Massage chair motor speed regulation method, device and medium

Abstract

The present application relates to a massage chair motor speed regulation method, device and medium, belong to motor control technology field, including the following steps: obtaining the acceleration data of massage chair motor;Construct three-axis acceleration synthesis model and the acceleration data is as three-axis acceleration synthesis model input, output comprehensive acceleration;Based on the comprehensive acceleration obtains the motor speed of massage chair motor;Calculate the speed deviation of the motor speed and the reference speed, based on the deviation obtains the sliding mode surface;Based on the sliding mode surface adopts PID algorithm to obtain the PWM duty ratio of massage chair motor.The present application combines sliding mode variable structure control and adaptive PID algorithm, can real-time adjust control parameter according to the speed deviation, ensure that the motor speed is stable under various load conditions.

Description

Technical Field

[0001] This invention relates to a method, device, and medium for controlling the speed of a massage chair motor, belonging to the field of motor control technology. Background Technology

[0002] With the rapid development of the health care industry, massage chairs, as important physiotherapy equipment for relieving fatigue and promoting recovery, are increasingly demanding in terms of intelligence and comfort. The massage chair motor, as the core component driving the massage mechanism to perform kneading, tapping, and rubbing movements, directly affects the simulation of massage techniques and the user experience through the precision and stability of its speed control.

[0003] Currently, massage chair motor speed control mainly employs open-loop control based on Hall sensors or fixed-parameter PID closed-loop control. While open-loop control is inexpensive, it cannot compensate for actual load disturbances in real time, leading to large speed fluctuations and unstable massage intensity during sudden load changes. Fixed-parameter PID control, although possessing some feedback adjustment capability, struggles to balance dynamic response and steady-state accuracy requirements across different massage modes, easily exhibiting overshoot or response lag when switching between multiple operating conditions such as low-speed kneading and high-speed tapping. Therefore, a massage chair motor speed control method incorporating a sliding mode variable structure control and adaptive PID fusion strategy is urgently needed. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention proposes a method, device, and medium for controlling the speed of a massage chair motor.

[0005] The technical solution of the present invention is as follows: On one hand, the present invention provides a method for controlling the speed of a massage chair motor, comprising the following steps: Obtain the acceleration data of the massage chair motor; A triaxial acceleration synthesis model is constructed, and the acceleration data is used as the input to the triaxial acceleration synthesis model to output the composite acceleration. The motor speed of the massage chair motor is obtained based on the comprehensive acceleration. Calculate the speed deviation between the motor speed and the reference speed, and obtain the sliding surface based on the deviation; The PWM duty cycle of the massage chair motor is obtained using a PID algorithm based on the sliding surface. The PID algorithm employs an adaptive parameter mechanism.

[0006] Preferably, the acceleration data is acquired using a QMA6100P triaxial accelerometer.

[0007] Preferably, the triaxial acceleration synthesis model is expressed by the following formula: ; In the formula, This indicates the overall acceleration of the massage chair's motor. Indicates the massage chair motor is in Acceleration data in the axial direction, Indicates the massage chair motor is in Acceleration data in the axial direction, Indicates the massage chair motor is in Acceleration data in the axial direction, It represents the acceleration due to gravity.

[0008] Preferably, the motor speed of the massage chair motor is obtained based on the comprehensive acceleration, expressed by the formula: ; In the formula, This indicates the motor speed of the massage chair. , , , This represents the fitting coefficient.

[0009] Preferably, the sliding surface is obtained based on the rotational speed deviation, and the specific steps are as follows: Preset reference speed; The speed deviation between the motor speed and the reference speed is calculated and expressed by the formula: ; In the formula, Indicates the speed deviation. Indicates the reference speed; The sliding surface is obtained based on the aforementioned rotational speed deviation, expressed by the following formula: ; In the formula, Indicates the sliding surface. , , Indicates the parameters of the sliding surface. Represents a symbolic function. Indicates time.

[0010] Preferably, the PWM duty cycle of the massage chair motor is obtained using a PID algorithm based on the sliding surface, expressed by the formula: ; In the formula, This indicates the PWM duty cycle of the massage chair motor. Indicates the initial PWM duty cycle. This represents the proportionality coefficient. Represents the integral coefficient. Denotes the differential coefficient. Represents the sliding surface Regarding time The rate of change.

[0011] Preferably, the proportionality coefficient is expressed by the formula: ; In the formula, Indicates the initial scaling factor. This represents the adaptive scaling factor; The integral coefficient is expressed by the formula: ; In the formula, Represents the initial integral coefficients. Indicates the adaptive coefficients of the integral; The differential coefficient is expressed by the formula: ; In the formula, Represents the initial differential coefficients. This represents the adaptive coefficient of the differential.

[0012] In another aspect, the present invention also provides an electronic device having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the massage chair motor speed control method as described in any embodiment of the present invention.

[0013] In another aspect, the present invention also provides a computer-readable storage medium for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the massage chair motor speed control method as described in any embodiment of the present invention.

[0014] The present invention has the following beneficial effects: 1. This invention integrates triaxial acceleration data to form a comprehensive acceleration index, which more accurately reflects the actual motion state of the motor and effectively eliminates errors in single-axis data.

[0015] 2. This invention combines sliding mode variable structure control with an adaptive PID algorithm, which can adjust control parameters in real time according to speed deviation, ensuring stable motor speed under various load conditions. This dynamic adjustment mechanism significantly improves the accuracy and stability of speed control, providing a more reliable and efficient drive solution for massage chairs and avoiding speed fluctuations or response lag problems that may occur in traditional control methods.

[0016] 3. This invention uses a sliding surface to quantify the deviation between the actual motor speed and the reference speed, constructing a dynamically adjustable control reference. When sudden load changes or massage mode switching cause speed fluctuations, the sliding surface can quickly capture the direction and trend of the deviation, providing a real-time adjustment basis for the PID algorithm. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the implementation of the method in an embodiment of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be understood that the step numbers used in the text are for ease of description only and are not intended to limit the order in which the steps are performed.

[0020] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0021] The terms “comprising” and “including” indicate the presence of the described feature, whole, step, operation, element and / or component, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0022] The term “and / or” refers to any combination of one or more of the associated listed items, as well as all possible combinations, and includes these combinations.

[0023] Example 1: See Figure 1 This invention provides a method for controlling the speed of a massage chair motor, comprising the following steps: Obtain the acceleration data of the massage chair motor; A triaxial acceleration synthesis model is constructed, and the acceleration data is used as the input to the triaxial acceleration synthesis model to output the composite acceleration. The motor speed of the massage chair motor is obtained based on the comprehensive acceleration. Calculate the speed deviation between the motor speed and the reference speed, and obtain the sliding surface based on the deviation; The PWM duty cycle of the massage chair motor is obtained using a PID algorithm based on the sliding surface. The PID algorithm employs an adaptive parameter mechanism.

[0024] PWM duty cycle controls the average voltage by rapidly switching the power supply. The higher the duty cycle, the higher the average voltage, and the faster the motor speed.

[0025] Preferably, the acceleration data is acquired using a QMA6100P triaxial accelerometer. This provides high-precision, high-real-time, and interference-resistant real-time motion state data of the motor for the sliding mode adaptive PID control algorithm.

[0026] Preferably, the triaxial acceleration synthesis model is expressed by the following formula: ; In the formula, This indicates the overall acceleration of the massage chair's motor. Indicates the massage chair motor is in Acceleration data in the axial direction, Indicates the massage chair motor is in Acceleration data in the axial direction, Indicates the massage chair motor is in Acceleration data in the axial direction, This represents the acceleration due to gravity. By subtracting the acceleration due to gravity, the influence of the installation position on the measurement results can be eliminated.

[0027] By constructing a triaxial acceleration synthesis model, the multi-axis, coupled raw acceleration data are fused into a physical quantity that can be normalized to characterize the true motion state of the motor, providing a stable and accurate input reference for subsequent speed estimation and closed-loop control algorithms.

[0028] The magnitude of the excitation force is proportional to the square of the rotational speed; therefore, the overall energy level of the vibration signal (manifested as the comprehensive acceleration amplitude) increases monotonically with increasing rotational speed. However, due to complex dynamic characteristics such as system damping and resonance peak shift, this increasing relationship is not a simple linear proportion, but a complex nonlinear function. Preferably, the motor speed of the massage chair motor is obtained based on the comprehensive acceleration, expressed by the formula: ; In the formula, This indicates the motor speed of the massage chair. , , , This represents the fitting coefficient, which is preset based on the experience of technical personnel.

[0029] In at least one embodiment, Set it to 800.0. Set it to 0.005. Set to 1.0. Set it to -200.0.

[0030] Preferably, the sliding surface is obtained based on the rotational speed deviation, and the specific steps are as follows: Preset reference speed; The speed deviation between the motor speed and the reference speed is calculated and expressed by the formula: ; In the formula, Indicates the speed deviation. Indicates the reference speed; The sliding surface is obtained based on the aforementioned rotational speed deviation, expressed by the following formula: ; In the formula, Indicates the sliding surface. , , The parameters of the sliding surface are preset based on the experience of technical personnel. Indicates the sign function, if the speed deviation If the speed deviation is greater than 0, output 1; if the speed deviation is greater than 0, output 1. If the value is less than 0, output -1; if the speed deviation is... If the value is 0, then output 0. Indicates time.

[0031] Sliding mode control is a highly robust nonlinear control method. Its core idea is to design a specific hyperplane (i.e., a sliding surface) to "pull" the system's state trajectory onto this surface and allow it to slide along this surface to the equilibrium point. The sliding surface function is the mathematical tool used to define this "surface".

[0032] The sliding surface design incorporates weighting coefficients and a sign function, transforming rotational speed deviations into structured control signals through nonlinear processing. The sign function's determination of the deviation direction ensures targeted PID parameter adjustments, while the weighting coefficients balance the control intensity at different deviation levels. This structure enables the system to more accurately eliminate minute deviations during steady-state operation, avoiding the accumulation of steady-state errors caused by parameter rigidity in fixed-parameter PID control. This improves the consistency of massage intensity and user comfort, ensuring a stable and reliable massage effect.

[0033] Preferably, the PWM duty cycle of the massage chair motor is obtained using a PID algorithm based on the sliding surface, expressed by the formula: ; In the formula, This indicates the PWM duty cycle of the massage chair motor. Indicates the initial PWM duty cycle. This represents the proportionality coefficient. Represents the integral coefficient. Denotes the differential coefficient. Represents the sliding surface Regarding time The rate of change.

[0034] Preferably, the proportionality coefficient is expressed by the formula: ; In the formula, Indicates the initial scaling factor. This represents the adaptive scaling factor; The integral coefficient is expressed by the formula: ; In the formula, Represents the initial integral coefficients. Indicates the adaptive coefficients of the integral; The differential coefficient is expressed by the formula: ; In the formula, Represents the initial differential coefficients. This represents the adaptive coefficient of the differential.

[0035] Example 2: This embodiment provides an electronic device that stores a computer program, which, when executed by a processor, implements the massage chair motor speed control method as described in any embodiment of the present invention.

[0036] Example 3: This embodiment provides a computer-readable storage medium for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the massage chair motor speed control method as described in any embodiment of the present invention.

[0037] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, A and B simultaneously, or B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0038] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of electronic hardware and software. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0039] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0040] In the several embodiments provided in this application, any function, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0041] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for controlling the speed of a massage chair motor, characterized in that, Includes the following steps: Obtain the acceleration data of the massage chair motor; A triaxial acceleration synthesis model is constructed, and the acceleration data is used as the input to the triaxial acceleration synthesis model to output the composite acceleration. The motor speed of the massage chair motor is obtained based on the comprehensive acceleration. Calculate the speed deviation between the motor speed and the reference speed, and obtain the sliding surface based on the deviation; The PWM duty cycle of the massage chair motor is obtained using a PID algorithm based on the sliding surface. The PID algorithm employs an adaptive parameter mechanism.

2. The massage chair motor speed control method according to claim 1, characterized in that, The triaxial acceleration synthesis model is expressed by the following formula: ； In the formula, This indicates the overall acceleration of the massage chair's motor. Indicates the massage chair motor is in Acceleration data in the axial direction, Indicates the massage chair motor is in Acceleration data in the axial direction, Indicates the massage chair motor is in Acceleration data in the axial direction, It represents the acceleration due to gravity.

3. The massage chair motor speed control method according to claim 2, characterized in that, The motor speed of the massage chair motor is obtained based on the comprehensive acceleration, and expressed by the formula: ； In the formula, This indicates the motor speed of the massage chair. , , , This represents the fitting coefficient.

4. The massage chair motor speed control method according to claim 3, characterized in that, The sliding surface is obtained based on the aforementioned rotational speed deviation. The specific steps are as follows: Preset reference speed; The speed deviation between the motor speed and the reference speed is calculated and expressed by the formula: ； In the formula, Indicates the speed deviation. Indicates the reference speed; The sliding surface is obtained based on the aforementioned rotational speed deviation, expressed by the following formula: ； In the formula, Indicates the sliding surface. , , Indicates the parameters of the sliding surface. Represents a symbolic function. Indicates time.

5. The massage chair motor speed control method according to claim 4, characterized in that, The PWM duty cycle of the massage chair motor is obtained using a PID algorithm based on the sliding surface, expressed by the formula: ； In the formula, This indicates the PWM duty cycle of the massage chair motor. Indicates the initial PWM duty cycle. This represents the proportionality coefficient. Represents the integral coefficient. Denotes the differential coefficient. Represents the sliding surface Regarding time The rate of change.

6. The massage chair motor speed control method according to claim 5, characterized in that, The proportionality coefficient is expressed by the formula: ； In the formula, Indicates the initial scaling factor. This represents the adaptive scaling factor; The integral coefficient is expressed by the formula: ； In the formula, Represents the initial integral coefficients. Indicates the adaptive coefficients of the integral; The differential coefficient is expressed by the formula: ； In the formula, Represents the initial differential coefficients. This represents the adaptive coefficient of the differential.

7. The massage chair motor speed control method according to claim 1, characterized in that, The acceleration data was acquired using a QMA6100P triaxial accelerometer.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the massage chair motor speed control method as described in any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the massage chair motor speed control method as described in any one of claims 1 to 7.

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