CN115177926A - Digital body-building system with multiple safety protection to user - Google Patents
Digital body-building system with multiple safety protection to user Download PDFInfo
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- CN115177926A CN115177926A CN202210755880.8A CN202210755880A CN115177926A CN 115177926 A CN115177926 A CN 115177926A CN 202210755880 A CN202210755880 A CN 202210755880A CN 115177926 A CN115177926 A CN 115177926A
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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
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- 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
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
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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
- A63B2071/0072—Limiting the applied force, torque, movement or speed
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/20—Miscellaneous features of sport apparatus, devices or equipment with means for remote communication, e.g. internet or the like
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/50—Charging of capacitors, supercapacitors, ultra-capacitors or double layer capacitors
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention relates to the technical field of fitness, in particular to a digital fitness system with multiple safety protection functions for users. The electric fitness machine comprises a motor and a pull rope, wherein a winding shaft is arranged on a rotating shaft of the motor, the pull rope is arranged on the winding shaft, one end of the pull rope is fixed on the winding shaft, the other end of the pull rope is connected with a handle, and the electric fitness machine further comprises an FOC controller and an electromechanical actuating mechanism which is formed by the motor. The energy recovery system consists of an FOC controller, a super capacitor and a wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module. The energy recovery system realizes the self-circulation operation separated from a high-voltage commercial power grid, and meanwhile, the FOC controller controls the maximum voltage output to the super capacitor to be not more than the range of 36V which is the human body safety voltage by using an output voltage limiting algorithm. The part that inside messenger took place the electric leakage or the user accident touches inside electricity promptly also can not cause the injury, ensures the safety of user in the aspect of the electric shock.
Description
Technical Field
The invention relates to the technical field of fitness, in particular to a digital fitness system with multiple safety protection functions for users.
Background
The pull rope is drawn through the not equidirectional pulling of strength training ware, and the pull rope can set up different resistance size to can assist the muscle group of a plurality of positions such as user training pectoralis major, deltoid, abdominal muscle group, waist muscle group, receive liking of body-building fan deeply.
However, the traditional strength training device has low safety performance, which is particularly shown in the following aspects:
1. the traditional strength training device is connected with 220V civil voltage, and safety accidents are easily caused if electric leakage or short circuit occurs.
2. The traditional force trainer is not provided with electric damping or mechanical damping, and if the pulling resistance suddenly disappears or the body force is insufficient, the muscle of a person being trained is pulled or fallen or injured by a body building apparatus; in addition, when the trained person is weak, the exercise apparatus rebounds or falls off after the hand is suddenly loosened, so that the exercise apparatus is damaged, and the person is possibly injured greatly.
In view of the above, the present application provides an intelligent digital energy self-circulation fitness system and method.
Disclosure of Invention
The invention aims to provide a digital body-building system with multiple safety protection functions for users aiming at the defects of the prior art.
In order to solve the technical problems, the following technical scheme is adopted:
the utility model provides a digital body-building system with multiple safety protection to user, includes motor and stay cord, be equipped with the spool in the pivot of motor, be equipped with the stay cord on the spool, the one end of stay cord is fixed on the spool, the other end of stay cord is connected with the handle, still includes
FOC controller: the FOC controller is used for converting mechanical energy generated by pulling the pull rope by a user and driving the motor to rotate into pulse electric energy;
the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module comprises: the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module is used for receiving the pulse electric energy and storing the pulse electric energy in a super capacitor in a charge mode;
the wide-voltage full-bridge DCDC electric energy conversion and voltage stabilization module is also used for converting pulse electric energy stored in the super capacitor into fixed voltage and supplying the fixed voltage to the touch display device and other auxiliary electric equipment;
the pulse electric energy is intermittent discontinuous pulse type energy and has instant high power;
super capacitor: the super capacitor is used for storing the pulse electric energy converted by the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module;
the FOC controller comprises a farad capacitor module, a booster circuit module and a grid drive circuit module, wherein the farad capacitor module is respectively and electrically connected with the booster circuit module and the grid drive circuit module,
the grid drive circuit module is used for supplying a high level to the grid drive circuit module after the FOC controller is powered off, so that the FOC controller is kept continuously on, the short circuit of a phase line of the motor is realized, and a damping force is generated;
the boost circuit module is used for forcibly pushing the motor to rotate to generate electric energy after the farad capacitor module loses the electric energy, charging the farad capacitor module, enabling a high level to the grid drive circuit module, keeping the FOC controller continuously switched on, realizing the short circuit of a phase line of the motor and generating damping force;
the speed limiting damper comprises a main shaft and a fixed pulley, the fixed pulley is rotatably arranged on the main shaft, a centrifugal damping mechanism is arranged at one end of the main shaft, and a spring reset mechanism is arranged at the other end of the main shaft.
Further, farad capacitor module includes farad capacitor, PMOS type switch tube K2, diode D3 and resistance R2, farad capacitor's one end electricity is connected with PMOS type switch tube K2, PMOS type switch tube K2 electricity is connected with diode D3, diode D3 electricity is connected with resistance R2, resistance R2 connects gate drive circuit module, farad capacitor's other end electricity is connected with resistance R1 and diode D7, resistance R1 and diode D7's the other end is connected PMOS type switch tube K2, farad capacitor's electricity passes through PMOS type switch tube K2 diode D3 with resistance R2 is right gate drive circuit module power supply maintains the high level.
Further, the BOOST circuit module includes a BOOST control chip, an inductor L1, a diode D8 and a mos tube T1, the BOOST control chip is connected with the mos tube T1, one end of the mos tube T1 is electrically connected with the inductor L1 and the diode D8, the inductor L1 is electrically connected with a USB voltage VBUS, the diode D8 is connected with the PMOS type switch tube K2, the other end of the mos tube T1 is electrically connected with ground, and the mos tube T1 is connected in parallel with a capacitor C1.
Further, the gate driving circuit module comprises a half-bridge power tube Q2, and the half-bridge power tube Q2 is connected with the farad capacitor module and the gate driver.
Furthermore, the gate driving circuit module further comprises an NMOS type switching tube K1, one end of the NMOS type switching tube K1 is connected with a half-bridge power tube Q2, and the other end of the NMOS type switching tube K1 is connected with a gate driver.
Furthermore, centrifugal damping mechanism includes damping material, damping disc and clutch spare, the clutch spare rotationally install in the one end of main shaft, the clutch spare meshing is connected with the damping disc, the outside of damping disc is equipped with the damping material.
Furthermore, the spring return mechanism includes the elastic component that resets and stopper, the one end of the elastic component that resets is installed in the tip of main shaft, the other end of the elastic component that resets can not break away from the confined region of spring return mechanism through the stopper.
Furthermore, the clutch piece comprises a connecting piece and a clutch cam, the middle part of the connecting piece is fixedly connected with the main shaft, and two ends of the connecting piece are connected with the clutch cam; the outside of separation and reunion cam is equipped with separation and reunion meshing tooth, the inside of damping dish is equipped with the damping tooth's socket, separation and reunion meshing tooth with the damping tooth's socket phase-match.
Further, the FOC controller also comprises a sampling resistance module,
the sampling resistor module comprises m sampling resistors which are connected in parallel, wherein m is an integer larger than 1, and the sampling resistor module dynamically adjusts the amplification factor of the phase current sampling according to the requirement;
the sampling resistor module further comprises a grid driving unit and a plurality of mos tubes, one end of the grid driving unit is connected with the motor control module, the other end of the grid driving unit is connected with the mos tubes in series, the mos tubes correspond to grid driving circuits of the grid driving unit, and the sampling resistor module is connected with the mos tubes correspondingly.
Further, the FOC controller also comprises a programmable PGA array module,
the programmable PGA array module comprises n programmable gain amplifiers formed by connecting n pieces in parallel, wherein n is an integer greater than 1, and the programmable PGA array module dynamically adjusts the amplification factor of the phase current sampling according to requirements;
the programmable PGA array module further comprises a plurality of electronic switches, one end of each electronic switch is connected with the sampling resistor, and the other end of each electronic switch is connected with the programmable gain amplifier.
Due to the adoption of the technical scheme, the method has the following beneficial effects:
the invention relates to a digital body-building system with multiple safety protection for users. The FOC controller comprises a sampling resistance module and a programmable PGA array module, and a circuit device dynamically adjusted according to specific requirements in operation enables signals output by current sampling to be always in the optimal range of amplitude and signal-to-noise ratio. Not only realizes the high-precision phase current detection in a large range, and ensures that the FOC motor has higher control torque precision, but also has better SNR (signal-to-noise ratio) of a phase current feedback current loop. The motor is continuous and smooth in direction change and torque adjustment, the maximum change upper limit value of the motor motion is set in the system, the sudden change of the motor is detected constantly through the system, and a shutdown measure is taken timely. Compared with the traditional uncontrollable body building modes of utilizing metal gravity or spring tension, the body building device can not be damaged mechanically due to the fact that a user loses hands.
According to the energy recovery system consisting of the FOC controller, the super capacitor and the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module, when a user overcomes resistance of the pull rope through the body-building system, the resistance of strength training is generated by the two motors, the user pulls the pull rope and drives the motors to rotate, mechanical energy generated by the rotation of the motors is converted into pulse electric energy, and the pulse electric energy is stored and collected through the super capacitor. The invention utilizes the characteristic that the super capacitor can absorb high power instantly to store the energy of the explosive force trained by the user. The wide-voltage full-bridge DCDC electric energy conversion and voltage stabilization module is used for converting pulse electric energy stored by the super capacitor into fixed voltage and supplying the fixed voltage to a system mainboard, a touch display device and other auxiliary electric equipment. Therefore, the whole body-building system forms a self-circulation, and the self-running of the system can be realized without depending on an external storage battery and a power grid. And the energy recovery system realizes the self-circulation operation separated from a high-voltage commercial power grid, and meanwhile, the FOC controller controls the maximum voltage output to the super capacitor not to exceed the range of 36V which is the human body safety voltage by using an output voltage limiting algorithm. The part that inside messenger took place the electric leakage or the user accident touches inside electricity promptly also can not cause the injury, ensures the safety of user in the aspect of the electric shock.
The speed limiting damper is arranged on a pull rope type fitness device, when the training pull rope is pulled, the fixed pulley is driven to rotate, and when the speed of the training pull rope in any direction exceeds the safe speed, a centrifugal damping mechanism in the fixed pulley is triggered to work. This centrifugal damping mechanism is through setting up damping material, damping dish and clutch spare, when the training stay cord drives the fixed pulley and rotates, if when the arbitrary direction speed of training stay cord surpasss safe speed, clutch spare card is to the damping dish in to under the effect of damping material, produce a counter force, produce the damping effect, the resistance of increase rope limits the maximum speed of rope. When the pull-up resistance suddenly disappears or the physical strength is not enough, the training pull rope can be adjusted by the training personnel within a reaction time, so that the training personnel can be prevented from being injured or damaging the fitness equipment. Thus, under the condition of maintaining original use and unchanged functions, the fitness equipment is safer to use, and the phenomenon that the pulling force of the training pull rope runs empty and increases suddenly is prevented.
Drawings
The invention is further described below with reference to the accompanying drawings:
fig. 1 is a schematic perspective view of a digital fitness system with multiple safety protection for users according to the present invention.
Fig. 2 is a schematic diagram of the internal structure of a digital fitness system with multiple safety protection for users according to the present invention.
Fig. 3 is a front view of a digital exercise system with multiple safety protection for users according to the present invention.
Fig. 4 is a circuit control schematic diagram of the energy recovery system of the present invention.
Fig. 5 is a circuit control schematic of the electromechanical actuator of the present invention.
Fig. 6 is a schematic structural diagram of the programmable PGA array module and the programmable PGA array module according to the present invention.
FIG. 7 is a schematic structural diagram of a programmable PGA array module according to the present invention.
Fig. 8 is a schematic structural diagram of a sampling resistor module according to the present invention.
FIG. 9 is a schematic view of the structure of the velocity limited damper of the present invention.
FIG. 10 is a schematic view of the structure of FIG. 9 in direction A;
FIG. 11 is a schematic view of the structure of FIG. 9 in the direction B.
Figure 1-first electrical machine; 2-a second motor; 3-a first spool; 4-a second spool; 5-a first pull rope; 6-a second pull rope; 7-a first motor controller; 8-a second motor controller; 9-a first magnetically encoded sensor; 10-a second magnetically encoded sensor; 11-wide voltage full-bridge DCDC electric energy conversion voltage stabilizing module; 12-a super capacitor; 13-embedded display input driver board; 14-touch display screen.
100-a main shaft; 200-a fixed pulley; 300-a centrifugal damping mechanism; 400-spring return mechanism; 500-pulling rope.
31-a damping material; 32-a damping disc; 33-a clutch; 34-a first fixed seat; 35-first bearing seat.
331-a connector; 332-clutch cam; 3321-clutching engaging teeth; 321-damping gullets.
41-a return elastic member; 42-a limiting block; 43-a second fixed seat; 44-second bearing seat.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in detail below as a further description of the present invention with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Referring to fig. 1-4, a digital body-building system with multiple safety protection for users comprises a motor and a pull rope, wherein a winding shaft is arranged on a rotating shaft of the motor, the pull rope is arranged on the winding shaft, one end of the pull rope is fixed on the winding shaft, and the other end of the pull rope is connected with a handle.
As a further explanation of the embodiment of the present invention, the motors are both flat, and the motors are a first motor 1 and a second motor 2; the winding shafts are respectively a first winding shaft 3 connected with the first motor 1 and a second winding shaft 4 connected with the second motor 2; the two pull ropes are a first pull rope 5 and a second pull rope 6, the first pull rope 5 is wound on the first winding shaft 3, and the second pull rope 6 is wound on the second winding shaft 4. The fitness system further comprises two magnetic-coded sensors, namely a first magnetic-coded sensor 9 and a second magnetic-coded sensor 10, wherein the first magnetic-coded sensor 9 is connected with the first motor 1, and the second magnetic-coded sensor 10 is connected with the second motor 2. When the user trains, the user overcomes the resistance movement of the pull rope through the body-building system, and the two motors are used for generating the resistance of strength training. In the training process, the angular speed of the motor is measured through the two magnetic sensors respectively, and a smooth damping force without pause is provided by matching with an FOC algorithm of the FOC controller. The motion of both arms is independent each other, can not interfere with each other, can not cause the wrong feeling yet to improve body-building effect, improve user experience.
As a further description of the embodiment of the present invention, the fitness system further includes an FOC controller, a wide-voltage full-bridge DCDC power conversion and voltage stabilization module 11, a super capacitor 12, and a touch display device.
As a further explanation of the embodiment of the present invention, the FOC controller is provided with a first FOC controller 7 and a second FOC controller 8, and the first FOC controller 7 and the second FOC controller 8 control the first motor 1 and the second motor 2, respectively. The FOC controller is used for converting mechanical energy generated by pulling the pull rope and driving the motor to rotate by a user into pulse electric energy.
As a further description of the embodiment of the present invention, the wide-voltage full-bridge DCDC power conversion voltage stabilization module 11: the wide-voltage full-bridge DCDC electric energy conversion and voltage stabilization module 11 is used for receiving pulse electric energy of the motor and storing the pulse electric energy in a super capacitor in a charge mode.
As a further description of the embodiment of the present invention, the wide-voltage full-bridge DCDC power conversion and voltage stabilization module 11 is further configured to convert the pulse power stored in the super capacitor 12 into a fixed voltage, and supply the fixed voltage to the touch display device and other auxiliary electric devices.
As a further description of the embodiment of the present invention, the pulse electric energy is intermittent discontinuous pulse type energy, and the pulse electric energy has instantaneous high power performance.
As a further description of the embodiment of the present invention, the super capacitor 12 is configured to store the pulse electric energy converted by the wide-voltage full-bridge DCDC electric energy conversion and voltage stabilization module.
As a further description of the embodiment of the present invention, the touch display device includes an embedded display input driving board 13 and a touch display screen 14, one end of the embedded display input driving board 13 is electrically connected to the FOC controller, and the other end of the embedded display input driving board 13 is electrically connected to the touch display screen 14. The embedded display input driving board 13 is used for controlling display data output of the fitness system, inputting touch data of the touch display screen 14 into the fitness system, and controlling the work of the fitness system.
According to the invention, through an energy recovery system consisting of the FOC controller, the super capacitor and the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module, when a user overcomes the resistance of the pull rope through the body-building system to move, the resistance of strength training is generated by utilizing the two motors, the user pulls the pull rope and drives the motors to rotate, mechanical energy generated by the rotation of the pull rope is converted into pulse electric energy, and the pulse electric energy is stored and collected through the super capacitor. The invention utilizes the characteristic that the super capacitor can absorb high power instantly to store the energy of the explosive force trained by the user. The wide-voltage full-bridge DCDC electric energy conversion and voltage stabilization module is used for converting pulse electric energy stored by the super capacitor into fixed voltage and supplying the fixed voltage to a system mainboard, a touch display device and other auxiliary electric equipment. Thus, the whole body-building system forms a self-circulation, and the self-running of the system can be realized without depending on an external storage battery and an electric network. And the energy recovery system realizes the self-circulation operation separated from a high-voltage commercial power grid, and meanwhile, the FOC controller controls the maximum voltage output to the super capacitor not to exceed the range of the human body safety voltage of 36V by using an output voltage limiting algorithm. The part that inside messenger took place the electric leakage or the user accident touches inside electricity promptly also can not cause the injury, ensures the safety of user in the aspect of the electric shock.
The FOC controller also comprises a farad capacitor module, a booster circuit module and a grid drive circuit module, wherein the farad capacitor module is respectively and electrically connected with the booster circuit module and the grid drive circuit module,
the grid drive circuit module is used for supplying a high level to the grid drive circuit module after the FOC controller is powered off, so that the FOC controller is kept continuously on, the short circuit of a phase line of the motor is realized, and a damping force is generated;
the boost circuit module is used for after the farad capacitor module loses the electric energy, the forced promotion motor rotates and produces the electric energy, gives farad capacitor module charges, gives gate drive circuit module switches on high level, lets the FOC controller keeps continuously opening, realizes motor phase line short circuit, produces the damping force.
As a further explanation to this embodiment, farad capacitor module includes farad capacitor, PMOS type switch tube K2, diode D3 and resistance R2, farad capacitor's one end electricity is connected with PMOS type switch tube K2, PMOS type switch tube K2 electricity is connected with diode D3, diode D3 electricity is connected with resistance R2, resistance R2 connects the first gate Drive unit of gate Drive circuit module, farad capacitor's other end electricity is connected with resistance R1 and diode D7, resistance R1 and diode D7's the other end is connected PMOS type switch tube K2, farad capacitor's electricity passes through PMOS type switch tube K2, diode D3 with resistance R2 is right gate Drive circuit module supplies power and maintains the high level. Farad capacitors can also be replaced with button cells. The PMOS type switch tube K2 is a PMOS type switch tube, when the controller is normally electrified and 24V voltage is applied to the G pole of the PMOS type switch tube K2, the G pole voltage of the PMOS type switch tube K2 is larger than the voltage of the S pole of the PMOS type switch tube K2 (24V-12V = 12V), the PMOS type switch tube K2 is closed, and the output of the farad capacitor is closed. When the 24V power disappears, the resistor R1 enables the farad capacitor to be switched on, the power of the farad capacitor supplies power to the grid drive circuit module through the PMOS type switch tube K2, the diode D3 and the resistor R2 and maintains a high level, so that the grid drive circuit module is switched on at the high level, the FOC controller is kept on continuously, the phase line short circuit of the motor is achieved, and the damping force is generated. Wherein D3 is anti-reverse charging, and R2 is a current limiting resistor.
As a further explanation of this embodiment, the size of the faraday capacitor is selected according to the type of the PMOS type switching tube K2, taking a faraday capacitor with a capacity of 15v and 1f as an example, when the voltage is discharged from 12V to 7V, the PMOS type switching tube K2 can be normally kept conducting, the discharge voltage difference is 5V, and the discharge time is calculated as 1F (farad) × 5V (volt) =5C (coulomb), and the discharge time is 5C (coulomb)/1 uA (microampere) =5000000S (sec)/3600 =1380h (hour), which is about 50 days.
As a further explanation of the embodiment, the BOOST circuit module includes a BOOST control chip, an inductor L1, a diode D8, and a mos tube T1, the BOOST control chip is connected to the mos tube T1, one end of the mos tube T1 is electrically connected to the inductor L1 and the diode D8, the inductor L1 is electrically connected to a USB voltage VBUS, the diode D8 is connected to the PMOS type switch tube K2, the other end of the mos tube T1 is electrically connected to ground, and the mos tube T1 is connected in parallel to a capacitor C1. If the motor is controlled to rotate or is forced to be pushed, the generated back electromotive voltage exceeds 0.5V, the BOOST circuit module consisting of the inductor L1, the diode D8, the capacitor C1 and the BOOST control chip charges the farad capacitor. Therefore, after the farad capacitor module is fully charged, the grid drive circuit module is powered on by a high level, the FOC controller is kept continuously on, the phase line short circuit of the motor is realized, and the damping force is generated. If the booster circuit module is not used, three 3.6V button batteries with 80mAH can be connected in series to reach the voltage of 10.2V, the maintaining time can reach 80mA/1uA =8 ten thousand hours = about 3300 days, and about 10 years are ensured, so that the service life cycle of a controller product is achieved.
In this embodiment, the two gate drivers Drive, the half-bridge power transistor Q1, the half-bridge power transistor Q2, the resistor R5, the diode D1, and the diode D5 in the gate driving circuit module are all components of an original FOC controller, and a specific structural configuration thereof can be referred to fig. 1.
In the above-described embodiment, the gate driver at this time is specifically tailored to the low leakage type, and therefore, the NMOS type switching transistor K1 is not required.
As an improvement to the present embodiment, as a further description to the present embodiment, the gate driving circuit module further includes an NMOS type switching tube K1, one end of the NMOS type switching tube K1 is connected to a half-bridge power tube Q2, and the other end of the NMOS type switching tube K1 is connected to a gate driver. Q2 is a power tube of one half bridge of a common controller, and the NMOS type switch tube K1 is an NMOS type switch tube for disconnecting the connection between the half bridge power tube Q2 and the grid driver.
In this embodiment, the gate driving circuit module includes two gate drivers Drive, a half-bridge power transistor Q1, a half-bridge power transistor Q2, a resistor R5, a diode D1, and a diode D5. One end of a first gate driver is electrically connected with the pwm control output unit of the motor, the other end of the first gate driver is connected with the NMOS type switching tube K1, the NMOS type switching tube K1 is connected with the half-bridge power tube Q2, one end of the half-bridge power tube Q2 is connected with the half-bridge power tube Q1, and the other end of the half-bridge power tube Q2 is connected with the ground; one end of the second gate driver Drive is electrically connected with the pwm control output unit of the motor, and the other end of the second gate driver Drive unit is connected with the half-bridge power tube Q1. The half-bridge power tube Q1 is a half-bridge power tube Q2 of a common controller.
In this embodiment, the NMOS type switching transistor K1 is an NMOS type switching transistor that disconnects the connection between the half-bridge power transistor Q2 and the first gate driver Drive. When the FOC controller is powered off, the 24V voltage of the FOC controller also disappears, the resistor R5 closes the K1, the electric leakage of the driver is reduced, and when the FOC controller is powered off, the 24V voltage of the FOC controller enables the NMOS type switch tube K1 to be switched on. The driving circuit works normally.
The invention adopts a method that the grid of the existing MOS power tube of the original motor controller is capacitive, the resistance is very large and is as high as 10G ohm, when the grid is charged to a high level, the consumed current is extremely small, the grid leakage of a power type MOS tube of 30V 100A is only 0.1uA generally, when the controller is disconnected for power supply, the lower three-way grid driving circuit modules of three half-bridges in figure 1 are switched on at a high level, so that the grid driving circuit modules are kept continuously switched on, the short circuit of a motor phase line is realized, and the damping force is generated. The electric energy for maintaining the on-state of the three-way gate drive circuit module under the FOC controller is only required to be less than 1uA in total, the electric quantity is stored in a small micro farad capacitor, the electric quantity can last for months, the electric quantity can be maintained for years by using a button cell, and the electric energy can be supplemented immediately after the controller is electrified. Even if no electric energy exists on the button cell or the micro farad capacitor, the ultra-low voltage DCDC boosting module is used, the electric energy with the voltage of more than 0.3V generated by slight rotation of the motor can be boosted to more than 12V, the lower three-way grid driving circuit module of the half bridge is rapidly conducted, the motor is in a damping braking state, and the reliability is further improved. And when the controller is powered on, the power supply of the farad capacitor is disconnected, and the driver works normally.
In this embodiment, the FOC controller further includes a sampling resistor module, where the sampling resistor module includes m sampling resistors connected in parallel, m is an integer greater than 1, and the sampling resistor module dynamically adjusts the amplification factor of the phase current sampling according to the requirement;
in this embodiment, the sampling resistor module further includes a gate driving unit and a plurality of mos tubes, one end of the gate driving unit is connected to the motor control module, the other end of the gate driving unit is connected in series to the mos tubes, the mos tubes correspond to the gate driving circuit of one gate driving unit, and the sampling resistor is connected to the corresponding mos tubes.
In this embodiment, three sampling resistors are provided, which are R1, R2 and R3, where R1=1, R3=10 times R2=100R1, R2 and R3 are correspondingly connected to the mos tube Q1, the mos tube Q2 and the mos tube Q3, respectively, the mos tube Q1, the mos tube Q2 and the mos tube Q3 are all connected to the gate driving circuit of the gate driving unit, the mos tube Q1, the mos tube Q2 and the mos tube Q3 are all connected to the mos tube Q4, and the mos tube Q4 is connected to the pwm control output unit of the motor control module. By setting the R1, the R2 and the R3, which are in 10-time amplification relationship, one path can be communicated as required. The specific selection is determined according to a current reference value Iset set by a user. For example, the current reference value Iset set by the user, the maximum value Imax = K × Iset is calculated, and K takes a value of 1.5-2. Then, according to the motor control module, calculating the phase current (R G) max =3.3/Imax controlled by the motor control module; the most common 3.3V motor control module system is chosen here. Then, when (R × G) max is less than or equal to 8, R1=1 is selected, if (R × G) max >8, R2=10 is selected, and if (R × G) max >80, R3=100 is selected.
In this embodiment, the FOC controller further includes a programmable PGA array module, where the programmable PGA array module includes n programmable gain amplifiers formed by connecting n pieces in parallel, where n is an integer greater than 1, and the programmable PGA array module dynamically adjusts an amplification factor of the phase current sampling according to a requirement;
in this embodiment, the programmable PGA array module further includes a plurality of electronic switches, one end of each of the electronic switches is connected to the sampling resistor, and the other end of each of the electronic switches is connected to the programmable gain amplifier.
In this embodiment, three sampling resistors are provided, which are R1, R2, and R3, respectively, and three corresponding electronic switches are also provided, one end of each of the three sampling resistors is connected to the sampling resistors R1, R2, and R3, respectively, and the other end of each of the three electronic switches is connected to a plurality of sets of programmable gain amplifiers.
Corresponding to the phase current (R G) max =3.3/Imax controlled by the motor control module, judging (R G) max/R <2 according to the principle that the signal-to-noise ratio is optimal when G is the minimum, and then G =1;2 ≦ (R × G) max/R <4 then G =2;4 ≦ (R × G) max/R < 8G =4; (R × G) max/R > 8G =8. And then, the calculated resistance value R of the programmable sampling resistor is sent to the sampling resistor module through the IO _ OUT unit, and the electronic switch of the CMOS is controlled to switch the programmable sampling resistor array to a set resistance value. And then, sending the calculated gain value G of the programmable operational amplifier to a programmable PGA array module through an SPI communication unit, and switching the programmable PGA array module to a set gain value. The actual maximum current value Itmax = 3.3/(R × G) is then calculated from the actually set R, G. The maximum output value of the PID regulator is then calculated from the actual maximum current value Itmax. Finally, the subsequent FOC calculation is a well-known technique and will not be described herein.
In the implementation of the FOC motor control, all algorithms and feedback adjustment are developed around the phase current of the motor, and two most core coordinate transformation formulas CLAK and PARK of the FOC are used for solving the feedback phase current value of the circuit, and a current PID adjusting program refers to the feedback phase current and adds or subtracts the width of PWM control to achieve the target value of the phase current. Therefore the utility model discloses a PGA array module able to programme and sampling resistance module array combination, according to concrete demand dynamic adjustment's circuit arrangement in service, make the signal of its current sampling output be in the best range and SNR within range all the time. The FOC motor control method has the advantages that large-range high-precision phase current detection is realized, the FOC motor control torque precision is higher, the SNR (signal-to-noise ratio) of a phase current feedback current loop is better, the noise is lower, and the torque control is finer.
The FOC controller uses an FOC vector control algorithm and is provided with a position ring, a speed ring and a current ring. The FOC controller comprises a sampling resistance module and a programmable PGA array module, and a circuit device dynamically adjusted according to specific requirements in operation enables signals output by current sampling to be always in the optimal range of amplitude and signal-to-noise ratio. Not only realizes the phase current detection with large range and high precision, and leads the FOC motor to have higher control torque precision, but also has better SNR (signal to noise ratio) of a phase current feedback current loop. The motor is continuous and smooth in direction change and torque adjustment, the maximum change upper limit value of the motor motion is set in the system, the sudden change of the motor is detected constantly through the system, and a shutdown measure is taken timely. Compared with the traditional uncontrollable body building modes of utilizing metal gravity or spring tension, the body building device can not be damaged mechanically due to the fact that a user loses hands.
The FOC controller provided by the invention can enable the motor to enter a damping braking state under the condition that the motor controller is powered off, and can prevent sliding when being used on a wheelchair, and can prevent sudden power off and emptying when being used on fitness equipment, so that a fitness person is prevented from being injured.
The invention directly utilizes the method that MOS power tubes under three paths of half bridges of the original controller are continuously switched on after power failure, replaces the method that the phase line of the existing normally-closed relay short-circuit motor is short-circuited, and compared with the original common controller without damping power, the invention hardly increases the cost, realizes the contactless damping function, has higher safety characteristic, no spark generation, no harmful electromagnetic radiation, no risk of igniting combustible substances and no limitation of the use times of relay contacts.
As a further description of the present embodiment, the pull rope 500 is connected to a speed limiting damper, the speed limiting damper includes a main shaft 100 and a fixed pulley 200, the fixed pulley 200 is rotatably mounted on the main shaft 100, one end of the main shaft 100 is provided with a centrifugal damping mechanism 300, and the other end of the main shaft 100 is provided with a spring return mechanism 400.
As a further explanation of the present embodiment, the centrifugal damping mechanism includes a damping material 31, a damping disc 32 and a clutch member 33, the clutch member 33 is rotatably mounted at one end of the spindle 100, the damping disc 32 is engaged and connected to the clutch member 33, and the damping material 31 is disposed outside the damping disc 32. When the rope 5 drives the fixed pulley 200 to rotate, if the speed of the rope 5 in any direction exceeds the safe speed, the clutch member 33 is clamped in the damping disc 32 and generates a reverse force under the action of the damping material 31 to generate a damping effect, so that the resistance of the rope is increased, and the maximum speed of the rope is limited. When the pull resistance of the pull rope 5 disappears suddenly or the body strength is not enough, the training personnel can have a reaction time to adjust the pull rope 5, so that the training personnel can be prevented from being injured or damaging the fitness equipment. Thus, under the condition of keeping the original use and function unchanged, the fitness equipment is safer to use, and the sudden empty running and increase of the pulling force of the pulling rope 5 are prevented.
As a further description of the present embodiment, the spring return mechanism 400 includes a return elastic member 41 and a stopper 42, one end of the return elastic member 41 is mounted on the end of the main shaft 100, and the other end of the return elastic member 41 does not depart from the limited region of the spring return mechanism 400 through the stopper 42. The reset elastic part 41 is a reset spring of the elastic sheet, and when the centrifugal damping mechanism finishes damping work, the reset elastic part 41 is used for resetting, so that the whole adjustable speed-limiting damper works again. The inner end of the return elastic member 41 is fixed to the end of the main shaft 100, or the inner end of the return elastic member 41 is fixed to the main shaft 100 by sleeving a connecting member on the end of the main shaft 100, and the other end of the return elastic member 41 is not separated from the limited region of the spring return mechanism 400 by the stopper 42.
As a further description of the present embodiment, a pull rope 500 is provided on the fixed pulley 200, and the fixed pulley 200 is driven to rotate by the pull rope 500. Stay cord 500 movably sets up on fixed pulley 200, when training personnel pulling stay cord 500 trains, fixed pulley 200 also follows to rotate, drives centrifugal damping mechanism and spring return 400 through main shaft 100 simultaneously and follows to rotate, when stay cord 500 drives fixed pulley 200 pivoted speed can not exceed safe speed, separation and reunion piece 33 can not block in damping dish 32, and this fitness equipment normally supplies training personnel to train. If the speed of the pull rope 500 in any direction exceeds the safe speed, the clutch member 33 is clamped in the damping disc 32 and generates a reverse force under the action of the damping material 31 to generate a damping effect, so that the resistance of the rope is increased and the maximum speed of the rope is limited. When the pull-up resistance of the pull rope 500 disappears suddenly or the body strength is not enough, the training personnel can have a reaction time to adjust the pull rope 500, so that the training personnel can be prevented from being injured or damaging the fitness equipment.
As a further description of the present embodiment, a first fixing seat 34 is disposed on one side of the main shaft 100, and the centrifugal damping mechanism 300 is installed in the first fixing seat 34. Through setting up first fixing base 34, make the part of centrifugal damping mechanism 300 install in first fixing base 34, make the centrifugal damping mechanism 300 of whole attenuator set up in a reasonable space.
As a further description of the present embodiment, a first bearing seat 35 is disposed in the first fixing seat 34. Through the arrangement of the first bearing seat 35, the main shaft 100 is facilitated to drive the clutch member 33 to move.
As a further description of the present embodiment, a second fixing seat 43 is disposed on the other side of the main shaft 100, and the spring return mechanism 400 is installed in the second fixing seat 43. Through the arrangement of the second fixing seat 43, the parts of the spring return mechanism 400 are installed in the second fixing seat 43, so that the spring return mechanism 400 of the whole damper is arranged in a reasonable space.
As a further description of the present embodiment, a second bearing seat 44 is disposed in the second fixing seat 43. The second bearing seat 44 is provided to facilitate the main shaft 100 to drive the elastic restoring element 41 to move.
As a further description of the present embodiment, the clutch member 33 includes a connecting member 331 and a clutch cam 332, the middle of the connecting member 331 is fixedly connected to the spindle 100, and both ends of the connecting member 331 are connected to the clutch cam 332. The clutch cam 332 is provided with clutch engaging teeth 3321 on the outside, the damping disc 32 is provided with damping tooth grooves 321 inside, and the clutch engaging teeth 3321 are matched with the damping tooth grooves 321. By arranging the clutch engaging teeth 3321 on the clutch cam 332, which are matched with the damping tooth grooves 321, the clutch member 33 can be conveniently clamped in the damping disc 32 when the speed of the rope 500 driving the fixed pulley 200 to rotate exceeds the safe speed.
As a further description of the present embodiment, the damping material 31 is a rubber material, a damping oil material, a damping magnetic powder or a friction block. Through setting up damping materials 31 such as rubber materials, damping oil material, damping magnetic powder or clutch blocks, make damping disc 32 form opposite damping force, produce the damping effect, the resistance of increase rope limits the maximum speed of rope.
When training personnel stimulate stay cord 500 to train, fixed pulley 200 also follows the rotation, drives centrifugal damping mechanism and spring return mechanism 400 simultaneously through main shaft 100 and follows the rotation, when stay cord 500 drives fixed pulley 200 pivoted speed can not surpass safe speed, separation and reunion piece 33 can not block in the damping disc 32, and this fitness equipment normally supplies training personnel to train. If the speed of the pull rope 500 in any direction exceeds the safe speed, the clutch member 33 is clamped in the damping disc 32 and generates a reverse force under the action of the damping material 31 to generate a damping effect, so that the resistance of the rope is increased and the maximum speed of the rope is limited. When the pull-up resistance of the pull rope 500 disappears suddenly or the body strength is not enough, the training personnel can have a reaction time to adjust the pull rope 500, so that the training personnel can be prevented from being injured or damaging the fitness equipment. Thus, under the condition of keeping the original use and function unchanged, the body-building equipment is safer to use, and the sudden running and increase of the pulling force of the pulling rope 500 are prevented.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the same technical problems and achieve the same technical effects are all covered in the protection scope of the present invention.
Claims (10)
1. The utility model provides a digital body-building system with to multiple safety protection of user, includes motor and stay cord, be equipped with the spool in the pivot of motor, be equipped with the stay cord on the spool, the one end of stay cord is fixed on the spool, the other end of stay cord is connected with handle, its characterized in that: also comprises
FOC controller: the FOC controller is used for converting mechanical energy generated by pulling the pull rope by a user and driving the motor to rotate into pulse electric energy;
the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module comprises: the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module is used for receiving the pulse electric energy and storing the pulse electric energy in a super capacitor in a charge mode;
the wide-voltage full-bridge DCDC electric energy conversion and voltage stabilization module is also used for converting pulse electric energy stored in the super capacitor into fixed voltage and supplying the fixed voltage to the touch display device and other auxiliary electric equipment;
the pulse electric energy is intermittent discontinuous pulse type energy and has instant high power;
super capacitor: the super capacitor is used for storing the pulse electric energy converted by the wide-voltage full-bridge DCDC electric energy conversion voltage stabilizing module;
the FOC controller comprises a farad capacitor module, a booster circuit module and a grid drive circuit module, wherein the farad capacitor module is respectively and electrically connected with the booster circuit module and the grid drive circuit module,
the grid drive circuit module is used for supplying a high level to the grid drive circuit module after the FOC controller is powered off, so that the FOC controller is kept continuously on, the short circuit of a phase line of the motor is realized, and a damping force is generated;
the boost circuit module is used for forcibly pushing the motor to rotate to generate electric energy after the farad capacitor module loses the electric energy, charging the farad capacitor module, enabling a high level to the grid drive circuit module, keeping the FOC controller continuously switched on, realizing the short circuit of a phase line of the motor and generating damping force;
the speed limiting damper comprises a main shaft and a fixed pulley, the fixed pulley is rotatably arranged on the main shaft, a centrifugal damping mechanism is arranged at one end of the main shaft, and a spring reset mechanism is arranged at the other end of the main shaft.
2. The digital fitness system with multiple safeguards to the user of claim 1, wherein: farad capacitance module includes farad capacitance, PMOS type switch tube K2, diode D3 and resistance R2, farad capacitance's one end electricity is connected with PMOS type switch tube K2, PMOS type switch tube K2 electricity is connected with diode D3, diode D3 electricity is connected with resistance R2, resistance R2 connects gate drive circuit module, farad capacitance's other end electricity is connected with resistance R1 and diode D7, resistance R1 and diode D7's the other end is connected PMOS type switch tube K2, farad capacitance's electricity passes through PMOS type switch tube K2 diode D3 with resistance R2 is right gate drive circuit module power supply maintains the high level.
3. The digital fitness system with multiple safeguards to the user of claim 2, wherein: the BOOST circuit module comprises a BOOST control chip, an inductor L1, a diode D8 and a mos tube T1, wherein the BOOST control chip is connected with the mos tube T1, one end of the mos tube T1 is electrically connected with the inductor L1 and the diode D8, the inductor L1 is electrically connected with a USB voltage VBUS, the diode D8 is connected with a PMOS type switch tube K2, the other end of the mos tube T1 is electrically connected with the ground, and the mos tube T1 is connected with a capacitor C1 in parallel.
4. The digital fitness system with multiple safeguards to the user of claim 2, wherein: the grid driving circuit module comprises a half-bridge power tube Q2, and the half-bridge power tube Q2 is connected with the farad capacitor module and the grid driver.
5. A digital fitness system with multiple safeguards for users according to claim 2 or 4, wherein: the grid driving circuit module further comprises an NMOS type switching tube K1, one end of the NMOS type switching tube K1 is connected with a half-bridge power tube Q2, and the other end of the NMOS type switching tube K1 is connected with a grid driver.
6. The digital fitness system with multiple safeguards to the user of claim 1, wherein: the centrifugal damping mechanism comprises a damping material, a damping disc and a clutch piece, the clutch piece is rotatably installed at one end of the spindle, the clutch piece is connected with the damping disc in a meshing mode, and the damping material is arranged outside the damping disc.
7. The digital fitness system with multiple safeguards to the user of claim 1, wherein: the spring resetting mechanism comprises a resetting elastic piece and a limiting block, one end of the resetting elastic piece is installed at the end part of the main shaft, and the other end of the resetting elastic piece cannot be separated from a limited area of the spring resetting mechanism through the limiting block.
8. The digital fitness system with multiple safeguards to the user according to claim 6, wherein: the clutch piece comprises a connecting piece and a clutch cam, the middle part of the connecting piece is fixedly connected with the main shaft, and two ends of the connecting piece are connected with the clutch cam; the outside of separation and reunion cam is equipped with separation and reunion meshing tooth, the inside of damping dish is equipped with the damping tooth's socket, separation and reunion meshing tooth with the damping tooth's socket phase-match.
9. The digital fitness system with multiple safeguards to the user of claim 1, wherein: the FOC controller also includes a sampling resistance module,
the sampling resistor module comprises m sampling resistors which are connected in parallel, m is an integer larger than 1, and the sampling resistor module dynamically adjusts the amplification factor of the phase current sampling according to the requirement;
the sampling resistor module further comprises a grid driving unit and a plurality of mos tubes, one end of the grid driving unit is connected with the motor control module, the other end of the grid driving unit is connected with the mos tubes in series, the mos tubes correspond to grid driving circuits of the grid driving unit, and the sampling resistor module is connected with the mos tubes correspondingly.
10. The digital fitness system with multiple safeguards to the user of claim 1, wherein: the FOC controller also includes a programmable PGA array module,
the programmable PGA array module comprises n programmable gain amplifiers formed by connecting n pieces in parallel, wherein n is an integer greater than 1, and the programmable PGA array module dynamically adjusts the amplification factor of the phase current sampling according to requirements;
the programmable PGA array module further comprises a plurality of electronic switches, one end of each electronic switch is connected with the sampling resistor, and the other end of each electronic switch is connected with the programmable gain amplifier.
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