Motor control method and system for treadmill

Abstract

The present invention discloses a motor control method and system for a treadmill, which specifically relates to the field of fitness equipment, including S1: monitoring the safety status of the treadmill, S2: detecting electromagnetic interference, S3: obtaining multi-source data of the target motor, S4: compensating for interference data, S5: calculating adaptive torque, S6: adjusting the target treadmill speed, S7: calculating recyclable energy, S8: adjusting the treadmill motion mode, and S9: outputting a motor control report of the target treadmill. A motor control method and system for a treadmill solves the problem of motor operating parameters being affected by interference by obtaining an interference compensation model and preset interference compensation rules; solves the problem of unbalanced running belt loads when facing users of different weights by obtaining a torque calculation model based on multi-source compensation data; reduces user costs due to long-term use by judging the power generation potential of the treadmill and adjusting the control circuit in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of fitness equipment, and more specifically, to a motor control method and system for a treadmill. Background Art

[0002] With the continuous advancement of technology and people's increasing attention to a healthy lifestyle, indoor fitness equipment has gradually become a standard feature of homes and gyms. Among the many fitness equipment, treadmills are popular for their convenience and efficient exercise effects.

[0003] Achieving precise control of the treadmill motor and ensuring the stability of the running belt speed allows users to enjoy a smooth exercise experience, greatly improving the practicality and professionalism of the treadmill. At the same time, precise control of the treadmill motor helps to extend the service life of the treadmill, and by optimizing the operating parameters of the motor, reduces unnecessary wear and energy loss, and reduces the maintenance cost of the equipment.

[0004] However, it still has some shortcomings in actual use. For example, in complex environments, the motor control system is subject to electromagnetic interference, resulting in speed fluctuations or temporary loss of control; when facing users of different weights, the adaptive ability is poor, and the motor output torque cannot be adjusted in time, and the load balance of the treadmill cannot be guaranteed; long-term use consumes a lot of electricity, increasing the user's cost of use. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a motor control method and system for a treadmill, and solves the problems raised in the above-mentioned background technology through the following scheme.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A motor control method for a treadmill, characterized by comprising:

[0008] S1: Monitor the safety status of the treadmill: monitor the running status of the motor in the treadmill in real time to obtain the motor safety parameters of the target treadmill;

[0009] S2: Detect electromagnetic interference: Real-time monitoring of the electromagnetic environment around the treadmill, and detection of the safety parameters of the treadmill motor. The abnormal data corresponding to the motor safety parameters are protected by a metal shielding cover to obtain the motor interference signal;

[0010] S3: Acquire multi-source data of the target motor: In response to the sensor set according to the running state of the treadmill, collect the target motor data, and fuse it with the motor safety parameters and the motor interference parameters to acquire the multi-source data of the target motor;

[0011] S4: compensating interference data: obtaining an interference compensation model, and obtaining multi-source compensation data corresponding to the multi-source data of the target motor through the multi-source data of the target motor according to the interference compensation model;

[0012] S5: Calculate adaptive torque: obtain a torque calculation model, and obtain an optimal torque corresponding to the target motor multi-source data through the target motor multi-source data according to the torque calculation model;

[0013] S6: adjusting the target treadmill speed: based on the actual speed information fed back by the speed sensor and the multi-source data of the target motor, obtaining the optimal implementation speed corresponding to the multi-source data of the target motor;

[0014] S7: Calculating recyclable energy: According to the running state of the treadmill and the overall energy situation corresponding to the multi-source data of the target motor, obtaining the recyclable energy corresponding to the multi-source data of the target motor;

[0015] S8: Adjusting the treadmill motion mode: controlling the motion parameters of the treadmill based on the optimal torque, optimal implementation speed, and recyclable energy corresponding to the multi-source data of the target motor;

[0016] S9: Output the motor control report of the target treadmill: Display the current operation status of the treadmill motor to the user, including speed, slope, exercise mode and energy recovery status, and receive the user's operation instructions.

[0017] Preferably, in S1, obtaining the motor safety parameters of the treadmill specifically includes:

[0018] Deploy multiple sensors at key locations on the target treadmill motor;

[0019] In response to the data collected by the sensor and according to the preset safety protection rules, the safety level of the target treadmill motor is determined and the motor safety parameters are generated;

[0020] The safety protection rules include over-current protection mechanism, overload protection mechanism and short-circuit protection mechanism.

[0021] Preferably, in S3, the target motor multi-source data includes target motor power, motor speed, target motor load, running belt radius, speed proportional coefficient, speed integral coefficient, speed differential coefficient, energy storage capacitor value of the target motor and initial voltage of the capacitor.

[0022] Preferably, in S4, obtaining the interference compensation model specifically includes:

[0023] Pre-set an interference compensation rule based on the historical operating data of the target motor, where the interference compensation rule is the normal operating parameter range and the change threshold of the motor parameter corresponding to the multi-source data of the target motor;

[0024] Performing a judgment operation on the multi-source data of the target motor to obtain a compensation signal corresponding to the multi-source data of the target motor;

[0025] According to a preset simulation environment, the simulation environment is to apply electromagnetic interference of different types, different intensities, and different frequencies to the treadmill motor, and perform a compensation operation on the target motor multi-source data corresponding to the received compensation signal to obtain multi-source compensation data corresponding to the target motor multi-source data;

[0026] In a preset multi-source database, an interference compensation model corresponding to a change rule of the multi-source data of the target motor is obtained. The preset multi-source database is used to store the relationship between the multi-source data of the target motor and the interference compensation model.

[0027] Preferably, in S5, obtaining the torque calculation model specifically includes:

[0028] Based on the target motor power P and motor speed n, the motor torque MT is calculated, which is specifically expressed as:

[0029] MT=(60×P) / (2×π×n),

[0030] Among them, MT represents the motor torque, P represents the target motor power, π represents the pi ratio, and its value is 3.14159265, and n represents the motor speed;

[0031] Based on the target motor load m, the friction coefficient μ between the running belt and the user's shoe sole, and the running belt radius r, the motor load torque MLT is calculated, which is specifically expressed as:

[0032] MLT = (μ × m × g × r) + T a ,

[0033] Where MLT is the motor load torque, μ is the friction coefficient between the running belt and the user's shoe sole, m is the target motor load, g is the gravitational acceleration, r is the running belt radius, and T a Expressed as other torque factors;

[0034] Based on the motor load torque MLT, motor torque MT and electromagnetic interference coefficient k, the optimal torque OT of the target motor is calculated, which is specifically expressed as:

[0035] OT=k×MLT×MT,

[0036] Wherein, k represents the electromagnetic interference coefficient, and its value range is (0, 1).

[0037] Preferably, in S6, obtaining the optimal implementation speed corresponding to the multi-source data of the target motor specifically includes:

[0038] Based on the treadmill setting speed vs and the actual speed v fed back by the speed sensor a , calculate the speed deviation v e , specifically expressed as:

[0039] v e =v s -v a ;

[0040] Based on the speed integral coefficient KI and the speed deviation v at the i-th sampling e (i), calculate the velocity integral value v at the i-th sampling time I (i), specifically expressed as:

[0041] v I (i) = v I (i-1)+(KI×v e (i)),

[0042] Among them, v I (i-1) represents the velocity integral value at the i-1th sampling time;

[0043] Based on the speed proportional coefficient KP, speed integral coefficient KI, speed differential coefficient KD, and speed integral value v at the i-1th sampling time I (i-1) and the speed deviation v at the i-th sampling time e (i) Calculate the optimal implementation speed vk of the target motor, which is specifically expressed as:

[0044] vk=(KP×v e (i))+(v I (i-1)+(KI×v e (i)))+(KD×[v e (i)-v e (i-1)]),

[0045] Where, vk represents the optimal implementation speed of the target motor, KP represents the speed proportional coefficient, KI represents the speed integral coefficient, KD represents the speed differential coefficient, and v I (i-1) represents the velocity integral value at the i-1th sampling time, v e (i) represents the speed deviation at the i-th sampling time, v e (i-1) represents the speed deviation at the i-1th sampling time.

[0046] Preferably, in S7, the recyclable energy corresponding to the multi-source data of the target motor is obtained, which is specifically expressed as:

[0047] ,

[0048] Among them, P represents the average recoverable energy within the time Δt, C represents the energy storage capacitor value of the target motor, V0 represents the initial voltage of the capacitor within the time Δt, t represents the energy recovery time, OT represents the optimal torque of the target motor, τ represents a certain moment in the energy recovery time, vk (τ) represents the optimal implementation speed of the target motor at time τ, R represents the total equivalent resistance of the energy recovery circuit, s represents a certain moment in the energy recovery time in the inner integral, vk (s) represents the optimal implementation speed of the target motor at time s in the inner integral, and Δt represents the unit time interval in the energy recovery time.

[0049] Preferably, in S8, the motion parameters of the treadmill are controlled, specifically including:

[0050] When the actual speed is lower than the optimal implementation speed, the motor speed is increased by increasing the input voltage of the motor;

[0051] When increasing speed, the optimal torque needs to be increased to maintain steady acceleration of the treadmill;

[0052] Under different combinations of speed and slope, the motor outputs different torques to ensure stable operation.

[0053] To achieve the above object, the present invention provides the following technical solution: a motor control system for a treadmill, comprising a system database, a system central processing module and a user information terminal, and implementing the above motor control method for a treadmill, comprising:

[0054] Safety monitoring module: used to monitor the running status of the treadmill in real time to obtain the motor safety parameters of the treadmill, and output the motor safety parameters to the electromagnetic anti-interference module and the sensor data fusion module;

[0055] Electromagnetic interference detection module: used to receive the motor safety parameters transmitted by the safety monitoring module, monitor the electromagnetic environment around the treadmill in real time, detect the treadmill motor safety parameters, and use a metal shielding cover to protect the abnormal data corresponding to the motor safety parameters to obtain the motor interference signal;

[0056] The sensor data fusion module is used to collect the target motor data in response to the sensor set according to the running state of the treadmill, and fuse the data with the motor safety parameters transmitted by the safety monitoring module and the motor interference parameters transmitted by the electromagnetic anti-interference module to obtain the multi-source data of the target motor, and output the multi-source data of the target motor to the interference detection and compensation module;

[0057] Interference compensation module: used to obtain an interference compensation model, and obtain multi-source compensation data corresponding to the multi-source data of the target motor through the multi-source data of the target motor according to the interference compensation model;

[0058] Adaptive torque calculation module: obtains the torque calculation model based on the multi-source compensation data, obtains the optimal torque corresponding to the multi-source data of the target motor according to the torque calculation model, and outputs it to the energy recovery module and the motion mode control module in real time;

[0059] Speed ​​feedback adjustment module: based on the actual speed information fed back by the speed sensor and the multi-source data of the target motor, obtains the optimal implementation speed corresponding to the multi-source data of the target motor, and outputs it to the energy recovery module and the motion mode control module in real time;

[0060] Energy recovery module: used to obtain the recyclable energy corresponding to the multi-source data of the target motor according to the running state of the treadmill and the overall energy situation corresponding to the multi-source data of the target motor, and output it to the motion mode control module in real time;

[0061] Motion mode control module: used to receive the optimal torque corresponding to the multi-source data of the target motor in the adaptive torque calculation module, the optimal implementation speed corresponding to the multi-source data of the target motor in the speed feedback adjustment module, and the recyclable energy corresponding to the multi-source data of the target motor in the energy recovery module, and control and adjust the motion parameters of the treadmill;

[0062] Control report output module: used to show the user the current operation status of the treadmill motor, including speed, slope, exercise mode and energy recovery, and receive user operation instructions;

[0063] The system database includes all data texts of the treadmill motor control system and collects the information text output by each module in real time. The system central processing module is used for the information text instructions output by each module in the central control method. The user information terminal is an information output device connected to the treadmill motor control system.

[0064] Preferably, the sensor data fusion module obtains multi-source data of the target motor by: installing a speed sensor near the motor shaft; installing a torque sensor at the connection between the motor and the transmission component; setting a position sensor on the motor rotor; establishing a data cache area, the data cache area is used to temporarily store data information corresponding to the target motor transmitted from each module; normalizing the data in the data cache area; extracting key features from the data in the data cache area, and using a weighted average fusion algorithm to fuse the key features to obtain multi-source data of the target motor.

[0065] Technical effects and advantages of the present invention:

[0066] 1. The present invention solves the problem of motor operating parameters being affected by interference by obtaining an interference compensation model and presetting interference compensation rules;

[0067] 2. The present invention obtains a torque calculation model based on multi-source compensation data to solve the unbalanced load of the running belt when facing users of different weights;

[0068] 3. The present invention reduces user costs due to long-term use by judging the power generation potential of the treadmill and adjusting the control circuit in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 It is a diagram of the method steps of the present invention.

[0070] Figure 2 Flowchart of a treadmill motor control system used in the method of the present invention.

[0071] Figure 3 It is a schematic diagram of the structure of the method of the present invention.

[0072] Explanation of the accompanying drawings: 300, a schematic diagram of a system processing structure of a motor control method for a treadmill; 301, a system central processing unit; 302, a communication bus; 303, a system database; 304, a user information terminal. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to and includes any or all possible combinations of one or more listed items.

[0075] In the following, the terms "first", "second" and "third" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first", "second" and "third" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0076] As attached Figure 1A motor control method for a treadmill is shown, including S1: monitoring the safety status of the treadmill, S2: detecting electromagnetic interference, S3: acquiring multi-source data of the target motor, S4: compensating for interference data, S5: calculating adaptive torque, S6: adjusting the target treadmill speed, S7: calculating recyclable energy, S8: adjusting the treadmill motion mode and S9: outputting a motor control report of the target treadmill.

[0077] S1: Monitor the safety status of the treadmill: monitor the running status of the motor in the treadmill in real time to obtain the motor safety parameters of the target treadmill.

[0078] In a possible implementation, step S1 includes: deploying multiple sensors at key locations of a target treadmill motor, where the types of sensors include but are not limited to temperature sensors, current sensors, vibration sensors, etc.; where the key locations of the motor include but are not limited to the stator windings, rotors, bearings, and power supply lines of the motor, etc.; the treadmill motor control system responds to data collected by the sensors, and based on preset safety protection rules, determines the safety level of the target treadmill motor and generates motor safety parameters.

[0079] In this embodiment, a negative temperature coefficient thermistor sensor is attached to the winding and casing of the target treadmill motor to monitor the motor temperature; a Hall effect current sensor is installed on the power supply line of the target treadmill motor to collect the current size of the target treadmill motor when it is working; and a piezoelectric vibration sensor is installed near the bearing of the motor to obtain a vibration signal.

[0080] In a possible implementation, step S1 also includes: obtaining safety protection rules, the safety protection rules include overcurrent protection mechanism, overload protection mechanism and short circuit protection mechanism; generating motor safety parameters based on the comparison between sensor data and safety protection rule thresholds; the motor safety parameters include the actual operating temperature value of the motor, the actual operating current value of the motor, the actual operating vibration state of the motor, and the safety level.

[0081] In a possible implementation, step S1 further includes: based on the rated current value of the motor and a current threshold set by an overcurrent protection mechanism, when it is detected that the current exceeds a preset overcurrent threshold, the treadmill motor control system determines that the motor is overloaded or short-circuited.

[0082] In this embodiment, if the current of the target motor suddenly rises sharply in the normal no-load operation mode, it means that the internal winding of the motor is short-circuited; if the current continues to exceed the current value corresponding to the normal load during load operation, it is necessary to determine the cause of the overload, including that the user's weight or other additional weight on the treadmill exceeds the carrying capacity of the motor or there is a fault in the motor drive circuit.

[0083] S2: Detect electromagnetic interference: Real-time monitoring of the electromagnetic environment around the treadmill, and detection of the treadmill motor safety parameters. The abnormal data corresponding to the motor safety parameters are protected with a metal shielding cover to obtain the motor interference signal.

[0084] In a possible implementation, step S2 includes: establishing an electromagnetic sensor network by distributing electromagnetic sensors around the target treadmill, covering the area where the target treadmill motor is located and the range of influence of external electromagnetics, and monitoring the electromagnetic environment around the treadmill in real time; generating a dynamic map of the electromagnetic environment based on the monitored electromagnetic signals of different frequencies and intensities.

[0085] In this embodiment, the electromagnetic sensor network detection information includes electromagnetic radiation generated by televisions and wireless communication devices, and electromagnetic signals emitted by large motor equipment and power transmission lines near the target treadmill motor.

[0086] In a possible implementation, step S2 also includes: analyzing the motor safety parameters through signal processing technology, the signal processing technology includes but is not limited to filtering technology, spectrum analysis, time domain analysis, etc.; retaining useful signal frequency bands and removing noise components in the motor safety parameter signal; analyzing the energy distribution of the motor safety parameters at different frequencies; and observing the waveform characteristics of the motor safety parameter signal.

[0087] In a possible implementation, step S2 further includes: using a metal shielding cover to protect the identified abnormal data, and obtaining motor interference signals through electromagnetic sensors inside and outside the shielding cover, wherein the motor interference parameters include the intensity, frequency range, phase and duration of the electromagnetic interference.

[0088] S3: Acquire multi-source data of the target motor: In response to the sensors set according to the running state of the treadmill, the target motor data is collected, and the data is integrated with the motor safety parameters and the motor interference parameters to acquire the multi-source data of the target motor.

[0089] In a possible implementation, step S3 includes: installing a speed sensor near the motor shaft; installing a torque sensor at the connection between the motor and the transmission component; setting a position sensor on the motor rotor; establishing a data cache area, the data cache area is used to temporarily store data information corresponding to the target motor transmitted from each module; normalizing the data in the data cache area; extracting key features from the data in the data cache area, and using a weighted average fusion algorithm to fuse the key features to obtain multi-source data of the target motor, the multi-source data of the target motor includes target motor power, motor speed, target motor load, running belt radius, speed proportional coefficient, speed integral coefficient, speed differential coefficient, energy storage capacitor value of the target motor and initial voltage of the capacitor.

[0090] S4: Compensating interference data: obtaining an interference compensation model, and obtaining multi-source compensation data corresponding to the multi-source data of the target motor according to the interference compensation model through the multi-source data of the target motor.

[0091] Specifically, the interference compensation model is a pre-constructed learning model. By inputting the multi-source data of the target motor into the interference compensation model, the interference compensation model obtains the multi-source compensation data according to the multi-source data of the target motor.

[0092] In a possible implementation, step S4 includes: pre-setting interference compensation rules based on historical operating data of the target motor, the interference compensation rules being the normal operating parameter range and the change threshold of the motor parameters corresponding to the multi-source data of the target motor; performing a judgment operation on the multi-source data of the target motor to obtain a compensation signal corresponding to the multi-source data of the target motor, and the compensation signal is used to adjust the compensation instructions of the motor operating parameters.

[0093] Specifically, for the motor speed data, the corresponding speed range is set according to the different operating modes of the treadmill, including jogging, sprinting and climbing. If the speed data exceeds the normal range and the electromagnetic interference intensity is too large, a compensation signal is sent.

[0094] In a possible implementation, step S4 also includes: according to a preset simulation environment, the simulation environment is to apply electromagnetic interference of different types, different intensities, and different frequencies to the treadmill motor, and perform a compensation operation on the target motor multi-source data corresponding to the received compensation signal to obtain multi-source compensation data corresponding to the target motor multi-source data; in a preset multi-source database, obtain an interference compensation model corresponding to the change law of the target motor multi-source data, and the preset multi-source database is used to save the relationship between the target motor multi-source data and the interference compensation model.

[0095] In this embodiment, a deep neural network is used as a pre-constructed learning model. The input layer receives multi-source data of the target motor in a simulated environment, and the output layer outputs corresponding multi-source compensation data. By adjusting the weights and biases in the network, the output of the interference compensation model is maximized in similarity with the actual optimal compensation data.

[0096] Specifically, for speed data showing a speed lower than a normal level, the voltage increase amount is calculated according to the electromagnetic interference condition and the load condition of the motor to increase the motor speed.

[0097] S5: Calculate adaptive torque: obtain a torque calculation model, and obtain an optimal torque corresponding to the target motor multi-source data through the target motor multi-source data according to the torque calculation model.

[0098] In one possible implementation, step S5 includes: establishing a torque calculation model based on the physical characteristics and mechanical principles of the motor, calculating the pressure applied by the user on the treadmill during running through the power factor of the motor, and then calculating the torque that the motor needs to overcome; updating multi-source compensation data in real time, and continuously recalculating the optimal torque of the target motor.

[0099] Specifically, based on the target motor power P and the motor speed n, the motor torque MT is calculated, which is specifically expressed as:

[0100] MT=(60×P) / (2×π×n),

[0101] Among them, MT represents the motor torque, P represents the target motor power, π represents the pi ratio, and its value is 3.14159265, and n represents the motor speed;

[0102] Based on the target motor load m, the friction coefficient μ between the running belt and the user's shoe sole, and the running belt radius r, the motor load torque MLT is calculated, which is specifically expressed as:

[0103] MLT = (μ × m × g × r) + T a ,

[0104] Where MLT is the motor load torque, μ is the friction coefficient between the running belt and the user's shoe sole, m is the target motor load, g is the gravitational acceleration, r is the running belt radius, and T a Expressed as other torque factors;

[0105] In this embodiment, other torque factors include the torque generated by the slope of the treadmill and the additional torque in the mechanical transmission process;

[0106] Based on the motor load torque MLT, motor torque MT and electromagnetic interference coefficient k, the optimal torque OT of the target motor is calculated, which is specifically expressed as:

[0107] OT=k×MLT×MT,

[0108] Wherein, k represents the electromagnetic interference coefficient, and its value range is (0, 1).

[0109] S6: Adjust the target treadmill speed: Based on the actual speed information fed back by the speed sensor and the target motor multi-source data, obtain the optimal implementation speed corresponding to the target motor multi-source data.

[0110] In a possible implementation, step S6 includes: collecting speed data through a speed sensor on the running belt, comparing it with a preset speed, and calculating a deviation value; using a PID control algorithm to adjust the speed in real time and adjust parameters to adapt to interference changes.

[0111] Specifically, based on the treadmill setting speed v s and the actual speed v fed back by the speed sensor a , calculate the speed deviation v e , specifically expressed as:

[0112] v e =v s -v a ;

[0113] Based on the speed integral coefficient KI and the speed deviation v at the i-th sampling e (i), calculate the velocity integral value v at the i-th sampling time I (i), specifically expressed as:

[0114] v I (i) = v I (i-1)+(KI×v e (i)),

[0115] Among them, v I (i-1) represents the velocity integral value at the i-1th sampling time;

[0116] Based on the speed proportional coefficient KP, speed integral coefficient KI, speed differential coefficient KD, and speed integral value v at the i-1th sampling time I (i-1) and the speed deviation v at the i-th sampling time e (i) Calculate the optimal implementation speed vk of the target motor, which is specifically expressed as:

[0117] vk=(KP×v e (i))+(v I (i-1)+(KI×v e (i)))+(KD×[v e (i)-v e (i-1)]),

[0118] Where, vk represents the optimal implementation speed of the target motor, KP represents the speed proportional coefficient, KI represents the speed integral coefficient, KD represents the speed differential coefficient, and v I (i-1) represents the velocity integral value at the i-1th sampling time, v e (i) represents the speed deviation at the i-th sampling time, v e (i-1) represents the speed deviation at the i-1th sampling time.

[0119] S7: Calculate the recyclable energy: According to the running state of the treadmill and the overall energy situation corresponding to the multi-source data of the target motor, obtain the recyclable energy corresponding to the multi-source data of the target motor.

[0120] In one possible implementation, step S7 includes: judging the power generation potential of the target treadmill based on the optimal implementation speed of the target motor and the optimal torque of the target motor; when the target treadmill slows down or stops, the motor switches to power generation mode to generate regenerative energy, and the control circuit adjusts the charging parameters in real time according to operating requirements.

[0121] Specifically, the recyclable energy corresponding to the multi-source data of the target motor is calculated, which is specifically expressed as:

[0122] ,

[0123] Among them, P represents the average recoverable energy within the time Δt, C represents the energy storage capacitor value of the target motor, V0 represents the initial voltage of the capacitor within the time Δt, t represents the energy recovery time, OT represents the optimal torque of the target motor, τ represents a certain moment in the energy recovery time, vk (τ) represents the optimal implementation speed of the target motor at time τ, R represents the total equivalent resistance of the energy recovery circuit, s represents a certain moment in the energy recovery time in the inner integral, vk (s) represents the optimal implementation speed of the target motor at time s in the inner integral, and Δt represents the unit time interval in the energy recovery time.

[0124] S8: Adjusting the treadmill motion mode: Controlling the motion parameters of the treadmill based on the optimal torque, optimal implementation speed, and recyclable energy corresponding to the multi-source data of the target motor.

[0125] In one possible implementation, step S8 includes: when the actual speed is lower than the optimal implementation speed, the motor speed is increased by increasing the input voltage of the motor; when the speed is increased, the optimal torque needs to be increased to maintain stable acceleration of the treadmill; under different speed and slope combinations, the motor outputs different torques to maintain stable operation.

[0126] S9: Output the motor control report of the target treadmill: Display the current operation status of the treadmill motor to the user, including speed, slope, exercise mode and energy recovery status, and receive the user's operation instructions.

[0127] As attached Figure 2 A motor control system for a treadmill shown includes a system database, a system central processing module and a user information terminal, and also includes: a safety monitoring module, an electromagnetic interference detection module, a sensor data fusion module, an interference compensation module, an adaptive torque calculation module, a speed feedback adjustment module, an energy recovery module, a motion mode control module and a control report output module.

[0128] Safety monitoring module: used to monitor the running status of the treadmill in real time to obtain the motor safety parameters of the treadmill, and output the motor safety parameters to the electromagnetic anti-interference module and the sensor data fusion module;

[0129] Electromagnetic interference detection module: used to receive the motor safety parameters transmitted by the safety monitoring module, monitor the electromagnetic environment around the treadmill in real time, detect the treadmill motor safety parameters, and use a metal shielding cover to protect the abnormal data corresponding to the motor safety parameters to obtain the motor interference signal;

[0130] The sensor data fusion module is used to collect the target motor data in response to the sensor set according to the running state of the treadmill, and fuse the data with the motor safety parameters transmitted by the safety monitoring module and the motor interference parameters transmitted by the electromagnetic anti-interference module to obtain the multi-source data of the target motor, and output the multi-source data of the target motor to the interference detection and compensation module;

[0131] Interference compensation module: used to obtain an interference compensation model, and obtain multi-source compensation data corresponding to the multi-source data of the target motor through the multi-source data of the target motor according to the interference compensation model;

[0132] Adaptive torque calculation module: obtains the torque calculation model based on the multi-source compensation data, obtains the optimal torque corresponding to the multi-source data of the target motor according to the torque calculation model, and outputs it to the energy recovery module and the motion mode control module in real time;

[0133] Speed ​​feedback adjustment module: based on the actual speed information fed back by the speed sensor and the multi-source data of the target motor, obtains the optimal implementation speed corresponding to the multi-source data of the target motor, and outputs it to the energy recovery module and the motion mode control module in real time;

[0134] Energy recovery module: used to obtain the recyclable energy corresponding to the multi-source data of the target motor according to the running state of the treadmill and the overall energy situation corresponding to the multi-source data of the target motor, and output it to the motion mode control module in real time;

[0135] Motion mode control module: used to receive the optimal torque corresponding to the multi-source data of the target motor in the adaptive torque calculation module, the optimal implementation speed corresponding to the multi-source data of the target motor in the speed feedback adjustment module, and the recyclable energy corresponding to the multi-source data of the target motor in the energy recovery module, and control and adjust the motion parameters of the treadmill;

[0136] Control report output module: used to show the user the current operation status of the treadmill motor, including speed, slope, exercise mode and energy recovery, and receive user operation instructions;

[0137] The system database includes all data texts of the treadmill motor control system and collects the information text output by each module in real time. The system central processing module is used for the information text instructions output by each module in the central control method. The user information terminal is an information output device for receiving the treadmill motor control system.

[0138] In this example, multi-source data of the target motor is obtained, including: installing a speed sensor near the motor shaft; installing a torque sensor at the connection between the motor and the transmission component; setting a position sensor on the motor rotor; establishing a data cache area, the data cache area is used to temporarily store data information corresponding to the target motor transmitted from each module; normalizing the data in the data cache area; extracting key features from the data in the data cache area, and using a weighted average fusion algorithm to fuse the key features to obtain multi-source data of the target motor, the multi-source data of the target motor includes target motor power, motor speed, target motor load, running belt radius, speed proportional coefficient, speed integral coefficient, speed differential coefficient, energy storage capacitor value of the target motor and initial voltage of the capacitor.

[0139] In this embodiment, a system processing structure for a motor control method for a treadmill is also disclosed. Figure 3 The electronic device may include: at least one system central processor 301 , at least one communication bus 302 , a user information terminal 304 , and at least one system database 303 .

[0140] Among them, the system central processor 301 is the core operation and control unit of the entire treadmill motor control system; it includes one or more processing cores, which connect various parts within the entire system by utilizing or various interfaces and lines; it executes instructions, programs, code sets or instruction sets stored in the system database, and can call the data stored therein to execute various functions of the treadmill motor control system, including analyzing and processing various collected parameters, adjusting the operating parameters of the treadmill according to different working conditions, and performing fault diagnosis and other operations, so as to ensure that the treadmill is always in the best operating state during operation.

[0141] The communication bus 302 is used to realize the connection and communication between components.

[0142] Among them, the system database 303 is used to save a large amount of data related to the treadmill motor control, including mathematical model related data based on physical principles and a large amount of historical operation data; when the system central processor performs various functions, it will frequently call data from the system database to perform comparative analysis, formulate control strategies and fault diagnosis, so as to achieve precise control and efficient management of the preheater; and there are network communication modules and user interface modules in the system database. The network communication module is used to connect the modules in the treadmill motor control system, store the communication protocols between the modules, and ensure the communication connection between the modules; the user interface module is used to connect to the user information terminal and store the communication protocol of the display interaction device corresponding to the user information terminal.

[0143] The user information terminal 304 is connected to external devices such as a display screen and a camera through a standard wired interface or a wireless interface to provide an interface for users to interact with the system.

[0144] Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0145] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A motor control method for a treadmill, characterized in that: include: S1: Monitor the safety status of the treadmill: monitor the running status of the motor in the treadmill in real time to obtain the motor safety parameters of the target treadmill; S2: Detect electromagnetic interference: Real-time monitoring of the electromagnetic environment around the treadmill, and detection of the safety parameters of the treadmill motor. The abnormal data corresponding to the motor safety parameters are protected by a metal shielding cover to obtain the motor interference signal; S3: Acquire multi-source data of the target motor: In response to the sensor set according to the running state of the treadmill, collect the target motor data, and fuse it with the motor safety parameters and the motor interference parameters to acquire the multi-source data of the target motor; S4: compensating interference data: obtaining an interference compensation model, and obtaining multi-source compensation data corresponding to the multi-source data of the target motor through the multi-source data of the target motor according to the interference compensation model; S5: Calculate adaptive torque: obtain a torque calculation model, and obtain an optimal torque corresponding to the target motor multi-source data through the target motor multi-source data according to the torque calculation model; S6: adjusting the target treadmill speed: based on the actual speed information fed back by the speed sensor and the multi-source data of the target motor, obtaining the optimal implementation speed corresponding to the multi-source data of the target motor; S7: Calculating recyclable energy: According to the running state of the treadmill and the overall energy situation corresponding to the multi-source data of the target motor, obtaining the recyclable energy corresponding to the multi-source data of the target motor; S8: Adjusting the treadmill motion mode: controlling the motion parameters of the treadmill based on the optimal torque, optimal implementation speed, and recyclable energy corresponding to the multi-source data of the target motor; S9: Output the motor control report of the target treadmill: Display the current operation status of the treadmill motor to the user, including speed, slope, exercise mode and energy recovery status, and receive the user's operation instructions.

2. A motor control method for a treadmill according to claim 1, characterized in that: In S1, the motor safety parameters of the treadmill are obtained, specifically including: Deploy multiple sensors at key locations on the target treadmill motor; In response to the data collected by the sensor and according to the preset safety protection rules, the safety level of the target treadmill motor is determined and the motor safety parameters are generated; The safety protection rules include over-current protection mechanism, overload protection mechanism and short-circuit protection mechanism.

3. A motor control method for a treadmill according to claim 1, characterized in that: In S3, the target motor multi-source data includes target motor power, motor speed, target motor load, running belt radius, speed proportional coefficient, speed integral coefficient, speed differential coefficient, energy storage capacitor value of the target motor and initial voltage of the capacitor.

4. The motor control method for a treadmill according to claim 1, characterized in that: In S4, obtaining the interference compensation model specifically includes: Pre-set an interference compensation rule based on the historical operating data of the target motor, where the interference compensation rule is the normal operating parameter range and the change threshold of the motor parameter corresponding to the multi-source data of the target motor; Performing a judgment operation on the multi-source data of the target motor to obtain a compensation signal corresponding to the multi-source data of the target motor; According to a preset simulation environment, the simulation environment is to apply electromagnetic interference of different types, different intensities, and different frequencies to the treadmill motor, and perform a compensation operation on the target motor multi-source data corresponding to the received compensation signal to obtain multi-source compensation data corresponding to the target motor multi-source data; In a preset multi-source database, an interference compensation model corresponding to a change rule of the multi-source data of the target motor is obtained. The preset multi-source database is used to store the relationship between the multi-source data of the target motor and the interference compensation model.

5. The motor control method for a treadmill according to claim 1, characterized in that: In S5, obtaining a torque calculation model specifically includes: Based on the target motor power P and motor speed n, the motor torque MT is calculated, which is specifically expressed as: MT=(60×P) / (2×π×n), Among them, MT represents the motor torque, P represents the target motor power, π represents the pi ratio, and its value is 3.14159265, and n represents the motor speed; Based on the target motor load m, the friction coefficient μ between the running belt and the user's shoe sole, and the running belt radius r, the motor load torque MLT is calculated, which is specifically expressed as: MLT=(μ×m×g×r)+T a , Where MLT is the motor load torque, μ is the friction coefficient between the running belt and the user's shoe sole, m is the target motor load, g is the gravitational acceleration, r is the running belt radius, and T a Expressed as other torque factors; Based on the motor load torque MLT, motor torque MT and electromagnetic interference coefficient k, the optimal torque OT of the target motor is calculated, which is specifically expressed as: OT=k×MLT×MT, Wherein, k represents the electromagnetic interference coefficient, and its value range is (0, 1).

6. A motor control method for a treadmill according to claim 1, characterized in that: In S6, obtaining the optimal implementation speed corresponding to the multi-source data of the target motor specifically includes: Based on the treadmill setting speed v s and the actual speed v fed back by the speed sensor a , calculate the speed deviation v e , specifically expressed as: v e =v s -v a ; Based on the speed integral coefficient KI and the speed deviation v at the i-th sampling e (i), calculate the velocity integral value v at the i-th sampling time I (i), specifically expressed as: v I (i)=v I (i-1)+(KI×v) e (i) Among them, v I (i-1) represents the velocity integral value at the i-1th sampling time; Based on the speed proportional coefficient KP, speed integral coefficient KI, speed differential coefficient KD, and speed integral value v at the i-1th sampling time I (i-1) and the speed deviation v at the i-th sampling time e (i) Calculate the optimal implementation speed vk of the target motor, which is specifically expressed as: vk=(KP×v e (i) + (v) I (i-1)+(KI×v e (i)))+(KD×[v e (i)-v e (i-1)]), Where, vk represents the optimal implementation speed of the target motor, KP represents the speed proportional coefficient, KI represents the speed integral coefficient, KD represents the speed differential coefficient, and v I (i-1) represents the velocity integral value at the i-1th sampling time, v e (i) represents the speed deviation at the i-th sampling time, v e (i-1) represents the speed deviation at the i-1th sampling time.

7. A motor control method for a treadmill according to claim 1, characterized in that: In S7, the recyclable energy corresponding to the multi-source data of the target motor is obtained, which is specifically expressed as: ， Among them, P represents the average recoverable energy within the time Δt, C represents the energy storage capacitor value of the target motor, V0 represents the initial voltage of the capacitor within the time Δt, t represents the energy recovery time, OT represents the optimal torque of the target motor, τ represents a certain moment in the energy recovery time, vk (τ) represents the optimal implementation speed of the target motor at time τ, R represents the total equivalent resistance of the energy recovery circuit, s represents a certain moment in the energy recovery time in the inner integral, vk (s) represents the optimal implementation speed of the target motor at time s in the inner integral, and Δt represents the unit time interval in the energy recovery time.

8. A motor control method for a treadmill according to claim 1, characterized in that: In S8, the motion parameters of the treadmill are controlled, specifically including: When the actual speed is lower than the optimal implementation speed, the motor speed is increased by increasing the input voltage of the motor; When increasing speed, the optimal torque needs to be increased to maintain steady acceleration of the treadmill; Under different combinations of speed and slope, the motor outputs different torques to ensure stable operation.

9. A motor control system for a treadmill, comprising a system database, a system central processing module and a user information terminal, applied to a motor control method for a treadmill as claimed in any one of claims 1 to 8, characterized in that: Also includes: Safety monitoring module: used to monitor the running status of the treadmill in real time to obtain the motor safety parameters of the treadmill, and output the motor safety parameters to the electromagnetic anti-interference module and the sensor data fusion module; Electromagnetic interference detection module: used to receive the motor safety parameters transmitted by the safety monitoring module, monitor the electromagnetic environment around the treadmill in real time, detect the treadmill motor safety parameters, and use a metal shielding cover to protect the abnormal data corresponding to the motor safety parameters to obtain the motor interference signal; The sensor data fusion module is used to collect the target motor data in response to the sensor set according to the running state of the treadmill, and fuse the data with the motor safety parameters transmitted by the safety monitoring module and the motor interference parameters transmitted by the electromagnetic anti-interference module to obtain the multi-source data of the target motor, and output the multi-source data of the target motor to the interference detection and compensation module; Interference compensation module: used to obtain an interference compensation model, and obtain multi-source compensation data corresponding to the multi-source data of the target motor through the multi-source data of the target motor according to the interference compensation model; Adaptive torque calculation module: obtains the torque calculation model based on the multi-source compensation data, obtains the optimal torque corresponding to the multi-source data of the target motor according to the torque calculation model, and outputs it to the energy recovery module and the motion mode control module in real time; Speed ​​feedback adjustment module: based on the actual speed information fed back by the speed sensor and the multi-source data of the target motor, obtains the optimal implementation speed corresponding to the multi-source data of the target motor, and outputs it to the energy recovery module and the motion mode control module in real time; Energy recovery module: used to obtain the recyclable energy corresponding to the multi-source data of the target motor according to the running state of the treadmill and the overall energy situation corresponding to the multi-source data of the target motor, and output it to the motion mode control module in real time; Motion mode control module: used to receive the optimal torque corresponding to the multi-source data of the target motor in the adaptive torque calculation module, the optimal implementation speed corresponding to the multi-source data of the target motor in the speed feedback adjustment module, and the recyclable energy corresponding to the multi-source data of the target motor in the energy recovery module, and control and adjust the motion parameters of the treadmill; Control report output module: used to show the user the current operation status of the treadmill motor, including speed, slope, exercise mode and energy recovery, and receive user operation instructions; The system database includes all data texts of the treadmill motor control system and collects the information text output by each module in real time. The system central processing module is used for the information text instructions output by each module in the central control method. The user information terminal is an information output device connected to the treadmill motor control system.

10. A motor control system for a treadmill according to claim 9, characterized in that: The sensor data fusion module obtains multi-source data of the target motor by: installing a speed sensor near the motor shaft; installing a torque sensor at the connection between the motor and the transmission component; setting a position sensor on the motor rotor; establishing a data buffer area, the data buffer area is used to temporarily store data information corresponding to the target motor transmitted from each module; normalizing the data in the data buffer area; extracting key features from the data in the data buffer area, and using a weighted average fusion algorithm to fuse the key features to obtain multi-source data of the target motor.

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