Constant-speed mode control method and device of fitness equipment, equipment, medium and product

Abstract

The embodiment of the invention discloses a constant-speed mode control method and device for fitness equipment, equipment, a medium and a product. The method comprises the steps that the target rope outlet speed of target fitness equipment and the actual rotating speed of a motor on the target fitness equipment are obtained; determining a torque current set value according to the target rope outlet speed, the actual rotating speed and the torque current set value; determining a three-phase AC voltage of the target fitness equipment according to the torque current set value; according to the three-phase alternating-current voltage, constant-speed control is carried out on the rope outlet movement of the target fitness equipment, speed control can be taken as a target, constant-speed control is carried out on the rope outlet movement of the target fitness equipment, and therefore the safety and effectiveness of constant-speed training are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of equipment control technology, and in particular to a constant velocity mode control method, device, equipment, medium and product for fitness equipment. Background Technology

[0002] Maintaining a constant speed of operation is essential in many fitness training programs and some rehabilitation programs. During normal fitness training, constant speed training can improve muscle endurance, reduce the risk of injury, and promote muscle recovery. In medical rehabilitation training, the concept of isokinetic training is even more important. This training mode can avoid muscle strains or joint injuries caused by sudden changes in explosive force during exercise, and its adaptive resistance mechanism can further provide reliable protection for damaged tissues.

[0003] However, most fitness equipment on the market is designed for weight control, and the human-computer interaction interface is designed for a fixed weight during training. This can lead to unstable training and injuries when trainees have insufficient control over their strength, thus failing to achieve safe and effective training results. Summary of the Invention

[0004] This invention provides a method, device, equipment, medium, and product for isokinetic mode control of fitness equipment. It can control the rope movement of the target fitness equipment at an isokinetic speed, thereby ensuring the safety and effectiveness of isokinetic training.

[0005] In a first aspect, embodiments of the present invention provide a constant-speed mode control method for a fitness device, comprising:

[0006] Obtain the target rope speed of the target fitness equipment, as well as the actual rotational speed of the motor on the target fitness equipment;

[0007] Determine the torque current setting value based on the target rope exit speed, actual rotation speed, and torque current setpoint.

[0008] Determine the three-phase AC voltage of the target fitness equipment based on the torque current setting value;

[0009] Based on the three-phase AC voltage, the rope movement of the target fitness equipment is controlled at a constant speed.

[0010] Optionally, the torque current setpoint is determined based on the target rope exit speed, the actual rotational speed, and the torque current setpoint, including: performing proportional-integral control on the target rope exit speed and the actual rotational speed to obtain the desired torque current value; when the actual rotational speed is less than or equal to the target rope exit speed, setting the desired torque current value as the lower limit of the torque current, and determining the torque current setpoint based on the lower limit of the torque current and the torque current setpoint; when the actual rotational speed is greater than the target rope exit speed, determining the torque current setpoint based on the torque current setpoint, the desired torque current value, and the upper limit of the torque current.

[0011] Optionally, the torque current setting value is determined based on the torque current setpoint, the torque current expected value, and the torque current upper limit value, including: determining whether the torque current expected value is greater than the torque current upper limit value; if so, the torque current expected value is set as the torque current upper limit value, and the sum of the torque current upper limit value and the torque current setpoint is used as the torque current setting value; if not, the sum of the torque current expected value and the torque current setpoint is used as the torque current setting value.

[0012] Optionally, before determining the torque current setting value based on the torque current given value, the torque current expected value, and the torque current upper limit value, the method further includes: obtaining the target load weight of the target fitness equipment; and determining the torque current upper limit value based on the target load weight and a predefined weight current conversion coefficient.

[0013] Optionally, before determining the torque current setpoint based on the target rope exit speed, actual rotational speed, and torque current setpoint, the method further includes: acquiring the desired rotor position and actual rotor position of the motor; performing proportional control on the desired rotor position and actual rotor position to obtain the initial desired rotational speed of the motor; limiting the initial desired rotational speed through a predefined speed limiter to obtain the target desired rotational speed of the motor; and performing proportional-integral control on the target desired rotational speed and actual rotational speed to obtain the torque current setpoint.

[0014] Optionally, the method further includes: acquiring the target rope return speed and training starting point of the target fitness device; and based on the target rope return speed, performing constant speed control on the rope return motion of the target fitness device until the rotor of the motor rotates to the reference angle corresponding to the training starting point.

[0015] Secondly, embodiments of the present invention also provide a constant speed mode control device for fitness equipment, comprising:

[0016] The speed acquisition module is used to acquire the target rope speed of the target fitness equipment and the actual rotational speed of the motor on the target fitness equipment.

[0017] The torque current setpoint determination module is used to determine the torque current setpoint based on the target rope exit speed, actual rotation speed, and torque current setpoint.

[0018] The three-phase AC voltage determination module is used to determine the three-phase AC voltage of the target fitness equipment based on the torque current set value.

[0019] The rope extension constant speed control module is used to control the rope extension motion of the target fitness equipment at a constant speed based on the three-phase AC voltage.

[0020] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to execute the constant speed mode control method of the fitness device provided in any embodiment of the present invention.

[0021] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute and implement the constant speed mode control method of the fitness device according to any embodiment of the present invention.

[0022] Fifthly, embodiments of the present invention also provide a computer program product, which includes a computer program that, when executed by a processor, implements the constant speed mode control method for fitness equipment according to any embodiment of the present invention.

[0023] The technical solution of this invention, by acquiring the target rope release speed of the target fitness equipment and the actual rotational speed of the motor on the target fitness equipment; determining the torque current setting value based on the target rope release speed, the actual rotational speed, and the torque current setpoint; determining the three-phase AC voltage of the target fitness equipment based on the torque current setting value; and performing constant-speed control of the rope release motion of the target fitness equipment based on the three-phase AC voltage, solves the problem that existing fitness equipment, which focuses on weight control, is prone to unstable training and injuries when the trainee has insufficient strength control. By focusing on speed control and performing constant-speed control of the rope release motion of the target fitness equipment, the safety and effectiveness of isokinetic training are ensured.

[0024] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of a constant speed mode control method for a fitness device according to Embodiment 1 of the present invention;

[0027] Figure 2 This is a schematic diagram illustrating the control principle of a motor drive module provided in an embodiment of the present invention;

[0028] Figure 3 This is a flowchart of another constant-speed mode control method for fitness equipment provided in Embodiment 2 of the present invention;

[0029] Figure 4 This is a schematic diagram illustrating the control principle of a constant velocity controller provided in an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of a constant speed mode control device for a fitness device according to Embodiment 3 of the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] Example 1

[0035] Figure 1 This is a flowchart of a constant-speed mode control method for a fitness device according to Embodiment 1 of the present invention. This embodiment is applicable to controlling a fitness device to execute a constant-speed mode. The method can be executed by a constant-speed mode control device of the fitness device. The constant-speed mode control device of the fitness device can be implemented in hardware and / or software. The constant-speed mode control device of the fitness device can be configured in an electronic device. The electronic device can be a fitness device with a constant-speed mode, or it can be a control device with control function for the fitness device, as long as it can execute the constant-speed mode control method of the fitness device. The embodiments of the present invention do not limit the specific device type of the electronic device.

[0036] like Figure 1 As shown in this embodiment, a constant-speed mode control method for a fitness device includes:

[0037] S110: Obtain the target rope speed of the target fitness equipment and the actual rotational speed of the motor on the target fitness equipment.

[0038] In this embodiment, the target fitness device can be understood as a device capable of providing a constant-speed training mode to the trainee using a motor, such as a single-joint isokinetic training machine or a multi-joint isokinetic muscle strength training machine. Any fitness device capable of providing a constant-speed training mode to the trainee using a motor is acceptable; this embodiment of the invention does not limit the specific type of target fitness device. The target rope release speed can be understood as the trainee's desired rope release speed input to the target fitness device, which can be used to achieve constant-speed pulling of the cables in the target fitness device.

[0039] In this step, specifically, when the trainee is detected to have activated the constant-speed mode, a parameter input interface can be provided to the trainee, allowing the system to receive the target rope release speed input by the trainee on the interface. Simultaneously, either a direct or indirect measurement method can be used to obtain the actual rotational speed of the motor on the target fitness equipment. The direct measurement method involves collecting the actual rotational speed of the motor using a speed observer. The indirect measurement method involves calculating the actual rotational speed of the motor based on its electrical parameters or load characteristics.

[0040] S120. Determine the torque current setting value based on the target rope exit speed, actual rotation speed, and torque current setpoint.

[0041] In this embodiment, the expected value of torque current can be understood as the torque current required to make the target fitness equipment release the rope at a constant speed according to the target rope release speed.

[0042] In this step, specifically, proportional-integral control can be performed on the target rope exit speed and the actual rotational speed to obtain the desired torque current value. Simultaneously, the target rope exit speed and the actual rotational speed are compared to obtain a speed comparison result. Then, based on the speed comparison result, the desired torque current value, and the torque current setpoint, the torque current setpoint can be determined.

[0043] Optionally, before determining the torque current setpoint based on the target rope exit speed, actual rotational speed, and torque current setpoint, the method further includes: acquiring the desired rotor position and actual rotor position of the motor; performing proportional control on the desired rotor position and actual rotor position to obtain the initial desired rotational speed of the motor; limiting the initial desired rotational speed through a predefined speed limiter to obtain the target desired rotational speed of the motor; and performing proportional-integral control on the target desired rotational speed and actual rotational speed to obtain the torque current setpoint.

[0044] Specifically, Figure 2 This is a schematic diagram of the control principle of a motor drive module provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the desired position of the rotor can be determined. and the actual position of the rotor Proportional control is performed to obtain the desired initial rotational speed. Then, the desired initial rotational speed can be set using a speed limiter. Speed ​​limiting is performed to obtain the desired target speed of the motor. .

[0045] Among them, the speed limiter has a desired initial rotational speed. The speed limiting method can be: when the initial speed is expected to be... If the initial expected speed value is greater than or equal to the preset minimum speed threshold and less than or equal to the preset maximum speed threshold, then it is determined that no correction to the initial expected speed value is needed. Directly set the initial rotational speed expectation value The output is the desired target rotational speed. When the initial rotational speed is expected to be... When the initial speed exceeds the preset maximum speed threshold, the expected speed value will be adjusted. The speed limit is set to a preset maximum speed threshold, and the initial expected speed value is then set to the preset maximum speed threshold. As the target speed expectation value When the initial rotational speed is expected to be... When the initial speed is less than the preset minimum speed threshold, the expected speed value will be... Adjust to the preset minimum speed threshold, and then adjust the initial expected speed value to the preset minimum speed threshold. As the target speed expectation value .

[0046] After obtaining the desired target speed of the motor Then, the desired target rotational speed can be determined. and actual speed Proportional-integral control is performed to obtain the torque current setpoint. .

[0047] S130. Determine the three-phase AC voltage of the target fitness equipment based on the torque current setting value.

[0048] In this embodiment, the three-phase AC voltage can be understood as the collective term for three sets of sinusoidal AC voltages generated by the motor that have the same frequency, equal amplitude, and phases that differ by 120 degrees.

[0049] Specifically, such as Figure 2 As shown, the three-phase current of the motor in the target fitness equipment can be collected. , and The value of the value is obtained by performing Clarke transformation on the three-phase current of the motor to obtain the first current component of the motor in the two-phase stationary coordinate system. Second current component Then, the actual rotor position of the motor can be obtained through a position sensor. and the actual rotor position of the motor First current component Second current component By performing a Parker transformation, the actual value of the excitation current corresponding to the target fitness equipment is obtained. Actual values ​​of torque and current .

[0050] Then, the torque current setting value can be set. Actual values ​​of torque and current Perform proportional-integral (PI) controller calculations to obtain the quadrature-axis voltage setpoint of the target fitness equipment. The excitation current setpoint and actual value of excitation current Perform PI controller calculations to obtain the direct-axis voltage setpoint of the target fitness equipment. Among them, the excitation current setpoint The excitation current value can be set based on historical experience and user needs; for example, the excitation current setpoint can be... Set to 0.

[0051] Finally, a given value can be set for the quadrature-axis voltage. and direct-axis voltage setpoint The first voltage component in the stationary coordinate system is obtained by performing the inverse Park transformation. Second voltage component For the first voltage component Second voltage component Space vector pulse width modulation is performed to obtain the switching signal of the inverter bridge, and then the three-phase AC voltage input to the motor is determined based on the switching signal of the inverter bridge.

[0052] S140. Based on the three-phase AC voltage, perform constant speed control on the rope movement of the target fitness equipment.

[0053] In this step, specifically, a three-phase AC voltage can be input to the motor of the target fitness equipment. Then, relying on the motor's power output and speed adjustment, the constant-speed mode of the target fitness equipment can be precisely controlled. It should be noted that in constant-speed cable release mode, to ensure the trainee maintains a fixed position while continuously pulling the cable, the cable return speed in constant-speed mode can be set to 0 to prevent the cable from automatically springing back in constant-speed mode.

[0054] The technical solution of this embodiment obtains the target rope release speed of the target fitness equipment and the actual rotational speed of the motor on the target fitness equipment; determines the torque current setting value based on the target rope release speed, the actual rotational speed, and the torque current setpoint; determines the three-phase AC voltage of the target fitness equipment based on the torque current setting value; and performs constant-speed control of the rope release motion of the target fitness equipment based on the three-phase AC voltage. This solves the problem that existing fitness equipment, which focuses on weight control, is prone to unstable training and injuries when the trainee has insufficient strength control. By focusing on speed control and performing constant-speed control of the rope release motion of the target fitness equipment, the safety and effectiveness of isokinetic training are ensured.

[0055] Example 2

[0056] Figure 3This is a flowchart of another constant speed mode control method for fitness equipment according to Embodiment 2 of the present invention. This embodiment is a further optimization and extension based on the above embodiments, and can be combined with various optional technical solutions in the above embodiments.

[0057] like Figure 3 As shown in this embodiment, a constant-speed mode control method for a fitness device includes:

[0058] S210. Obtain the target rope release speed, target load weight, target rope return speed, and training starting point of the target fitness equipment, and collect the actual rotational speed of the motor on the target fitness equipment.

[0059] In this embodiment, the target load weight can be understood as the desired training weight input by the trainee for the target fitness equipment. The target cable return speed can be used to control the cable on the target fitness equipment to return to the training starting point at a constant speed. The training starting point can be understood as the original position of the cable's movable end point before the trainee begins isokinetic training. The cable's movable end point can be understood as a point on the cable that is a preset distance from the axis of the winding assembly. The preset distance can be set according to user needs, for example, it can be set to 0 or 0.5 meters. It is worth noting that by setting the preset distance to 0 meters, the time the trainee pulls the cable during one training session can be increased, thereby reducing the number of parameter adjustments. By setting the preset distance to 0.5 meters, the cable's starting end point can be prevented from being too close to the axis of the winding assembly, thereby increasing the speed at which the trainee begins isokinetic training.

[0060] In this step, specifically, when the trainee is detected to have started constant speed mode, a parameter input interface can be provided to the trainee, and then the target rope release speed, target load weight, target rope return speed, and training starting point can be received from the trainee on the parameter input interface.

[0061] S220: Perform proportional-integral control on the target rope exit speed and the actual rotation speed to obtain the desired torque current value.

[0062] Specifically, Figure 4 This is a schematic diagram illustrating the control principle of a constant velocity controller provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the target rope release speed can be measured. and actual speed By performing proportional-integral control, the desired torque current value is obtained. .

[0063] S230. When the actual rotational speed is less than or equal to the target rope exit speed, the expected value of the torque current is set to the lower limit value of the torque current, and the set value of the torque current is determined according to the lower limit value of the torque current and the given value of the torque current.

[0064] In this embodiment, the lower limit value of torque current can be set according to historical experience and user needs. For example, the lower limit value of torque current can be set to 0.

[0065] Specifically, such as Figure 4 As shown, it can be used as the actual rotational speed. Less than or equal to the target rope exit speed At that time, the expected value of the torque current will be... Set to lower limit of torque current This will further lower the torque current limit. and torque current setpoint The sum of these values ​​determines the torque current setpoint. .

[0066] S240. When the actual rotational speed is greater than the target rope exit speed, determine the upper limit of the torque current based on the target load weight and the predefined weight current conversion coefficient.

[0067] In this step, specifically, when the actual rotational speed is greater than the target rope exit speed, the upper limit of the torque current is obtained by multiplying the target load weight and the weight current conversion coefficient. The weight current conversion coefficient can be determined by calculating the first multiplication between the cable reel radius and gravitational acceleration, and the second multiplication between the motor torque constant and the transmission efficiency coefficient. The weight current conversion coefficient is then obtained by dividing the first multiplication result by the second multiplication result.

[0068] S250. Determine the torque current setting value based on the torque current given value, the torque current expected value, and the torque current upper limit value.

[0069] In this step, specifically, since the expected value of torque current must be greater than the lower limit value of torque current when the actual rotation speed is greater than the target rope exit speed, the torque current setting value can be determined directly based on the comparison result between the expected value of torque current and the upper limit value of torque current, as well as the torque current setpoint.

[0070] In a specific example, it can be determined whether the expected torque current is greater than the upper limit torque current. If so, the expected torque current is set as the upper limit torque current, and the weighted sum of the upper limit torque current and the setpoint torque current is determined as the torque current setpoint. If not, the weighted sum of the expected torque current and the setpoint torque current is determined as the torque current setpoint.

[0071] In another specific example, it can be determined whether the expected value of the torque current is greater than the upper limit value of the torque current; if so, the expected value of the torque current is set to the upper limit value of the torque current, and the sum of the upper limit value of the torque current and the given value of the torque current is used as the torque current setting value; if not, the sum of the expected value of the torque current and the given value of the torque current is used as the torque current setting value.

[0072] Specifically, such as Figure 4 As shown, the expected value of the torque current can be determined. Is it greater than the upper limit of torque current? If so, then the expected value of the torque current will be... Set to the upper limit of torque current. This will further increase the upper limit of torque current. and torque current setpoint The sum of these values ​​is used as the torque current setpoint. If not, then there is no need to consider the expected value of the torque current. Speed ​​limiting is applied, directly setting the desired torque and current values. and torque current setpoint The sum of these values ​​is used as the torque current setpoint. .

[0073] The advantage of this setting is that when the actual rotational speed is less than or equal to the target rope exit speed, the torque current setting value is determined based on the lower limit of the torque current and the given torque current value; when the actual rotational speed is greater than the target rope exit speed, the torque current setting value is determined based on the given torque current value, the expected torque current value, and the upper limit of the torque current value. This allows the actual rope exit speed to be maintained at the target rope exit speed, thereby achieving constant speed control of the rope exit motion of the target fitness equipment.

[0074] S260. Determine the three-phase AC voltage of the target fitness equipment based on the torque current setting value.

[0075] S270. Based on the three-phase AC voltage, the rope movement of the target fitness equipment is controlled at a constant speed.

[0076] Specifically, in this step, when the pulling force applied by the trainee to the cable of the target fitness equipment exceeds a preset tension threshold, the movement of the cable of the target fitness equipment is controlled at a constant speed based on the three-phase AC voltage. The preset tension threshold can be understood as the tension threshold that can generate a pulling effect on the uncontrolled cable of the target fitness equipment.

[0077] S280. When it is detected that the traction force applied by the trainee to the cable in the target fitness equipment is less than the preset traction threshold, the return rope movement of the target fitness equipment is controlled at a constant speed based on the target return rope speed until the motor rotor rotates to the reference angle corresponding to the training starting point.

[0078] The advantage of this setup is that by controlling the current, speed, and position of the motor at different stages of training, it can intelligently and electrically complete isochronous rope extension and isochronous rope return training, thereby enriching the usage scenarios of the target fitness equipment and enhancing its value.

[0079] Furthermore, after the motor rotor rotates to the reference angle corresponding to the training starting point, it can detect whether the pull force applied by the trainee to the cable in the target fitness equipment is greater than a pre-defined tension threshold. If so, the process returns to the operation of constant-speed mode control of the target fitness equipment based on the three-phase AC voltage, until a predefined training termination condition is met. The training termination condition can be various, such as the trainee triggering a training termination operation, the cable being pulled to its limit, the trainee re-entering the target training weight, target return speed, and training starting point, or the pull force applied by the trainee to the cable in the target fitness equipment being less than or equal to the pre-defined tension threshold. Specifically, when the trainee re-enters the target training weight, target return speed, and training starting point, the three-phase AC voltage can be re-determined based on the re-entered target training weight, target return speed, and training starting point, and then the target fitness equipment can be controlled in constant-speed mode based on the re-determined three-phase current and voltage.

[0080] If the pull force applied by the trainee to the cable in the target fitness equipment is less than a pre-set tension threshold, and the motor rotor has already rotated to the reference angle corresponding to the starting point of the training, the cable remains stationary. If the motor rotor has not yet rotated to the reference angle corresponding to the starting point of the training, the cable return motion of the target fitness equipment is controlled at a constant speed based on the target return speed until the motor rotor rotates to the reference angle corresponding to the starting point of the training. If the pull force applied by the trainee to the cable in the target fitness equipment is equal to the pre-set tension threshold, the cable remains stationary.

[0081] The advantage of this setup is that by using a single input parameter multiple times, it avoids the trainer from repeatedly inputting the same parameter, thus saving the trainer's time.

[0082] The technical solution of this embodiment acquires the target rope release speed, target load weight, target rope return speed, and training starting point of the target fitness equipment, and collects the actual rotational speed of the motor on the target fitness equipment. When the actual rotational speed is less than or equal to the target rope release speed, the expected torque current value is set as the lower limit of the torque current value, and the torque current setpoint is determined based on the lower limit of the torque current value and the torque current given value. When the actual rotational speed is greater than the target rope release speed, the torque current setpoint is determined based on the torque current given value, the expected torque current value, and the torque current upper limit value. This allows the actual rope release speed to be maintained at the target rope release speed, thereby achieving constant speed control of the rope release motion of the target fitness equipment. Furthermore, by controlling the current, rotational speed, and position of the motor at different stages of training, constant speed training for rope release and constant speed training for rope return can be completed electrically and intelligently, thus enriching the application scenarios of the target fitness equipment and enhancing its value.

[0083] Example 3

[0084] Figure 5 This is a schematic diagram of the structure of a constant speed mode control device for a fitness device according to Embodiment 3 of the present invention. This embodiment is applicable to controlling a fitness device to execute a constant speed mode. The constant speed mode control device for the fitness device can be implemented in hardware and / or software and can be configured in an electronic device. The electronic device can be a fitness device with a constant speed mode or a control device with control function for the fitness device, as long as it can execute the constant speed mode control method of the fitness device. The embodiments of the present invention do not limit the specific device type of the electronic device.

[0085] like Figure 5 As shown, the constant speed mode control device for fitness equipment disclosed in this embodiment includes: a speed acquisition module 51, a torque current setting value determination module 52, a three-phase AC voltage determination module 53, and a rope output constant speed control module 54, wherein:

[0086] The speed acquisition module 51 is used to acquire the target rope speed of the target fitness equipment and the actual rotation speed of the motor on the target fitness equipment.

[0087] The torque current setting value determination module 52 is used to determine the torque current setting value based on the target rope exit speed, the actual rotation speed and the torque current set value.

[0088] The three-phase AC voltage determination module 53 is used to determine the three-phase AC voltage of the target fitness equipment based on the torque current setting value.

[0089] The rope extension constant speed control module 54 is used to control the rope extension motion of the target fitness equipment at a constant speed according to the three-phase AC voltage.

[0090] The technical solution in this embodiment, through the cooperation of the speed acquisition module 51, the torque current setting value determination module 52, the three-phase AC voltage determination module 53, and the rope exit constant speed control module 54, solves the problem that existing fitness equipment, which focuses on weight control, is prone to unstable training and injuries when the trainee has insufficient control over their strength. By focusing on speed control, the rope exit movement of the target fitness equipment is controlled at a constant speed, thereby ensuring the safety and effectiveness of constant speed training.

[0091] Optionally, the torque current setpoint determination module 52 includes:

[0092] The torque current expectation value acquisition unit is used to perform proportional-integral control on the target rope exit speed and the actual rotation speed to obtain the torque current expectation value;

[0093] The first current determination unit is used to set the expected value of torque current to the lower limit value of torque current when the actual rotation speed is less than or equal to the target rope exit speed, and to determine the set value of torque current based on the lower limit value of torque current and the given value of torque current.

[0094] The second current determination unit is used to determine the torque current setting value based on the torque current given value, the torque current expected value, and the torque current upper limit value when the actual rotation speed is greater than the target rope exit speed.

[0095] Optionally, the second current determination unit is specifically used to: determine whether the expected value of the torque current is greater than the upper limit value of the torque current; if so, set the expected value of the torque current to the upper limit value of the torque current, and use the sum of the upper limit value of the torque current and the given value of the torque current as the torque current setting value; if not, use the sum of the expected value of the torque current and the given value of the torque current as the torque current setting value.

[0096] Optionally, the device may also include a current upper limit determination module, which is used to: obtain the target load weight of the target fitness equipment; and determine the torque current upper limit value based on the target load weight and a predefined weight current conversion coefficient.

[0097] Optionally, the device further includes a current setpoint determination module, which is used to: obtain the desired rotor position and the actual rotor position of the motor; perform proportional control on the desired rotor position and the actual rotor position to obtain the initial desired speed value of the motor; limit the initial desired speed value through a predefined speed limiter to obtain the target desired speed value of the motor; and perform proportional-integral control on the target desired speed value and the actual speed to obtain the torque current setpoint.

[0098] Optionally, the device also includes a rope return control module, which is used to: acquire the target rope return speed and training starting point of the target fitness equipment; and based on the target rope return speed, perform constant speed control on the rope return motion of the target fitness equipment until the motor rotor rotates to the reference angle corresponding to the training starting point.

[0099] The constant-speed mode control device for fitness equipment provided in this embodiment of the invention can execute the constant-speed mode control method for fitness equipment provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method. Content not described in detail in this embodiment can be referred to the description in any method embodiment of this application.

[0100] Example 4

[0101] Figure 6 A schematic diagram of the structure of an electronic device 10 that can be used to implement embodiments of the present invention is shown. For example... Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0102] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0103] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the constant-speed mode control method of a fitness device.

[0104] In some embodiments, the constant-speed mode control method of the fitness device may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the constant-speed mode control method of the fitness device described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the constant-speed mode control method of the fitness device by any other suitable means (e.g., by means of firmware).

[0105] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0107] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0108] To provide 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0109] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0110] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0111] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0112] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A constant-speed mode control method for a fitness device, characterized in that, The method includes: Obtain the target rope exit speed of the target fitness equipment, and the actual rotational speed of the motor on the target fitness equipment; The torque current setting value is determined based on the target rope exit speed, the actual rotation speed, and the torque current setpoint. The three-phase AC voltage of the target fitness equipment is determined based on the torque current setting value. Based on the three-phase AC voltage, the rope movement of the target fitness equipment is controlled at a constant speed.

2. The method according to claim 1, characterized in that, Based on the target rope exit speed, the actual rotational speed, and the torque current setpoint, the torque current setpoint is determined, including: The target rope exit speed and the actual rotation speed are subjected to proportional-integral control to obtain the expected value of torque current; When the actual rotational speed is less than or equal to the target rope exit speed, the expected value of the torque current is set as the lower limit value of the torque current, and the set value of the torque current is determined according to the lower limit value of the torque current and the given value of the torque current. When the actual rotational speed is greater than the target rope exit speed, the torque current setting value is determined based on the torque current given value, the torque current expected value, and the torque current upper limit value.

3. The method according to claim 2, characterized in that, The torque current setpoint is determined based on the given torque current, the expected torque current, and the upper limit torque current, including: Determine whether the expected value of the torque current is greater than the upper limit value of the torque current; If so, the expected value of the torque current is set as the upper limit value of the torque current, and the sum of the upper limit value of the torque current and the given value of the torque current is used as the set value of the torque current; If not, the sum of the expected torque current value and the given torque current value shall be used as the torque current setting value.

4. The method according to claim 2, characterized in that, Before determining the torque current setpoint based on the given torque current, the expected torque current, and the upper limit torque current, the process further includes: Obtain the target load weight of the target fitness equipment; The upper limit of torque current is determined based on the target load weight and a predefined weight-current conversion coefficient.

5. The method according to claim 1, characterized in that, Before determining the torque current setpoint based on the target rope exit speed, the actual rotational speed, and the torque current setpoint, the process further includes: Obtain the desired rotor position and the actual rotor position of the motor; The desired rotor position and the actual rotor position are proportionally controlled to obtain the initial desired speed value of the motor; By using a predefined speed limiter, the initial expected speed value is limited to obtain the target expected speed value of the motor; The desired target speed and the actual speed are subjected to proportional-integral control to obtain the torque current setpoint.

6. The method according to claim 1, characterized in that, The method further includes: Obtain the target rope return speed and training starting point of the target fitness equipment; Based on the target rope return speed, the rope return motion of the target fitness equipment is controlled at a constant speed until the rotor of the motor rotates to the reference angle corresponding to the training starting point.

7. A constant speed mode control device for fitness equipment, characterized in that, The device includes: The speed acquisition module is used to acquire the target rope exit speed of the target fitness equipment and the actual rotational speed of the motor on the target fitness equipment. The torque current setting value determination module is used to determine the torque current setting value based on the target rope exit speed, the actual rotation speed, and the torque current set value. The three-phase AC voltage determination module is used to determine the three-phase AC voltage of the target fitness equipment based on the torque current setting value. The rope extension constant speed control module is used to control the rope extension motion of the target fitness equipment at a constant speed according to the three-phase AC voltage.

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 that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the constant speed mode control method of the fitness device 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 that, when executed by a processor, implement the constant speed mode control method of the fitness device according to any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the constant speed mode control method for the fitness equipment according to any one of claims 1-6.

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