Sled pulling mode control method and device for fitness equipment, equipment and medium

Abstract

The embodiment of the invention discloses a sled pulling mode control method and device for fitness equipment, the equipment and a medium. The sled pulling mode control method comprises the steps that the target training weight of target fitness equipment is obtained; determining a torque current expected value according to the target training weight; determining a three-phase AC voltage of the target fitness equipment according to the torque current expected value; according to the three-phase alternating-current voltage, the sled pulling mode control is performed on the target fitness equipment, the adjustment efficiency and precision of the training load can be improved, and therefore the exercise experience better meeting the training requirement can be rapidly provided for a trainer.

Description

Technical Field

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

[0002] Sledding training has a significant effect on building athletes' strength and improving their explosive power. As an exercise that combines aerobic and anaerobic activities, it also has outstanding advantages in improving cardiopulmonary function and optimizing the body's metabolic efficiency.

[0003] However, most fitness equipment on the market still relies on manually adding or removing weights when adjusting the training load, which is not only cumbersome to operate but also makes it difficult to achieve precise control of resistance. Summary of the Invention

[0004] This invention provides a method, device, equipment, and medium for controlling the sled mode of fitness equipment, which can improve the efficiency and accuracy of training load adjustment, thereby quickly providing trainees with a more suitable exercise experience.

[0005] In a first aspect, embodiments of the present invention provide a method for controlling the sled mode of a fitness device, comprising:

[0006] Obtain the target training weight for the target fitness equipment;

[0007] Determine the expected value of the torque current based on the target training weight;

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

[0009] Based on the three-phase AC voltage, the target fitness equipment is controlled in a sled-pulling mode.

[0010] Optionally, the expected torque current value is determined based on the target training weight, including: determining the weight-current conversion coefficient based on the motor torque constant, transmission efficiency coefficient, and cable reel radius corresponding to the target fitness equipment; and determining the expected torque current value based on the target training weight and the weight-current conversion coefficient.

[0011] Optionally, the three-phase AC voltage of the target fitness equipment is determined based on the expected torque current value, including: obtaining the expected excitation current value, the actual excitation current value, and the actual torque current value corresponding to the target fitness equipment; performing proportional-integral (PI) controller calculations on the expected torque current value and the actual torque current value to obtain the quadrature-axis voltage setpoint of the target fitness equipment; performing PI controller calculations on the expected excitation current value and the actual excitation current value to obtain the direct-axis voltage setpoint of the target fitness equipment; and determining the three-phase AC voltage of the target fitness equipment based on the quadrature-axis voltage setpoint and the direct-axis voltage setpoint.

[0012] Optionally, obtaining the actual values ​​of the excitation current and torque current corresponding to the target fitness equipment includes: obtaining the three-phase current of the motor corresponding to the target fitness equipment, and performing a Clarke transformation on the three-phase current of the motor to obtain the first current component and the second current component in a two-phase stationary coordinate system; obtaining the actual rotor position of the motor corresponding to the target fitness equipment, and performing a Park transformation on the actual rotor position of the motor, the first current component, and the second current component to obtain the actual values ​​of the excitation current and torque current corresponding to the target fitness equipment.

[0013] Optionally, the three-phase AC voltage of the target fitness equipment is determined based on the quadrature-axis voltage setpoint and the direct-axis voltage setpoint, including: performing an inverse Park transformation on the quadrature-axis voltage setpoint and the direct-axis voltage setpoint to obtain a first voltage component and a second voltage component in a stationary coordinate system; performing space vector pulse width modulation on the first voltage component and the second voltage component to obtain the switching signal of the inverter bridge; and determining the three-phase AC voltage based on the switching signal of the inverter bridge.

[0014] Optionally, the method further includes: acquiring the target rope return speed and training starting point of the target fitness device; when a rope return operation triggered by the trainee on the target fitness device is detected, controlling the rope return of the target fitness device based on the target rope return speed until the motor rotor on the target fitness device rotates to the reference angle corresponding to the training starting point, and then stopping the rope return.

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

[0016] The target training weight acquisition module is used to acquire the target training weight of the target fitness equipment.

[0017] The torque and current expectation determination module is used to determine the expected torque and current value based on the target training weight.

[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 expected torque current value.

[0019] The sled mode control module is used to control the target fitness equipment in sled mode 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 sled mode control method for a 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 sled 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 sled mode control method for a fitness device according to any embodiment of the present invention.

[0023] The technical solution of this invention, through obtaining the target training weight of the target fitness equipment; determining the expected value of torque current based on the target training weight; determining the three-phase AC voltage of the target fitness equipment based on the expected value of torque current; and controlling the target fitness equipment in a sled mode based on the three-phase AC voltage, solves the problem that existing fitness equipment still relies on manually adding or removing weights when adjusting the training load. This is not only cumbersome to operate but also difficult to achieve precise resistance control. The invention improves the efficiency and accuracy of training load adjustment, thereby quickly providing trainees with a more suitable exercise experience.

[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 sled-pulling mode control method for a fitness device according to Embodiment 1 of the present invention;

[0027] Figure 2 This is a flowchart of another sled mode control method for fitness equipment provided in Embodiment 2 of the present invention;

[0028] Figure 3 This is a schematic diagram illustrating the control principle of a motor drive module provided in an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the structure of a sled mode control device for a fitness device according to Embodiment 3 of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0031] 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.

[0032] 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.

[0033] Example 1

[0034] Figure 1This is a flowchart of a sled 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 sled mode. The method can be executed by a sled mode control device of the fitness device, which can be implemented in hardware and / or software. The sled mode control device of the fitness device can be configured in an electronic device. The electronic device can be a fitness device with a sled mode, or it can be a control device with control function for the fitness device, as long as it can execute the sled mode control method of the fitness device. The embodiments of the present invention do not limit the specific device type of the electronic device.

[0035] like Figure 1 As shown in this embodiment, a sled-pulling mode control method for a fitness device includes:

[0036] S110, Obtain the target training weight for the target fitness equipment.

[0037] In this embodiment, the target fitness device can be understood as a device capable of providing a sled-pulling training mode to the trainee using a motor, such as a dedicated sled training simulator or a multi-functional resistance training machine with a built-in sled-pulling training program. Any fitness device capable of providing a sled-pulling 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 training weight can be understood as the desired training weight input by the trainee onto the target fitness device.

[0038] In this step, specifically, when the trainee is detected to have started the sled mode, a parameter input interface can be provided to the trainee, and the target training weight entered by the trainee on the parameter input interface can be received.

[0039] S120. Determine the expected value of torque current based on the target training weight.

[0040] In this embodiment, the expected value of torque current can be understood as the torque current required to make the target fitness equipment output a resistance value corresponding to the target training weight.

[0041] In this step, specifically, the expected torque current value can be determined based on the target training weight and a predefined weight-current conversion coefficient. Alternatively, the resistance value corresponding to the target training weight can be determined, and the expected torque current value can be determined based on the resistance value.

[0042] S130. Determine the three-phase AC voltage of the target fitness equipment based on the expected torque current value.

[0043] 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.

[0044] In this step, specifically, the quadrature-axis voltage setpoint of the target fitness equipment can be determined based on the expected value of the torque current and the observed actual value of the torque current, and the direct-axis voltage setpoint of the target fitness equipment can be determined based on the expected value of the excitation current and the observed actual value of the excitation current. Then, the three-phase AC voltage of the target fitness equipment can be determined based on the quadrature-axis voltage setpoint and the direct-axis voltage setpoint.

[0045] S140. Based on the three-phase AC voltage, control the target fitness equipment in sled mode.

[0046] 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 sled mode of the target fitness equipment can be precisely controlled. It should be noted that in sled mode, that is, when the trainee does not trigger the cable return operation on the target fitness equipment, in order to ensure the trainee completes the continuous cable pulling operation from a fixed position, the cable return speed in sled mode can be set to 0 to prevent the cable from automatically springing back in sled mode.

[0047] The technical solution of this embodiment, by obtaining the target training weight of the target fitness equipment; determining the expected value of torque current based on the target training weight; determining the three-phase AC voltage of the target fitness equipment based on the expected value of torque current; and controlling the target fitness equipment in a sled mode based on the three-phase AC voltage, solves the problem that existing fitness equipment still relies on manually adding or removing weights when adjusting the training load. This is not only cumbersome to operate but also difficult to achieve precise resistance control. It can improve the efficiency and accuracy of training load adjustment, thereby quickly providing trainees with a more suitable exercise experience.

[0048] Example 2

[0049] Figure 2 This is a flowchart of another sled 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.

[0050] like Figure 2 As shown in this embodiment, a sled-pulling mode control method for a fitness device includes:

[0051] S210, Obtain the target training weight, target rope return speed, and training starting point of the target fitness equipment.

[0052] In this embodiment, the target rope return speed can be used to control the cable on the target fitness equipment to return to the training starting point at a uniform speed. The training starting point can be understood as the original position of the cable's movable end point before the trainee begins sled pulling training. The cable's movable end point can be understood as a point on the cable that is a preset distance away 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 rope 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 sled pulling training.

[0053] In this step, specifically, when the trainee is detected to have started the sled-pulling mode, a parameter input interface can be provided to the trainee, and the target training weight, target rope return speed, and training starting point can be received from the trainee on the parameter input interface.

[0054] S220. Determine the weight-current conversion coefficient based on the motor torque constant, transmission efficiency coefficient, and cable reel radius corresponding to the target fitness equipment.

[0055] In this step, specifically, the first multiplication result between the cable reel radius and gravitational acceleration can be calculated, as well as the second multiplication result between the motor torque constant and the transmission efficiency coefficient. Then, the weight-to-current conversion factor can be obtained by dividing the first multiplication result by the second multiplication result.

[0056] S230. Determine the expected value of torque current based on the target training weight and weight-current conversion coefficient.

[0057] In this step, specifically, the product of the target training weight and the weight current conversion coefficient can be calculated to obtain the expected value of the torque current.

[0058] It is worth noting that, Figure 3 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 3 As shown, when the user does not input a target training weight but starts the sled mode, the desired rotor position of the motor can be determined. and the actual rotor position of the motor Proportional control is performed to obtain the desired speed value. Then, the desired rotational speed can be determined. and the observed actual speed of the motor By performing PI control, the desired torque current value can be obtained. Among them, the actual speed of the motor This can be understood as the actual rotational speed obtained through a speed observer.

[0059] S240. Obtain the expected value of the excitation current, the actual value of the excitation current, and the actual value of the torque current corresponding to the target fitness equipment.

[0060] In this step, specifically, the expected value of the excitation current can be set to a preset value, and the actual values ​​of the excitation current and torque current corresponding to the target fitness equipment can be determined based on the three-phase current of the motor and the actual rotor position of the motor. The preset value can be set based on historical experience; for example, it can be set to 0.

[0061] Furthermore, based on the three-phase current of the motor corresponding to the target fitness equipment and the actual rotor position of the motor, the actual values ​​of the excitation current and torque current corresponding to the target fitness equipment are determined, including: obtaining the three-phase current of the motor corresponding to the target fitness equipment, and performing a Clarke transformation on the three-phase current of the motor to obtain the first current component and the second current component in a two-phase stationary coordinate system; obtaining the actual rotor position of the motor corresponding to the target fitness equipment, and performing a Park transformation on the actual rotor position of the motor, the first current component, and the second current component to obtain the actual values ​​of the excitation current and torque current corresponding to the target fitness equipment.

[0062] Specifically, such as Figure 3 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 .

[0063] S250: Perform PI controller calculations on the expected value of torque current and the actual value of torque current to obtain the given value of quadrature-axis voltage of the target fitness equipment.

[0064] Specifically, such as Figure 3 As shown, the desired value of torque current can be obtained. Actual values ​​of torque and current Perform PI controller calculations to obtain the quadrature-axis voltage setpoint of the target fitness equipment. .

[0065] S260. Perform PI controller calculations on the expected value and actual value of the excitation current to obtain the direct-axis voltage setpoint of the target fitness equipment.

[0066] Specifically, such as Figure 3 As shown, the desired value of the excitation current can be determined. and actual value of excitation current Perform PI controller calculations to obtain the direct-axis voltage setpoint of the target fitness equipment. .

[0067] S270. Determine the three-phase AC voltage of the target fitness equipment based on the given values ​​of the quadrature-axis voltage and the direct-axis voltage.

[0068] In this step, specifically, the switching signals of the inverter bridge can be determined based on the given values ​​of the quadrature-axis voltage and the direct-axis voltage, and the three-phase AC voltage can be determined based on the switching signals of the inverter bridge.

[0069] Further, the switching signals of the inverter bridge are determined based on the quadrature-axis voltage setpoint and the direct-axis voltage setpoint, and the three-phase AC voltage is determined based on the switching signals of the inverter bridge, including: performing an inverse Park transformation on the quadrature-axis voltage setpoint and the direct-axis voltage setpoint to obtain the first voltage component and the second voltage component in the stationary coordinate system; performing space vector pulse width modulation on the first voltage component and the second voltage component to obtain the switching signals of the inverter bridge; and determining the three-phase AC voltage based on the switching signals of the inverter bridge.

[0070] Specifically, such as Figure 3 As shown, a given value for the quadrature-axis voltage can be obtained. 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 Then, the first voltage component can be... 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.

[0071] S280: Control the target fitness equipment in sled mode based on the three-phase AC voltage.

[0072] S290. When a rope return operation triggered by the trainee on the target fitness equipment is detected, the rope return control of the target fitness equipment is performed based on the target rope return speed until the motor rotor on the target fitness equipment rotates to the reference angle corresponding to the training starting point, and then the rope return stops.

[0073] The advantage of this setup is that by controlling the current, speed, and position of the motor at different stages of training, the sled-pulling training process and cable restoration can be completed electrically and intelligently without the need for manually adding or removing iron blocks or restoring cables.

[0074] Furthermore, after the rope return stops, the system can return to controlling the target fitness equipment in a sled mode based on the three-phase AC voltage, until the trainee triggers the training termination operation, or the trainee re-enters the target training weight, target rope return speed, and training starting point. Specifically, if the trainee re-enters the target training weight, target rope return speed, and training starting point, the three-phase AC voltage can be re-determined based on the re-entered target training weight, target rope return speed, and training starting point, and then the target fitness equipment can be controlled in a sled mode based on the re-determined three-phase current voltage.

[0075] 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.

[0076] The technical solution of this embodiment obtains the target training weight, target rope return speed, and training starting point of the target fitness equipment; determines the expected value of torque current based on the target training weight and weight current conversion coefficient; performs PI controller calculations on the expected and actual values ​​of torque current to obtain the quadrature-axis voltage setpoint of the target fitness equipment; performs PI controller calculations on the expected and actual values ​​of excitation current to obtain the direct-axis voltage setpoint of the target fitness equipment; determines the three-phase AC voltage of the target fitness equipment based on the quadrature-axis and direct-axis voltage setpoints; controls the target fitness equipment in a sled-pulling mode based on the three-phase AC voltage; when a rope return operation triggered by the trainee is detected, the rope return control is performed on the target fitness equipment based on the target rope return speed until the motor rotor on the target fitness equipment rotates to the reference angle corresponding to the training starting point, at which point the rope return stops. This allows for the electric and intelligent completion of the sled-pulling training process and cable restoration operation without the need for manual addition or removal of weights or cable restoration, thereby improving trainee satisfaction.

[0077] Example 3

[0078] Figure 4This is a schematic diagram of the structure of a sled 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 sled mode. The sled 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 sled mode or a control device with control function for the fitness device, as long as it can execute the sled mode control method of the fitness device. The embodiments of the present invention do not limit the specific device type of the electronic device.

[0079] like Figure 4 As shown, the sled mode control device for fitness equipment disclosed in this embodiment includes: a target training weight acquisition module 41, a torque current expectation value determination module 42, a three-phase AC voltage determination module 43, and a sled mode control module 44, wherein:

[0080] The target training weight acquisition module 41 is used to acquire the target training weight of the target fitness equipment.

[0081] The torque current expectation value determination module 42 is used to determine the torque current expectation value based on the target training weight;

[0082] The three-phase AC voltage determination module 43 is used to determine the three-phase AC voltage of the target fitness equipment based on the expected torque current value.

[0083] The sled mode control module 44 is used to control the target fitness equipment in sled mode according to the three-phase AC voltage.

[0084] The technical solution in this embodiment, through the cooperation of the target training weight acquisition module 41, the torque current expectation value determination module 42, the three-phase AC voltage determination module 43, and the sled mode control module 44, solves the problem that existing fitness equipment still relies on manually adding or removing weights when adjusting the training load. This is not only cumbersome to operate, but also makes it difficult to achieve precise resistance control. It can improve the efficiency and accuracy of training load adjustment, thereby quickly providing trainees with a more suitable exercise experience.

[0085] Optionally, the torque current expectation value determination module 42 is specifically used to: determine the weight current conversion coefficient based on the motor torque constant, transmission efficiency coefficient and cable reel radius corresponding to the target fitness equipment; and determine the torque current expectation value based on the target training weight and the weight current conversion coefficient.

[0086] Optionally, the three-phase AC voltage determination module 43 includes:

[0087] The current acquisition unit is used to acquire the expected value of the excitation current, the actual value of the excitation current, and the actual value of the torque current corresponding to the target fitness equipment;

[0088] The quadrature-axis voltage determination unit is used to perform PI controller calculations on the expected value of torque current and the actual value of torque current to obtain the quadrature-axis voltage setpoint of the target fitness equipment.

[0089] The direct-axis voltage determination unit is used to perform PI controller calculations on the expected value and the actual value of the excitation current to obtain the direct-axis voltage setpoint of the target fitness equipment.

[0090] The three-phase AC voltage determination unit is used to determine the three-phase AC voltage of the target fitness equipment based on the given values ​​of the quadrature-axis voltage and the direct-axis voltage.

[0091] Optionally, the current acquisition unit is specifically used to: acquire the three-phase current of the motor corresponding to the target fitness equipment, and perform Clark transformation on the three-phase current of the motor to obtain the first current component and the second current component in the two-phase stationary coordinate system; acquire the actual rotor position of the motor corresponding to the target fitness equipment, and perform Park transformation on the actual rotor position of the motor, the first current component and the second current component to obtain the actual value of the excitation current and the actual value of the torque current corresponding to the target fitness equipment.

[0092] Optionally, the three-phase AC voltage determination unit is specifically used to: perform inverse Park transformation on the quadrature-axis voltage setpoint and the direct-axis voltage setpoint to obtain the first voltage component and the second voltage component in the stationary coordinate system; perform space vector pulse width modulation on the first voltage component and the second voltage component to obtain the switching signal of the inverter bridge; and determine the three-phase AC voltage based on the switching signal of the inverter bridge.

[0093] 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; when a rope return operation triggered by the trainee on the target fitness equipment is detected, control the rope return of the target fitness equipment based on the target rope return speed until the motor rotor on the target fitness equipment rotates to the reference angle corresponding to the training starting point, and then stop the rope return.

[0094] The sled-pulling mode control device for fitness equipment provided in this embodiment of the invention can execute the sled-pulling 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 execution. Content not described in detail in this embodiment can be referred to the description in any method embodiment of this application.

[0095] Example 4

[0096] Figure 5 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 5As 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.

[0097] 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.

[0098] 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 sled mode control method of a fitness device.

[0099] In some embodiments, the bobsleigh mode control method for the fitness device can 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 can 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 bobsleigh mode control method for the fitness device described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the bobsleigh mode control method for the fitness device by any other suitable means (e.g., by means of firmware).

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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).

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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 method for controlling the sled mode of a fitness device, characterized in that, The method includes: Obtain the target training weight for the target fitness equipment; Determine the expected value of the torque current based on the target training weight; Based on the expected torque current value, determine the three-phase AC voltage of the target fitness equipment; Based on the three-phase AC voltage, the target fitness equipment is controlled in a sled-pulling mode.

2. The method according to claim 1, characterized in that, Based on the target training weight, determine the expected value of the torque current, including: The weight-to-current conversion coefficient is determined based on the motor torque constant, transmission efficiency coefficient, and cable reel radius corresponding to the target fitness equipment. The expected value of torque current is determined based on the target training weight and the weight current conversion coefficient.

3. The method according to claim 1, characterized in that, Based on the expected torque current value, the three-phase AC voltage of the target fitness equipment is determined, including: Obtain the expected value of the excitation current, the actual value of the excitation current, and the actual value of the torque current corresponding to the target fitness equipment; The expected value of torque current and the actual value of torque current are calculated by a proportional-integral (PI) controller to obtain the quadrature-axis voltage setpoint of the target fitness equipment. The expected value of the excitation current and the actual value of the excitation current are calculated by a PI controller to obtain the direct-axis voltage setpoint of the target fitness equipment. The three-phase AC voltage of the target fitness equipment is determined based on the given values ​​of the quadrature-axis voltage and the direct-axis voltage.

4. The method according to claim 3, characterized in that, Obtaining the actual values ​​of the excitation current and torque current corresponding to the target fitness equipment includes: Obtain the three-phase current of the motor corresponding to the target fitness equipment, and perform Clarke transformation on the three-phase current of the motor to obtain the first current component and the second current component in the two-phase stationary coordinate system. Obtain the actual rotor position of the motor corresponding to the target fitness equipment, and perform Parker transformation on the actual rotor position of the motor, the first current component and the second current component to obtain the actual value of the excitation current and the actual value of the torque current corresponding to the target fitness equipment.

5. The method according to claim 3, characterized in that, Determining the three-phase AC voltage of the target fitness equipment based on the given quadrature-axis voltage and the given direct-axis voltage includes: The first voltage component and the second voltage component in the stationary coordinate system are obtained by performing an inverse Park transformation on the quadrature-axis voltage setpoint and the direct-axis voltage setpoint. The switching signal of the inverter bridge is obtained by performing space vector pulse width modulation on the first voltage component and the second voltage component; The three-phase AC voltage is determined based on the switching signals of the inverter bridge.

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; When a rope return operation triggered by the trainee on the target fitness equipment is detected, the rope return control of the target fitness equipment is performed based on the target rope return speed until the motor rotor on the target fitness equipment rotates to the reference angle corresponding to the training starting point, at which point the rope return stops.

7. A sled-pulling mode control device for fitness equipment, characterized in that, The device includes: The target training weight acquisition module is used to acquire the target training weight of the target fitness equipment. The torque current expectation value determination module is used to determine the torque current expectation value based on the target training weight; The three-phase AC voltage determination module is used to determine the three-phase AC voltage of the target fitness equipment based on the expected torque current value. The sled mode control module is used to control the target fitness equipment in sled mode 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 sled mode control method for 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 sled mode control method for the fitness equipment 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 sled mode control method for the fitness equipment according to any one of claims 1-6.

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