Method and device for realizing virtual speed change of riding platform

Abstract

The invention discloses a virtual speed change implementation method for a riding platform, which comprises the following steps of: setting a virtual gear ratio, and acquiring an actual gear ratio of the riding platform; virtual speed, virtual resistance and virtual inertia are calculated according to the virtual tooth ratio and the actual tooth ratio; calculating a virtual rotating speed of the motor by using the virtual resistance and the virtual inertia; the real-time rotating speed of the motor is obtained, and the real-time rotating speed of the motor tracks the virtual rotating speed of the motor through a speed controller; therefore, virtual speed change is realized. According to the invention, by setting the multi-gear virtual gear ratio, the virtual speed change function can simulate the feeling of multi-gear speed change, so that a user can switch between different gears, which is similar to the gear shifting operation in outdoor riding, and the interestingness and reality sense of training are enhanced. The virtual speed change realized by the invention is simulated through software, a multi-gear mechanical speed change device is not needed, and the hardware complexity and the maintenance frequency are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of training equipment, and particularly relates to a virtual gear shifting method and device for a cycling platform. BACKGROUND

[0002] The indoor training device and other fitness systems have problems of complex installation and time-consuming. Cyclists need to disassemble and replace the flywheel and wheels of the bicycle, which hinders them from quickly participating in virtual cycling experience. Especially when specific gears that may not be suitable for outdoor and indoor use need to be matched, the situation is more complicated. To solve this problem, a software-controlled flywheel system appears to realize virtual gear shifting, connect the bicycle through a single sprocket training device, simplify the installation process, eliminate the need for physical gear shifting, simulate the change of different gears by adjusting the resistance controlled by software, and enable cyclists to conveniently switch between indoor and outdoor cycling.

[0003] Problems of the existing virtual gear shifting method: (1) The existing virtual gear shifting method only adjusts the resistance change when changing the gear ratio, and the cycling feeling is different from the real cycling feeling. (2) When the actual gear ratio changes, the cycling feeling changes.

[0004] In summary, there is a need to design a virtual gear shifting method and device for a cycling platform to solve the above problems in the prior art. SUMMARY

[0005] The present application provides a virtual gear shifting method and device for a cycling platform, which solves the problem of inaccurate virtual gear shifting in the prior art.

[0006] To achieve the above purpose, the present application adopts the following technical solutions: A virtual gear shifting method for a cycling platform, comprising the following steps: setting a virtual gear ratio and obtaining an actual gear ratio of the cycling platform; calculating a virtual speed, a virtual resistance and a virtual inertia according to the virtual gear ratio and the actual gear ratio; calculating a virtual motor speed using the virtual resistance and the virtual inertia; obtaining a real-time motor speed, and realizing that the real-time motor speed tracks the virtual motor speed through a speed controller; thereby realizing virtual gear shifting.

[0007] In some embodiments of the present application, the actual gear ratio of the cycling platform is obtained by: obtaining a speed at a bicycle disc, denoted as a first speed; obtaining a speed at a tower base of the cycling platform, denoted as a second speed; calculating the actual gear ratio according to the first speed and the second speed, and the calculation formula is as follows: Actual gear ratio = second speed / first speed.

[0008] In some embodiments of the present invention, the virtual resistance includes slope resistance, rolling resistance and wind resistance during cycling, wherein the slope resistance and the rolling resistance are determined by the cycling scenario; and when virtual gear shifting is enabled, the wind resistance is calculated by virtual speed.

[0009] In some embodiments of the present invention, the formula for calculating the virtual speed is: Virtual speed = (Virtual gear ratio / Actual gear ratio) × Second rotational speed; The formula for calculating virtual resistance after enabling virtual gear shifting is: Virtual resistance = (Virtual gear ratio / Actual gear ratio) × (Slope resistance + Rolling resistance + Wind resistance correlation coefficient × Virtual speed) 2 ).

[0010] In some embodiments of the present invention, the virtual inertia includes a first virtual inertia and a second virtual inertia, wherein the first virtual inertia is the inertia when virtual speed change is not enabled; the second virtual inertia is the inertia when virtual speed change is enabled; and the formula for calculating the second virtual inertia is: Second virtual inertia = First virtual inertia × (Virtual gear ratio / Actual gear ratio) 2 .

[0011] In some embodiments of the present invention, the calculation process of the virtual speed of the motor is as follows: Establish the equations of motion for an object with rotational inertia under the action of driving torque and resistance torque; Substitute the second virtual inertia into the rotational inertia, and substitute the virtual resistance into the resistance torque; Obtain the user's drive torque; The virtual speed of the motor is calculated based on the equation of motion, and the specific calculation formula is as follows: The virtual speed of the motor is equal to ∫(1 / second virtual inertia) × (driving torque - virtual resistance) dt.

[0012] In some embodiments of the present invention, the speed controller employs a PI controller, a sliding mode controller, a model reference adaptive controller, or an active disturbance rejection control.

[0013] In some embodiments of the present invention, a virtual gear shifting device for a cycling train is provided, comprising: The acquisition module is used to acquire the user's cycling data; The calculation module is used to calculate virtual speed, virtual resistance, and virtual inertia based on cycling data; The speed tracking module is used to calculate the virtual speed of the motor based on virtual resistance and virtual inertia, and to use the speed controller to track the real-time speed of the motor against the virtual speed of the motor. The communication module is used to communicate with external devices.

[0014] In some embodiments of the present invention, an electronic device is provided, comprising: A processor, and a memory and a transceiver communicatively connected to the processor; The memory stores computer-executed instructions; the transceiver is used for sending and receiving data. The processor executes the computer execution instructions stored in the memory to implement the above-described virtual speed change method.

[0015] In some embodiments of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the above-described virtual speed change implementation method.

[0016] The technical solution of the present invention has the following technical effects compared with the prior art: This invention sets multiple virtual gear ratios, enabling the virtual gear shifting function to simulate the feeling of multi-gear shifting, allowing users to switch between different "gears," similar to shifting gears in outdoor cycling, thus enhancing the fun and realism of training.

[0017] The virtual gear shifting achieved by this invention is simulated by software, eliminating the need for multi-gear mechanical shifting devices, thus reducing hardware complexity and maintenance frequency.

[0018] This invention allows users to adjust virtual gears and resistance via an app or interface according to their individual needs, making operation more convenient and flexible, and suitable for riders of different skill levels. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating the virtual gear shifting method of the cycling train according to an embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram illustrating the effect of the virtual speed change implementation method shown in an embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of the virtual speed change implementation device shown in an embodiment of the present invention.

[0023] Figure 4 This is a schematic diagram of the structure of the electronic device.

[0024] Reference numerals: 100, Virtual speed change implementation device; 110, Acquisition module; 120, Calculation module; 130, Speed ​​tracking module; 140, Communication module; 200, Electronic device; 210, Processor; 220, Memory; 230, Transceiver. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0027] Example 1: Refer to Figure 1 As shown, a method for implementing virtual gear shifting on a cycling trainer includes the following steps: Step S1: Set the virtual gear ratio n v Obtain the actual gear ratio n of the cycling trainer. r ; S11, For the virtual gear ratio n v To achieve virtual gear shifting, users can increase or decrease the virtual gear ratio using buttons; this virtual gear ratio n v The settings can be configured remotely via an app, or via buttons located on the cycling platform.

[0028] In this embodiment, the virtual gear ratio n is used. v Compared to the actual gear ratio n r The virtual resistance and virtual inertia are calculated to obtain the virtual gear ratio n required to achieve the desired result. v The required motor speed.

[0029] Specifically, in this embodiment, the power of the cycling train is achieved through an electric motor.

[0030] S12. The actual gear ratio is calculated using the rotational speed at the chainring and the rotational speed at the base of the freehub on the trainer.

[0031] Obtain the rotational speed at the bicycle chainring and denote it as the first rotational speed, Cadence. Specifically, when a user pedals, the alternating action of the legs on the chainring causes the system load to change periodically, resulting in measurable periodic fluctuations in the motor's output torque. This method filters, performs envelope analysis, or frequency domain processing on the torque waveform to identify the corresponding principal periodic component and converts the frequency corresponding to this period into chainring speed or pedal frequency data. Because the torque waveform has stable mechanical characteristics, this embodiment does not require an additional angle sensor and can reliably extract pedal frequency information even when the motor speed is low or the motor is stationary and maintaining damping.

[0032] Obtain the rotational speed at the base of the riding platform and denote it as the second rotational speed spd. r ; Specifically, by utilizing the fixed transmission relationship between the motor and the tower base, the estimated speed of the motor can directly reflect the rotational speed of the tower base, so that the estimated angular velocity can be output as the rotational speed of the tower base without additional conversion.

[0033] Based on the first rotational speed Cadence and the second rotational speed SPD r Calculate the actual gear ratio n r The calculation formula is as follows: n r =spd r / cadence.

[0034] In some embodiments of the present invention, the actual gear ratio can remain unchanged during the implementation of virtual gear shifting. That is, regardless of the actual gear ratio, the user's riding experience is consistent with the set virtual gear ratio.

[0035] Step S2: Calculate the virtual speed, virtual resistance, and virtual inertia based on the virtual gear ratio and the actual gear ratio; S21, the virtual speed spd v The calculation formula is: spd v =(n v / n r )×spd r ; The calculation of virtual velocity provides a basis for the subsequent calculation of virtual resistance.

[0036] S22. For the calculation of virtual resistance, continue to refer to... Figure 1 As shown, the resistance is when virtual transmission is not enabled: ; Among them, T G The slope resistance (T) is related to the riding scenario selected by the user before riding; that is, after selecting the riding scenario, the slope resistance T is... G The value of T is the determined parameter;roll Rolling resistance is related to the parameters of the cycling trainer and is therefore a constant; T wind Wind resistance is a factor that is related to cycling speed.

[0037] ; Where k wind It is the drag correlation coefficient, SPD r It is the actual riding speed, that is, the rotational speed at the base of the trainer tower as described above.

[0038] When virtual transmission is enabled, the wind resistance is calculated using virtual speed, and the calculation formula is as follows: ; at this time: ; The formula for calculating the resistance after enabling virtual speed change is: ; T1 is the resistance when virtual shifting is disabled, and T2 is the target resistance when virtual shifting is enabled.

[0039] S23. For the calculation of virtual inertia, continue to refer to... Figure 1 As shown, when virtual speed change is not enabled, the first virtual inertia J1 is used as a parameter to participate in the subsequent inertia simulation calculation.

[0040] The method for obtaining the first virtual inertia J1 is as follows: The system acquires parameter information input by the user, including but not limited to the user's weight, the total weight of the bicycle, and the wheel diameter or equivalent radius. Based on the above parameters, the equivalent mass of the riding system on the transmission mechanism is calculated, and the formula for the inertia of a rotating body is used. ; Where m is the equivalent mass and r is the wheel diameter or equivalent radius, the first virtual inertia value is calculated. Using this method, the system can automatically generate a matching first virtual inertia J1 based on different users and vehicle configurations, thereby achieving a resistance response and energy feedback effect that more closely resembles the actual riding experience.

[0041] The formula for calculating the second virtual inertia J2 after enabling virtual speed change is: J2 = J1 × (n v / n r ) 2 .

[0042] Step S3: Calculate the virtual speed of the motor using the virtual resistance and the virtual inertia; S31. Establish the equation of motion for an object with rotational inertia under the action of driving torque and resistance torque; The moment of inertia is J V The object under driving torque Tp and load torque T r The equation of motion under the action is as follows ; Where ω v Let be the angular velocity of the object.

[0043] In T p and T r The speed ω of the virtual model under the action v It can be calculated based on the equations of motion.

[0044] S32, Substitute the second virtual inertia J2 into the rotational inertia J V Substitute the virtual resistance T2 into the resistance torque T r ; S33. Obtain the user's driving torque; during the riding process, the driving torque is the torque of the user's pedaling.

[0045] S34. Calculate the virtual speed of the motor based on the equation of motion. Under the same driving torque and load torque, as long as the motor speed ω is controlled... mot According to ω v The change can be visualized macroscopically to simulate inertia; the specific calculation formula is as follows: ; T p It is the torque of the pedal stroke, T r Drag torque, J V It is virtual inertia, ω v It is virtual velocity, ω mot It refers to the motor speed.

[0046] Step S4, continue to refer to Figure 1 As shown, the real-time speed of the motor is obtained, and the real-time speed of the motor is tracked by the speed controller to achieve virtual speed change.

[0047] The inertia simulation is achieved by using a speed controller to control the motor speed ω. mot Tracking ω v .

[0048] In some embodiments of the present invention, the speed controller employs a PI controller, a sliding mode controller, a model reference adaptive controller, or an active disturbance rejection control.

[0049] Reference Figure 2 The diagram illustrates the effect of using the virtual gear shifting method of this invention. Specifically, when using an actual gear ratio of 42:14 and a cadence of approximately 60, the virtual gear ratio shifts from 1 to 24, ultimately achieving an effect approximately as shown in the diagram.Figure 2 As shown, the resistance provided by the cycling trainer is calculated based on the virtual gears. In this graph, blue represents the calculated power of the cycling trainer, and red represents the tested power.

[0050] The technical solution of the present invention has the following technical effects compared with the prior art: This invention sets multiple virtual gear ratios, enabling the virtual gear shifting function to simulate the feeling of multi-gear shifting, allowing users to switch between different "gears," similar to shifting gears in outdoor cycling, thus enhancing the fun and realism of training.

[0051] The virtual gear shifting achieved by this invention is simulated by software, eliminating the need for multi-gear mechanical shifting devices, thus reducing hardware complexity and maintenance frequency.

[0052] This invention allows users to adjust virtual gears and resistance via an app or interface according to their individual needs, making operation more convenient and flexible, and suitable for riders of different skill levels.

[0053] Example 2, this example will be based on Figure 3 and Figure 4 Describes a virtual gear shifting device 100 and an electronic device 200 for a cycling trainer.

[0054] For the virtual speed change implementation device 100, refer to Figure 3 As shown, it includes: Module 110 is used to acquire the user's cycling data; Calculation module 120 is used to calculate virtual speed, virtual resistance, and virtual inertia based on cycling data; The speed tracking module 130 is used to calculate the virtual speed of the motor based on the virtual resistance and virtual inertia, and to use the speed controller to track the real-time speed of the motor against the virtual speed of the motor. Communication module 140 is used to communicate with external devices.

[0055] It should be understood that the virtual shifting implementation device 100 here is embodied in the form of a functional module. The term "module" here can refer to application-specific integrated circuits (ASICs), electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors, etc.) and memories for executing one or more software or firmware programs, integrated logic circuits, and / or other suitable components supporting the described functions. In an alternative example, those skilled in the art will understand that the virtual shifting implementation device 100 can be specifically the electronic device 200 in the above embodiments, or the functions of the electronic device 200 in the above embodiments can be integrated into the virtual shifting implementation device 100. The virtual shifting implementation device 100 can be used to execute the various processes and / or steps corresponding to the electronic device 200 in the above method embodiments; to avoid repetition, these will not be described again here.

[0056] The virtual speed change implementation device 100 described above has the function of performing the corresponding steps of the electronic device 200 implementing the method in Embodiment 1; the above functions can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. For example, the above acquisition module can be a communication interface, such as a transceiver interface.

[0057] In the embodiments of this application, Figure 3 The virtual speed change implementation device 100 can also be a chip or a chip system, such as a system on chip (SoC).

[0058] Reference Figure 4 As shown, in this embodiment, an electronic device 200 is provided, including: Processor 210, and memory 220 and transceiver 230 communicatively connected to said processor; The memory 220 stores computer-executed instructions; the transceiver 230 is used for sending and receiving data. The processor 210 executes the computer execution instructions stored in the memory 220 to implement the calculation method in Embodiment 1.

[0059] It should be understood that the electronic device 200 can be used to perform the corresponding steps and / or processes in the above method embodiments. Optionally, the memory 220 may include read-only memory and random access memory, and provide instructions and data to the processor. A portion of the memory 220 may also include non-volatile random access memory. For example, the memory 220 may also store device type information. The processor 210 can be used to execute instructions stored in the memory 220, and when the processor 210 executes the instructions, the processor 210 can perform the corresponding steps and / or processes in the above method embodiments.

[0060] It should be understood that, in the embodiments of this application, the processor 210 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0061] In implementation, each step of the above method can be completed by the integrated logic circuitry of the hardware in the processor 210 or by instructions in software form. The steps of the method disclosed in the embodiments of this application can be directly embodied in the execution by the hardware processor, or by a combination of hardware and software modules in the processor 210. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor executes the instructions in the memory, combining them with its hardware to complete the steps of the above method. To avoid repetition, detailed descriptions are not provided here.

[0062] Example 3: In this example, a computer-readable storage medium is provided. The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the calculation method in Embodiment 1.

[0063] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0064] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0065] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0066] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0067] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0068] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for implementing virtual gear shifting of a cycling platform, characterized in that, The method comprises the following steps: setting a virtual gear ratio, and obtaining an actual gear ratio of the cycling platform; calculating a virtual speed, a virtual resistance, and a virtual inertia according to the virtual gear ratio and the actual gear ratio; calculating a virtual motor speed by using the virtual resistance and the virtual inertia; obtaining a real-time motor speed, and realizing that the real-time motor speed tracks the virtual motor speed by a speed controller; thus, virtual gear shifting is realized.

2. The method of claim 1, wherein, The actual gear ratio of the cycling platform comprises: obtaining a speed at a bicycle gear disc, denoted as a first speed; obtaining a speed at a tower base of the cycling platform, denoted as a second speed; calculating the actual gear ratio according to the first speed and the second speed, and the calculation formula is as follows: actual gear ratio = second speed / first speed.

3. The method of claim 1, wherein, The virtual resistance comprises a slope resistance, a rolling resistance, and a wind resistance in the cycling process, wherein the slope resistance and the rolling resistance are determined by a cycling scene; when virtual gear shifting is enabled, the wind resistance is calculated by the virtual speed.

4. The method of claim 1, wherein, The calculation formula of the virtual speed is: virtual speed = (virtual gear ratio / actual gear ratio) × second speed; The calculation formula of the virtual resistance after enabling the virtual gear shifting is: virtual resistance=(virtual gear ratio / actual gear ratio)×(slope resistance+rolling resistance+wind resistance correlation coefficient×virtual speed 2 ).

5. The method of claim 1, wherein, The virtual inertia comprises a first virtual inertia and a second virtual inertia, wherein the first virtual inertia is inertia when virtual gear shifting is not enabled, and the second virtual inertia is inertia when virtual gear shifting is enabled; the calculation formula of the second virtual inertia is as follows: Second virtual inertia = First virtual inertia x (Virtual tooth ratio / Actual tooth ratio) 2 .

6. The method of claim 1, wherein, The calculation process of the virtual motor speed is as follows: establishing a motion equation of an object with rotational inertia under the action of driving torque and resistance torque; substituting the second virtual inertia into the rotational inertia, and substituting the virtual resistance into the resistance torque; obtaining a driving torque of a user; calculating the virtual motor speed according to the motion equation, and the specific calculation formula is as follows: virtual motor speed = ∫(1 / second virtual inertia) × (driving torque-virtual resistance)dt.

7. The method of claim 6, wherein, The speed controller comprises, but is not limited to, a PI controller, a sliding mode controller, a model reference adaptive controller, or a self-anti-interference controller.

8. A virtual gear shifting device for a cycling platform, characterized by, The method comprises the following steps: an obtaining module, configured to obtain cycling data of a user; a calculating module, configured to calculate a virtual speed, a virtual resistance, and a virtual inertia according to the cycling data; a speed tracking module, configured to calculate a virtual motor speed according to the virtual resistance and the virtual inertia, and realize that a real-time motor speed tracks the virtual motor speed by using a speed controller; a communication module, configured to communicate with an external device.

9. An electronic device, comprising: The method comprises the following steps: a processor, and a memory and a transceiver connected to the processor in communication; the memory stores computer execution instructions; and the transceiver is configured to transmit and receive data; the processor executes the computer execution instructions stored in the memory, so as to realize the method for realizing virtual gear shifting of the cycling platform. 10.A computer readable storage medium, comprising: computer execution instructions stored in the computer readable storage medium, wherein the computer execution instructions are executed by a processor to realize the method for realizing virtual gear shifting of the cycling platform.

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