Method and device for controlling treadmill operation

Abstract

The present application proposes a method and device for controlling the operation of a treadmill, which relates to the field of motor control technology. The method comprises obtaining the speed deviation of the treadmill based on the target speed of the treadmill at the current gear and the real-time speed collected according to the first time interval; obtaining the back electromotive force deviation information of the drive motor based on the reference back electromotive force of the drive motor at the current gear and the first back electromotive force at the current moment and the second back electromotive force at the previous moment obtained according to the second time interval; and correcting the reference PWM duty cycle of the drive motor at the current gear based on the speed deviation and the back electromotive force deviation information to obtain the target PWM duty cycle of the drive motor at the next moment. The present application samples the back electromotive force at a smaller time interval and samples the speed signal at a larger time interval to correct the PWM duty cycle, thereby improving the dynamic response speed of the drive motor, making the entire motor control system fast and stable, and achieving stable operation of the treadmill.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a method and device for controlling the operation of a treadmill. Background Art

[0002] When a treadmill is running, people run on it. When their feet step on the track, the motor load increases and the speed drops instantaneously. When their feet release, the motor load decreases and the speed increases instantaneously. The motor load is a periodically changing load. If the pulse signal generated by one motor rotation is used as motor speed feedback, the time for dynamic speed adjustment is too long, making it difficult to adjust the motor torque instantaneously, so that the motor cannot run stably at the target speed. Summary of the Invention

[0003] The present application aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, one purpose of the present application is to propose a method for controlling the operation of a treadmill, by collecting the real-time speed of the treadmill at a first time interval, and obtaining the speed deviation of the treadmill based on the target speed and real-time speed of the treadmill in the current gear; obtaining the first back electromotive force of the treadmill's drive motor at the current moment and the second back electromotive force of the drive motor at the previous moment at a second time interval, wherein the first time interval is greater than the second time interval; obtaining the back electromotive force deviation information of the drive motor based on the reference back electromotive force, the first back electromotive force, and the second back electromotive force of the drive motor in the current gear; and correcting the reference pulse width modulation (PWM) duty cycle of the drive motor in the current gear based on the speed deviation and the back electromotive force deviation information to obtain the target PWM duty cycle of the drive motor at the next moment in the current gear, and the target PWM duty cycle is used to enable the drive motor to drive the treadmill to output the target speed at the next moment.

[0005] The method for controlling the operation of a treadmill proposed in this application samples the real-time speed and the first back electromotive force within a smaller sampling period to adjust the PWM duty cycle, which can improve the dynamic response speed of the drive motor, thereby making the entire motor control system fast and stable, thereby achieving stable operation of the treadmill.

[0006] The second purpose of this application is to provide a device for controlling the operation of a treadmill.

[0007] The third object of this application is to provide a treadmill.

[0008] The fourth objective of this application is to provide an electronic device.

[0009] A fifth object of the present application is to provide a non-transitory computer-readable storage medium.

[0010] A sixth object of the present application is to provide a computer program product.

[0011] To achieve the above-mentioned purpose, the first embodiment of the present application proposes a method for controlling the operation of a treadmill, including: collecting the real-time speed of the treadmill, and obtaining the speed deviation of the treadmill based on the target speed and real-time speed of the treadmill in the current gear; obtaining the first back electromotive force of the treadmill's drive motor at the current moment and the second back electromotive force of the drive motor at the previous moment; obtaining the back electromotive force deviation information of the drive motor based on the reference back electromotive force, the first back electromotive force and the second back electromotive force of the drive motor in the current gear; based on the speed deviation and the back electromotive force deviation information, correcting the reference pulse width modulation (PWM) duty cycle of the drive motor in the current gear to obtain the target PWM duty cycle of the drive motor at the next moment in the current gear, and the target PWM duty cycle is used to enable the drive motor to drive the treadmill to output the target speed at the next moment.

[0012] According to one embodiment of the present application, the back electromotive force deviation information includes a first back electromotive force deviation, wherein a method for obtaining the first back electromotive force deviation includes: obtaining a first difference between the first back electromotive force and a reference back electromotive force, and using the first difference as the first back electromotive force deviation of the drive motor at the current moment.

[0013] According to one embodiment of the present application, the back electromotive force deviation information also includes a first back electromotive force deviation rate, wherein a method for obtaining the first back electromotive force deviation rate includes: obtaining the first back electromotive force deviation of the driving motor at the previous moment based on the reference back electromotive force and the second back electromotive force of the driving motor at the target speed; and obtaining the first back electromotive force deviation rate of the driving motor at the current moment based on the first back electromotive force deviation at the current moment and the first back electromotive force deviation at the previous moment.

[0014] According to one embodiment of the present application, the back electromotive force deviation information includes a first back electromotive force deviation and a first back electromotive force deviation rate, wherein, based on the speed deviation and the back electromotive force deviation information, the reference pulse width modulation PWM duty cycle of the drive motor at the target speed is corrected to obtain the target PWM duty cycle of the drive motor, including: obtaining a first correction coefficient based on the first back electromotive force deviation and the first back electromotive force deviation rate; obtaining a preset second correction coefficient corresponding to the back electromotive force deviation information and a third correction coefficient corresponding to the speed deviation; and correcting the reference PWM duty cycle based on the first correction coefficient, the second correction coefficient and the third correction coefficient to obtain the target PWM duty cycle.

[0015] According to one embodiment of the present application, a first correction coefficient is obtained based on the first back electromotive force deviation and the first back electromotive force deviation rate, including: pre-sampling multiple first back electromotive force deviations and first back electromotive force deviation rates; performing fuzzy PID algorithm operations on the first back electromotive force deviation and the first back electromotive force deviation rate to generate a fuzzy table, wherein the fuzzy table includes a mapping relationship between the back electromotive force deviation, the back electromotive force deviation rate and the first correction coefficient; querying the fuzzy table to obtain the first correction coefficient that has a mapping relationship with the first back electromotive force deviation and the first back electromotive force deviation rate.

[0016] According to one embodiment of the present application, the process of obtaining the reference PWM duty cycle includes: pre-configuring the target speed of the treadmill in different gears; for each gear, obtaining the no-load running speed of the treadmill in the no-load running state in the gear; in response to the no-load running speed being the same as the target speed, determining the PWM duty cycle corresponding to the target speed as the reference PWM duty cycle of the drive motor in the gear.

[0017] According to one embodiment of the present application, the process of obtaining the reference back electromotive force includes: for each gear, in response to the no-load running speed in the gear being the same as the target speed, collecting the voltage drop across the drive motor and the current flowing through the drive motor; based on the voltage drop of the drive motor, the internal resistance and current of the drive motor, obtaining the reference back electromotive force of the drive motor in the gear.

[0018] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a device for controlling the operation of a treadmill, including: an acquisition module, used to collect the real-time speed of the treadmill according to a first time interval, and obtain the speed deviation of the treadmill based on the target speed and real-time speed of the treadmill in the current gear; a first acquisition module, used to obtain the first back electromotive force of the treadmill's drive motor at the current moment and the second back electromotive force of the drive motor at the previous moment according to a second time interval, wherein the first time interval is greater than the second time interval; a second acquisition module, used to obtain the back electromotive force deviation information of the drive motor based on the reference back electromotive force, the first back electromotive force and the second back electromotive force of the drive motor in the current gear; a correction module, used to correct the reference pulse width modulation (PWM) duty cycle of the drive motor in the current gear based on the speed deviation and the back electromotive force deviation information, so as to obtain the target PWM duty cycle of the drive motor at the next moment in the current gear, and the target PWM duty cycle is used to enable the drive motor to drive the treadmill to output the target speed at the next moment.

[0019] According to one embodiment of the present application, the second acquisition module is further used to: obtain a first difference between the first back electromotive force and the reference back electromotive force, and use the first difference as the first back electromotive force deviation of the drive motor at the current moment.

[0020] According to one embodiment of the present application, the second acquisition module is also used to: obtain the first back electromotive force deviation of the drive motor at the previous moment based on the reference back electromotive force and the second back electromotive force of the drive motor at the target speed; and obtain the first back electromotive force deviation rate of the drive motor at the current moment based on the first back electromotive force deviation at the current moment and the first back electromotive force deviation at the previous moment.

[0021] According to one embodiment of the present application, the correction module is also used to: obtain a first correction coefficient based on the first back electromotive force deviation and the first back electromotive force deviation rate; obtain a preset second correction coefficient corresponding to the back electromotive force deviation information and a third correction coefficient corresponding to the speed deviation; and correct the reference PWM duty cycle based on the first correction coefficient, the second correction coefficient and the third correction coefficient to obtain a target PWM duty cycle.

[0022] According to one embodiment of the present application, the correction module is also used to: pre-sample multiple first back electromotive force deviations and first back electromotive force deviation rates; perform fuzzy PID algorithm operations on the first back electromotive force deviations and the first back electromotive force deviation rates to generate a fuzzy table, wherein the fuzzy table includes a mapping relationship between the back electromotive force deviations, the back electromotive force deviation rates and the first correction coefficients; query the fuzzy table to obtain the first correction coefficient that has a mapping relationship with the first back electromotive force deviations and the first back electromotive force deviation rates.

[0023] According to one embodiment of the present application, the device also includes a third acquisition module, which is used to: pre-configure the target speed of the treadmill in different gears; for each gear, obtain the no-load running speed of the treadmill in the no-load running state in the gear; in response to the no-load running speed being the same as the target speed, determine the PWM duty cycle corresponding to the target speed as the reference PWM duty cycle of the drive motor in the gear.

[0024] According to one embodiment of the present application, the third acquisition module is also used to: for each gear, in response to the no-load running speed in the gear being the same as the target speed, collect the voltage drop across the drive motor and the current flowing through the drive motor; based on the voltage drop of the drive motor, the internal resistance and current of the drive motor, obtain the reference back electromotive force of the drive motor in the gear.

[0025] To achieve the above-mentioned purpose, an embodiment of the third aspect of the present application proposes a treadmill, including a device for controlling the operation of the treadmill as in any embodiment of the second aspect.

[0026] To achieve the above-mentioned purpose, the fourth aspect embodiment of the present application proposes an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to implement the method for controlling the operation of a treadmill as in the first aspect embodiment of the present application.

[0027] To achieve the above-mentioned purpose, the fifth aspect embodiment of the present application proposes a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to implement the method for controlling the operation of a treadmill as in the first aspect embodiment of the present application.

[0028] To achieve the above-mentioned purpose, the sixth embodiment of the present application proposes a computer program product, including a computer program, which, when executed by a processor, implements the method for controlling the operation of a treadmill as described in the first embodiment of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0030] Figure 1 This is a schematic diagram of a method for controlling the operation of a treadmill according to an embodiment of the present application.

[0031] Figure 2 This is a schematic diagram of a method for obtaining a target PWM duty cycle of a driving motor according to an embodiment of the present application.

[0032] Figure 3 This is a schematic diagram of a method for obtaining a reference PWM duty cycle of a drive motor at each speed gear according to an embodiment of the present application.

[0033] Figure 4 This is a schematic diagram of a method for obtaining a reference back electromotive force of a drive motor at various speed gears according to an embodiment of the present application.

[0034] Figure 5 This is a basic block diagram of a treadmill control according to an embodiment of the present application.

[0035] Figure 6 This is an overall flow chart of a method for controlling the operation of a treadmill according to an embodiment of the present application.

[0036] Figure 7 This is a schematic diagram of a device for controlling the operation of a treadmill according to an embodiment of the present application.

[0037] Figure 8 This is a schematic diagram of a treadmill according to an embodiment of the present application.

[0038] Figure 9 This is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0039] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0040] Figure 1 This is an exemplary embodiment of a method for controlling the operation of a treadmill proposed in this application, such as Figure 1 As shown, the method for controlling the operation of a treadmill comprises the following steps:

[0041] S101 , collecting the real-time speed of the treadmill at a first time interval, and obtaining the speed deviation of the treadmill based on the target speed and the real-time speed of the treadmill at a current gear.

[0042] The controller of the treadmill includes an upper control unit and a lower control unit. The upper control unit processes human-machine interaction tasks such as display and buttons, and the lower control unit is the motor drive part. In this application, the upper control unit and the lower control unit of the treadmill are both digitally controlled by a microcontroller unit (MCU).

[0043] In the prior art, when the drive motor runs at a low speed, it takes a relatively long time to run one circle. For example, if the speed of the treadmill is set to 1km / h, the period of the speed pulse signal corresponding to the drive motor exceeds 100 milliseconds. If this signal is used to do the speed feedback of the drive motor, the time for dynamic speed adjustment is too long, and it is difficult to adjust the motor torque instantaneously, and the motor cannot reach stable operation at the target speed. Therefore, it is necessary to add a method for collecting the motor back electromotive force, and adjust the output PWM by collecting the back electromotive force in a very short time. It is not difficult to understand that it is difficult for a treadmill to run at a constant speed at the target speed for a long time. In this application, within the smaller fluctuation range of the target speed, it is regarded as a treadmill running stably at the target speed.

[0044] In this application, a first time interval is pre-set, for example, 200ms, to collect the current real-time speed of the treadmill speed pulse signal. Each treadmill has multiple preset gears, each corresponding to a different speed. The speed corresponding to the treadmill's current gear is obtained as the target speed. The real-time speed in the current gear is collected at 200ms intervals to obtain the treadmill's speed deviation, which is recorded as Ev. Optionally, the target speed of the treadmill in the current gear can be subtracted from the treadmill's current real-time speed, and the difference obtained can be used as the treadmill's current speed deviation.

[0045] S102 : Acquire a first back electromotive force of a driving motor of the treadmill at a current moment and a second back electromotive force of the driving motor at a previous moment according to a second time interval, wherein the first time interval is greater than the second time interval.

[0046] Similar to the above, in this application, a second time interval is pre-set. For example, the second time interval can be set to collect the first back electromotive force of the treadmill's drive motor at the current moment every 10ms, and the first back electromotive force is recorded as FeedBemf. It should be noted that this second time interval is inconsistent with the first time interval for collecting the real-time speed of the treadmill. The sampling speed of the real-time speed of the treadmill at the current moment is slower, and the sampling speed of the motor's first back electromotive force is faster. The collected back electromotive force is used to compare with the reference back electromotive force of the corresponding speed to obtain the deviation for rapid dynamic adjustment, and the collected motor speed signal is used for speed calibration.

[0047] It is easy to understand that since the first back EMF of the treadmill's drive motor is collected at the current moment every second time interval, the first back EMF of the treadmill's drive motor collected at the previous moment is, at the current moment, the second back EMF corresponding to the drive motor. The current moment refers to the moment when the back EMF of the drive motor is currently collected, and the previous moment refers to the moment when the back EMF of the drive motor was last collected, with the previous moment and the current moment separated by the second time interval.

[0048] Optionally, the driving motor of the treadmill in the present application may be a DC brushed motor.

[0049] S103 , acquiring back electromotive force deviation information of the driving motor based on the reference back electromotive force, the first back electromotive force, and the second back electromotive force of the driving motor in the current gear.

[0050] When the treadmill is running at no load, if the speed of the treadmill running at no load is the same as the target speed of the current gear of the treadmill, the back electromotive force corresponding to the drive motor obtained at the gear is used as the reference back electromotive force corresponding to the gear, recorded as RefBemf.

[0051] The back electromotive force deviation information of the drive motor is obtained based on the reference back electromotive force of the drive motor in the current gear, the first back electromotive force and the second back electromotive force obtained above. Optionally, the back electromotive force deviation information may include a back electromotive force deviation and a back electromotive force deviation rate.

[0052] S104, based on the speed deviation and back electromotive force deviation information, correct the reference pulse width modulation (PWM) duty cycle of the drive motor in the current gear to obtain the target PWM duty cycle of the drive motor at the next moment in the current gear. The target PWM duty cycle is used to enable the drive motor to drive the treadmill to output the target speed at the next moment.

[0053] When the treadmill is running at no load and its speed is the same as the target speed for the current gear, the pulse width modulation (PWM) duty cycle of the drive motor obtained at that gear is used as the reference PWM duty cycle for that gear, denoted as RefDutycycly. Pulse width modulation is an analog control method that modulates the bias of the transistor base or MOS transistor gate based on changes in the corresponding load to change the transistor or MOS transistor's on-time, thereby changing the voltage across the motor.

[0054] Based on the speed deviation and back-electromotive force deviation information obtained above, the reference PWM duty cycle of the drive motor in the current gear is corrected, and the corrected PWM duty cycle is used as the target PWM duty cycle of the drive motor at the next moment in the current gear. The target PWM duty cycle is used to enable the drive motor to drive the treadmill to output the target speed at the next moment. The next moment refers to the next moment when the back-electromotive force of the drive motor is collected, and the interval between the current moment and the next moment is the second time interval.

[0055] The present application proposes a method for controlling the operation of a treadmill, which includes collecting the real-time speed of the treadmill and obtaining the speed deviation of the treadmill based on the target speed and real-time speed of the treadmill in the current gear; obtaining the first back EMF of the treadmill drive motor at the current moment and the second back EMF of the drive motor at the previous moment; obtaining back EMF deviation information of the drive motor based on the reference back EMF, the first back EMF, and the second back EMF of the drive motor in the current gear; and correcting the reference pulse width modulation (PWM) duty cycle of the drive motor in the current gear based on the speed deviation and the back EMF deviation information to obtain the target PWM duty cycle of the drive motor at the next moment in the current gear, the target PWM duty cycle being used to enable the drive motor to drive the treadmill to output the target speed at the next moment. The method for controlling the operation of a treadmill proposed in the present application samples the back EMF at a small time interval and samples the speed signal at a large time interval to adjust the PWM duty cycle, thereby improving the dynamic response speed of the motor and controlling the accuracy of the motor speed, thereby making the entire motor control system both fast and stable, thereby achieving stable operation of the treadmill.

[0056] Figure 2This is an exemplary embodiment of a method for controlling the operation of a treadmill proposed in this application, such as Figure 2 As shown, when the back electromotive force deviation information determined above includes the back electromotive force deviation and the back electromotive force deviation rate, a method for correcting a reference pulse width modulation (PWM) duty cycle of the driving motor at a target speed based on the speed deviation and the back electromotive force deviation information to obtain a target PWM duty cycle of the driving motor includes the following steps:

[0057] S201 , obtaining a difference between the first back electromotive force and the reference back electromotive force, and using the difference as a back electromotive force deviation of the drive motor at the current moment.

[0058] When the lower control MCU program is in normal operation mode, it collects the first back EMF of the treadmill's drive motor at the current moment every second time interval, and records the first back EMF as FeedBemf. The speed command sent by the upper control can correspond to the reference back EMF RefBemf corresponding to the current gear of the treadmill's drive motor. The difference between the first back EMF FeedBemf and the reference back EMF RefBemf is obtained, and the difference is used as the back EMF deviation Et of the drive motor at the current moment. The formula for obtaining the back EMF deviation Et of the drive motor at the current moment is:

[0059] Et=FeedBemf-RefBemf

[0060] Where Et represents the back electromotive force deviation of the drive motor at the current moment; FeedBemf represents the first back electromotive force of the treadmill drive motor at the current moment; RefBemf represents the reference motor back electromotive force corresponding to the current gear of the treadmill drive motor.

[0061] S202 : Acquire a back electromotive force deviation of the drive motor at a previous moment based on a reference back electromotive force and a second back electromotive force of the drive motor at a target speed.

[0062] It's easy to understand that the calculation method for obtaining the back EMF deviation of the drive motor at the previous moment is similar to the method described above for obtaining the back EMF deviation of the drive motor at the current moment. The back EMF of the drive motor at the target speed at the previous moment is obtained as the second back EMF. The speed command sent by the upper control can correspond to the reference back EMF corresponding to the current gear position of the treadmill drive motor. The difference between the second back EMF and the reference back EMF is obtained, and this difference is used as the back EMF deviation of the drive motor at the previous moment. The back EMF deviation of the drive motor at the previous moment is recorded as Et1.

[0063] S203 , obtaining a back electromotive force deviation rate of the drive motor at the current moment based on the back electromotive force deviation at the current moment and the back electromotive force deviation at the previous moment.

[0064] According to the back electromotive force deviation of the driving motor at the current moment and the back electromotive force deviation at the previous moment obtained above, the back electromotive force deviation rate of the driving motor at the current moment is obtained. The calculation formula for obtaining the back electromotive force deviation rate of the driving motor at the current moment is:

[0065] Ect=Et-Et1

[0066] In the above formula, Ect is the back electromotive force deviation rate of the driving motor at the current moment; Et is the back electromotive force deviation of the driving motor at the current moment; and Et1 is the back electromotive force deviation of the driving motor at the previous moment.

[0067] S204 : Obtain a first correction coefficient according to the back electromotive force deviation and the back electromotive force deviation rate.

[0068] By analyzing the numerical range of the input back-EMF deviation and back-EMF deviation rate, a suitable fuzzy table is established. The fuzzy table includes the mapping relationship between the back-EMF deviation, the back-EMF deviation rate, and the first correction coefficient. When the first correction coefficient is needed, it can be found by performing a mathematical operation on the back-EMF deviation and the back-EMF deviation rate. The first correction coefficient is recorded as Kf.

[0069] S205 , obtaining a preset second correction coefficient corresponding to the back electromotive force deviation information and a third correction coefficient corresponding to the speed deviation.

[0070] As a feasible method, the back electromotive force deviation Et of the driving motor at the current moment is

[0071] A given second correction coefficient is pre-set, and the second correction coefficient is recorded as Ki; a given third correction coefficient is pre-set for the speed deviation of the treadmill, and the third correction coefficient is recorded as Kii.

[0072] S206 , correcting the reference PWM duty cycle based on the first correction coefficient, the second correction coefficient, and the third correction coefficient to obtain a target PWM duty cycle.

[0073] The reference PWM duty cycle is corrected according to the first correction coefficient, the second correction coefficient, and the third correction coefficient obtained above to obtain the target PWM duty cycle. The calculation formula for obtaining the target PWM duty cycle is:

[0074] Dutycycle = RefDutycycly + Et*Kf + Et*Ki+ Ev*Kii

[0075] In the above formula, Dutycycle is the target PWM duty cycle; RefDutycycly is the reference PWM duty cycle; Et is the back electromotive force deviation of the drive motor at the current moment; Ev is the speed deviation of the treadmill; Kf is the first correction coefficient; Ki is the second correction coefficient; Kii is the third correction coefficient.

[0076] The embodiment of the present application adopts fuzzy PID control, which has a faster adjustment speed than traditional PID control and is more suitable for occasions with large instantaneous dynamic changes. In addition, the integral fine-tuning of the speed deviation is added to improve the accuracy of the motor's operating speed, making the entire motor control system both fast and stable, thereby achieving stable operation of the treadmill.

[0077] Further, Figure 3 is an exemplary embodiment of obtaining the reference PWM duty cycle of the drive motor at each speed gear, such as Figure 3 As shown, the method for obtaining the reference PWM duty cycle of the drive motor at each speed gear includes the following steps:

[0078] S301, pre-configuring target speeds of the treadmill at different gears.

[0079] Each treadmill is pre-configured with multiple gears, each gear corresponding to a different speed, and the speed corresponding to each gear of the treadmill is used as the target speed corresponding to the treadmill in that gear.

[0080] S302: For each gear, obtain the no-load running speed of the treadmill in the no-load running state at the gear.

[0081] When the treadmill is unloaded, the upper controller of the treadmill is configured to send different gear operation commands to the lower controller, causing the treadmill to begin unloaded operation. During the unloaded operation, the unloaded speed of the treadmill is obtained for each gear. Optionally, the unloaded speed can be obtained using a photoelectric or Hall effect sensor installed on the lower controller.

[0082] S303 , in response to the no-load running speed being the same as the target speed, determining the PWM duty cycle corresponding to the target speed as a reference PWM duty cycle of the drive motor in the gear position.

[0083] For each gear, when the no-load running speed of the treadmill is the same as the target speed, the PWM duty cycle corresponding to the target speed of the treadmill gear is recorded and determined as the reference PWM duty cycle of the drive motor in this gear.

[0084] The embodiment of the present application obtains the reference PWM duty cycle of the drive motor at each speed gear, so as to obtain the target PWM duty cycle of the drive motor at the next moment in the current gear based on the reference PWM duty cycle, thereby achieving stable operation of the treadmill.

[0085] Further, Figure 4 is an exemplary embodiment of obtaining the reference back electromotive force of the driving motor at each speed gear, such as Figure 4 As shown, based on the above embodiment, the method for obtaining the reference back electromotive force of the driving motor at each speed gear includes the following steps:

[0086] S401 , for each gear, in response to the no-load running speed in the gear being the same as the target speed, collecting the voltage drop across the drive motor and the current flowing through the drive motor.

[0087] The formula related to the back EMF of a brushed DC motor is Um = Im * R + E, where Um is the voltage drop across the drive motor, Im is the current flowing through the drive motor, R is the internal resistance of the drive motor, and E is the back EMF of the drive motor, which is proportional to the speed.

[0088] Figure 5 This is the basic block diagram of treadmill control, such as Figure 5 As shown in the figure, when the treadmill is running at no load, for each gear, when the no-load running speed of the treadmill is the same as the target speed, two operational amplifiers are used to respectively collect the voltage drop Um across the drive motor and the current Im flowing through the drive motor.

[0089] S402 , obtaining a reference back electromotive force of the drive motor at the gear position based on the voltage drop, internal resistance, and current of the drive motor.

[0090] For each gear, based on the voltage drop, internal resistance and current of the drive motor determined above, the reference back electromotive force of the drive motor in the gear is obtained. The calculation formula of the reference back electromotive force of the drive motor is:

[0091] E = Um–Im * R

[0092] In the above formula, E is the reference back electromotive force of the drive motor; Um is the voltage drop across the drive motor; Im is the current flowing through the drive motor; and R is the internal resistance of the drive motor.

[0093] The embodiment of the present application obtains the reference back electromotive force of the driving motor at each speed gear, so as to correct the reference pulse width modulation (PWM) duty cycle of the driving motor at the current gear based on the reference back electromotive force, so as to obtain the target PWM duty cycle of the driving motor at the next moment in the current gear, thereby achieving stable operation of the treadmill.

[0094] Figure 6 This is a general flow chart of a method for controlling the operation of a treadmill proposed in this application, such as Figure 6 As shown, the method for controlling the operation of a treadmill comprises the following steps:

[0095] S601, pre-configure the target speed of the treadmill at different gears.

[0096] S602: For each gear, obtain the no-load running speed of the treadmill in the no-load running state at the gear.

[0097] S603 , in response to the no-load running speed being the same as the target speed, determining the PWM duty cycle corresponding to the target speed as a reference PWM duty cycle of the drive motor in the gear position.

[0098] S604 , for each gear, in response to the no-load running speed in the gear being the same as the target speed, collecting the voltage drop across the drive motor and the current flowing through the drive motor.

[0099] S605 , obtaining a reference back electromotive force of the drive motor at the gear position based on the voltage drop, internal resistance, and current of the drive motor.

[0100] Regarding the implementation of steps S601 to S605, reference may be made to the corresponding methods in the above embodiments, which will not be described in detail here.

[0101] S606: Collect the real-time speed of the treadmill at the first time interval, and obtain the speed deviation of the treadmill according to the target speed and the real-time speed of the treadmill at the current gear.

[0102] S607 , obtaining a first back electromotive force of the driving motor of the treadmill at the current moment and a second back electromotive force of the driving motor at the previous moment according to a second time interval.

[0103] Regarding the implementation of steps S606 to S607, reference may be made to the corresponding methods in the above embodiments, which will not be described in detail here.

[0104] S608 , obtaining a first difference between the first back electromotive force and the reference back electromotive force, and using the first difference as a first back electromotive force deviation of the driving motor at the current moment.

[0105] S609 , obtaining a first back electromotive force deviation of the drive motor at a previous moment based on the reference back electromotive force and the second back electromotive force of the drive motor at the target speed.

[0106] S610 , obtaining a first back electromotive force deviation rate of the drive motor at the current moment based on the first back electromotive force deviation at the current moment and the first back electromotive force deviation at the previous moment.

[0107] S611 : Obtain a first correction coefficient according to the first back electromotive force deviation and the first back electromotive force deviation rate.

[0108] S612: Obtain a preset second correction coefficient corresponding to the back electromotive force deviation information and a third correction coefficient corresponding to the speed deviation.

[0109] S613 , correcting the reference PWM duty cycle based on the first correction coefficient, the second correction coefficient, and the third correction coefficient to obtain a target PWM duty cycle.

[0110] Regarding the implementation of steps S608 to S613, reference may be made to the corresponding methods in the above embodiments, which will not be described in detail here.

[0111] The present application proposes a method for controlling the operation of a treadmill, comprising: sampling the real-time speed of the treadmill at a first time interval, and obtaining the speed deviation of the treadmill based on the target speed and the real-time speed of the treadmill in the current gear; obtaining the first back-electromotive force of the treadmill drive motor at the current moment and the second back-electromotive force of the drive motor at the previous moment at a second time interval; obtaining back-electromotive force deviation information of the drive motor based on the reference back-electromotive force, the first back-electromotive force, and the second back-electromotive force of the drive motor in the current gear; and correcting the reference pulse width modulation (PWM) duty cycle of the drive motor in the current gear based on the speed deviation and the back-electromotive force deviation information to obtain the target PWM duty cycle of the drive motor at the next moment in the current gear, the target PWM duty cycle being used to enable the drive motor to drive the treadmill to output the target speed at the next moment. The method for controlling the operation of a treadmill proposed in the present application samples the real-time speed and the first back-electromotive force within a relatively small sampling period to adjust the PWM duty cycle, thereby improving the accuracy of the drive motor's operating speed, thereby making the entire motor control system both fast and stable, thereby achieving stable operation of the treadmill.

[0112] Figure 7 This is a schematic diagram of a device for controlling the operation of a treadmill proposed in this application. Figure 7 As shown, the device 700 for controlling the operation of a treadmill includes a collection module 71, a first acquisition module 72, a second acquisition module 73 and a correction module 74, wherein:

[0113] The acquisition module 71 is configured to acquire the real-time speed of the treadmill at a first time interval, and obtain the speed deviation of the treadmill according to the target speed and the real-time speed of the treadmill at a current gear.

[0114] The first acquisition module 72 is configured to acquire a first back electromotive force of the driving motor of the treadmill at a current moment and a second back electromotive force of the driving motor at a previous moment according to a second time interval.

[0115] The second acquisition module 73 is configured to acquire back electromotive force deviation information of the drive motor based on the reference back electromotive force, the first back electromotive force, and the second back electromotive force of the drive motor at the current gear.

[0116] The correction module 74 is used to correct the reference pulse width modulation (PWM) duty cycle of the drive motor in the current gear based on the speed deviation and back electromotive force deviation information to obtain the target PWM duty cycle of the drive motor at the next moment in the current gear. The target PWM duty cycle is used to enable the drive motor to drive the treadmill to output the target speed at the next moment.

[0117] Furthermore, the second acquisition module 73 is further configured to: acquire a first difference between the first back electromotive force and the reference back electromotive force, and use the first difference as a first back electromotive force deviation of the drive motor at a current moment.

[0118] Furthermore, the second acquisition module 73 is also used to: obtain the first back electromotive force deviation of the drive motor at the previous moment based on the reference back electromotive force and the second back electromotive force of the drive motor at the target speed; and obtain the first back electromotive force deviation rate of the drive motor at the current moment based on the first back electromotive force deviation at the current moment and the first back electromotive force deviation at the previous moment.

[0119] Furthermore, the correction module 74 is also used to: obtain a first correction coefficient based on the first back electromotive force deviation and the first back electromotive force deviation rate; obtain a preset second correction coefficient corresponding to the back electromotive force deviation information and a third correction coefficient corresponding to the speed deviation; and correct the reference PWM duty cycle based on the first correction coefficient, the second correction coefficient and the third correction coefficient to obtain a target PWM duty cycle.

[0120] Furthermore, the correction module 74 is also used to: pre-sample multiple first back electromotive force deviations and first back electromotive force deviation rates; perform fuzzy PID algorithm operations on the first back electromotive force deviations and the first back electromotive force deviation rates to generate a fuzzy table, wherein the fuzzy table includes a mapping relationship between the back electromotive force deviations, the back electromotive force deviation rates and the first correction coefficients; query the fuzzy table to obtain the first correction coefficient that has a mapping relationship with the first back electromotive force deviations and the first back electromotive force deviation rates.

[0121] Furthermore, the device also includes a third acquisition module 75, which is used to: pre-configure the target speed of the treadmill in different gears; for each gear, obtain the no-load running speed of the treadmill in the no-load running state in that gear; in response to the no-load running speed being the same as the target speed, determine the PWM duty cycle corresponding to the target speed as the reference PWM duty cycle of the drive motor in that gear.

[0122] Furthermore, the third acquisition module 75 is also used to: for each gear, in response to the no-load running speed in the gear being the same as the target speed, collect the voltage drop across the drive motor and the current flowing through the drive motor; based on the voltage drop of the drive motor, the internal resistance and current of the drive motor, obtain the reference back electromotive force of the drive motor in the gear.

[0123] In order to implement the above embodiment, the present application also provides a treadmill. Figure 8 This is a schematic diagram of a treadmill proposed in this application, such as Figure 8 As shown, the treadmill 800 includes the device 700 for controlling the operation of the treadmill as described in the above embodiment.

[0124] In order to implement the above embodiment, the present application also provides an electronic device 900, such as Figure 9 As shown, the electronic device 900 includes: a processor 901 and a memory 902 communicatively connected to the processor, the memory 902 stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor 901 to implement the method for controlling the operation of the treadmill as shown in the above embodiment.

[0125] In order to implement the above embodiment, the embodiment of the present application also proposes a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to implement the method for controlling the operation of the treadmill as shown in the above embodiment.

[0126] In order to implement the above embodiments, the embodiments of the present application further provide a computer program product, including a computer program. When the computer program is executed by a processor, it implements the method for controlling the operation of a treadmill as shown in the above embodiments.

[0127] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0128] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0129] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for controlling the operation of a treadmill, characterized in that: include: At a first time interval, collecting a real-time speed of the treadmill, and obtaining a speed deviation of the treadmill based on a target speed of the treadmill at a current gear and the real-time speed; acquiring a first back electromotive force of the drive motor of the treadmill at a current moment and a second back electromotive force of the drive motor at a previous moment according to a second time interval, wherein the first time interval is greater than the second time interval; acquiring back electromotive force deviation information of the drive motor based on a reference back electromotive force, the first back electromotive force, and the second back electromotive force of the drive motor at the current gear; Based on the speed deviation and the back electromotive force deviation information, the reference pulse width modulation (PWM) duty cycle of the drive motor in the current gear is corrected to obtain the target PWM duty cycle of the drive motor at the next moment in the current gear. The target PWM duty cycle is used to enable the drive motor to drive the treadmill to output the target speed at the next moment.

2. The method according to claim 1, characterized in that The back electromotive force deviation information includes a first back electromotive force deviation, wherein a method for obtaining the first back electromotive force deviation includes: A first difference between the first back electromotive force and the reference back electromotive force is obtained, and the first difference is used as a first back electromotive force deviation of the drive motor at a current moment.

3. The method according to claim 2, characterized in that The back electromotive force deviation information further includes a first back electromotive force deviation rate, wherein a method for obtaining the first back electromotive force deviation rate includes: acquiring a first back electromotive force deviation of the drive motor at a previous moment based on a reference back electromotive force and the second back electromotive force of the drive motor at the target speed; The first back electromotive force deviation rate of the drive motor at the current moment is acquired based on the first back electromotive force deviation at the current moment and the first back electromotive force deviation at the previous moment.

4. The method according to any one of claims 1 to 3, characterized in that The back electromotive force deviation information includes a first back electromotive force deviation and a first back electromotive force deviation rate, wherein, based on the speed deviation and the back electromotive force deviation information, correcting a reference pulse width modulation (PWM) duty cycle of the drive motor at the target speed to obtain a target PWM duty cycle of the drive motor includes: Obtaining a first correction coefficient according to the first back electromotive force deviation and the first back electromotive force deviation rate; Obtaining a preset second correction coefficient corresponding to the back electromotive force deviation information and a third correction coefficient corresponding to the speed deviation; The reference PWM duty cycle is corrected based on the first correction coefficient, the second correction coefficient, and the third correction coefficient to obtain the target PWM duty cycle.

5. The method according to claim 4, characterized in that The obtaining of a first correction coefficient according to the first back electromotive force deviation and the first back electromotive force deviation rate includes: Pre-sampling a plurality of first back electromotive force deviations and first back electromotive force deviation rates; Performing a fuzzy PID algorithm operation on the first back electromotive force deviation and the first back electromotive force deviation rate to generate a fuzzy table, wherein the fuzzy table includes a mapping relationship between the back electromotive force deviation, the back electromotive force deviation rate, and the first correction coefficient; The fuzzy table is queried to obtain the first correction coefficient that has a mapping relationship with the first back electromotive force deviation and the first back electromotive force deviation rate.

6. The method according to claim 1, characterized in that The process of obtaining the reference PWM duty cycle includes: Pre-configuring the target speed of the treadmill at different gears; For each gear, obtaining the no-load running speed of the treadmill in the no-load running state at the gear; In response to the no-load running speed being the same as the target speed, the PWM duty cycle corresponding to the target speed is determined as a reference PWM duty cycle of the drive motor at the gear position.

7. The method according to claim 6, characterized in that The process of obtaining the reference back electromotive force includes: For each gear, in response to the no-load running speed in the gear being the same as the target speed, collecting the voltage drop across the drive motor and the current flowing through the drive motor; The reference back electromotive force of the drive motor at the gear position is obtained based on the voltage drop of the drive motor, the internal resistance of the drive motor, and the current.

8. A device for controlling a treadmill to run at a constant speed, characterized in that: include: an acquisition module, configured to acquire the real-time speed of the treadmill at a first time interval, and obtain a speed deviation of the treadmill based on the target speed of the treadmill at a current gear and the real-time speed; a first acquiring module, configured to acquire, at a second time interval, a first back electromotive force of a drive motor of the treadmill at a current moment and a second back electromotive force of the drive motor at a previous moment, wherein the first time interval is greater than the second time interval; a second acquiring module, configured to acquire back electromotive force deviation information of the drive motor based on a reference back electromotive force, the first back electromotive force, and the second back electromotive force of the drive motor at the current gear; a correction module, configured to correct a reference pulse width modulation (PWM) duty cycle of the drive motor at the current gear position based on the speed deviation and the back electromotive force deviation information, so as to obtain a target PWM duty cycle of the drive motor at a next moment in the current gear position, wherein the target PWM duty cycle is used to enable the drive motor to drive the treadmill to output the target speed at the next moment.

9. The device according to claim 8, characterized in that The second acquisition module is further configured to: A first difference between the first back electromotive force and the reference back electromotive force is obtained, and the first difference is used as a first back electromotive force deviation of the drive motor at a current moment.

10. The device according to claim 9, characterized in that The second acquisition module is further configured to: acquiring a first back electromotive force deviation of the drive motor at a previous moment based on a reference back electromotive force and the second back electromotive force of the drive motor at the target speed; The first back electromotive force deviation rate of the drive motor at the current moment is acquired based on the first back electromotive force deviation at the current moment and the first back electromotive force deviation at the previous moment.

11. The device according to claim 10, characterized in that The correction module is further used to: Obtaining a first correction coefficient according to the first back electromotive force deviation and the first back electromotive force deviation rate; Obtaining a preset second correction coefficient corresponding to the back electromotive force deviation information and a third correction coefficient corresponding to the speed deviation; The reference PWM duty cycle is corrected based on the first correction coefficient, the second correction coefficient, and the third correction coefficient to obtain the target PWM duty cycle.

12. The device according to claim 11, characterized in that The correction module is further used to: Pre-sampling a plurality of first back electromotive force deviations and first back electromotive force deviation rates; Performing a fuzzy PID algorithm operation on the first back electromotive force deviation and the first back electromotive force deviation rate to generate a fuzzy table, wherein the fuzzy table includes a mapping relationship between the back electromotive force deviation, the back electromotive force deviation rate, and the first correction coefficient; The fuzzy table is queried to obtain the first correction coefficient that has a mapping relationship with the first back electromotive force deviation and the first back electromotive force deviation rate.

13. The device according to claim 8, characterized in that The apparatus further includes a third acquisition module, wherein the third acquisition module is configured to: Pre-configuring the target speed of the treadmill at different gears; For each gear, obtaining the no-load running speed of the treadmill in the no-load running state at the gear; In response to the no-load running speed being the same as the target speed, the PWM duty cycle corresponding to the target speed is determined as a reference PWM duty cycle of the drive motor at the gear position.

14. The device according to claim 13, characterized in that The third acquisition module is further configured to: For each gear, in response to the no-load running speed in the gear being the same as the target speed, collecting the voltage drop across the drive motor and the current flowing through the drive motor; The reference back electromotive force of the drive motor at the gear position is obtained based on the voltage drop of the drive motor, the internal resistance of the drive motor, and the current.

15. A treadmill, characterized in that: The treadmill comprises a device for controlling the constant speed operation of the treadmill as claimed in any one of claims 8 to 14.

16. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

17. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

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