WO2022053081A1

WO2022053081A1 - Novel strength training device adjustment method and apparatus

Info

Publication number: WO2022053081A1
Application number: PCT/CN2021/129779
Authority: WO
Inventors: 奚伟涛; 唐天广; 施佳宾; 李坤; 罗秀锋
Original assignee: 成都拟合未来科技有限公司
Priority date: 2020-09-11
Filing date: 2021-11-10
Publication date: 2022-03-17

Abstract

The present disclosure relates to a novel strength training device, and an adjustment and parameter optimization method and apparatus therefor. The method comprises: detecting the angular acceleration of a motor in real time; performing calculation on the angular acceleration and a reference pulling force by means of an inertia compensation algorithm to obtain an output pulling force; calling an output current calculation formula for performing calculation on the output pulling force to obtain an output current, so as to compensate the difference between the training feel of a motor-driven training device and the direct use of a weight equivalent to the pulling force caused by inertia of the motor, enabling the motor to power the motor-driven strength training device on the basis of the output current, assisting the user to complete strength training, and improving the user training experience.

Description

A new type of strength training equipment adjustment method and device

technical field

The present disclosure relates to the technical field of strength training, in particular to a new type of strength training equipment and a method and device for its adjustment and parameter optimization.

Background technique

Strength training stimulates muscle growth, makes muscles stronger, and promotes rapid fat burning. At present, more intelligent training machines are used for strength training for users, such as training equipment that controls the pulling force of the motor by controlling the current of the motor. When a constant current is input to the motor, the motor will output a constant torque, and the tension rope There will be a constant tension on the top, which is equivalent to the isotonic mode in strength training. When in a static state or moving in a straight line at a constant speed, the training feeling of using the motor-driven training equipment is the same as the training feeling of directly using a weight equivalent to the pulling force, but when accelerating or decelerating, the inertia of the two is different, resulting in training. It feels like there is a big difference that affects the user training experience.

In addition, traditional strength fitness equipment generally achieves different strength training requirements by placing weights of different weights by training assistants, so as to achieve the purpose of strength fitness. In this case, training assistants are required to train according to the training requirements. It is cumbersome to replace the strength fitness equipment used by the personnel, or the trainer suspends the training action and replaces the strength fitness equipment, which affects the user's training experience.

Moreover, the traditional strength training machinery generally adjusts the resistance through weights, magnetic resistance, wind resistance, water resistance, sliding friction, etc. This kind of strength training machinery has large damping inertia and cannot achieve rapid changes in the size of the damping, resulting in speed during exercise. The change can't be too fast, making the explosive exercise less effective, and the safety is not high.

SUMMARY OF THE INVENTION

The technical problems to be solved by the present disclosure include the difference between the training feeling of the motor-driven training apparatus and the training feeling of directly using a weight equivalent to the pulling force due to the inertia problem when overcoming acceleration or deceleration. Therefore, the present disclosure provides a method and device for adjusting and optimizing parameters of a motor-based strength training device, so as to overcome the difference between the training feeling of the motor-driven training device caused by the inertia problem and the training feeling of directly using a weight equivalent to the pulling force, Improve user training experience. In view of the fact that the existing strength fitness equipment cannot automatically adjust the training gravity, which affects the training experience, the method and device for the adjustment and parameter optimization of the motor-based strength training equipment of the present disclosure can automatically adjust the training gravity according to the training needs of the trainer, and improve the training experience of the user. . In addition, in order to solve the problems of large damping inertia and low safety of traditional strength training machines, the present disclosure provides a new type of strength training equipment to reduce damping inertia and improve training safety.

The present disclosure is realized through the following technical solutions:

A method for adjustment and parameter optimization based on motor strength training equipment, comprising:

Real-time detection of the angular acceleration of the motor;

Calculate the angular acceleration and the reference pulling force through the inertia compensation algorithm to obtain the output pulling force;

The output current calculation formula is called to calculate the output pulling force, and the output current is obtained, so that the motor can provide power to the motor strength training device based on the output current, so that the user can complete the strength training.

Further, the inertia compensation algorithm specifically includes:

Obtain the preset mass, the equivalent mass of the motor, the angular acceleration of the motor and the pulling force output by the motor;

Calculate the preset mass, the angular acceleration, and the gravity corresponding to the preset mass by using the first compensation calculation formula to obtain the target pulling force;

Through the second compensation calculation formula, the target pulling force, the equivalent mass of the motor and the angular acceleration are calculated to obtain the output pulling force.

Further, described a kind of adjustment and parameter optimization method based on motor strength training equipment also includes:

Obtain the moment of inertia of the motor rotor and the radius of the tension rope spool;

The moment of inertia and the radius are calculated by the moment of inertia calculation formula to obtain the equivalent mass of the motor; the formula for calculating the moment of inertia is M=I/r ² , where M refers to the equivalent mass of the motor , I refers to the moment of inertia, r refers to the radius of the tension rope spool, where

The first compensation calculation formula is specifically: ma=F-mg, wherein m refers to preset mass, a refers to angular acceleration, g refers to gravitational acceleration, and F refers to target pulling force;

The second compensation calculation formula is specifically: Ma=FF _motor , wherein M refers to the equivalent mass of the motor, a refers to the angular acceleration, F refers to the target pulling force, and F _motor refers to the output pulling force;

The output current calculation formula is specifically i=k*F _motor , where i is the output current, k is the coefficient between the output current and the output pulling force, and F _motor refers to the output pulling force.

Obtain the training mode and benchmark pull according to the strength training instructions input by the user;

Obtaining the pulling force addition parameter according to the motion state of the actuator and the training mode;

Obtain the target tension according to the reference tension and the tension addition parameter;

Compensate the target pulling force through an inertia compensation algorithm to obtain the output pulling force;

The torque of the motor in the strength training device is adjusted according to the output pulling force.

Further, obtaining the pulling force addition parameter according to the motion state of the actuator and the training mode, including:

When the training mode is the eccentric contraction mode, the increase amplitude is used as the first pulling force addition parameter;

When the training mode is the chain mode, the current movement position of the actuator is monitored in real time, and the current movement position, the increase amplitude, the initial position of the actuator and the maximum value of the actuator are calculated in real time. The movement position is used as the second pulling force addition parameter;

When the training mode is the constant speed mode, the current speed of the actuator is monitored in real time, and the current speed and the initial speed of the actuator are used as third pulling force addition parameters.

Further, obtaining the target pulling force according to the reference pulling force and the pulling force addition parameter includes:

When the training mode is an eccentric contraction mode, then the reference pulling force and the first pulling force addition parameter are calculated by the first target pulling force calculation formula to obtain the first target pulling force;

When the training mode is the iron chain mode, the reference tensile force and the second tensile force addition parameter are calculated through the second target tensile force calculation formula to obtain the second target tensile force;

When the training mode is the isokinetic mode, the reference pulling force and the third pulling force addition parameter are calculated through the third target pulling force calculation formula to obtain the third target pulling force,

The first target tensile force calculation formula is specifically: F ₁ =F ₀ (1+amp), wherein, F ₁ refers to the first target tensile force, F ₀ refers to the reference tensile force, and amp refers to the increase;

The second target tensile force calculation formula is specifically:

Among them, F ₂ refers to the second target tension force, F ₀ refers to the reference tension force, amp refers to the increase amplitude, s refers to the current motion position of the actuator, s ₀ refers to the initial position of the actuator, and RoM refers to the maximum motion of the actuator Location;

The third target tensile force calculation formula is specifically: F ₃ =F ₀ +k(vv ₀ ), wherein F ₃ refers to the third target tensile force, F ₀ refers to the reference tensile force, k refers to the coefficient, and v refers to the current value of the actuator. Velocity, v ₀ refers to the initial velocity of the actuator.

Further, the inertia compensation algorithm specifically includes:

The first compensation calculation formula is specifically: ma=F-mg, wherein m refers to the preset mass, a refers to the angular acceleration, g refers to the gravitational acceleration, and F refers to the target pulling force;

The second compensation calculation formula is specifically: Ma=FF _motor , wherein M refers to the equivalent mass of the motor, a refers to the angular acceleration, F refers to the target pulling force, and F _motor refers to the output pulling force.

Further, the output current may be calculated based on the output pulling force, including calculating the output pulling force based on an output current calculation formula to obtain the output current. After the output pulling force is obtained, the current corresponding to the target pulling force is calculated according to the formula i=k*F _motor , and then the torque of the motor in the strength training equipment is adjusted according to the magnitude of the current. Among them, i is the output current, k is the coefficient between the output current and the output pulling force, and F _motor refers to the output pulling force.

An adjustment and parameter optimization device based on motor strength training equipment, comprising:

The angular acceleration real-time detection module is used to detect the angular acceleration of the motor in real time;

an output pulling force calculation module, which is used to calculate the angular acceleration and the reference pulling force through the inertia compensation algorithm to obtain the output pulling force;

The output current calculation module is used to call the output current calculation formula to calculate the output pulling force, and obtain the output current, so that the motor can provide power to the motor strength training device based on the output current, so that the user can complete the strength training.

Further, described a kind of adjustment and parameter optimization device based on motor strength training equipment also includes:

The training instruction processing module is used to obtain the training mode and the reference pulling force according to the strength training instruction input by the user;

A pulling force addition parameter acquisition module, for obtaining the pulling force addition parameter according to the motion state of the actuator and the training mode;

a target tensile force calculation module, configured to obtain the target tensile force according to the reference tensile force and the tensile force addition parameter;

an output pulling force calculation module, used for compensating the target pulling force through an inertia compensation algorithm to obtain the output pulling force;

The torque adjustment module is used for adjusting the torque of the motor in the strength training equipment according to the output pulling force.

Further, the pulling force addition parameter acquisition module includes:

The first pulling force addition parameter acquisition unit is used to use the increase amount as the first pulling force addition parameter when the training mode is the eccentric contraction mode;

The second pulling force addition parameter acquisition unit is used to monitor the current movement position of the actuator in real time when the training mode is the iron chain mode, and to The initial position of the actuator and the maximum movement position of the actuator are used as the second tensile force addition parameter;

The third pulling force addition parameter acquisition unit is configured to monitor the current speed of the actuator in real time when the training mode is the constant speed mode, and use the current speed and the initial speed of the actuator as the third Tension bonus parameter.

A new type of strength training equipment, comprising a first motor, a second motor, a first force transmission device, a second force transmission device, a first actuator, a second actuator, a first tension cord, a second tension cord and A processor that inputs a signal to the motor to control the motor torque at least including the processing function of the aforementioned adjustment and parameter optimization device based on the motor strength training equipment;

The first tension rope is coupled between the first motor and the first actuator through a first force transmission device; the second tension rope is coupled between the second motor and the first actuator through a second force transmission device between the second actuators;

When the user drives the first actuator and/or the second actuator, the first motor and/or the second motor controls the direction and magnitude of the current to control the direction and magnitude of the torque according to the input signal sent by the processor. size to provide resistance to the first actuator and/or the second actuator.

Further, the first force transmission device includes a first pulley, a second pulley, a first track carrier, a first track, a first slider and a first power arm;

the first motor is connected with the second pulley, and the second pulley is connected with the first pulley;

the first pulley is connected with the first slider through the first track, and the first track is arranged in the first track carrier;

the first slider is connected with the first actuator through the first power arm;

The first power arm is used to adjust the position and angle of the first actuator by adjusting the degree of freedom.

Further, the second force transmission device includes a third pulley, a fourth pulley, a second track carrier, a second track, a second slider and a second power arm;

the second motor is connected with the third pulley, and the third pulley is connected with the fourth pulley;

the fourth pulley is connected with the second sliding block through the second track, and the second track is arranged in the second track carrier;

the second slider is connected with the second actuator through the first power arm;

The second power arm is used to adjust the position and angle of the second actuator by adjusting the degree of freedom.

Further, both the first motor and the second motor are torque motors;

The rotating shaft of the first motor is provided with a spool which is matched with the first tension rope spool, and the first tension rope passes through the spool from the first force transmission device and is connected to the first brake; The rotating shaft of the second motor is provided with a spool which is matched with the second tension rope spool, and the second tension rope passes through the second force transmission device through the spool and is connected to the second brake;

the processor, for calculating the target pulling force of the first actuator and/or the second actuator, and converting the target pulling force into an input signal to control the direction and magnitude of the current;

The new type of strength training equipment using the direct-drive motor further includes a cable; the cable is used for powering the first motor and the second motor.

The present disclosure provides a method and device for adjustment and parameter optimization based on motor strength training equipment. By detecting the angular acceleration of the motor in real time, the angular acceleration and the reference pulling force are calculated through the inertia compensation algorithm, the output pulling force is obtained, and the output current calculation formula is called. Calculate the output pulling force and obtain the output current to compensate the difference between the training feeling of the motor-driven training equipment caused by the inertia problem of the motor and the direct use of a weight equivalent to the pulling force, so that the motor can provide the motor strength training equipment based on the output current. Power, assist users to complete strength training and improve user training experience. In addition, the method and device for adjustment and parameter optimization based on the motor-based strength training equipment provided by the present disclosure can obtain the training mode and the reference pulling force according to the strength training instruction input by the user; and obtain the pulling force addition parameter according to the motion state and training mode of the actuator. ; Obtain the target pulling force according to the reference pulling force and pulling force addition parameters; compensate the target pulling force through the inertia compensation algorithm to obtain the output pulling force; adjust the torque of the motor in the strength training equipment according to the output pulling force to provide resistance for the strength training equipment, so that the user can complete the strength Training, realizes automatic adjustment of training gravity according to the training needs of trainers, and improves the training experience of users.

Moreover, compared with the prior art, the present disclosure also has the following advantages and beneficial effects:

The processor controls the direction and magnitude of the torque by calculating the target pulling force of the first actuator and/or the second actuator, converting the target pulling force into an input signal, and controlling the direction and magnitude of the control current, which can improve the movement process. The change of speed can improve the effect of explosive exercise, and at the same time can reduce power loss and damping inertia;

The present disclosure can also realize that one motor is driven alone or two motors are simultaneously driven, so as to realize a flexible strength training method.

Description of drawings

The accompanying drawings described herein are used to provide a further understanding of the embodiments of the present disclosure, and constitute a part of the present application, and do not constitute a limitation to the embodiments of the present disclosure. In the attached image:

FIG. 1 is a flow chart of a method for adjusting and optimizing parameters of a motor-based strength training device according to the present disclosure.

FIG. 2 is a specific flowchart of S20 in FIG. 1 .

FIG. 3 is a specific flowchart of S23 in FIG. 2 .

FIG. 4 is a flow chart of operations further included in the adjustment and parameter optimization method based on the motor-based strength training equipment shown in FIG. 1 .

FIG. 5 is a specific flowchart of S50 in FIG. 4 .

FIG. 6 is a specific flowchart of S60 in FIG. 4 .

FIG. 7 is a specific flowchart of S70 in FIG. 4 .

FIG. 8 is a specific flowchart of S73 in FIG. 7 .

FIG. 9 is a schematic block diagram of a device for adjusting and optimizing parameters based on a motor strength training device of the present disclosure.

FIG. 10 is a schematic block diagram of modules further included in the apparatus for adjusting and optimizing parameters based on the motor-based strength training equipment shown in FIG. 9 .

FIG. 11 is a schematic structural diagram of a new type of strength training apparatus disclosed.

detailed description

In order to make the purpose, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure will be further described in detail below with reference to the embodiments and the accompanying drawings. as a limitation of the present disclosure.

Example 1

The present disclosure provides a method for adjusting and optimizing parameters based on motor strength training equipment, which can be applied to different computer equipment, including but not limited to various personal computers, notebook computers, smart phones and tablet computers. The motor strength training device in this embodiment is a motor strength training device powered by a motor. Motor strength training equipment refers to equipment used for strength training.

As shown in Figure 1, a method for adjustment and parameter optimization based on motor strength training equipment specifically includes:

S10: Detect the angular acceleration of the motor in real time.

Specifically, in this embodiment, the angular acceleration of the motor can be detected in real time through an angle sensor, the angle of the motor can be detected in real time, and the difference is made twice to obtain the angular acceleration of the motor; the angular acceleration of the motor can also be directly detected through the angle sensor. The angle sensor in the embodiment includes, but is not limited to, a magnetic encoder and an optical encoder; the angular velocity and angular acceleration of the motor can also be directly obtained by using a sensor, and the sensor includes but is not limited to a gyroscope.

S20: Calculate the angular acceleration and the reference pulling force through the inertia compensation algorithm to obtain the output pulling force.

The reference pulling force refers to a pulling force value set by the motor strength training equipment for reference.

Specifically, since the motor strength training equipment will generate a gravitational acceleration when it accelerates or decelerates, the pulling force that should be output by the motor strength training equipment is inconsistent with the target pulling force. Therefore, when obtaining the target pulling force, it is necessary to detect the angle of the motor in real time. Acceleration, and compensate the target pulling force through the inertia compensation algorithm to obtain the output pulling force. Among them, the output pulling force refers to the pulling force obtained after the inertia compensation is performed on the target pulling force.

S30: Call the output current calculation formula to calculate the output pulling force, and obtain the output current, so that the motor can provide power to the motor strength training equipment based on the output current, so that the user can complete the strength training.

Specifically, after the output tension is obtained, the output current calculation formula is called to calculate the output tension, and the output current is obtained, so that the motor can provide power to the motor strength training equipment based on the output current, so that the user can complete the strength training.

Further, the output current calculation formula is specifically i=k*F _motor , where i is the output current, k is the coefficient between the output current and the output pulling force, and F _motor refers to the output pulling force.

Further, as shown in Figure 2, the inertia compensation algorithm in S20 specifically includes:

S21: Obtain the preset mass, the equivalent mass of the motor, the angular acceleration of the motor, and the pulling force output by the motor.

The preset mass refers to the preset mass of the heavy object used for strength training.

S22: Calculate the preset mass, the angular acceleration, and the gravity corresponding to the preset mass by using the first compensation calculation formula to obtain the target pulling force.

The first compensation calculation formula is specifically: ma=F-mg, wherein m refers to the preset mass, a refers to the angular acceleration, g refers to the gravitational acceleration, and F refers to the target pulling force.

S23: Calculate the target pulling force, the equivalent mass of the motor and the angular acceleration through the second compensation calculation formula to obtain the output pulling force.

Further, as shown in FIG. 3 , the equivalent mass of the motor in S23 is specifically obtained through the following operations:

S231: Obtain the moment of inertia of the motor rotor and the radius of the tension rope spool.

S232: Calculate the moment of inertia and radius through the moment of inertia calculation formula to obtain the equivalent mass of the motor. The formula for calculating the moment of inertia is specifically M=I/r ² , where M refers to the equivalent mass of the motor, I refers to the moment of inertia, and r refers to the radius of the spool of the tension rope.

As shown in FIG. 4 , the adjustment and parameter optimization method based on the motor strength training equipment may further include:

S40: Acquire the training mode and the reference pulling force according to the strength training instruction input by the user.

Wherein, the strength training instruction refers to the instruction for strength training input by the user on the terminal of the motor strength training device or the computing device connected to the terminal of the motor strength training device. Training mode refers to the mode of strength training, including but not limited to eccentric contraction mode, chain mode, isokinetic mode, monitoring mode and free mode.

Among them, the eccentric contraction mode means that when the user performs strength training on the motor strength training equipment, when the pull rope on the motor strength training equipment is retracted inward, the pulling force will be greater than when it is pulled outward. In this mode, when the human muscles perform eccentric contraction, the force that can be provided is greater than that of concentric contraction. Therefore, the user needs to input an increase rate according to their own situation to complete the strength training. The increase range refers to the range of the reference pulling force that needs to be increased to meet the centrifugal shrinkage requirements when acting on the pull rope, based on the reference pulling force F ₀ . The reference pull refers to a pull value set by the motor strength training equipment for reference.

The chain mode refers to a mode in which an iron chain is hung on the barbell, and the farther the pull rope is pulled, the greater the pulling force.

The constant velocity mode means that the reference tension of the rope does not need to be set by the user, and the output tension of the motor strength training equipment is mainly determined according to the tension provided by the user. The system monitors the speed of the rope in real time. When the speed is higher than the set value, the pulling force increases, and when the speed is lower than the set value, the pulling force is the default pulling force. This mode is safer when exercising with a large weight.

Monitoring mode means that the system monitors the motion state of the actuator in real time. When the motion speed of the actuator is found to be lower than the preset speed, the motor strength training equipment slowly reduces the pulling force output until the current speed of the actuator reaches the preset speed. , this mode is mainly used when the user can't pull the previously set weight after doing one action multiple times, then gradually reduce the force so that the user can pull again.

Free mode means that users can also design their own unique training mode according to their own training needs.

S50: Acquire a pulling force addition parameter according to the motion state and training mode of the actuator.

Wherein, the actuator refers to the contact part installed on the strength training apparatus to enable the user to perform strength training, including but not limited to the handle, the barbell and the double-headed snake.

The tension addition parameter refers to the parameters detected by the motor strength training equipment, including but not limited to the increase amplitude set by the user, the current motion position of the actuator, the initial position of the actuator, the maximum motion position of the actuator, the The current speed of the actuator and the initial speed of the actuator.

Specifically, the specific data contents included in the pull-down force addition parameters of different training modes are also different.

S60: Obtain the target pulling force according to the reference pulling force and the pulling force addition parameter.

The target pulling force refers to the pulling force after adjusting the reference pulling force according to different training modes.

S70: Compensate the target pulling force through the inertia compensation algorithm to obtain the output pulling force.

Among them, the inertia compensation algorithm means that when the motor strength training equipment accelerates or decelerates, it will generate a gravitational acceleration, so that the pulling force that should be output by the motor strength training equipment is inconsistent with the target pulling force. Therefore, when obtaining the target pulling force, it is necessary to pass the inertia The compensation algorithm compensates the target pulling force and obtains the output pulling force. Among them, the output pulling force refers to the pulling force obtained after the inertia compensation is performed on the target pulling force.

S80: Adjust the torque of the motor in the strength training equipment according to the output pulling force.

Specifically, the actuator in this embodiment is coupled to the motor through a tension rope. After the output pulling force is obtained, the current corresponding to the target pulling force is calculated according to the formula i=k*F _motor , and then the torque of the motor in the strength training equipment is adjusted according to the magnitude of the current. Among them, i is the output current, k is the coefficient between the output current and the output pulling force, and F _motor refers to the output pulling force.

Further, as shown in Figure 5, S50, according to the motion state of the actuator and the training mode, the pulling force addition parameter is obtained, which specifically includes:

S51: When the training mode is the eccentric contraction mode, the increase amplitude is used as the first pulling force addition parameter.

S52: When the training mode is the iron chain mode, the current motion position of the actuator is monitored in real time, and the current motion position, the increase amplitude, the initial position of the actuator and the maximum motion position of the actuator are used as the second pulling force Addition parameters.

S53: When the training mode is the constant velocity mode, the current speed of the actuator is monitored in real time, and the current speed and the initial speed of the actuator are used as the third pulling force addition parameter.

Further, as shown in FIG. 6, S60, obtain the target pulling force according to the reference pulling force and the pulling force addition parameter, which specifically includes:

S61: When the training mode is the eccentric contraction mode, calculate the reference pulling force and the first pulling force addition parameter by using the first target pulling force calculation formula to obtain the first target pulling force.

The first target tensile force refers to the tensile force calculated by the first target tensile force calculation formula.

Further, the first target tensile force calculation formula is specifically: F ₁ =F ₀ (1+amp), wherein F ₁ refers to the first target tensile force, F ₀ refers to the reference tensile force, and amp refers to the increase.

S62: When the training mode is the iron chain mode, calculate the reference tensile force and the second tensile force addition parameter by using the second target tensile force calculation formula to obtain the second target tensile force.

Wherein, the first target pulling force refers to the pulling force calculated by the calculation formula of the second target pulling force.

Further, the second target tensile force calculation formula is specifically:

Among them, F ₂ refers to the second target tension force, F ₀ refers to the reference tension force, amp refers to the increase amplitude, s refers to the current motion position of the actuator, s ₀ refers to the initial position of the actuator, and RoM refers to the maximum motion of the actuator Location.

S63: When the training mode is the constant velocity mode, calculate the reference pulling force and the third pulling force addition parameter by using the third target pulling force calculation formula to obtain the third target pulling force.

The third target pulling force refers to the pulling force calculated by the third target pulling force calculation formula.

Further, the calculation formula of the third target tensile force is specifically: F ₃ =F ₀ +k(vv ₀ ), wherein F ₃ refers to the third target tensile force, F ₀ refers to the reference tensile force, k refers to the coefficient, and v refers to the The current velocity, v ₀ refers to the initial velocity of the actuator.

Further, as shown in Figure 7, the inertia compensation algorithm in S70 specifically includes:

S71: Obtain the preset mass, the equivalent mass of the motor, the angular acceleration of the motor, and the pulling force output by the motor.

S72: Calculate the preset mass, the angular acceleration, and the gravity corresponding to the preset mass by using the first compensation calculation formula to obtain the target pulling force.

S73: Calculate the target pulling force, the equivalent mass of the motor and the angular acceleration through the second compensation calculation formula to obtain the output pulling force.

Further, as shown in FIG. 8 , the equivalent mass of the motor in S73 is specifically obtained by the following operations:

S731: Obtain the moment of inertia of the motor rotor and the radius of the tension rope spool.

S732: Calculate the moment of inertia and radius through the moment of inertia calculation formula to obtain the equivalent mass of the motor. The formula for calculating the moment of inertia is specifically M=I/r ² , where M refers to the equivalent mass of the motor, I refers to the moment of inertia, and r refers to the radius of the spool of the tension rope.

Example 2

As shown in FIG. 9, the present embodiment relates to a device for adjusting and optimizing parameters based on motor strength training equipment, including:

The angular acceleration real-time detection module 10 is used for real-time detection of the angular acceleration of the motor;

an output pulling force calculation module 20, used for calculating the angular acceleration and the reference pulling force through an inertia compensation algorithm to obtain the output pulling force;

The output current calculation module 30 is configured to call the output current calculation formula to calculate the output pulling force, and obtain the output current, so that the motor can provide power to the motor strength training device based on the output current, so that the user can complete the strength training.

Further, the output current calculation formula is specifically: i=k*F _motor , where i is the output current, k is the coefficient between the output current and the output pulling force, and F _motor refers to the output pulling force.

Further, the output tension calculation module 20 includes a parameter acquisition unit, a target tension calculation unit and an output tension calculation unit.

The parameter acquisition unit is used to acquire the preset mass, the equivalent mass of the motor, the angular acceleration of the motor and the pulling force output by the motor.

The target pulling force calculation unit is configured to calculate the preset mass, the angular acceleration and the gravity corresponding to the preset mass by using the first compensation calculation formula to obtain the target pulling force.

Further, the first compensation calculation formula is specifically: ma=F-mg, wherein m refers to the preset mass, a refers to the angular acceleration, g refers to the gravitational acceleration, and F refers to the target pulling force.

The output pulling force calculation unit is used for calculating the target pulling force, the equivalent mass of the motor and the angular acceleration through the second compensation calculation formula to obtain the output pulling force.

Further, the second compensation calculation formula is specifically: Ma=FF _motor , wherein M refers to the equivalent mass of the motor, a refers to the angular acceleration, F refers to the target pulling force, and F _motor refers to the output pulling force.

Further, the equivalent mass of the motor includes an equivalent mass parameter acquisition unit and an equivalent mass calculation unit.

The equivalent mass parameter acquisition unit is used to acquire the moment of inertia of the motor rotor and the radius of the tension rope spool.

The equivalent mass calculation unit is used to calculate the moment of inertia and the radius through the calculation formula of the moment of inertia to obtain the equivalent mass of the motor. The formula for calculating the moment of inertia is specifically M=I/r ² , where M refers to the equivalent mass of the motor, I refers to the moment of inertia, and r refers to the radius of the spool of the tension rope.

As shown in Figure 10, the apparatus for adjusting and optimizing parameters based on the motor strength training equipment may further include:

The training instruction processing module 40 is configured to acquire the training mode and the reference pulling force according to the strength training instruction input by the user.

The pulling force addition parameter obtaining module 50 is configured to obtain the pulling force addition parameter according to the motion state and training mode of the actuator.

The target pulling force calculation module 60 is configured to obtain the target pulling force according to the reference pulling force and the pulling force addition parameter.

The output pulling force calculation module 70 is used for compensating the target pulling force through the inertia compensation algorithm to obtain the output pulling force.

The torque adjustment module 80 is used to adjust the torque of the motor in the strength training equipment according to the output pulling force.

Further, the tension addition parameter acquisition module 50 includes a first tension addition parameter acquisition unit, a second tension addition parameter acquisition unit, and a third tension addition parameter acquisition unit.

The first pulling force addition parameter obtaining unit is used to use the increase amount as the first pulling force addition parameter when the training mode is the eccentric contraction mode.

The second pulling force addition parameter acquisition unit is used to monitor the current movement position of the actuator in real time when the training mode is the iron chain mode, and obtain the current movement position, increase amplitude, initial position and actuation of the actuator. The maximum movement position of the device is used as the second pulling force addition parameter.

The third pulling force addition parameter acquisition unit is used to monitor the current speed of the actuator in real time when the training mode is the constant speed mode, and use the current speed and the initial speed of the actuator as the third pulling force addition parameter.

Further, the target tensile force calculation module 60 includes a first target tensile force calculation unit, a second target tensile force calculation unit and a third target tensile force calculation unit.

The first target tensile force calculation unit is configured to calculate the reference tensile force and the first tensile force addition parameter by using the first target tensile force calculation formula to obtain the first target tensile force when the training mode is the eccentric contraction mode.

The second target tensile force calculation unit is configured to calculate the reference tensile force and the second tensile force addition parameter by using the second target tensile force calculation formula to obtain the second target tensile force when the training mode is the iron chain mode.

Further, the second target tensile force calculation formula is specifically:

The third target tensile force calculation unit is configured to calculate the reference tensile force and the third tensile force addition parameter by using the third target tensile force calculation formula when the training mode is the constant velocity mode to obtain the third target tensile force.

Further, the output tension calculation module 70 includes a parameter acquisition unit, a target tension calculation unit and an output tension calculation unit.

For the specific limitations of the adjustment and parameter optimization device based on the motor strength training equipment, please refer to the above definition of a method for adjustment and parameter optimization based on the motor strength training equipment, which will not be repeated here. Each module in the above-mentioned apparatus for adjusting and optimizing parameters based on motor strength training equipment can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

Example 3

As shown in FIG. 11 , this embodiment relates to a new type of strength training equipment, including a first motor or motor A, a second motor or motor B, a first force transmission device, a second force transmission device, a first actuator, The second actuator, the first tension cord, the second tension cord, and inputting a signal to the motor A and/or the motor B to control the motor torque at least include the motor-based strength training equipment adjustment and parameter optimization as described in Embodiment 2 The processor of the device's processing functions. The first tension rope is coupled between the motor A and the first actuator through the first force transmission device; the second tension rope is coupled between the motor B and the second actuator through the second force transmission device.

Specifically, the rotating shaft of the motor A is provided with a spool that is matched with the first tension rope spool, and the first tension rope is passed through the first force transmission device and connected to the first brake; the rotating shaft of the motor B is provided with a second tension rope The spool of the tension rope is matched with the spool, and the second tension rope is passed through the spool from the second force transmission device and connected to the second brake. When the user drives the first actuator and/or the second actuator, the motor A and/or the motor B controls the direction and magnitude of the current to control the direction and magnitude of the torque according to the input signal sent by the processor.

Wherein, the actuator refers to the contact part installed on the strength training equipment to enable the user to perform strength training, including but not limited to the handle, the barbell and the double-headed snake.

In this embodiment, both motor A and motor B use torque motors, so as to keep running even when the motor is locked at low speed (that is, the rotor cannot rotate), providing resistance for the first actuator and/or the second actuator , to assist users in completing strength training.

Further, the processor is configured to calculate the target pulling force of the first actuator and/or the second actuator, and convert the target pulling force into an input signal to control the direction and magnitude of the current.

The target pulling force refers to the pulling force actually generated when the user performs strength training on the strength training equipment.

The strength training modes in this embodiment include but are not limited to eccentric contraction mode, iron chain mode, isokinetic mode, monitoring mode and free mode.

Among them, the eccentric contraction mode means that when the user performs strength training on the strength training equipment, when the pull rope on the strength training equipment is retracted inward, the pulling force will be greater than when it is pulled outward. In this mode, when the human muscles perform eccentric contraction, the force that can be provided is greater than that of concentric contraction. Therefore, the user inputs the increase rate at the computer equipment terminal according to his own situation to complete the strength training. The increase range refers to the range of the reference tension that needs to be increased to meet the requirements of centrifugal shrinkage when acting on the pull rope based on the reference tension.

The constant velocity mode means that the reference tension of the rope does not need to be set by the user, and the output tension of the strength training equipment is mainly determined according to the tension provided by the user. The system monitors the speed of the rope in real time. When the speed is higher than the set value, the pulling force increases, and when the speed is lower than the set value, the pulling force is the default pulling force. This mode is safer when exercising with a large weight.

Monitoring mode means that the system monitors the movement state of the tension rope in real time. When the movement speed of the tension rope is found to be lower than the preset speed, the strength training equipment slowly reduces the tension output until the current speed of the tension rope reaches the preset speed. It is mainly used when the user cannot pull the previously set weight after doing one action multiple times, then gradually reduce the force so that the user can pull again.

Further, when the training mode is the eccentric contraction mode, the server calculates the reference pulling force and the increase magnitude by using the first target pulling force calculation formula to obtain the first target pulling force.

The first target tensile force refers to the tensile force calculated by the first target tensile force calculation formula. The specific calculation formula of the first target pulling force is: F ₁ =F ₀ (1+amp), wherein, F ₁ refers to the first target pulling force, F ₀ refers to the reference pulling force, and amp refers to the increase amplitude.

When the training mode is the iron chain mode, the server calculates the current position, the current position, the increase range, the initial position of the tension rope, and the maximum movement position of the tension rope through the second target tension calculation formula, and obtains the second target tension force calculation formula. target pull.

Wherein, the first target pulling force refers to the pulling force calculated by the calculation formula of the second target pulling force. The calculation formula of the second target tensile force is as follows:

Among them, F ₂ refers to the second target tension force, F ₀ refers to the reference tension force, amp refers to the increase amplitude, s refers to the current position of the tension rope, s ₀ refers to the initial position of the tension rope, and RoM refers to the maximum movement position of the tension rope.

When the training mode is the constant velocity mode, the current speed of the tension rope and the initial speed of the tension rope are calculated by the third target tension calculation formula to obtain the third target tension.

The third target pulling force refers to the pulling force calculated by the third target pulling force calculation formula. Further, the calculation formula of the third target tensile force is specifically: F ₃ =F ₀ +k(vv ₀ ), wherein F ₃ refers to the third target tensile force, F ₀ refers to the reference tensile force, k refers to the coefficient, and v refers to the current Velocity, v ₀ refers to the initial velocity of the tension rope.

Specifically, after obtaining the target pulling force, the processor calculates the current corresponding to the target pulling force according to the formula i=k*F, and the processor controls the magnitude of the torque according to the magnitude of the current, which is the first actuator and/or the second actuator provide resistance. Among them, i is the output current, k is the coefficient between the output current and the output pulling force, and F is the target pulling force. At the same time, the processor obtains the direction of the current according to the direction of the target pulling force to control the direction of the torque.

Further, the first force transmission device includes a first pulley 301 , a second pulley 302 , a first track carrier 601 , a first track 501 , a first slider 401 and a first power arm 201 .

The motor A is connected to the second pulley 302 , and the second pulley 302 is connected to the first pulley 301 .

The first pulley 301 is connected to the first slider 401 through a first rail 501 , and the first rail 501 is arranged in the first rail carrier 601 .

The first slider 401 is connected with the first actuator 101 through the first power arm 201 .

Further, the first power arm 201 is used to adjust the position and angle of the first actuator 101 by adjusting the degree of freedom.

Further, the second force transmission device includes a third pulley 303 , a fourth pulley 304 , a second track carrier 602 , a second track 502 , a second slider 402 and a second power arm 202 .

The motor B is connected to the third pulley 303 , and the third pulley 303 is connected to the fourth pulley 304 .

The fourth pulley 304 is connected with the second slider 402 through the second rail 502 , and the second rail 502 is arranged in the second rail carrier 602 .

The second slider 402 is connected with the second actuator 102 through the first power arm 202 .

Further, the second power arm 202 is used to adjust the position and angle of the second actuator 102 by adjusting the degree of freedom.

Further, the new strength training equipment using the direct drive motor also includes a cable for powering motor A and motor B.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated to different functional units, Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above.

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present disclosure in detail. It should be understood that the above descriptions are only specific embodiments of the present disclosure, and are not intended to limit the scope of the present disclosure. Within the scope of protection, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

A method for adjustment and parameter optimization based on motor strength training equipment, comprising:

Real-time detection of the angular acceleration of the motor;

Calculate the angular acceleration and the reference pulling force through the inertia compensation algorithm to obtain the output pulling force;

The output current calculation formula is called to calculate the output pulling force, and the output current is obtained, so that the motor can provide power to the motor strength training device based on the output current, so that the user can complete the strength training.
The adjustment and parameter optimization method based on motor strength training equipment according to claim 1, wherein the inertia compensation algorithm specifically includes:

Obtain the preset mass, the equivalent mass of the motor, the angular acceleration of the motor and the pulling force output by the motor;

Calculate the preset mass, the angular acceleration, and the gravity corresponding to the preset mass by using the first compensation calculation formula to obtain the target pulling force;

Through the second compensation calculation formula, the target pulling force, the equivalent mass of the motor and the angular acceleration are calculated to obtain the output pulling force.
A method for adjustment and parameter optimization based on motor strength training equipment according to claim 1, further comprising:

Obtain the training mode and benchmark pull according to the strength training instructions input by the user;

Obtaining the pulling force addition parameter according to the motion state of the actuator and the training mode;

Obtain the target tension according to the reference tension and the tension addition parameter;

Compensate the target pulling force through an inertia compensation algorithm to obtain the output pulling force;

Adjust the torque of the motor in the strength training equipment according to the output pulling force, wherein

The obtaining of the pulling force addition parameter according to the motion state of the actuator and the training mode includes:

When the training mode is the eccentric contraction mode, the increase amplitude is used as the first pulling force addition parameter;

When the training mode is the chain mode, the current movement position of the actuator is monitored in real time, and the current movement position, the increase amplitude, the initial position of the actuator and the maximum value of the actuator are calculated in real time. The movement position is used as the second pulling force addition parameter;

When the training mode is the constant speed mode, the current speed of the actuator is monitored in real time, and the current speed and the initial speed of the actuator are used as the third pulling force addition parameter,

The inertia compensation algorithm specifically includes:

Obtain the preset mass, the equivalent mass of the motor, the angular acceleration of the motor and the pulling force output by the motor;

Calculate the preset mass, the angular acceleration, and the gravity corresponding to the preset mass by using the first compensation calculation formula to obtain the target pulling force;

Through the second compensation calculation formula, the target pulling force, the equivalent mass of the motor and the angular acceleration are calculated to obtain the output pulling force.
An adjustment and parameter optimization device based on motor strength training equipment, comprising:

The angular acceleration real-time detection module is used to detect the angular acceleration of the motor in real time;

an output pulling force calculation module, which is used to calculate the angular acceleration and the reference pulling force through the inertia compensation algorithm to obtain the output pulling force;

The output current calculation module is used to call the output current calculation formula to calculate the output pulling force, and obtain the output current, so that the motor can provide power to the motor strength training device based on the output current, so that the user can complete the strength training.
The adjustment and parameter optimization device based on motor strength training equipment according to claim 4, further comprising:

The training instruction processing module is used to obtain the training mode and the reference pulling force according to the strength training instruction input by the user;

A pulling force addition parameter acquisition module, for obtaining the pulling force addition parameter according to the motion state of the actuator and the training mode;

a target tensile force calculation module, configured to obtain the target tensile force according to the reference tensile force and the tensile force addition parameter;

an output pulling force calculation module, used for compensating the target pulling force through an inertia compensation algorithm to obtain the output pulling force;

The torque adjustment module is used for adjusting the torque of the motor in the strength training equipment according to the output pulling force.
The adjustment and parameter optimization device based on motor strength training equipment according to claim 5, wherein the pulling force addition parameter acquisition module comprises:

The first pulling force addition parameter acquisition unit is used to use the increase amount as the first pulling force addition parameter when the training mode is the eccentric contraction mode;

The second pulling force addition parameter acquisition unit is used to monitor the current movement position of the actuator in real time when the training mode is the iron chain mode, and to The initial position of the actuator and the maximum movement position of the actuator are used as the second tensile force addition parameter;

The third pulling force addition parameter acquisition unit is configured to monitor the current speed of the actuator in real time when the training mode is the constant speed mode, and use the current speed and the initial speed of the actuator as the third Tension bonus parameter.
A new type of strength training equipment, comprising a first motor, a second motor, a first force transmission device, a second force transmission device, a first actuator (101), a second actuator (102), and a first tension rope , a second tension rope and a processor for inputting a signal to the first motor and/or the second motor to control the torque of the motor at least comprising the processing function of the adjustment and parameter optimization device based on the motor strength training equipment as claimed in claim 4;

The first tension rope is coupled between the first motor and the first actuator (101) through a first force transmission device; the second tension rope is coupled to the first force transmission device through a second force transmission device. between the two motors and the second actuator (102);

When the user drives the first actuator (101) and/or the second actuator (102), the first motor and/or the second motor control the direction and magnitude of the current according to the input signal sent by the processor to control the direction and magnitude of the torque, and provide resistance for the first actuator (101) and/or the second actuator (102).
A new type of strength training equipment according to claim 7, wherein the first force transmission device comprises a first pulley (301), a second pulley (302), a first track carrier (601), a first track ( 501), a first slider (401) and a first power arm (201);

The first motor is connected with the second pulley (302), and the second pulley (302) is connected with the first pulley (301);

The first pulley (301) is connected with the first slider (401) through the first rail (501), and the first rail (501) is arranged in the first rail carrier (601);

The first slider (401) is connected with the first actuator (101) through the first power arm (201);

The first power arm (201) is used to adjust the position and angle of the first actuator (101) by adjusting the degree of freedom.
A new type of strength training equipment according to claim 7, wherein the second force transmission device comprises a third pulley (303), a fourth pulley (304), a second track carrier (602), a second track ( 502), a second slider (402) and a second power arm (202);

the second motor is connected with the third pulley (303), and the third pulley (303) is connected with the fourth pulley (304);

The fourth pulley (304) is connected with the second slider (402) through the second rail (502), and the second rail (502) is arranged in the second rail carrier (602);

The second slider (402) is connected with the second actuator (102) through the first power arm (202);

The second power arm (202) is used to adjust the position and angle of the second actuator (102) by adjusting the degree of freedom.
A new type of strength training equipment according to claim 7, wherein the first motor and the second motor are torque motors;

The rotating shaft of the first motor is provided with a spool which is matched with the first tension rope spool, and the first tension rope passes through the spool from the first force transmission device and is connected to the first brake; The rotating shaft of the second motor is provided with a spool which is matched with the second tension cord reel, and the second tension cord passes through the spool from the second force transmission device and is connected to the second brake;

the processor, configured to calculate the target pulling force of the first actuator (101) and/or the second actuator (102), and convert the target pulling force into an input signal to control the direction and magnitude of the current;

The new type of strength training equipment using the direct-drive motor further includes a cable; the cable is used for powering the first motor and the second motor.