A method of adjusting a gear, a controller, a fitness bicycle and a storage medium

Abstract

The application discloses a gear adjusting method, a controller, a fitness bicycle and a storage medium. The method comprises the following steps: acquiring gear adjusting information, wherein the gear adjusting information is information received from an upper computer when a preset flag bit is a first value, or the gear adjusting information is information generated when the preset flag bit is a second value and a gear dial is triggered; determining a target gear of the fitness bicycle according to the gear adjusting information; and adjusting the current gear of the fitness bicycle to the target gear. The scheme can realize stepless adjustment of various gears of the fitness bicycle and improve the riding experience of users.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fitness equipment, and particularly relates to a gear adjustment method, a controller, a fitness bicycle and a storage medium. BACKGROUND

[0002] As a kind of efficient and safe indoor fitness equipment, the fitness bicycle (also known as spinning bicycle) has become the health life choice of more and more people.

[0003] Most of the existing fitness bicycles do not have gear adjustment function. Even if they have gear adjustment function, the function is relatively single. For example, the fitness bicycle directly installs an adjustment device on the frame with a cog disc flywheel. However, such fitness bicycle only realizes gear adjustment in physical structure, and the gear is fixed and the adjustment range is narrow, which cannot meet the increasingly diversified riding needs of users. SUMMARY

[0004] The present application provides a gear adjustment method, a controller, a fitness bicycle and a storage medium, which can realize stepless adjustment of various gears of the fitness bicycle and improve the riding experience of users.

[0005] According to an aspect of the present application, a gear adjustment method is provided, which is applied to a controller of a fitness bicycle, the fitness bicycle is provided with an upper computer and a gear dial, the upper computer is in communication connection with the controller; the method comprises:

[0006] obtaining gear adjustment information, wherein the gear adjustment information is information received by the upper computer when a preset flag bit is a first value, or the gear adjustment information is information generated when the preset flag bit is a second value and the gear dial is detected to be triggered;

[0007] determining a target gear of the fitness bicycle according to the gear adjustment information;

[0008] adjusting a current gear of the fitness bicycle to the target gear.

[0009] Optionally, when the gear adjustment information is information received by the upper computer when the preset flag bit is the first value, the gear adjustment information comprises the target gear;

[0010] When the gear adjustment information is information generated when the preset flag bit is the second value and the gear dial is detected to be triggered, the gear adjustment information comprises change information, and the target gear is determined based on the change information and the current gear.

[0011] Optionally, the fitness bicycle is provided with a motor;

[0012] After adjusting the current gear of the fitness bicycle to the target gear, the method further comprises:

[0013] obtaining a vehicle parameter of the exercise bicycle and a working parameter of the exercise bicycle in a current control period, wherein the vehicle parameter comprises a total weight of the exercise bicycle, a wheel radius of the exercise bicycle and a torque coefficient of the motor, and the working parameter comprises a current torque current of the motor, a current rotating speed of the motor and a comprehensive resistance received by the exercise bicycle;

[0014] determining a first power exerted on the exercise bicycle by the user according to the current torque current, the torque coefficient and the current rotating speed;

[0015] determining a second power exerted on the exercise bicycle by the comprehensive resistance according to the comprehensive resistance, the wheel radius and the current rotating speed;

[0016] determining a given rotating speed of the motor in a next control period according to the total weight, the wheel radius, the first power, the second power and a target gear, and controlling the motor to operate at the given rotating speed in the next control period.

[0017] Optionally, the comprehensive resistance comprises at least one of an external resistance received by the exercise bicycle, a constant resistance set by the user and a slope resistance when the exercise bicycle simulates slope riding.

[0018] The slope resistance is determined based on a riding slope and the total weight.

[0019] Optionally, determining the given rotating speed of the motor in the next control period according to the total weight, the wheel radius, the first power, the second power and the target gear comprises:

[0020] determining an energy of the exercise bicycle in the current control period according to the first power and the second power;

[0021] determining an ideal speed of the exercise bicycle according to the total weight and the energy;

[0022] determining the given rotating speed according to the ideal speed, the wheel radius and the target gear.

[0023] Optionally, obtaining the current torque current and the current rotating speed comprises:

[0024] collecting three-phase currents of the motor in a three-phase stationary coordinate system in the current control period;

[0025] performing Clarke transformation on the three-phase currents to obtain two-phase currents of the motor in a two-phase stationary coordinate system;

[0026] determining the current rotating speed and a position of a rotor of the motor according to the two-phase currents and a given two-phase voltage in the current control period;

[0027] performing Park transformation on the position of the rotor of the motor and the two-phase currents to obtain the current torque current.

[0028] Optionally, the exercise bike is also equipped with a three-phase bridge connected to the motor;

[0029] In the next control cycle, control the motor to run at a given speed, including:

[0030] In the next control cycle, the given torque current of the motor is determined based on the given speed and the current speed; the first voltage is determined based on the given torque current and the current torque current.

[0031] The second voltage is determined based on the given excitation current and the current excitation current of the motor, wherein the current excitation current is obtained by performing Parker transformation on the position of the motor rotor and the two-phase current;

[0032] The position of the motor rotor, the first voltage, and the second voltage are subjected to inverse Park transformation to obtain the given two-phase voltage of the motor in the next control cycle.

[0033] The space vector pulse width modulation (SVPWM) module processes the given two-phase voltage of the next control cycle to obtain a switching signal, which is then input into the three-phase bridge to control the three-phase bridge drive motor to run at the given speed.

[0034] According to another aspect of the present invention, a controller is provided, the controller comprising:

[0035] At least one processor; and a memory communicatively connected to the at least one processor; wherein,

[0036] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the gear adjustment method of any embodiment of the present invention.

[0037] According to another aspect of the present invention, an exercise bike is provided, including a controller according to any embodiment of the present invention, as well as a host computer, shift paddles, a motor and a three-phase bridge;

[0038] The host computer and gear shift levers are installed on the exercise bike, and the host computer is connected to the controller.

[0039] The controller, motor, and three-phase bridge are installed inside the exercise bike, with the motor connected to the three-phase bridge.

[0040] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to execute a gear adjustment method according to any embodiment of the present invention.

[0041] The technical solution of this invention acquires gear adjustment information, determines the target gear of the exercise bike based on the gear adjustment information, and finally adjusts the current gear of the exercise bike to the target gear. Since the gear adjustment information is either information received from the host computer when the preset flag value is the first value, or information generated when the preset flag value is the second value and the gear shift lever is triggered, the exercise bike provided by this invention can support both user-defined gear adjustment and mechanical gear adjustment. Moreover, regardless of the adjustment method, the gear adjustment range is wide, no longer limited to traditional fixed gear adjustment. This achieves stepless adjustment of various gears on the exercise bike, improving the user's riding experience.

[0042] 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

[0043] 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.

[0044] Figure 1 This is a schematic flowchart of a gear adjustment method provided in Embodiment 1 of the present invention;

[0045] Figure 2 This is a schematic flowchart of a gear adjustment method provided in Embodiment 2 of the present invention;

[0046] Figure 3 This is a motor control logic diagram provided in Embodiment 2 of the present invention;

[0047] Figure 4 This is a schematic diagram of the structure of a gear adjustment device provided in Embodiment 3 of the present invention;

[0048] Figure 5 This is a schematic diagram of another gear adjustment device provided in Embodiment 3 of the present invention;

[0049] Figure 6 This is a schematic diagram of the structure of a controller provided in Embodiment 4 of the present invention;

[0050] Figure 7 This is a schematic diagram of the structure of a fitness bike provided in Embodiment 4 of the present invention. Detailed Implementation

[0051] 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.

[0052] It should be noted that the terms "first," "second," "current," "given," etc., used 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 a 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.

[0053] Example 1

[0054] Figure 1 This is a flowchart illustrating a gear adjustment method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where a user adjusts the gears of an exercise bike while using it. The method can be executed by a controller, which can be implemented in hardware and / or software. The controller can be configured within the exercise bike, which is equipped with a host computer and gear shifters, and the host computer and controller are communicatively connected. Figure 1 As shown, the method includes:

[0055] S110. Obtain gear adjustment information, wherein the gear adjustment information is information sent by the host computer when the preset flag value is the first value, or the gear adjustment information is information generated when the preset flag value is the second value and the gear shift paddle is detected to be triggered.

[0056] In this invention, the exercise bike can be an indoor exercise bike or an outdoor exercise bike with fitness functions. The exercise bike includes at least a controller, a host computer, and gear shifters, with the host computer communicating with the controller. The host computer can be a display screen with touch functionality / input buttons for users to perform various operations, such as gear adjustment, setting constant resistance, and querying cycling data. The display screen can also display various cycling data of the exercise bike (such as power consumption, current speed, etc.).

[0057] In one embodiment, the gear positions described in this invention can be understood as the reduction ratio of an exercise bike. The controller has a preset flag indicating whether the exercise bike uses a custom gear adjustment method or a mechanical gear adjustment method. Specifically, when the preset flag value is a first value, the exercise bike uses a custom gear adjustment method; when the preset flag value is a second value, the exercise bike uses a mechanical gear adjustment method. Optionally, the first value can be 1, and the second value can be 0.

[0058] Normally, the preset flag is initialized after the controller is powered on. After initialization, the preset flag defaults to the second value, i.e., preset flag = 0, and the exercise bike uses a mechanical gear adjustment method. If the user wishes to use a custom gear adjustment method, they can operate the host computer to send flag change information to the controller. Upon receiving the flag change information, the controller changes the preset flag from the second value to the first value.

[0059] Similarly, if the preset flag is set to the first value, and the user wishes to use a mechanical gear adjustment method, the host computer can send a flag change message to the controller again. Upon receiving the flag change message, the controller will change the preset flag from the first value to the second value. Alternatively, the preset flag can be initialized by restarting the exercise bike.

[0060] In one possible implementation, when the preset flag value is the first value, the controller can obtain gear adjustment information by receiving gear adjustment information triggered by the user from the host computer.

[0061] In another possible implementation, when the preset flag value is the second value, the controller can obtain gear adjustment information by: determining whether the gear shift paddle is triggered; if the gear shift paddle is triggered, generating gear adjustment information based on the triggered gear shift paddle.

[0062] It should be noted that the number of paddle shifters can be two or four. When there are two paddle shifters, one is the left paddle and the other is the right paddle; when there are four paddle shifters, they are the left up paddle, the left down paddle, the right up paddle, and the right down paddle. In this invention, only one paddle shifter can be activated at a time.

[0063] S120. Determine the target gear for the exercise bike based on the gear adjustment information.

[0064] When the gear adjustment information is received from the host computer when the preset flag value is the first value, since the exercise bike uses a custom gear adjustment method, the user can define the target gear. Therefore, the gear adjustment information can directly include the target gear. The controller can determine the target gear by directly reading from the gear adjustment information.

[0065] When the gear adjustment information is generated when the preset flag value is the second value and a gear shifter is detected to be triggered, since the exercise bike uses a mechanical gear adjustment method, the controller can identify which gear shifter was triggered. Based on the triggered gear shifter, it generates gear adjustment information, including change information. The controller then determines the target gear based on the change information and the exercise bike's current gear.

[0066] For example, assuming there are two shift paddles on the exercise bike, and the current shift is 1, the ratio is 1:1. When the left shift paddle is moved up (triggered), the information changes to left shift up by 1, with the target ratio being 2:1. When the left shift paddle is moved down (triggered), the information changes to left shift down by 1, with the target ratio being 1:1. The right shift paddle works similarly.

[0067] Assuming there are four shift paddles and the current shift on the exercise bike is 1, the current shift is converted to a ratio of 1:1. When the left shift paddle is triggered, the information changes to left shift +1, with a target ratio of 2:1; when the left shift paddle is triggered again, the information changes to left shift +1, with a target ratio of 3:1; when the right shift paddle is triggered, the information changes to right shift +1, with a target ratio of 3:2. The other shift paddles follow the same logic.

[0068] It should be noted that the gear ratio cannot be zero. That is, the minimum value of the left and right sides of the ratio sign is 1. When the value of the left / right side is 1, the gear will not decrease even if the corresponding paddle is triggered again.

[0069] S130. Adjust the current gear of the exercise bike to the target gear.

[0070] Adjusting the current gear on the exercise bike to the target gear allows the bike to operate at that desired speed. This avoids the traditional fixed-gear adjustment method, expands the range of gear adjustments, and enables stepless adjustment of various gears on the exercise bike, thus enhancing the user's riding experience.

[0071] Example 2

[0072] Figure 2This is a flowchart illustrating a gear adjustment method according to Embodiment 2 of the present invention. Based on Embodiment 1, this embodiment can also achieve resistance adjustment and electrode control functions. Figure 2 As shown, the method includes:

[0073] S201. Obtain gear adjustment information, wherein the gear adjustment information is information sent by the host computer when the preset flag value is the first value, or the gear adjustment information is information generated when the preset flag value is the second value and the gear shift paddle is detected to be triggered.

[0074] In this embodiment, the exercise bike includes a controller, a host computer, gear shifters, a motor, and a three-phase power bridge. The host computer is communicatively connected to the controller. The host computer can be a display screen with touch functionality / input buttons, allowing the user to perform various operations, such as gear adjustment, setting constant resistance, setting the cycling incline, and querying cycling data. The display screen can also display various cycling data of the exercise bike (such as power consumption, current speed, etc.). The motor has both driving and generating functions. The three-phase power bridge (e.g., a three-phase inverter bridge) is connected to the motor, and the controller controls the three-phase power bridge to drive the motor.

[0075] In one embodiment, the gear positions described in this invention can be understood as the reduction ratio of an exercise bike. The controller has a preset flag indicating whether the exercise bike uses a custom gear adjustment method or a mechanical gear adjustment method. Specifically, when the preset flag value is a first value, the exercise bike uses a custom gear adjustment method; when the preset flag value is a second value, the exercise bike uses a mechanical gear adjustment method. Optionally, the first value can be 1, and the second value can be 0.

[0076] In one possible implementation, when the preset flag value is the first value, the controller can obtain gear adjustment information by receiving gear adjustment information triggered by the user from the host computer.

[0077] In another possible implementation, when the preset flag value is the second value, the controller can obtain gear adjustment information by: determining whether the gear shift paddle is triggered; if the gear shift paddle is triggered, generating gear adjustment information based on the triggered gear shift paddle.

[0078] It should be noted that the number of paddle shifters can be two or four. When there are two paddle shifters, one is the left paddle and the other is the right paddle; when there are four paddle shifters, they are the left up paddle, the left down paddle, the right up paddle, and the right down paddle. In this invention, only one paddle shifter can be activated at a time.

[0079] S202. Determine the target gear for the exercise bike based on the gear adjustment information.

[0080] When the gear adjustment information is received from the host computer when the preset flag value is the first value, since the exercise bike uses a custom gear adjustment method, the user can define the target gear. Therefore, the gear adjustment information can directly include the target gear. The controller can determine the target gear by directly reading from the gear adjustment information.

[0081] When the gear adjustment information is generated when the preset flag value is the second value and a gear shifter is detected to be triggered, since the exercise bike uses a mechanical gear adjustment method, the controller can identify which gear shifter was triggered. Based on the triggered gear shifter, it generates gear adjustment information, including change information. The controller then determines the target gear based on the change information and the exercise bike's current gear.

[0082] S203. Adjust the current gear of the exercise bike to the target gear.

[0083] S204. Obtain the vehicle parameters and operating parameters of the exercise bike in the current control cycle. The vehicle parameters include the total weight of the exercise bike, the wheel radius of the exercise bike, and the torque coefficient of the motor. The operating parameters include the current torque current of the motor, the current speed of the motor, and the overall resistance experienced by the exercise bike.

[0084] The controller controls the motor according to a control cycle. The duration of the control cycle can be determined based on actual needs or the controller's hardware capabilities. For example, control cycle durations can be 1ms, 10ms, 50ms, 100ms, 500ms, 1s, 3s, 5s, etc. When the controller's hardware is relatively powerful (e.g., fast processing) or the user has high requirements for the exercise bike's riding experience, the control cycle can be set shorter, thus achieving smooth control of the exercise bike. Conversely, when the control cycle is longer, the requirements for the controller's hardware will decrease accordingly, thereby saving production costs.

[0085] The current control cycle is the control cycle corresponding to the current execution of step S204, and the next control cycle is the control cycle following the current control cycle. Therefore, the current control cycle and the next control cycle are relative concepts in time. For example, assuming the duration of the control cycle is 1 second, the current time is 12:00:00, and the user starts riding the exercise bike from the current time, the exercise bike motor starts working. 12:00:00-12:00:01 is the current control cycle, and 12:00:01-12:00:02 is the next control cycle. When the time reaches 12:00:01, 12:00:01-12:00:02 becomes the current control cycle, 12:00:02-12:00:03 is the next control cycle, and so on.

[0086] In one embodiment, the vehicle parameters of the exercise bike include the total weight of the exercise bike, the wheel radius of the exercise bike, and the torque coefficient of the motor. The total weight includes the weight of the exercise bike itself and the load (including but not limited to bike counterweights and the user's weight). The torque coefficient of the motor refers to the torque generated per unit current and is one of the key parameters of motor performance, reflecting the motor's torque output capability under operating conditions. Generally speaking, the higher the torque coefficient of the motor, the greater the torque output of the motor under the same current, and the higher the working efficiency.

[0087] Vehicle parameters typically remain unchanged during a single user session. The wheel radius and motor torque coefficient of the exercise bike can be pre-stored in the controller, which can then directly read them. The total weight of the exercise bike can be calculated by measuring the bike's load and adding it to the pre-stored weight of the bike itself.

[0088] In one embodiment, the operating parameters of the exercise bike in the current control cycle include the current torque current of the motor, the current speed of the motor, and the combined resistance experienced by the exercise bike.

[0089] The overall resistance experienced by an exercise bike can include at least one of the following: external resistance experienced by the exercise bike, constant resistance set by the user, and incline resistance when the exercise bike is used to simulate an incline ride. External resistance experienced by the exercise bike includes, but is not limited to, wind resistance and wheel friction resistance.

[0090] Specifically, when the total resistance includes external resistance F1, the controller can measure the magnitude of the external resistance using sensors and other devices. When the total resistance includes the user-set constant resistance F2, the controller can directly read the magnitude of the constant resistance. When the total resistance includes the incline resistance F3 from simulating incline riding on a stationary bike, the incline can be preset or user-set. By determining the incline, the incline resistance can be calculated using the formula: F3 = mgsinθ, where m is the total weight, g is the gravitational coefficient, and θ is the incline. In other words, the total resistance F = F1 + F2 + F3. When F1 is 0, it means the total resistance does not include external resistance; when F2 is 0, it means the total resistance does not include constant resistance; and when F3 is 0, it means the total resistance does not include incline resistance.

[0091] Because the types of resistance included in the composite resistance may vary, and the magnitude of the resistance may also differ, different composite resistance levels can describe different riding scenarios on an exercise bike. In particular, when the composite resistance includes incline resistance, it allows for the simulation of incline riding scenarios, providing users with multiple riding options and enhancing the user experience.

[0092] In one embodiment, Figure 3 This is a motor control logic diagram provided in Embodiment 2 of the present invention. Combined with... Figure 3 As shown, the current torque current and current speed of the motor can be obtained using the following four steps:

[0093] Step A1) In the current control cycle, collect the three-phase current of the motor in the three-phase stationary coordinate system.

[0094] Typically, the third phase can be obtained without any problem by taking any two phases of a three-phase current. Therefore, Figure 3 The three-phase currents are denoted as ia and ib.

[0095] Step A2) Perform Clarke transformation on the three-phase currents to obtain the two-phase currents of the motor in the two-phase stationary coordinate system.

[0096] Figure 3 The two phase currents are denoted as iα and iβ.

[0097] Step A3) Determine the current speed and the position of the motor rotor based on the two-phase current and the given two-phase voltage of the current control cycle.

[0098] The given two-phase voltage for the current control cycle is determined when the motor is controlled to run at the given speed of the previous control cycle. The given two-phase voltage is the voltage in a two-phase stationary coordinate system. Figure 3 The two phase voltages are denoted as Uα and Uβ.

[0099] By estimating the position and speed of the two-phase currents iα and iβ, and the given two-phase voltages Uα and Uβ for the current control cycle, the current speed ω of the motor and the position γ of the motor rotor can be determined.

[0100] Step A4) Perform Park transformation on the position of the motor rotor and the two-phase current to obtain the current torque current.

[0101] Figure 3 The current torque current is denoted as I. q From this, the current torque current I of the motor can be obtained. q and the current rotational speed ω.

[0102] Additionally, please continue to refer to Figure 3 In step A4), when performing Park transformation on the position of the motor rotor and the two-phase current, the current excitation current of the motor can also be obtained, denoted as I. d .

[0103] S205. Determine the first power applied by the user to the exercise bike based on the current torque current, torque coefficient, and current speed.

[0104] According to the law of conservation of energy, energy cannot be created or destroyed; it can only be transformed from one form to another or transferred from one object to another, while the total amount of energy remains constant. In other words, for an exercise bike, the change in total energy can only be equal to the amount of energy transferred into or out of the bike. Therefore, this invention needs to consider the work done by the user on the exercise bike and the work done by the combined resistance on the exercise bike.

[0105] The work done by the user on the exercise bike can be determined based on the current torque current, torque coefficient, and current speed. For example, first determine the current output torque of the motor based on the current torque current and torque coefficient; then determine the first power based on the current output torque and current speed.

[0106] Assuming the torque coefficient is denoted as Kt, the current output torque T of the motor is equal to the torque coefficient denoted as Kt and the current torque current I. q The product of . That is, T = Kt * I. q Since the first power reflects the work done by the user on the exercise bike, the first power P1 is equal to the negative of the product of the motor's current output torque T and current rotational speed ω. That is, P1 = -T * ω. Typically, the unit of first power is watts (W).

[0107] S206. Determine the second power applied to the exercise bike based on the overall resistance, wheel radius, and current rotation speed.

[0108] The work done by the combined resistance on the exercise bike can be determined based on the combined resistance, wheel radius, and current rotational speed. For example, the current speed of the exercise bike can be determined first based on the wheel radius and current rotational speed; then, the second power can be determined based on the combined resistance and current speed.

[0109] Assuming the wheel radius is R, the current speed of the exercise bike Since the second power reflects the work done by the combined resistance on the exercise bike, the second power P2 is equal to the product of the combined resistance F and the current speed v. That is, P2 = F * v.

[0110] Typically, the unit for wheel radius is meter (m), and the unit for current speed is meter per second (m / s). The unit for total drag is newton (N), and the unit for secondary power is watt (W).

[0111] It should be noted that there is no specific order of execution between steps S205 and S206 in this embodiment. That is, step S205 can be executed first, followed by step S206; step S206 can be executed first, followed by step S205; or steps S205 and S206 can be executed simultaneously.

[0112] S207. Based on the total weight, wheel radius, first power, second power and target gear, determine the given speed of the motor in the next control cycle, and control the motor to run at the given speed in the next control cycle.

[0113] According to the law of conservation of energy, the change in the total energy of an exercise bike can only be equal to the amount of energy input into or output from the exercise bike. Therefore, in one control cycle of this invention, the work done by the user on the exercise bike, the work done by the combined resistance on the exercise bike, and the work done by the motor are balanced. Therefore, the energy of the exercise bike in the current control cycle can be determined based on the first power and the second power.

[0114] Specifically, the energy of the exercise bike in the current control period is E=∫(P1+P2)·dt, where ∫()·dt represents the integration of the total power exerted on the exercise bike by the external environment within the current control period t.

[0115] Since the energy of an exercise bike is primarily kinetic energy, the ideal speed of the exercise bike can be calculated using the kinetic energy formula.

[0116] Typically, total weight is measured in kilograms (kg), and ideal speed v0 is measured in meters per second (m / s).

[0117] Finally, based on the ideal speed, wheel radius, and target gear G, the given engine speed is determined.

[0118] CombinationFigure 4 As shown, the step S207, "control the motor to run at the given speed in the next control cycle," can be obtained through the following four steps:

[0119] Step B1) In the next control cycle, determine the given torque current of the motor based on the given speed and the current speed; determine the first voltage based on the given torque current and the current torque current.

[0120] Specifically, the given speed ωRef and the current speed ω can be multiplied first, and then the result can be used for linear controller (PI controller) calculation to obtain the given torque current I of the motor. q Ref; Further for a given torque current I q Ref and current torque current I q Perform a product operation, then apply the result to a linear controller (PI controller) to obtain the first voltage U. q .

[0121] Step B2) Determine the second voltage based on the given excitation current and the current excitation current of the motor, wherein the current excitation current is obtained by performing Parker transformation on the position of the motor rotor and the two-phase current.

[0122] Specifically, the given excitation current I of the motor can be set first. d Ref and current excitation current I d The product operation is performed, and then the result is processed by a linear controller (PI controller) to obtain the second voltage U. d Typically, given the excitation current I... d Ref is set to 0.

[0123] It should be noted that the first voltage U q Second voltage U d It is the voltage in a two-phase rotating coordinate system.

[0124] Step B3) Perform inverse Park transformation on the position of the motor rotor, the first voltage and the second voltage to obtain the given two-phase voltage of the motor in the next control cycle.

[0125] Step B4) The Space Vector Pulse Width Modulation (SVPWM) module is used to process the given two-phase voltage of the next control cycle to obtain a switching signal, and the switching signal is input into the three-phase bridge to control the three-phase bridge to drive the motor to run at the given speed.

[0126] It should be noted that at the initial moment of a user starting to ride the exercise bike, the motor's set speed ωRef is 0. Once riding begins, the motor will start operating as long as the sum of the first power applied by the user to the exercise bike and the second power applied by the combined resistance is not zero. Of course, if the sum of the first power applied by the user to the exercise bike and the second power applied by the combined resistance equals zero, the work done on the exercise bike is balanced, and the motor will not operate. Current torque current I q When the value is negative, it indicates that the motor is in generating state; the current torque current I q When the value is positive, it indicates that the motor is in driving mode.

[0127] In this way, the given speed of the motor in the next control cycle is determined according to the law of conservation of energy, avoiding energy waste and thus achieving precise motor control. Furthermore, this solution can obtain various riding data of the exercise bike when determining the given speed of the motor in the next control cycle, making it convenient for users to query.

[0128] This invention provides a method for adjusting gear positions, applied to the controller of an exercise bike. The exercise bike is equipped with a host computer and gear shifters, and the host computer is communicatively connected to the controller. The method includes: acquiring gear adjustment information, wherein the gear adjustment information is information received from the host computer when a preset flag value is a first value, or information generated when the preset flag value is a second value and the gear shifter is detected to be triggered; determining the target gear position of the exercise bike based on the gear adjustment information; and adjusting the current gear position of the exercise bike to the target gear position. The technical solution of this invention, by acquiring gear adjustment information, determining the target gear position of the exercise bike based on the gear adjustment information, and finally adjusting the current gear position of the exercise bike to the target gear position. Since the gear adjustment information is information received from the host computer when the preset flag value is a first value, or information generated when the preset flag value is a second value and the gear shifter is detected to be triggered, the exercise bike provided by this invention can support both user-defined gear adjustment and mechanical gear adjustment. Moreover, regardless of the adjustment method, the range of gear adjustments is wide, no longer limited to traditional fixed gear adjustments. This achieves stepless adjustment of various gears on the exercise bike, enhancing the user's riding experience. Furthermore, firstly, since the operating parameters include the comprehensive resistance experienced by the exercise bike, different comprehensive resistances can describe different riding scenarios, thus simulating various riding scenarios. Secondly, the motor is controlled according to a control cycle, the length of which can be determined based on actual needs or the controller's hardware capabilities. A shorter control cycle allows for smooth control of the exercise bike; a longer control cycle reduces the computational power required. Thirdly, the given motor speed in the next control cycle is determined based on the total weight, wheel radius, first power, and second power, following the law of conservation of energy to avoid energy waste and achieve precise motor control. Additionally, this solution obtains various riding data of the exercise bike when determining the given motor speed in the next control cycle, making it convenient for users to query.

[0129] Example 3

[0130] Figure 4 This is a schematic diagram of a gear adjustment device provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes: an information acquisition module 401, a gear position determination module 402, and a gear position adjustment module 403.

[0131] The information acquisition module 401 is used to acquire gear adjustment information, wherein the gear adjustment information is the information sent by the host computer when the preset flag value is the first value, or the gear adjustment information is the information generated when the preset flag value is the second value and the gear shift paddle is detected to be triggered.

[0132] The gear determination module 402 is used to determine the target gear of the exercise bike based on the gear adjustment information.

[0133] The gear adjustment module 403 is used to adjust the current gear of the exercise bike to the target gear.

[0134] Optionally, when the gear adjustment information is received from the host computer when the preset flag value is the first value, the gear adjustment information includes the target gear.

[0135] When the gear adjustment information is generated when the preset flag value is the second value and the gear shift paddle is detected to be triggered, the gear adjustment information includes change information, and the target gear is determined based on the change information and the current gear.

[0136] Optional, combined Figure 5 , Figure 5 This is a schematic diagram of another gear adjustment device provided in Embodiment 3 of the present invention. Figure 6 As shown, it also includes: control module 404.

[0137] The control module 404 is used to acquire the vehicle parameters of the exercise bike and the operating parameters of the exercise bike in the current control cycle. The vehicle parameters include the total weight of the exercise bike, the wheel radius of the exercise bike, and the torque coefficient of the motor. The operating parameters include the current torque current of the motor, the current speed of the motor, and the overall resistance experienced by the exercise bike. Based on the current torque current, torque coefficient, and current speed, the module determines the first power applied to the exercise bike by the user. Based on the overall resistance, wheel radius, and current speed, the module determines the second power applied to the exercise bike by the overall resistance. Based on the total weight, wheel radius, first power, second power, and target gear, the module determines the given speed of the motor in the next control cycle and controls the motor to run at the given speed in the next control cycle.

[0138] Optionally, the overall resistance includes at least one of the following: external resistance experienced by the exercise bike, constant resistance set by the user, and incline resistance when the exercise bike is simulating an incline ride; wherein the incline resistance is determined based on the riding incline and the total weight.

[0139] Optionally, the control module 404 is specifically used to determine the energy of the exercise bike in the current control cycle based on the first power and the second power; determine the ideal speed of the exercise bike based on the total weight and energy; and determine the given rotational speed based on the ideal speed, wheel radius, and target gear.

[0140] Optionally, the control module 404 is specifically used to: acquire the three-phase current of the motor in the three-phase stationary coordinate system in the current control cycle; perform Clark transformation on the three-phase current to obtain the two-phase current of the motor in the two-phase stationary coordinate system; determine the current speed and the position of the motor rotor based on the two-phase current and the given two-phase voltage in the current control cycle; and perform Park transformation on the position of the motor rotor and the two-phase current to obtain the current torque current.

[0141] Optionally, the control module 404 is specifically used to determine the given torque current of the motor based on the given speed and the current speed in the next control cycle; determine the first voltage based on the given torque current and the current torque current; determine the second voltage based on the given excitation current and the current excitation current of the motor, wherein the current excitation current is obtained by performing a Parker transformation on the position of the motor rotor and the two-phase current; perform an inverse Parker transformation on the position of the motor rotor, the first voltage and the second voltage to obtain the given two-phase voltage of the motor in the next control cycle; process the given two-phase voltage of the next control cycle using the Space Vector Pulse Width Modulation (SVPWM) module to obtain a switching signal, and input the switching signal into the three-phase bridge to control the three-phase bridge to drive the motor to run at the given speed.

[0142] The gear adjustment device provided in this embodiment of the invention can execute the gear adjustment method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0143] Example 4

[0144] Figure 6 This is a schematic diagram of a controller provided in Embodiment 4 of the present invention. The controller 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 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.

[0145] like Figure 7As shown, the controller 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 controller 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.

[0146] Multiple components in controller 10 are connected to I / O interface 15, including: input unit 16, such as shift paddles on an exercise bike, host computer, 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 controller 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0147] 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 gear adjustment methods.

[0148] Figure 7 This is a structural schematic diagram of an exercise bike provided in Embodiment 4 of the present invention. Figure 7 As shown, the exercise bike includes the controller 10 described in the above embodiments, as well as a motor 20, a three-phase bridge 30, a host computer 40, and gear shifters. ​ (Not shown in the image); The host computer 40 and gear shifters are mounted on the exercise bike, and the host computer 40 is communicatively connected to the controller 10. The controller 10, motor 20, and three-phase bridge 30 are located inside the exercise bike, and the motor 20 is connected to the three-phase bridge 30. The motor 20 has both driving and power generation functions, and the controller 10 controls the three-phase bridge 30 to drive the motor 20.

[0149] In some embodiments, the gear adjustment 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 mounted on controller 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 gear adjustment method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the gear adjustment method by any other suitable means (e.g., by means of firmware).

[0150] 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.

[0151] 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.

[0152] 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.

[0153] To provide interaction with the user, the systems and techniques described herein can be implemented on a controller 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 controller. 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).

[0154] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include 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.

[0155] 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.

[0156] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the behavior operation determination method provided in any embodiment of this invention.

[0157] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0158] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0159] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. 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 invention should be included within the scope of protection of this invention.

Claims

1. A method for adjusting gear positions, characterized in that, A controller for an exercise bike, the exercise bike having a host computer and gear shifters, the host computer being communicatively connected to the controller, and a motor being installed inside the exercise bike; the method includes: Obtain gear adjustment information, wherein the gear adjustment information is information sent by the host computer received when the preset flag value is a first value, or the gear adjustment information is information generated when the preset flag value is a second value and the gear shift paddle is detected to be triggered; Based on the gear adjustment information, determine the target gear of the exercise bike; Adjust the current gear of the exercise bike to the target gear; The vehicle parameters of the exercise bike and the operating parameters of the exercise bike in the current control cycle are obtained. The vehicle parameters include the total weight of the exercise bike, the wheel radius of the exercise bike, and the torque coefficient of the motor. The operating parameters include the current torque current of the motor, the current speed of the motor, and the overall resistance experienced by the exercise bike. The first power applied by the user to the exercise bike is determined based on the current torque current, the torque coefficient, and the current rotation speed. Based on the combined resistance, the wheel radius, and the current rotation speed, determine the second power applied to the exercise bike by the combined resistance; Based on the total weight, the wheel radius, the first power, the second power, and the target gear, the given speed of the motor in the next control cycle is determined, and the motor is controlled to run at the given speed in the next control cycle.

2. The method for adjusting the gear position according to claim 1, characterized in that, When the gear adjustment information is received from the host computer when the preset flag value is the first value, the gear adjustment information includes the target gear. When the gear adjustment information is generated when the preset flag value is the second value and the gear shift paddle is triggered, the gear adjustment information includes change information, and the target gear is determined based on the change information and the current gear.

3. The method for adjusting the gear position according to claim 1, characterized in that, The combined resistance includes at least one of the following: the external resistance experienced by the exercise bike, the constant resistance set by the user, and the incline resistance when the exercise bike is simulating an incline ride. The slope resistance is determined based on the cycling slope and the total weight.

4. The method for adjusting gear position according to claim 1, characterized in that, Determining the given speed of the motor in the next control cycle based on the total weight, the wheel radius, the first power, the second power, and the target gear includes: The energy of the exercise bike in the current control cycle is determined based on the first power and the second power. The ideal speed of the exercise bike is determined based on the total weight and the energy. The given rotational speed is determined based on the ideal speed, the wheel radius, and the target gear.

5. The method for adjusting the gear position according to claim 1, characterized in that, The process of obtaining the current torque current and the current rotational speed includes: During the current control cycle, the three-phase current of the motor is collected in the three-phase stationary coordinate system; The three-phase currents are subjected to a Clarke transformation to obtain the two-phase currents of the motor in a two-phase stationary coordinate system. Based on the two-phase current and the given two-phase voltage of the current control cycle, determine the current speed and the position of the motor rotor; The position of the motor rotor and the two-phase current are subjected to Parker transformation to obtain the current torque current.

6. The method for adjusting the gear position according to claim 5, characterized in that, The exercise bike is also equipped with a three-phase bridge connected to the motor. The step of controlling the motor to operate at the given speed in the next control cycle includes: In the next control cycle, the given torque current of the motor is determined based on the given speed and the current speed; the first voltage is determined based on the given torque current and the current torque current. The second voltage is determined based on the given excitation current and the current excitation current of the motor, wherein the current excitation current is obtained by performing Parker transformation on the position of the motor rotor and the two-phase current; The position of the motor rotor, the first voltage, and the second voltage are subjected to an inverse Parker transformation to obtain the given two-phase voltage of the motor in the next control cycle; The space vector pulse width modulation (SVPWM) module is used to process the given two-phase voltage of the next control cycle to obtain a switching signal, and the switching signal is input to the three-phase bridge to control the three-phase bridge to drive the motor to run at the given speed.

7. A controller, characterized in that, The controller includes: At least one processor; and a memory communicatively connected to said at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the gear adjustment method according to any one of claims 1-6.

8. A fitness bike, characterized in that, Includes the controller as described in claim 7, as well as a host computer, a gear shift lever, a motor, and a three-phase bridge; The host computer and the gear shift lever are mounted on the exercise bike, and the host computer is communicatively connected to the controller. The controller, the motor, and the three-phase bridge are installed inside the exercise bike, and the motor is connected to the three-phase bridge.

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 gear adjustment method according to any one of claims 1-6.

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