculating the integral of the second numerical value to time to obtain the observed value of the rotating speed;
a sign determining subunit, configured to determine, through a sign function, a sign of a difference value between the observed value of the rotation speed and the rotation speed;
a fourth calculation subunit configured to calculate a product of the sign and the torque output coefficient as a third numerical value;
and the fifth calculating subunit is used for calculating the integral of the third value to time to obtain the load torque.
Optionally, the load status determining module 302 includes:
the fourth numerical value calculation submodule is used for calculating the differential of the load torque to time to obtain a fourth numerical value;
and the load state determining submodule is used for determining the load state of the motor based on the fourth numerical value.
Optionally, the output torque control module 303 includes:
the target state determining submodule is used for determining that the load state of the motor is a target state, and the load torque of the motor is in a descending trend in the target state;
the judgment submodule is used for judging whether the load torque is smaller than a preset value or not;
and the output torque control submodule is used for controlling the output torque of the motor to be switched from the first torque to the second torque when the load torque is smaller than a preset value.
Optionally, the exercise apparatus includes a motor and a pull rope, the motor outputs torque through the pull rope, and the exercise apparatus force-releasing protection device further includes:
the length acquisition module is used for acquiring the pulled-out length of the pull rope after the output torque of the motor is controlled to be switched from a first torque to a second torque, wherein the pulled-out length is the distance between the free end of the pull rope and the initial position;
the output torque control module is further configured to control the output torque of the motor to be a first torque when the pulled-out length of the pull rope is zero.
The exercise machine force-losing protection device can execute the method provided by any embodiment of the invention, and has the 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 device disengagement protection methods in the embodiments described above (e.g., the load torque acquisition module 301, the load state determination module 302, and the output torque control module 303 in an exercise device disengagement protection apparatus). The processor 401 executes the software programs, instructions and modules stored in the memory 402 to execute various functional applications and data processing of the exercise machine, i.e., to implement the exercise machine force-loss protection 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 force-losing protection method provided by the first embodiment and the second embodiment of the invention, and has corresponding functions and beneficial effects.
EXAMPLE five
A fifth 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 protecting against falling-off of an exercise apparatus according to any of the above-mentioned embodiments of the present invention is implemented.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform the operations related to the method for protecting the exercise device from falling.
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 this 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 perform the exercise apparatus force-releasing protection 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 sub-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 (11)
1. A method for protecting a fitness device from falling off, comprising:
acquiring load torque of a motor;
determining a load state of the motor according to the load torque;
and when the load state is an unloading state, controlling the output torque of the motor to be switched from a first torque to a second torque according to the load state and the load torque, wherein the second torque is smaller than the first torque.
2. The exercise machine force loss prevention method of claim 1 wherein said obtaining a load torque of a motor comprises:
acquiring the rotating speed of the motor;
acquiring the current of the motor;
determining the load torque based on the rotational speed and the current.
3. A method as claimed in claim 2, wherein the motor is a permanent magnet synchronous motor connected to a three-phase inverter for supplying power to the permanent magnet synchronous motor, and the obtaining of the current of the motor comprises:
and converting the A-phase current and the B-phase current output by the three-phase inverter through a Clark-park to obtain a quadrature axis current as the current of the motor.
4. The exercise machine force loss prevention method of claim 3, wherein the determining the load torque based on the rotational speed and the current comprises:
and inputting the quadrature axis current and the rotating speed into a torque observer to obtain the load torque.
5. The exercise machine force-loss protection method of claim 4, wherein inputting the quadrature axis current and the rotational speed into a torque observer to obtain the load torque comprises:
calculating a first numerical value based on the number of pole pairs of the motor, flux linkage parameters and rotational inertia;
calculating the product of the quadrature axis current and the first value as a second value;
calculating the integral of the second numerical value to the time to obtain the observed value of the rotating speed;
determining the sign of the difference value between the observed value of the rotating speed and the rotating speed through a sign function;
calculating a product of the sign and a torque output coefficient as a third value;
and calculating the integral of the third value to the time to obtain the load torque.
6. An exercise machine force-loss prevention method as in any of claims 1-5 wherein said determining a load state of said motor from said load torque comprises:
calculating the differential of the load torque to the time to obtain a fourth numerical value;
determining a load state of the motor based on the fourth value.
7. An exercise machine force release protection method according to any of claims 1-5, wherein said controlling the output torque of the motor to switch from a first torque to a second torque based on the load condition and the load torque comprises:
determining that the load state of the motor is a target state, wherein the load torque of the motor is in a descending trend in the target state;
judging whether the load torque is smaller than a preset value;
and when the load torque is smaller than a preset value, controlling the output torque of the motor to be switched from a first torque to a second torque.
8. The exercise machine force release protection method of claim 7, wherein the exercise machine comprises a motor and a pull cord, the motor outputting a torque through the pull cord, and after controlling the output torque of the motor to switch from a first torque to a second torque, further comprising:
acquiring the pulled-out length of a pull rope, wherein the pulled-out length is the distance between the free end of the pull rope and an initial position;
and controlling the output torque of the motor to be a first torque when the pulled-out length of the pull rope is zero.
9. An exercise machine force-disengaging protection device, comprising:
the load torque acquisition module is used for acquiring the load torque of the motor;
and the output torque control module is used for controlling the output torque of the motor to be switched from a first torque to a second torque when the load torque is reduced to a preset value, wherein the second torque is smaller than the first torque.
10. 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 device disengagement protection method of any of claims 1-8.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of protecting against the loss of force of an exercise apparatus according to any one of claims 1 to 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010966244.0A CN112138328B (en) | 2020-09-15 | 2020-09-15 | Exercise machine force-losing protection method and device, exercise machine and medium |
| PCT/CN2021/118403 WO2022057809A1 (en) | 2020-09-15 | 2021-09-15 | Method and device for physical weakness protection of fitness apparatus, fitness apparatus, and medium |
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| CN202010966244.0A CN112138328B (en) | 2020-09-15 | 2020-09-15 | Exercise machine force-losing protection method and device, exercise machine and medium |
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| CN112138328B (en) * | 2020-09-15 | 2022-02-11 | 广州视源电子科技股份有限公司 | Exercise machine force-losing protection method and device, exercise machine and medium |
| 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 |
| CN113567730A (en) * | 2021-08-09 | 2021-10-29 | 华能新能源股份有限公司陕西分公司 | Generator shaft voltage measuring method based on rotating speed signal |
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| US20190308071A1 (en) * | 2018-04-10 | 2019-10-10 | Hermann Makayeu Diety | Intelligent Fitness |
| CN112138328B (en) * | 2020-09-15 | 2022-02-11 | 广州视源电子科技股份有限公司 | Exercise machine force-losing protection method and device, exercise machine and medium |
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| KR20140124161A (en) * | 2013-04-16 | 2014-10-24 | 주식회사 웰테크 | Athletic apparatus using the motor |
| CN108712119A (en) * | 2018-04-09 | 2018-10-26 | 江苏大学 | Induction-type bearingless motor anti-disturbance control system based on sliding moding structure |
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| CN112138328A (en) | 2020-12-29 |
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