Inertia compensation-based fitness device control method, device, medium, and program

Abstract

Embodiments of the present application disclose a kind of based on inertia compensation's fitness equipment control method, equipment, medium and program, wherein, method includes: according to the position speed correlation information of the power actuator driven by target fitness equipment, determine the torque current setting value of the target fitness equipment;Determine the acceleration feedback value of the power actuator;According to the acceleration feedback value of the power actuator, the inertia compensation is carried out to the torque current setting value, determine the target torque current of the target fitness equipment;According to the target torque current, the target fitness equipment is driven control.This embodiment of the present application can improve the operation stability and reliability of fitness equipment, and then optimize the training experience of user.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of equipment control technology, and in particular to a method, equipment, medium and program for controlling fitness equipment based on inertia compensation. Background Technology

[0002] With increasing health awareness and diversified fitness needs, the fitness industry has ushered in an unprecedented development opportunity. Against this backdrop, intelligent fitness equipment integrating sensor technology, data processing, and network communication has emerged. Among these, intelligent fitness equipment based on motor drive and control often employs a constant current output control strategy in its conventional training mode. While this control method can achieve normal cable retraction under heavy training conditions, in low-load training scenarios, especially when the motor's rotational inertia is large, the cable slack can easily occur during the retraction process after rapid pulling. This manifests as a lack of cable responsiveness, which not only reduces the user experience but may also lead to equipment malfunctions such as motor cable tangling. Summary of the Invention

[0003] This invention provides a method, device, equipment, medium, and program for controlling fitness equipment based on inertia compensation, which can improve the operational stability and reliability of fitness equipment, thereby optimizing the user's training experience.

[0004] According to one aspect of the present invention, a method for controlling fitness equipment based on inertia compensation is provided, comprising: The torque and current setting value of the target fitness equipment is determined based on the position and speed correlation information of the power actuator driven by the target fitness equipment; Determine the acceleration feedback value of the power actuator; The target torque current of the target fitness equipment is determined by inertia compensation based on the acceleration feedback value of the power actuator and the torque current setting value. The target fitness equipment is driven and controlled according to the target torque current.

[0005] According to another aspect of the present invention, a fitness equipment control device based on inertia compensation is provided, comprising: The torque current setting value determination module is used to determine the torque current setting value of the target fitness equipment based on the position and speed correlation information of the power actuator driven by the target fitness equipment. An acceleration feedback value determination module is used to determine the acceleration feedback value of the power actuator; The target torque current determination module is used to perform inertia compensation on the torque current set value based on the acceleration feedback value of the power actuator, and determine the target torque current of the target fitness equipment. The target fitness equipment control module is used to drive and control the target fitness equipment according to the target torque current.

[0006] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the inertia-compensated fitness equipment control method according to any embodiment of the present invention.

[0007] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the inertia-compensated fitness equipment control method according to any embodiment of the present invention.

[0008] According to another aspect of the present invention, a computer program product is also provided, comprising a computer program that, when executed by a processor, implements the inertia-compensated fitness equipment control method described in any embodiment of the present invention.

[0009] This invention determines the torque current setpoint of the target fitness equipment based on the position and velocity correlation information of the power actuator driven by the target fitness equipment, and simultaneously determines the acceleration feedback value of the power actuator. Furthermore, inertia compensation is performed on the torque current setpoint based on the acceleration feedback value of the power actuator to determine the target torque current of the target fitness equipment, and then the target fitness equipment is driven and controlled based on the target torque current. This solution solves the problem of cable slack in existing fitness equipment control methods, improves the operational stability and reliability of fitness equipment, and thus optimizes the user's training experience.

[0010] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart of a fitness equipment control method based on inertia compensation provided in Embodiment 1 of the present invention; Figure 2 This is a structural block diagram of a motor drive system provided in Embodiment 1 of the present invention; Figure 3 This is a structural block diagram of an inertia compensation system provided in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of a fitness equipment control device based on inertia compensation provided in Embodiment 2 of the present invention; Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. Detailed Implementation

[0013] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0014] It should be noted that the terms "first," "second," and "target," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0015] Example 1 Figure 1This is a flowchart of a fitness equipment control method based on inertia compensation provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where torque current is compensated for based on the acceleration value of the fitness equipment to achieve stable operation of the fitness equipment. This method can be executed by a fitness equipment control device based on inertia compensation. This device can be implemented in software and / or hardware and is generally integrated into an electronic device. This electronic device can be a fitness equipment with weight output control function, or it can be a control device that controls the fitness equipment, as long as it can execute the fitness equipment control method based on inertia compensation. The embodiments of the present invention do not limit the specific type of electronic device. Accordingly, as... Figure 1 As shown, the method includes the following operations: S110. Determine the torque current setting value of the target fitness equipment based on the position and speed correlation information of the power actuator driven by the target fitness equipment.

[0016] The target fitness device can be a motor-driven intelligent weight training device. For example, the target fitness device may include, but is not limited to, intelligent dumbbells, intelligent barbells, and intelligent bench press racks; this embodiment of the invention does not limit the specific type of the target fitness device. The power actuator can be a complete set of mechanical and transmission components in the target fitness device that converts the power of the motor into pulling, pushing, resisting, or displacement outputs that can be used for user training. For example, the power actuator may include, but is not limited to, a motor, a transmission mechanism, and execution components; this embodiment of the invention does not limit the specific structure included in the power actuator. The position-speed correlation information can be information related to the position and speed of the power actuator. For example, the position-speed correlation information may include, but is not limited to, the actual position information, actual speed information, and desired position information of the power actuator; this embodiment of the invention does not limit the specific content included in the position-speed correlation information. The torque current setting value can be a current value determined based on the position-speed correlation information of the power actuator driven by the target fitness device, used to drive the motor to output the desired torque.

[0017] In this embodiment of the invention, in order to ensure that the target fitness equipment can achieve stable, reliable and precise operation under different loads and different exercise conditions, the position and speed correlation information of the power actuator driven by the target fitness equipment can be obtained first. Based on the motion state and load characteristics reflected by the above position and speed correlation information, the motion state and load characteristics can be further calculated and processed through preset control logic or control model to determine the torque current setting value adapted to the current motion state.

[0018] In an optional embodiment of the present invention, determining the torque current setting value of the target fitness device based on the position and speed correlation information of the power actuator driven by the target fitness device may include: obtaining the actual position information, actual speed information, and desired position information of the power actuator driven by the target fitness device; and determining the torque current setting value of the target fitness device based on the actual position information, actual speed information, and desired position information of the power actuator.

[0019] The actual position information can be the current position of the power actuator. The actual speed information can be the current speed of the power actuator. The desired position information can be the target position that the power actuator is expected to reach or maintain.

[0020] Figure 2 This is a structural block diagram of a motor drive system provided in Embodiment 1 of the present invention. Specifically, as shown... Figure 2 As shown, the actual position information (Postionfdb) of the power actuator driven by the target fitness equipment can be obtained through position sensors deployed at key locations on the actuator. Simultaneously, the actual speed information (Speedfdb) of the power actuator driven by the target fitness equipment can be obtained through a speed observer. Furthermore, based on the motion mode, load conditions, or control commands set by the target user, the desired position information (PostionRef) corresponding to the power actuator can be pre-configured and obtained. After obtaining the actual position information, actual speed information, and desired position information of the power actuator driven by the target fitness equipment, comprehensive calculations and processing can be performed to calculate the torque and current setpoints adapted to the current motion state and control target, providing precise control basis for subsequent motor drive, inertia compensation, and torque output.

[0021] In an optional embodiment of the present invention, determining the torque current setting value of the target fitness equipment based on the actual position information, actual speed information, and desired position information of the power actuator may include: performing proportional control output calculation on the desired position information and the actual position information to obtain the target desired speed of the target fitness equipment; and performing PI controller calculation on the target desired speed and the actual speed information to obtain the torque current setting value of the target fitness equipment.

[0022] The target speed can be the target speed that the power actuator of the fitness equipment is expected to achieve.

[0023] Specifically, such as Figure 2As shown, when determining the torque and current setpoint of the target fitness equipment based on the actual position information, actual speed information, and desired position information of the power actuator, the actual position information Positionfdb and desired position information PositionRef can first be proportionally controlled and calculated to obtain the desired speed SpeedRef that adapts to the current motion state and control target. Based on this, the desired speed SpeedRef and the actual speed information Speedfdb can be input together into the PI (Proportional-Integral) controller to perform proportional and integral calculations on the speed deviation, thereby obtaining the torque and current setpoint IqRef output by the motor drive system speed loop that adapts to the current motion state and control target.

[0024] S120. Determine the acceleration feedback value of the power actuator.

[0025] The acceleration feedback value can be the acceleration of the power actuation structure at the current moment.

[0026] Figure 3 This is a structural block diagram of an inertia compensation system provided in Embodiment 1 of the present invention. Specifically, as shown... Figure 3 As shown, an acceleration observer can be connected to the output of the speed observer in the aforementioned motor drive system. The acceleration observer can calculate the acceleration feedback value Accfdb of the power actuator based on the actual speed information Speedfdb. In a specific example, the acceleration feedback value Accfdb of the power actuator can be calculated using speed differentiation or a model-based acceleration observation system.

[0027] S130. Based on the acceleration feedback value of the power actuator, perform inertia compensation on the torque current setting value to determine the target torque current of the target fitness equipment.

[0028] The target torque current can be the torque current value that enables the target fitness equipment to operate stably under the current motion state and control target.

[0029] Accordingly, after obtaining the acceleration feedback value Accfdb of the power actuator, the acceleration feedback value Accfdb can be used as the input of the inertia compensation module. Based on the acceleration feedback value Accfdb of the power actuator, inertia compensation is performed on the torque current setting value IqRef, thereby determining the target torque current that can ensure the stable operation of the target fitness equipment under the current motion state and control target.

[0030] In an optional embodiment of the present invention, the step of performing inertia compensation on the torque current setting value based on the acceleration feedback value to determine the target torque current of the target fitness equipment may include: obtaining the training load torque current matching the current training target of the target fitness equipment; determining the compensation torque current of the target fitness equipment based on the acceleration feedback value; summing the training load torque current and the compensation torque current to obtain a torque current limiting value; and applying current limiting to the torque current setting value based on the torque current limiting value to obtain the target torque current of the target fitness equipment.

[0031] The current training target can be a pre-set training weight. The training load torque current can be a torque current adapted to the current training target. The compensation torque current can be a torque current determined based on the acceleration feedback value, used to counteract motion inertia disturbances. The torque current limit value can be a reference current value used to limit the current amplitude of the torque current setting.

[0032] Specifically, such as Figure 3 As shown, a pre-set current training target can be obtained, and then the training load torque current IqRef0 matching the current training target can be determined. Simultaneously, the compensation torque current CurrentComp can be calculated based on the acceleration feedback value Accfdb using the inertia compensation module. Based on this, the training load torque current IqRef0 and the compensation torque current CurrentComp can be summed to obtain the torque current limit value IqRefLim. After obtaining the torque current limit value IqRefLim, the upper limit of the current limiter can be set to IqRefLim, and the lower limit can be set to 0. Furthermore, the torque current setpoint IqRef output from the speed loop in the motor drive system can be limited by the input current control module to obtain the target torque current IqRef1.

[0033] In an optional embodiment of the present invention, determining the compensation torque current of the target fitness device based on the acceleration feedback value may include: determining the compensation torque current of the target fitness device based on the following formula: ; ; in, This refers to the compensating torque current for the target fitness equipment. For the motor output torque, This is the motor torque coefficient. For the moment of inertia of the motor, The acceleration feedback value is given.

[0034] S140. Drive and control the target fitness equipment according to the target torque current.

[0035] Accordingly, after determining the target torque current of the target fitness equipment, the target fitness equipment can be driven and controlled based on the target torque current.

[0036] Therefore, the inertia-compensated fitness equipment control method provided in this invention compensates for the inertia of a given torque current by using the acceleration of the power actuator. This effectively counteracts the inertial torque disturbances generated by the motor and load during acceleration and deceleration, compensating for torque deviations and dynamic lag caused by system inertia. Through this inertia compensation strategy, the interactive end of the power actuator operates more smoothly and steadily, avoiding control instability and abnormal feel caused by inertia changes. This method effectively improves the operational stability, control accuracy, and dynamic response performance of fitness equipment under different exercise modes and load conditions, enhancing equipment reliability and significantly optimizing the user's operating feel and experience during training.

[0037] In an optional embodiment of the present invention, the step of driving and controlling the target fitness device according to the target torque current may include: acquiring the original torque current and the original excitation current of the target fitness device; performing PI controller calculations on the torque current setpoint and the original torque current to obtain a first voltage setpoint of the target fitness device; performing PI controller calculations on the original excitation current and the excitation current setpoint to obtain a second voltage setpoint of the target fitness device; and driving and controlling the target fitness device according to the first voltage setpoint and the second voltage setpoint.

[0038] The initial torque current can be the torque current of the target fitness equipment before it is controlled. The initial excitation current can be the excitation current of the target fitness equipment before it is controlled. The first voltage setting value can be the voltage value obtained by performing PI controller calculations on the torque current setting value and the initial torque current. The second voltage setting value can be the voltage value obtained by performing PI controller calculations on the excitation current setting value and the initial excitation current.

[0039] like Figure 2 As shown, when driving and controlling the target fitness equipment based on the target torque current, the values ​​of the three-phase currents ia, ib, and ic of the motor in the target fitness equipment can first be collected, and the Clarke transformation can be performed on the three-phase currents to obtain the motor current in the two-phase stationary coordinate system. and Furthermore, the actual position information of the motor can be obtained through a position sensor, and the actual position information and current can be analyzed. and A Parker transformation is performed to obtain the original excitation current Id and original torque current Iq of the motor. After obtaining the original excitation current Id and original torque current Iq, a PI controller operation can be performed on the target torque current IqRef1 obtained after inertia compensation and the original torque current Iq to obtain the first voltage setpoint Vq of the target fitness equipment. Simultaneously, a PI controller operation can be performed on the original excitation current Id and the excitation current setpoint IdRef to obtain the second voltage setpoint Vd of the target fitness equipment. Therefore, the target fitness equipment can be driven and controlled according to the first voltage setpoint Vq and the second voltage setpoint Vd. It should be noted that the excitation current setpoint IdRef can be set to 0.

[0040] In an optional embodiment of the present invention, the step of driving and controlling the target fitness device according to the first voltage setting value and the second voltage setting value may include: performing an inverse Parker transformation on the first voltage setting value to obtain a first voltage component in a stationary coordinate system; performing an inverse Parker transformation on the second voltage setting value to obtain a second voltage component in a stationary coordinate system; performing space vector pulse width modulation on the first voltage component and the second voltage component in the stationary coordinate system to obtain a switching signal for the target inverter; generating a target three-phase voltage signal according to the switching signal of the target inverter; and driving and controlling the target fitness device according to the target three-phase voltage signal.

[0041] The first voltage component can be the voltage component in a stationary coordinate system obtained by performing an inverse Parker transformation on the first voltage setpoint. The second voltage component can be the voltage component in a stationary coordinate system obtained by performing an inverse Parker transformation on the second voltage setpoint. Space vector pulse width modulation (SVM) is a technique that synthesizes the required voltage vector by controlling the switching states of the three-phase inverter, thereby achieving precise control of the motor. The target inverter's switching signal can be the signal that controls the on and off states of the switching elements in the inverter; these signals determine the magnitude and phase of the inverter's output voltage. The target three-phase voltage signal can be the voltage signal for controlling the target fitness equipment generated based on the target inverter's switching signal.

[0042] Figure 2 As shown, in this embodiment of the invention, when driving and controlling the target fitness equipment according to the first voltage setting value and the second voltage setting value, the first voltage setting value Vq can first be subjected to an inverse Park transformation to obtain the first voltage component in the stationary coordinate system. Simultaneously, the second voltage component in the stationary coordinate system can be obtained by performing an inverse Park transformation on the second voltage setpoint Vd. Furthermore, the first voltage component in the stationary coordinate system can be... Second voltage component Space Vector Pulse Width Modulation (SVPWM) is performed to obtain the switching signal of the target inverter. Then, the target three-phase voltage signal can be generated based on the switching signal of the target inverter, which can make the motor run according to the target torque current IqRef1, ultimately achieving precise control of the output position, speed and current (weight) of the target fitness equipment motor.

[0043] It is understood that the inertia-compensated fitness equipment control method provided in this embodiment of the invention can be developed by... Figure 2 The motor drive system shown and Figure 3 The control system, consisting of the inertia compensation system shown, is executed.

[0044] This invention determines the torque current setpoint of the target fitness equipment based on the position and velocity correlation information of the power actuator driven by the target fitness equipment, and simultaneously determines the acceleration feedback value of the power actuator. Furthermore, inertia compensation is performed on the torque current setpoint based on the acceleration feedback value of the power actuator to determine the target torque current of the target fitness equipment, and then the target fitness equipment is driven and controlled based on the target torque current. This solution solves the problem of cable slack in existing fitness equipment control methods, improves the operational stability and reliability of fitness equipment, and thus optimizes the user's training experience.

[0045] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information in this technical solution comply with relevant laws and regulations and do not violate public order and good morals.

[0046] It should be noted that all information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) involved in this disclosure are information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data comply with the relevant laws, regulations and standards of the relevant regions.

[0047] It should be noted that any arrangement or combination of the technical features in the above embodiments also falls within the protection scope of this invention.

[0048] Example 2 Figure 4 This is a schematic diagram of a fitness equipment control device based on inertia compensation provided in Embodiment 2 of the present invention, as shown below. Figure 4 As shown, the device includes: a torque current setpoint determination module 210, an acceleration feedback value determination module 220, a target torque current determination module 230, and a target fitness equipment control module 240, wherein: The torque current setting value determination module 210 is used to determine the torque current setting value of the target fitness equipment based on the position and speed association information of the power actuator driven by the target fitness equipment.

[0049] The acceleration feedback value determination module 220 is used to determine the acceleration feedback value of the power actuator.

[0050] The target torque current determination module 230 is used to perform inertia compensation on the torque current setting value based on the acceleration feedback value of the power actuator, and determine the target torque current of the target fitness equipment.

[0051] The target fitness equipment control module 240 is used to drive and control the target fitness equipment according to the target torque current.

[0052] This invention determines the torque current setpoint of the target fitness equipment based on the position and velocity correlation information of the power actuator driven by the target fitness equipment, and simultaneously determines the acceleration feedback value of the power actuator. Furthermore, inertia compensation is performed on the torque current setpoint based on the acceleration feedback value of the power actuator to determine the target torque current of the target fitness equipment, and then the target fitness equipment is driven and controlled based on the target torque current. This solution solves the problem of cable slack in existing fitness equipment control methods, improves the operational stability and reliability of fitness equipment, and thus optimizes the user's training experience.

[0053] Optionally, the torque current setting value determination module 210 is specifically used to: acquire the actual position information, actual speed information, and desired position information of the power actuator driven by the target fitness equipment; and determine the torque current setting value of the target fitness equipment based on the actual position information, actual speed information, and desired position information of the power actuator.

[0054] Optionally, the target torque current determination module 230 is specifically used for: acquiring the training load torque current that matches the current training target of the target fitness equipment; determining the compensation torque current of the target fitness equipment based on the acceleration feedback value; summing the training load torque current and the compensation torque current to obtain a torque current limit value; and applying current limiting to the torque current setting value based on the torque current limit value to obtain the target torque current of the target fitness equipment.

[0055] Optionally, the target torque current determination module 230 is further configured to: determine the compensation torque current of the target fitness equipment based on the following formula: ; ; in, This refers to the compensating torque current for the target fitness equipment. For the motor output torque, This is the motor torque coefficient. For the moment of inertia of the motor, The acceleration feedback value is given.

[0056] Optionally, the torque current setting value determination module 210 is further configured to: perform proportional control output calculation on the desired position information and the actual position information to obtain the target desired speed of the target fitness equipment; and perform PI controller calculation on the target desired speed and the actual speed information to obtain the torque current setting value of the target fitness equipment.

[0057] Optionally, the target fitness equipment control module 240 is specifically used for: acquiring the original torque current and the original excitation current of the target fitness equipment; performing PI controller calculations on the torque current setpoint and the original torque current to obtain a first voltage setpoint of the target fitness equipment; performing PI controller calculations on the original excitation current and the excitation current setpoint to obtain a second voltage setpoint of the target fitness equipment; and driving control of the target fitness equipment according to the first voltage setpoint and the second voltage setpoint.

[0058] Optionally, the target fitness equipment control module 240 is further configured to: perform an inverse Parker transformation on the first voltage setpoint to obtain a first voltage component in a stationary coordinate system; perform an inverse Parker transformation on the second voltage setpoint to obtain a second voltage component in a stationary coordinate system; perform space vector pulse width modulation on the first and second voltage components in the stationary coordinate system to obtain a switching signal for the target inverter; generate a target three-phase voltage signal based on the switching signal of the target inverter; and drive and control the target fitness equipment based on the target three-phase voltage signal.

[0059] The aforementioned inertia-compensated fitness equipment control device can execute the inertia-compensated fitness equipment control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in this embodiment can be found in the inertia-compensated fitness equipment control method provided in any embodiment of the present invention.

[0060] Since the inertia-compensated fitness equipment control device described above is capable of executing the inertia-compensated fitness equipment control method in the embodiments of the present invention, those skilled in the art can understand the specific implementation and various variations of the inertia-compensated fitness equipment control device of this embodiment based on the inertia-compensated fitness equipment control method described in the embodiments of the present invention. Therefore, how the inertia-compensated fitness equipment control device implements the inertia-compensated fitness equipment control method in the embodiments of the present invention will not be described in detail here. Any device used by those skilled in the art to implement the inertia-compensated fitness equipment control method in the embodiments of the present invention falls within the scope of protection of this application.

[0061] Example 3 Figure 5 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0062] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0063] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0064] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as inertia-compensated fitness equipment control methods.

[0065] In some embodiments, the inertia-compensated fitness equipment control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the inertia-compensated fitness equipment control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the inertia-compensated fitness equipment control method by any other suitable means (e.g., by means of firmware).

[0066] Optionally, the inertia-compensated fitness equipment control method may include: determining the torque current setpoint of the target fitness equipment based on the position and velocity correlation information of the power actuator driven by the target fitness equipment; determining the acceleration feedback value of the power actuator; performing inertia compensation on the torque current setpoint based on the acceleration feedback value of the power actuator to determine the target torque current of the target fitness equipment; and performing drive control on the target fitness equipment based on the target torque current.

[0067] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0068] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0069] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0070] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0071] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0072] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0073] This application also discloses a computer program product, which includes a computer program that, when executed by a processor, implements the inertia-compensated fitness equipment control method provided in any embodiment of this application. This program product shares the same inventive concept as the inertia-compensated fitness equipment control method disclosed in the embodiments of this application, and therefore will not be described in detail here.

[0074] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0075] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A control method for fitness equipment based on inertia compensation, characterized in that, include: The torque and current setting value of the target fitness equipment is determined based on the position and speed correlation information of the power actuator driven by the target fitness equipment; Determine the acceleration feedback value of the power actuator; The target torque current of the target fitness equipment is determined by inertia compensation based on the acceleration feedback value of the power actuator and the torque current setting value. The target fitness equipment is driven and controlled according to the target torque current.

2. The method according to claim 1, characterized in that, The step of determining the torque current setting value of the target fitness equipment based on the position and velocity correlation information of the power actuator driven by the target fitness equipment includes: Obtain the actual position information, actual speed information, and desired position information of the power actuator driven by the target fitness equipment; The torque current setting value of the target fitness equipment is determined based on the actual position information, actual speed information, and desired position information of the power actuator.

3. The method according to claim 1, characterized in that, The step of performing inertia compensation on the torque current setpoint based on the acceleration feedback value to determine the target torque current of the target fitness equipment includes: Obtain the training load torque current that matches the current training objective of the target fitness equipment; The compensation torque current of the target fitness equipment is determined based on the acceleration feedback value; The torque current limit value is obtained by summing the training load torque current and the compensation torque current. The torque current setting value is current-limited according to the torque current limit value to obtain the target torque current of the target fitness equipment.

4. The method according to claim 3, characterized in that, Determining the compensation torque current of the target fitness equipment based on the acceleration feedback value includes: The compensation torque current of the target fitness equipment is determined based on the following formula: ； ； in, This refers to the compensating torque current for the target fitness equipment. For the motor output torque, This is the motor torque coefficient. For the moment of inertia of the motor, The acceleration feedback value is given.

5. The method according to claim 2, characterized in that, The step of determining the torque current setting value of the target fitness equipment based on the actual position information, actual speed information, and desired position information of the power actuator includes: The target desired speed of the target fitness equipment is obtained by performing proportional control output calculation on the desired location information and the actual location information; The torque and current setpoint of the target fitness equipment are obtained by performing proportional-integral (PI) controller calculations on the target desired speed and the actual speed information.

6. The method according to claim 1, characterized in that, The step of driving and controlling the target fitness equipment based on the target torque current includes: Obtain the original torque current and original excitation current of the target fitness equipment; The first voltage setting value of the target fitness equipment is obtained by performing PI controller calculations on the torque current setting value and the original torque current; The original excitation current and the excitation current set value are calculated by a PI controller to obtain the second voltage set value of the target fitness equipment. The target fitness equipment is driven and controlled according to the first voltage setting value and the second voltage setting value.

7. The method according to claim 6, characterized in that, The step of driving and controlling the target fitness device according to the first voltage setting value and the second voltage setting value includes: The first voltage component in the stationary coordinate system is obtained by performing an inverse Park transformation on the first voltage setpoint. The second voltage component in the stationary coordinate system is obtained by performing an inverse Park transformation on the second voltage setpoint. The switching signal of the target inverter is obtained by performing space vector pulse width modulation on the first voltage component and the second voltage component in the stationary coordinate system. Generate the target three-phase voltage signal based on the switching signal of the target inverter; The target fitness equipment is driven and controlled according to the target three-phase voltage signal.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that is executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the inertia-compensated fitness equipment control method according to any one of claims 1-7.

10. A computer program product, characterized in that, It includes a computer program / instruction, wherein when the computer program / instruction is executed by a processor, it implements the inertia-compensated fitness equipment control method according to any one of claims 1-7.

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