Fitness equipment control method and device, electronic equipment, storage medium and program

Abstract

The embodiment of the invention discloses a fitness equipment control method and device, electronic equipment, a storage medium and a program, and the method comprises the steps: obtaining a target output weight and an actual output weight of target fitness equipment; determining a torque current set value according to the target output weight and the actual output weight; and controlling the current output weight of the target fitness equipment according to the torque current set value. According to the technical scheme provided by the embodiment of the invention, the output weight of the fitness equipment can be accurately controlled, so that more accurate training experience is provided for a body builder.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of equipment control, and particularly to a fitness equipment control method, device, electronic device, storage medium and program. Background Art

[0002] At present, with the gradual improvement of people's health awareness and the increasing diversification of fitness needs, the fitness industry has ushered in an unprecedented development opportunity. Against this background, intelligent fitness equipment integrating various cutting-edge technologies such as sensor technology, data processing, and network communication has emerged. The actual output weight of intelligent fitness equipment at the user end depends on various factors such as the weight set by the intelligent fitness equipment, system friction, and the acceleration of the transmission mechanism. Therefore, it is very difficult for the actual output weight to always be consistent with the set weight.

[0003] Currently, for intelligent fitness equipment that adjusts weight through motor output, it can only control the weight output at the motor end, but does not consider that there will be a difference between this weight and the weight actually felt by the user due to factors such as the friction of the transmission mechanism between the motor and the user and the change of system acceleration, resulting in the inconsistency between the actual weight and the set weight. Summary of the Invention

[0004] Embodiments of the present invention provide a fitness equipment control method, device, electronic device, storage medium and program, which can accurately control the output weight of the fitness equipment, and thus provide a more accurate training experience for fitness enthusiasts.

[0005] According to one aspect of the present invention, there is provided a fitness equipment control method, including:

[0006] Obtaining a target output weight and an actual output weight of a target fitness equipment;

[0007] Determining a torque current set value according to the target output weight and the actual output weight;

[0008] Controlling the current output weight of the target fitness equipment according to the torque current set value.

[0009] According to another aspect of the present invention, there is provided a fitness equipment control device, including:

[0010] A weight data acquisition module, configured to obtain a target output weight and an actual output weight of a target fitness equipment;

[0011] A torque current set value determination module, configured to determine a torque current set value according to the target output weight and the actual output weight;

[0012] A current output weight control module, configured to control the current output weight of the target fitness equipment according to the torque current set value.

[0013] According to another aspect of the present invention, there is provided an electronic device, which includes:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the fitness device control method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the fitness device control method according to any embodiment of the present invention when executed.

[0018] According to another aspect of the present invention, there is also provided a computer program product including a computer program, which implements the fitness device control method according to any embodiment of the present invention when executed by a processor.

[0019] In the embodiments of the present invention, by obtaining the target output weight and the actual output weight of the target fitness device, further, the torque current setting value can be determined according to the target output weight and the actual output weight, so that the current output weight of the target fitness device can be controlled according to the torque current setting value, solving the problem of insufficient accuracy of the existing control method for the output weight of fitness devices, being able to accurately control the output weight of fitness devices, and further providing a more accurate training experience for fitness enthusiasts.

[0020] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0022] Figure 1 is a flowchart of a fitness device control method provided in Embodiment 1 of the present invention;

[0023] Figure 2It is a schematic diagram of the structure of a target fitness device provided in the first embodiment of the present invention;

[0024] Figure 3 It is a schematic diagram of the principle of a fitness device control method provided in the first embodiment of the present invention;

[0025] Figure 4 It is a schematic diagram of the principle of determining a torque current setting value provided in the first embodiment of the present invention;

[0026] Figure 5 It is a schematic diagram of the control principle of a motor drive module provided in the first embodiment of the present invention;

[0027] Figure 6 It is a schematic diagram of a fitness device control device provided in the second embodiment of the present invention;

[0028] Figure 7 It is a schematic diagram of the structure of an electronic device provided in the third embodiment of the present invention. Detailed implementation manners

[0029] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] It should be noted that the terms "target" and "current" in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1The following is a flowchart of a fitness equipment control method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of controlling the current output weight of a fitness equipment according to the target output weight and the actual output weight of the fitness equipment. This method can be executed by a fitness equipment control device, which can be implemented in software and / or hardware, and is generally integrated in an electronic device. The electronic device can be a fitness equipment with a weight output control function, or a control device with a control function for the fitness equipment, as long as it can execute the fitness equipment control method. The present invention does not limit the specific type of the electronic device. Correspondingly, as Figure 1 shown, the method includes the following operations:

[0033] S110. Obtain the target output weight and the actual output weight of the target fitness equipment.

[0034] Among them, the target fitness equipment can be any intelligent fitness equipment that uses a motor to control the output weight. For example, it can include but is not limited to intelligent dumbbells, intelligent barbells, and intelligent bench presses, etc., as long as it is a fitness equipment that uses a motor to control the output weight. The present invention does not limit the specific type of the target fitness equipment. The target output weight can be the expected weight value set for the target fitness equipment to output. The actual output weight can be the actual weight value output by the target fitness equipment. It can be understood that the target output weights of different types of target fitness equipment can be different. Generally, the target output weight and the actual output weight of the same target fitness equipment are different.

[0035] In the embodiment of the present invention, first, the target output weight and the actual output weight of the target fitness equipment can be obtained as reference data for controlling the output weight of the target fitness equipment. By comparing the target output weight with the actual output weight, the operating state of the target fitness equipment can be accurately evaluated, and the deviation that may occur during the output weight process of the target fitness equipment can be discovered and adjusted in a timely manner, so as to ensure that the target fitness equipment can stably output according to the preset target output weight, providing a precise and reliable fitness training experience for fitness enthusiasts.

[0036] In an optional embodiment of the present invention, the obtaining of the actual output weight of the target fitness equipment may include: obtaining the actual output weight collected by a force sensor at the end of the transmission mechanism of the target fitness equipment for the target fitness equipment.

[0037] Among them, the transmission mechanism of the target fitness equipment can be a working component that transmits the power of the motor to the target fitness equipment to achieve weight adjustment and motion transmission.

[0038] Figure 2 The following is a schematic diagram of the structure of a target fitness equipment provided by Embodiment 1 of the present invention. Figure 3It is a schematic diagram of the principle of a fitness equipment control method provided in the first embodiment of the present invention. In a specific example, such as Figure 2 and Figure 3 shown, the target fitness equipment may include, but is not limited to, a motor drive module, a transmission mechanism, a force sensor, etc. Among them, the force sensor is placed at the end of the transmission mechanism, which can effectively avoid the problem of inconsistent weights during wire winding and wire pulling caused by the friction of the transmission mechanism. Thus, it can be seen that the actual output weight collected by the force sensor is the weight actually felt by the fitness person when performing strength training through the target fitness equipment. Therefore, in the process of obtaining the actual output weight of the target fitness equipment, the force sensor can be placed at the end of the transmission mechanism, and the actual output weight of the target fitness equipment can be collected by the force sensor at the end of the transmission mechanism of the target fitness equipment.

[0039] S120. Determine a torque current set value according to the target output weight and the actual output weight.

[0040] Among them, the torque current set value may be a pre-set current component for generating the motor output torque in the target fitness equipment.

[0041] The precise control of the motor output torque can be achieved by controlling the torque current, and then the output weight of the motor can be controlled. Therefore, the output weight of the target fitness equipment can be controlled by controlling the magnitude of the torque current. Specifically, the magnitude of the motor torque current, that is, the torque current set value, can be determined by the target output weight and the actual output weight.

[0042] In an alternative embodiment of the present invention, the determining the torque current set value according to the target output weight and the actual output weight may include: calculating the difference between the target output weight and the actual output weight to obtain weight error data; determining the torque current set value according to the weight error data and the target output weight.

[0043] Among them, the weight error data may be the difference between the target output weight and the actual output weight.

[0044] Figure 4 It is a schematic diagram of the principle of determining a torque current set value provided in the first embodiment of the present invention. In a specific example, such as Figure 4 shown, in the process of determining the torque current set value according to the target output weight and the actual output weight, first, the difference between the target output weight and the actual output weight can be calculated as the weight error data and passed into the weight controller. Further, the weight controller may adopt the structure of a feedforward and PI (Proportional-Integral) controller, so that the torque current set value can be calculated according to the weight error data and the target output weight.

[0045] In an alternative embodiment of the present invention, determining the torque current set value according to the weight error data and the target output weight may include: determining the torque current set value based on the following formula:

[0046]

[0047] e(t) = Fset - Freal

[0048] where iq ref is the torque current set value, K fwd is the feedforward calibration coefficient, Kp is the proportional parameter of the PI controller, Ki is the integral parameter of the PI controller, F set is the target output weight, e(t) is the weight error data, F real is the actual output weight.

[0049] Among them, Kp is the proportional parameter of the PI controller, and Ki is the integral parameter of the PI controller. Kp and Ki can be obtained through engineering tuning. In a specific example, first, the control system of the target fitness equipment can be set to control only through proportion. Further, Kp can be gradually increased until the control system oscillates, and then Kp can be decreased until the oscillation disappears. Any value between 60% - 70% of the Kp value when the oscillation disappears can be taken as the value of Kp. After determining the appropriate Kp value, an initial value of a relatively large integral time constant Ti can be set. Further, Ti can be gradually decreased. When the control system oscillates, the decrease of Ti is stopped. Further, Ti can be gradually increased until the oscillation of the control system disappears. At this time, the Ti value multiplied by 150% - 180% can be used as the final integral time constant, and thus the value of Ki can be calculated according to Ki = KpTi. Exemplarily, Kp can be 0.01 and Ki can be 0.1.

[0050] According to the above formula, K fwd is the conversion coefficient from current to weight. In the embodiment of the present invention, the specific value of K fwd can be determined according to the current torque coefficient and the winding radius. In a specific example, assuming that the torque coefficient of the motor is 1 N·m / A and the winding radius is 0.03 m, then K fwd = 0.03 m / 1 N·m / A = 0.03 N / A.

[0051] Optionally, when the weight error data is higher than the preset threshold, Kp and Ki can be dynamically adjusted through fuzzy rules to improve the response speed of the control system; when the weight error data is not higher than the preset threshold, fixed Kp and Ki can be selected to ensure the stability of the control system. Specifically, the weight error data and the rate of change of the weight error can be converted into fuzzy sets; the output fuzzy set can be calculated according to the fuzzy sets and fuzzy rules; the proportional parameter and the integral parameter of the PI controller can be calculated according to the output fuzzy set.

[0052] S130. Control the current output weight of the target fitness equipment according to the torque current set value.

[0053] Wherein, the current output weight can be the output weight of the target fitness equipment after control.

[0054] Specifically, after determining the torque current set value, the output torque of the motor can be adjusted through the torque current set value, so as to achieve precise adjustment of the current output weight of the target fitness equipment.

[0055] In an optional embodiment of the present invention, the controlling the current output weight of the target fitness equipment according to the torque current set value may include: obtaining the original torque current and the original excitation current of the target fitness equipment; performing PI controller operation on the torque current set value and the original torque current to obtain the first voltage set value of the target fitness equipment; performing PI controller operation on the original excitation current and the excitation current set value to obtain the second voltage set value of the target fitness equipment; controlling the current output weight of the target fitness equipment according to the first voltage set value and the second voltage set value.

[0056] Wherein, the original torque current can be the torque current of the target fitness equipment before being controlled. The original excitation current can be the excitation current of the target fitness equipment before being controlled. The first voltage set value can be the voltage value obtained by performing PI controller operation on the torque current set value and the original torque current. The second voltage set value can be the voltage value obtained by performing PI controller operation on the excitation current set value and the original excitation current.

[0057] Figure 5 is a schematic diagram of the control principle of a motor drive module provided in Embodiment 1 of the present invention, as Figure 5As shown, in the process of controlling the current output weight of the target fitness device according to the torque current set value, first, the values of the three-phase currents ia, ib, and ic of the motor in the target fitness device can be collected, and the three-phase currents are subjected to Clarke transformation to obtain the currents iα and iβ of the motor in the two-phase stationary coordinate system. At the same time, the motor position information can be obtained through a position sensor, and Park transformation is performed through the motor position information and the currents iα and iβ to obtain the original excitation current Id and the original torque current Iq of the motor. Further, a PI controller operation can be performed on the torque current set value IqRef and the original torque current Iq to obtain the first voltage set value Vq of the target fitness device. At the same time, a PI controller operation can be performed on the original excitation current Id and the excitation current set value IdRef to obtain the second voltage set value Vd of the target fitness device, so that the current output weight of the target fitness device can be controlled according to the first voltage set value and the second voltage set value. It should be noted that the excitation current set value IdRef can be 0.

[0058] In an alternative embodiment of the present invention, the controlling the current output weight of the target fitness device according to the first voltage set value and the second voltage set value may include: performing inverse Park transformation on the first voltage set value and the second voltage set value to obtain the first voltage component and the second voltage component in the stationary coordinate system; performing space vector pulse width modulation on the first voltage component and the second voltage component in the stationary coordinate system to obtain the switching signal of the target inverter; generating a target three-phase voltage signal according to the switching signal of the target inverter; and controlling the current output weight of the target fitness device according to the target three-phase voltage signal.

[0059] Among them, the first voltage component may be the voltage component in the stationary coordinate system obtained by performing inverse Park transformation on the first voltage set value. The second voltage component may be the voltage component in the stationary coordinate system obtained by performing inverse Park transformation on the second voltage set value. Space vector pulse width modulation may be a technique for precisely controlling the motor by controlling the switching state of the target inverter to synthesize the required voltage vector. The switching signal of the target inverter may be a signal for controlling the conduction and cutoff of the switching elements in the target inverter, and these signals determine the magnitude and phase of the output voltage of the inverter. The target three-phase voltage signal may be a voltage signal for controlling the target fitness device generated according to the switching signal of the target inverter.

[0060] Continuing with the above example for illustration, such as Figure 4As shown, in the embodiment of the present invention, in the process of controlling the current output weight of the target fitness device according to the first voltage setting value and the second voltage setting value, first, the inverse Park transformation can be performed on the first voltage setting value Vq and the second voltage setting value Vd to obtain the first voltage component Vα and the second voltage component Vβ in the stationary coordinate system. Further, the space vector pulse width modulation can be performed on the first voltage component Vα and the second voltage component Vβ in the stationary coordinate system to obtain the switching signal of the target inverter, so that the target three-phase voltage signal can be generated according to the switching signal of the target inverter to control the current output weight of the target fitness device.

[0061] It can be seen that the technical solution of the embodiment of the present invention determines the torque current setting value of the motor in the target fitness device by obtaining the target output weight and the actual output weight of the target fitness device, and then controls the current output weight of the target fitness device through the torque current setting value. The above method not only ensures that the target fitness device can work according to the preset weight requirements, but also improves the control accuracy and use safety of the target fitness device, providing a more personalized and efficient fitness experience for fitness enthusiasts.

[0062] In the embodiment of the present invention, by obtaining the target output weight and the actual output weight of the target fitness device, further, the torque current setting value can be determined according to the target output weight and the actual output weight, so that the current output weight of the target fitness device can be controlled according to the torque current setting value, solving the problem of insufficient accuracy of the existing control method for the output weight of fitness devices, being able to accurately control the output weight of fitness devices, and thus providing a more accurate training experience for fitness enthusiasts.

[0063] In the technical solution of the present disclosure, the processing of the collection, storage, use, processing, transmission, provision, and disclosure of the user's personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0064] It should be noted that the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in the present disclosure are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of the relevant data comply with the relevant laws, regulations, and standards of the relevant regions.

[0065] It should be noted that any permutation and combination of the technical features in the above embodiments also fall within the protection scope of the present invention.

[0066] Embodiment 2

[0067] Figure 6 is a schematic diagram of a fitness device control device provided in Embodiment 2 of the present invention, as Figure 6As shown in the figure, the device includes: a weight data acquisition module 210, a torque current set value determination module 220, and a current output weight control module 230, where:

[0068] The weight data acquisition module 210 is configured to acquire the target output weight and the actual output weight of the target fitness device.

[0069] The torque current set value determination module 220 is configured to determine a torque current set value according to the target output weight and the actual output weight.

[0070] The current output weight control module 230 is configured to control the current output weight of the target fitness device according to the torque current set value.

[0071] In an embodiment of the present invention, by acquiring the target output weight and the actual output weight of the target fitness device, further, a torque current set value can be determined according to the target output weight and the actual output weight, so that the current output weight of the target fitness device can be controlled according to the torque current set value, solving the problem of insufficient accuracy of the existing control method for the output weight of fitness devices, being able to accurately control the output weight of fitness devices, and further providing a more accurate training experience for fitness enthusiasts.

[0072] Optionally, the weight data acquisition module 210 is specifically configured to: acquire the actual output weight collected by a force sensor at the end of the transmission mechanism of the target fitness device for the target fitness device.

[0073] Optionally, the torque current set value determination module 220 is specifically configured to: calculate the difference between the target output weight and the actual output weight to obtain weight error data; determine the torque current set value according to the weight error data and the target output weight.

[0074] Optionally, the torque current set value determination module 220 is further configured to: determine the torque current set value based on the following formula:

[0075]

[0076] e(t) = F set -F real

[0077] where iq ref is the torque current set value, K fwd is the feedforward calibration coefficient, Kp is the proportional parameter of the PI controller, Ki is the integral parameter of the PI controller, F set is the target output weight, e(t) is the weight error data, F real is the actual output weight.

[0078] Optionally, the current output weight control module 230 is specifically configured to: obtain the original torque current and the original excitation current of the target fitness device; perform PI controller operations on the torque current set value and the original torque current to obtain the first voltage set value of the target fitness device; perform PI controller operations on the original excitation current and the excitation current set value to obtain the second voltage set value of the target fitness device; control the current output weight of the target fitness device according to the first voltage set value and the second voltage set value.

[0079] Optionally, the current output weight control module 230 is further configured to: perform an inverse Park transformation on the first voltage set value and the second voltage set value to obtain a first voltage component and a second voltage component in the stationary coordinate system; perform space vector pulse width modulation on the first voltage component and the second voltage component in the stationary coordinate system to obtain the switching signals of the target inverter; generate a target three-phase voltage signal according to the switching signals of the target inverter; control the current output weight of the target fitness device according to the target three-phase voltage signal.

[0080] The above fitness device control device can execute the fitness device control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method. For the technical details not described in detail in this embodiment, reference can be made to the fitness device control method provided in any embodiment of the present invention.

[0081] Since the above-introduced fitness device control device is a device that can execute the fitness device control method in the embodiments of the present invention, based on the fitness device control method introduced in the embodiments of the present invention, those skilled in the art can understand the specific implementation manners and various variations of the fitness device control device in this embodiment. Therefore, the specific implementation of how the fitness device control device implements the fitness device control method in the embodiments of the present invention will not be described in detail here. As long as the device used by those skilled in the art to implement the fitness device control method in the embodiments of the present invention falls within the scope of protection of this application.

[0082] Embodiment III

[0083] Figure 7The structural schematic diagram of the electronic device 10 that can be used to implement the embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0084] As Figure 7 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0085] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0086] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the fitness device control method.

[0087] In some embodiments, the fitness equipment control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the fitness equipment control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the fitness equipment control method by any other suitable means (e.g., by means of firmware).

[0088] Optionally, the fitness equipment control method may include: obtaining a target output weight and an actual output weight of a target fitness equipment; determining a torque current set value according to the target output weight and the actual output weight; and controlling the current output weight of the target fitness equipment according to the torque current set value.

[0089] The various embodiments of the systems and techniques described above in this document may 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), system-on-a-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that may 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, and may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0090] The computer programs for implementing the method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to the processor of a general-purpose computer, a dedicated computer, or other programmable data processing devices, such that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0091] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0092] To provide for interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for interaction with the user; for example, the 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 acoustic input, speech input, or tactile input).

[0093] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0094] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is created by computer programs running on 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 a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0095] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution disclosed in this disclosure can be achieved, and no limitation is imposed herein.

[0096] The above specific embodiments do not constitute a limitation on the protection scope of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A method for controlling a fitness device, characterized in that, Including: Obtain the target output weight and the actual output weight of the target fitness device; Determine the torque current setting value according to the target output weight and the actual output weight; Control the current output weight of the target fitness device according to the torque current setting value.

2. The method according to claim 1, wherein The obtaining of the actual output weight of the target fitness device includes: Obtain the actual output weight collected by the force sensor at the end of the transmission mechanism of the target fitness device for the target fitness device.

3. The method according to claim 1, wherein The determining of the torque current setting value according to the target output weight and the actual output weight includes: Calculate the difference between the target output weight and the actual output weight to obtain weight error data; Determine the torque current setting value according to the weight error data and the target output weight.

4. The method according to claim 3, characterized in that, The determining of the torque current setting value according to the weight error data and the target output weight includes: Determine the torque current setting value based on the following formula: e(t) = F set -F real Among them, iq ref is the torque current set value, K fwd is the feedforward calibration coefficient, Kp is the proportional parameter of the PI controller, Ki is the integral parameter of the PI controller, F set is the target output weight, e(t) is the weight error data, F real is the actual output weight.

5. The method according to claim 1, wherein The controlling of the current output weight of the target fitness device according to the torque current setting value includes: Obtain the original torque current and the original excitation current of the target fitness device; Perform proportional-integral (PI) controller operation on the torque current setting value and the original torque current to obtain the first voltage setting value of the target fitness device; Perform PI controller operation on the original excitation current and the excitation current setting value to obtain the second voltage setting value of the target fitness device; Control the current output weight of the target fitness device according to the first voltage setting value and the second voltage setting value.

6. The method according to claim 5, wherein The controlling of the current output weight of the target fitness device according to the first voltage setting value and the second voltage setting value includes: Perform inverse Park transformation on the first voltage setting value and the second voltage setting value to obtain the first voltage component and the second voltage component in the stationary coordinate system; Perform space vector pulse width modulation on the first voltage component and the second voltage component in the stationary coordinate system to obtain the switching signal of the target inverter; Generate a target three-phase voltage signal according to the switching signal of the target inverter; Control the current output weight of the target fitness device according to the target three-phase voltage signal.

7. A control device for a fitness equipment, characterized in that, Including: A weight data acquisition module for obtaining the target output weight and the actual output weight of the target fitness device; A torque current setting value determination module for determining the torque current setting value according to the target output weight and the actual output weight; A current output weight control module for controlling the current output weight of the target fitness device according to the torque current setting value.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the fitness device control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for implementing the fitness equipment control method according to any one of claims 1-6 when executed by a processor.

10. A computer program product comprising a computer program / instructions, wherein, The computer program / instructions implement the fitness equipment control method according to any one of claims 1-6 when executed by a processor.

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