Adjustable pedal and adjusting method thereof

Abstract

The invention discloses a vehicle engineering technology, and aims to provide an adjustable pedal and an adjusting method thereof, and the key points of the technical scheme are that the adjustable pedal comprises a pedal body which comprises two symmetrically arranged pedal main bodies and is used for being connected with a pedal mounting position of a bicycle or other vehicles; the adjusting unit is arranged on the pedal body and used for adjusting the angle and the position of the pedal body; the locking unit is arranged on the pedal body and used for fixing the adjusted pedal body at a specific position and angle; the pedal body comprises an oval pedal used for treading, a supporting arm arranged on one side of the pedal, installed at the pedal installation position and used for supporting the pedal body, and a rotating shaft with one end fixedly arranged on the supporting arm and the other end connected with the pedal so that the pedal can rotate. The device is simple and reasonable in structure, convenient to manufacture, easy and convenient to operate, capable of avoiding defects in the prior art and suitable for application and popularization; the method is suitable for the technical field of vehicle engineering.

Description

Technical Field

[0001] The present invention relates to a vehicle engineering technology, and more specifically, to an adjustable pedal and an adjustment method thereof. Background Art

[0002] In the fields of bicycles, fitness equipment, etc., the pedal, as a key component for human-machine interaction, its adjustable performance directly affects the use comfort and efficiency. The traditional fixed pedal has obvious limitations: due to differences in user height, leg length or riding habits, it is difficult to achieve the best force angle with a single size, and long-term use may cause knee joint injuries. Most of the existing adjustable solutions use threaded knobs or pin structures. Although they can change the pedal inclination angle, the adjustment process requires manual operation and lacks a precise positioning function, and accidental displacement is likely to occur during the movement state. Therefore, there is an urgent need to develop a pedal solution that combines mechanical reliability, lightweight characteristics and fast adjustment ability. Summary of the Invention

[0003] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide an adjustable pedal and an adjustment method thereof.

[0004] To achieve the above purpose, the present invention provides the following technical solutions: An adjustable pedal, comprising:

[0005] A pedal body: including two symmetrically arranged pedal main bodies and used for connecting to the pedal mounting part of a bicycle or other vehicle;

[0006] An adjustment unit: arranged on the pedal body and used to adjust the angle and position of the pedal body;

[0007] A locking unit: arranged on the pedal body and used to fix the adjusted pedal body at a specific position and angle;

[0008] The pedal main body includes an oval pedal for stepping on, a support arm arranged on one side of the pedal and installed with the pedal mounting part for supporting the pedal main body, and a rotating shaft with one end fixedly arranged on the support arm and the other end connected to the pedal to enable the pedal to rotate.

[0009] The present invention is further configured as: the oval pedal is provided in a hollow shape, a connecting shaft is arranged in the middle thereof, and a plurality of connecting ribs are evenly distributed on the periphery of the connecting shaft. One end of the connecting rib is fixedly connected to the connecting shaft, and the other end is fixedly connected to the oval pedal;

[0010] Anti-slip textures composed of a plurality of protrusions are fixedly arranged on the top surface of the oval pedal and the top surface of the connecting rib, and the distribution area of the anti-slip textures accounts for 85%-100% of the total area of the top surfaces of the oval pedal and the connecting rib.

[0011] The present invention is further configured such that: the adjusting unit includes a servo motor disposed inside the support arm, a planetary gear set disposed inside the support arm and linked with the rotating shaft, and an angle sensor for real-time acquisition of the angle of the elliptical pedal;

[0012] The output shaft of the servo motor meshes with the sun gear of the planetary gear set to form a speed reduction mechanism.

[0013] The present invention is further configured such that: the locking unit includes an electromagnetic clutch nested on the rotating shaft, a hydraulic brake caliper disposed at the inner end of the support arm, and a plurality of pressure sensors arranged on the elliptical pedal;

[0014] When the electromagnetic clutch is energized, the hydraulic brake caliper can provide a locking force to lock the rotation of the rotating shaft.

[0015] The present invention is further configured such that: the module of the planetary gear set is 0.8 mm - 1.2 mm, and the tooth number ratio of the sun gear to the planetary gear is 1:2.5 - 1:3.5.

[0016] The present invention is further configured such that: the included angle between adjacent connecting ribs is 60°, and the cross-section of the connecting rib is triangular or trapezoidal;

[0017] When the cross-section of the connecting rib is triangular, the cross-section is an equilateral triangle;

[0018] When the cross-section of the connecting rib is trapezoidal, the ratio of the length of the large end to the length of the small end is 1.5:1 - 2:1.

[0019] The present invention is further configured such that: it further includes an environment compensation unit, and the environment compensation unit includes an embedded temperature sensing module and a vibration frequency analysis module.

[0020] An adjusting method for an adjustable footrest, characterized by comprising the following steps:

[0021] S1. Collect initial environment parameters through the environment compensation unit. When the temperature sensing module detects that the environmental temperature change amount ΔT ≥ ±15°C, trigger the reference zero calibration of the angle sensor, otherwise keep the current reference value;

[0022] S2. Start the servo motor. The output shaft of the servo motor rotates to drive the sun gear in the planetary gear set to start rotating, thereby driving the planetary gear set, and driving the rotating shaft to perform pre-rotation through a speed reduction mechanism with a tooth number ratio of 1:2.5 - 1:3.5 between the sun gear and the planetary gear;

[0023] S3. Real-time monitor the force distribution of the pressure sensor array. If it is detected that the ratio of the unilateral pressure value P1 to the opposite-side pressure value P2 exceeds the threshold range 0.8 ≤ (P1 / P2) ≤ 1.2, enter the dynamic balance adjustment mode;

[0024] S4. In the dynamic balance adjustment mode, the angle sensor collects the real-time inclination angle θ of the elliptical pedal and compares it with the preset ideal curve f(t). When the difference Δθ > 5°, the intermittent locking of the electromagnetic clutch is started, where the preset ideal curve is set by the operator according to their own needs or habits.

[0025] S5. According to the spectral characteristics output by the vibration frequency analysis module, determine whether a resonance peak appears: If the main frequency band energy A > A0 and the harmonic distortion < 3%, then maintain the current speed; otherwise, trigger the PID speed regulation of the servo motor.

[0026] S6. During the operation of the planetary gear set, continuously monitor the meshing degree index μ between the sun gear and the planetary gear. If μ < μ e then reduce the torque output of the servo motor to 70% - 80% of the rated value.

[0027] S7. After the angle adjustment is completed, the hydraulic brake caliper applies the locking force in three stages: Adopt a progressive locking strategy, and apply the first-stage pre-tightening force, the second-stage transition force, and the third-stage full locking force in sequence. Among them, the first-stage force value is 30% - 35% of the maximum locking force of the system, the second-stage force value is increased to 55% - 65%, and the third-stage force value reaches the maximum locking force designed by the system.

[0028] S8. Verify the system stability after locking: Continuously collect the angle fluctuation value δθ within 3 cycles. If the standard deviation σ < σ0, it is determined that the locking is effective; otherwise, return to S2 for re-adjustment.

[0029] S9. After entering the standby state, automatically perform the integrity check of S1 - S9 every t time, where t is inversely proportional to the environmental temperature change rate dT / dt.

[0030] The beneficial effects of the present invention are:

[0031] 1. Compared with the prior art, the adjustable pedal of the present invention realizes a double improvement in ergonomic adaptation and dynamic stability through symmetrically arranged pedal bodies and an integrated adjustment mechanism; the elliptical pedal combined with the rotating shaft design effectively disperses the plantar pressure, and can reduce the local pressure peak compared with the traditional circular pedal. The support arm structure reduces energy loss by optimizing the force transmission path; through the innovative structures of the adjustment unit and the locking unit, the angle and position of the pedal can be conveniently adjusted according to the needs of the user, providing a more personalized riding experience; through the precise adjustment mechanism, the rider can adjust the angle and position of the pedal at any time according to different riding environments, exercise intensities, and comfort requirements, so as to achieve the best exercise effect; this design makes the pedal more flexible and adaptable, can meet the changes in different body types, needs, and riding postures, effectively improving the comfort, operation convenience, and usage experience of the rider; in addition, the support structure design of the pedal body ensures good stability and is not prone to displacement, thus ensuring riding safety.

[0032] 2. The hollow elliptical structure of the adjustable pedal of the present invention achieves lightweight while ensuring structural strength, and has a significant weight reduction effect compared with the solid structure; the radial distribution of the connecting ribs makes the stress transmission more uniform; the anti-slip texture coverage rate reaches the design threshold of 85%-100%, and the friction coefficient can still be maintained stable in a humid environment, ensuring that the friction between the foot and the pedal is stable enough in various riding environments, thereby improving the comfort and controllability of riding and further optimizing the riding experience; this structural feature also optimizes the layout of the heat dissipation channels, and the surface temperature of the pedal can be reduced during continuous riding, avoiding discomfort caused by high temperature.

[0033] 3. In the present invention, the combination of the planetary gear set and the servo motor creates a precise angle control system, and its transmission accuracy is improved compared with the conventional worm and worm gear structure; the application of the servo motor ensures the rapid adjustment of the pedal angle, and the deceleration mechanism of the planetary gear set makes the power transmission more stable and precise, thus avoiding problems such as delay or insufficient accuracy that may occur in the traditional mechanical system; the real-time feedback of the angle sensor can provide accurate angle adjustment data for the servo motor, ensuring that the pedal angle can be accurately adjusted under various riding conditions, improving the stability and comfort of riding, and reducing the operation inconvenience caused by improper adjustment.

[0034] 4. The structure of the present invention is simple and reasonable, easy to manufacture, easy to operate, avoids the defects in the prior art, and is suitable for popularization and implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural diagram of the adjustable pedal of the present invention.

[0036] Reference numerals in the drawings: 1, elliptical pedal; 2, support arm; 3, connecting shaft; 4, connecting rib; 5, anti-slip texture. Detailed implementation manners

[0037] Refer to Figure 1 The embodiments of the adjustable pedal of the present invention and its adjustment method will be further described.

[0038] For ease of explanation, in the embodiments, spatial relative terms such as "upper", "lower", "left", "right", etc. are used to describe the relationship between one element or feature shown in the figure and another element or feature. It should be understood that, in addition to the orientation shown in the figure, the spatial terms are intended to include different orientations during the use or operation of the device. For example, if the device in the figure is inverted, the element described as being "below" other elements or features will be positioned "above" other elements or features. Therefore, the exemplary term "lower" can include both upper and lower orientations. The device can be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used here can be interpreted accordingly.

[0039] Moreover, relational terms such as "first" and "second" are only used to distinguish one component with the same name from another, and do not necessarily require or imply any such actual relationship or order between these components.

[0040] Figure 1 An adjustable pedal shown includes:

[0041] Pedal body: including two symmetrically arranged pedal main bodies and used for connecting the pedal mounting part of a bicycle or other vehicle;

[0042] Adjusting unit: arranged on the pedal body and used to adjust the angle and position of the pedal body;

[0043] Locking unit: arranged on the pedal body and used to fix the adjusted pedal body at a specific position and angle;

[0044] The pedal main body includes an oval pedal 1 for stepping on, a support arm 2 arranged on one side of the pedal and installed with the pedal mounting part for supporting the pedal main body, and a rotating shaft with one end fixedly arranged on the support arm 2 and the other end connected to the pedal so that the pedal can rotate;

[0045] Through the symmetrically arranged pedal body and the integrated adjustment mechanism, the dual improvements of ergonomic adaptation and dynamic stability are achieved; the elliptical pedal 1 is combined with the rotating shaft design to effectively disperse the plantar pressure, and compared with the traditional circular pedal, the peak value of local pressure can be reduced; the structure of the support arm 2 reduces energy loss by optimizing the force transmission path; through the innovative structures of the adjustment unit and the locking unit, the angle and position of the pedal can be conveniently adjusted according to the needs of the user, providing a more personalized riding experience; through the precise adjustment mechanism, the rider can adjust the angle and position of the pedal at any time according to different riding environments, exercise intensities and comfort requirements, so as to achieve the best exercise effect; this design makes the pedal more flexible and adaptable, can meet the changes of different body types, needs and riding postures, effectively improves the comfort, operation convenience and use experience of the rider; in addition, the support structure design of the pedal body ensures good stability and is not easy to displace, thus ensuring riding safety.

[0046] The elliptical pedal 1 is set in a hollow shape, and a connecting shaft 3 is arranged in the middle thereof. A plurality of connecting ribs 4 are evenly distributed on the periphery of the connecting shaft 3. One end of the connecting rib 4 is fixedly connected to the connecting shaft 3, and the other end is fixedly connected to the elliptical pedal 1.

[0047] Anti-slip textures 5 composed of a plurality of protrusions are fixedly arranged on the top surface of the elliptical pedal 1 and the top surface of the connecting rib 4. The distribution area of the anti-slip texture 5 accounts for 85%-100% of the total area of the top surfaces of the elliptical pedal 1 and the connecting rib 4.

[0048] The hollow elliptical structure realizes lightweight while ensuring the structural strength, and has a significant weight reduction effect compared with the solid structure; the radial distribution of the connecting ribs 4 makes the stress transmission more uniform; the design threshold of the anti-slip texture 5 coverage rate reaches 85%-100%, and the friction coefficient can still be maintained stable in a humid environment, ensuring that the friction between the foot and the pedal is stable enough in various riding environments, thereby improving the comfort and controllability of riding and further optimizing the riding experience; this structural feature also optimizes the layout of the heat dissipation channels, and the surface temperature of the pedal can be reduced during continuous riding, avoiding the discomfort caused by high temperature.

[0049] The adjustment unit includes a servo motor arranged inside the support arm 2, a planetary gear set arranged inside the support arm 2 and linked with the rotating shaft, and an angle sensor for real-time collecting the angle of the elliptical pedal 1.

[0050] The output shaft of the servo motor meshes with the sun gear of the planetary gear set to form a speed reduction mechanism.

[0051] The combination of the planetary gear set and the servo motor creates a precise angle control system, with its transmission accuracy improved compared to the conventional worm and worm gear structure; the application of the servo motor ensures rapid adjustment of the pedal angle. The speed reduction mechanism of the planetary gear set makes the power transmission smoother and more precise, thus avoiding problems such as delay or insufficient accuracy that may occur in traditional mechanical systems; the real-time feedback of the angle sensor can provide accurate angle adjustment data for the servo motor, ensuring precise adjustment of the pedal angle under various riding conditions, improving the riding stability and comfort, and reducing the inconvenience caused by improper adjustment.

[0052] The locking unit includes an electromagnetic clutch nested on the rotating shaft, a hydraulic brake caliper arranged at the inner end of the support arm 2, and a number of pressure sensors arranged on the elliptical pedal 1;

[0053] When the electromagnetic clutch is energized, the hydraulic brake caliper can provide a locking force to lock the rotation of the rotating shaft;

[0054] The locking unit in the present invention adopts a combined structure of an electromagnetic clutch and a hydraulic brake caliper. Through a precise control mechanism, it can ensure that the adjusted pedal position and angle remain stable, avoiding unnecessary changes or looseness during riding; the electromagnetic clutch can quickly respond and lock the rotating shaft after being energized, while the hydraulic brake caliper further ensures the stability of the rotating shaft during movement by applying a locking force, enhancing the reliability and safety of the pedal; this design reduces mechanical wear, extends the service life of the pedal, and also makes it unnecessary to frequently adjust the pedal position during riding, enhancing the convenience of riding.

[0055] The module of the planetary gear set is 0.8 mm - 1.2 mm, and the tooth number ratio of the sun gear to the planetary gear is 1:2.5 - 1:3.5;

[0056] The gear design within a specific module range balances the transmission efficiency and noise control. Measured results show that the sound pressure level is reduced compared to the conventional design during high-speed operation; the tooth number ratio of 1:2.5 - 1:3.5 optimizes the torque transmission curve, making the adjustment process smoother and without impact. Additionally, it can achieve a relatively high reduction ratio, making the adjustment action of the servo motor smoother and avoiding excessive wear of the gear system; this parameter combination has been verified by a multi-objective optimization algorithm to achieve the best balance among fatigue life, transmission accuracy, and compactness.

[0057] The included angle between adjacent connecting ribs 4 is 60°, and the cross-section of the connecting rib 4 is triangular or trapezoidal;

[0058] When the cross-section of the connecting rib 4 is triangular, the cross-section is an equilateral triangle;

[0059] When the cross section of the connecting rib 4 is a trapezoid, the ratio of the length of the large end to the length of the small end is 1.5:1-2:1;

[0060] The present invention optimizes the geometric shape of the connecting rib 4. The connecting rib 4 with a triangular or trapezoidal cross-section makes the pedal have higher strength and stability, and can withstand greater pedaling pressure without deformation and increase friction; at the same time, the uniform distribution of the connecting rib 4 effectively improves the mechanical properties of the pedal, ensuring that the pedal can be evenly distributed during use, avoiding pedal deformation or breakage problems that may occur in traditional designs; the optimized design of the connecting rib 4 not only improves the overall load-bearing capacity of the pedal, but also improves the comfort and stability during riding, and reduces safety hazards caused by design defects.

[0061] It also includes an environmental compensation unit, which includes an embedded temperature sensing module and a vibration frequency analysis module;

[0062] By integrating the temperature sensing module and the vibration frequency analysis module, the pedal system can monitor the impact of external environmental changes on riding performance in real time; the temperature sensing module can detect temperature changes in a timely manner and make corresponding adjustments to ensure that the pedal system can still maintain the best working state in an environment with large temperature changes, avoiding performance fluctuations caused by temperature differences. The vibration frequency analysis module can analyze the vibration during riding in real time, helping to determine whether the system has resonance or other abnormal phenomena, ensuring the stability and safety of riding.

[0063] A method for adjusting an adjustable pedal, characterized in that it comprises the following steps:

[0064] S1. Collect initial environmental parameters through the environmental compensation unit. When the temperature sensor module detects that the environmental temperature change ΔT ≥ ±15°C, the angle sensor reference zero point calibration is triggered, otherwise the current reference value is maintained;

[0065] S2, start the servo motor, the output shaft of the servo motor rotates to drive the sun gear in the planetary gear set to start rotating, thereby driving the planetary gear set, and driving the rotating shaft to pre-rotate through the reduction mechanism with a gear ratio of 1:2.5-1:3.5 between the sun gear and the planetary gear;

[0066] S3, real-time monitoring of the force distribution of the pressure sensor array, if it is detected that the ratio of the unilateral pressure value P1 to the contralateral pressure value P2 exceeds the threshold range of 0.8≤(P1 / P2)≤1.2, then entering the dynamic balance adjustment mode;

[0067] S4. In the dynamic balance adjustment mode, the angle sensor collects the real-time inclination angle θ of the elliptical pedal 1 and compares it with the preset ideal curve f(t). When the difference Δθ > 5°, the intermittent locking of the electromagnetic clutch is activated, where the preset ideal curve is set by the operator according to their own needs or habits;

[0068] S5. According to the spectral characteristics output by the vibration frequency analysis module, determine whether a resonance peak appears: If the main frequency band energy A > A0 and the harmonic distortion < 3%, then maintain the current speed; otherwise, trigger the PID speed regulation of the servo motor;

[0069] S6. During the operation of the planetary gear set, continuously monitor the meshing degree index μ between the sun gear and the planetary gear. If μ < μ e then reduce the torque output of the servo motor to 70% - 80% of the rated value;

[0070] S7. When the angle adjustment is completed, the hydraulic brake caliper applies the locking force in three stages: Adopt a progressive locking strategy, and apply the first-stage pre-tightening force, the second-stage transition force, and the third-stage full locking force in sequence, where the first-stage force value is 30% - 35% of the maximum locking force of the system, the second-stage force value is increased to 55% - 65%, and the third-stage force value reaches the maximum locking force designed by the system;

[0071] S8. Verify the system stability after locking: Continuously collect the angle fluctuation value δθ within 3 cycles. If the standard deviation σ < σ0, it is determined that the locking is effective; otherwise, return to S2 for re-adjustment;

[0072] S9. After entering the standby state, automatically perform the integrity check of S1 - S9 every t time interval, where t is inversely proportional to the environmental temperature change rate dT / dt;

[0073] By real-time monitoring of environmental parameters and riding parameters, intelligent angle adjustment, balance adjustment, and vibration control are carried out, ensuring the stability and comfort of the pedal during dynamic use. Through real-time calibration, dynamic balance adjustment, and precise locking, it can effectively avoid riding discomfort or danger caused by external environmental changes or imbalance during use; through PID speed regulation and system stability verification, the stability and efficiency of the pedal during long-term use are ensured; the application of this adjustment method greatly improves the intelligence level and user experience of the pedal, enabling it to adapt to different environments and riding needs, and meeting the needs of modern riders for high-performance and multi-functional riding equipment.

[0074] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art should include the usual changes and substitutions within the scope of the technical solution of the present invention within the protection scope of the present invention.

Claims

1. An adjustable footrest, characterized in that: Comprising: Pedal body: It includes two symmetrically arranged pedal main bodies and is used to connect to the pedal mounting location of a bicycle or other vehicle; Adjusting unit: Arranged on the pedal body and used to adjust the angle and position of the pedal body; Locking unit: Arranged on the pedal body and used to fix the adjusted pedal body at a specific position and angle; The pedal main body includes an oval pedal (1) for stepping on, a support arm (2) arranged on one side of the pedal and connected to the pedal mounting location for supporting the pedal main body, and a rotating shaft with one end fixedly arranged on the support arm (2) and the other end connected to the pedal so that the pedal can rotate.

2. The adjustable footrest according to claim 1, characterized in that, The oval pedal (1) is arranged in a hollow shape, with a connecting shaft (3) arranged in the middle thereof. A number of connecting ribs (4) are evenly distributed on the circumference of the connecting shaft (3). One end of the connecting rib (4) is fixedly connected to the connecting shaft (3), and the other end is fixedly connected to the oval pedal (1); Anti-slip textures (5) composed of a number of protrusions are fixedly arranged on the top surface of the oval pedal (1) and the top surface of the connecting rib (4). The distribution area of the anti-slip texture (5) accounts for 85%-100% of the total area of the top surfaces of the oval pedal (1) and the connecting rib (4).

3. The adjustable footrest according to claim 1, characterized in that, The adjusting unit includes a servo motor arranged inside the support arm (2), a planetary gear set arranged inside the support arm (2) and linked with the rotating shaft, and an angle sensor for real-time collecting the angle of the oval pedal (1); The output shaft of the servo motor meshes with the sun gear of the planetary gear set to form a speed reduction mechanism.

4. The adjustable footrest according to claim 1, characterized in that, The locking unit includes an electromagnetic clutch nested on the rotating shaft, a hydraulic brake caliper arranged at the inner end of the support arm (2), and a number of pressure sensors arranged on the oval pedal (1); When the electromagnetic clutch is powered on, the hydraulic brake caliper can provide a locking force to lock the rotation of the rotating shaft.

5. The adjustable footrest according to claim 3, wherein, The module number of the planetary gear set is 0.8mm - 1.2mm, and the tooth number ratio of the sun gear to the planetary gear is 1:2.5 - 1:3.

5.

6. The adjustable footrest according to claim 2, wherein, The included angle between adjacent connecting ribs (4) is 60°, and the cross-section of the connecting rib (4) is triangular or trapezoidal; When the cross-section of the connecting rib (4) is triangular, the cross-section is an equilateral triangle; When the cross-section of the connecting rib (4) is trapezoidal, the ratio of the length of the large end to the length of the small end is 1.5:1 - 2:

1.

7. The adjustable pedal according to claim 1, wherein It further includes an environment compensation unit, and the environment compensation unit includes an embedded temperature sensing module and a vibration frequency analysis module.

8. A method for adjusting an adjustable footrest according to any one of claims 1-7, characterized in that, Including the following steps: S1. Collect initial environment parameters through the environment compensation unit. When the temperature sensing module detects that the environmental temperature change amount ΔT ≥ ±15°C, trigger the reference zero calibration of the angle sensor, otherwise keep the current reference value; S2. Start the servo motor. The output shaft of the servo motor rotates to drive the sun gear in the planetary gear set to start rotating, thereby driving the planetary gear set, and driving the rotating shaft to perform pre-rotation through the speed reduction mechanism with a tooth number ratio of 1:2.5 - 1:3.5 between the sun gear and the planetary gear; S3. Monitor the force distribution of the pressure sensor array in real time. If the ratio of the unilateral pressure value P1 to the opposite-side pressure value P2 is detected to exceed the threshold range of 0.8 ≤ (P1 / P2) ≤ 1.2, enter the dynamic balance adjustment mode; S4. In the dynamic balance adjustment mode, the angle sensor collects the real-time inclination angle θ of the elliptical pedal (1) and compares it with the preset ideal curve f(t). When the difference Δθ > 5°, start the intermittent locking of the electromagnetic clutch, where the preset ideal curve is set by the operator according to their own needs or habits; S5. According to the spectral characteristics output by the vibration frequency analysis module, determine whether a resonance peak appears: if the main frequency band energy A > A0 and the harmonic distortion < 3%, maintain the current speed; otherwise, trigger the PID speed regulation of the servo motor; S6. During the operation of the planetary gear set, continuously monitor the meshing degree index μ between the sun gear and the planetary gear. If μ < μ e then reduce the torque output of the servo motor to 70%-80% of the rated value; S7. When the angle adjustment is completed, the hydraulic brake caliper applies the locking force in three stages: adopt a progressive locking strategy, and apply the first-stage pre-tightening force, the second-stage transition force, and the third-stage full locking force in sequence, where the first-stage force value is 30% - 35% of the system's maximum locking force, the second-stage force value is increased to 55% - 65%, and the third-stage force value reaches the system's designed maximum locking force; S8. Verify the system stability after locking: Continuously collect the angle fluctuation value δθ within 3 cycles. If the standard deviation σ < σ0, it is determined that the locking is effective; otherwise, return to S2 for re-adjustment; S9. After entering the standby state, automatically perform the integrity check of S1 - S9 every t time, where t is inversely proportional to the environmental temperature change rate dT / dt.

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