Elastic damping resistance generation method, electronic device, storage medium, and program

Abstract

This invention discloses a method, electronic device, storage medium, and program for generating elastic damping resistance. The method includes: acquiring elastic damping control correlation parameters of a target device; inputting the elastic damping control correlation parameters of the target device into a second-order virtual spring damping model of the target device; and solving the second-order virtual spring damping model of the target device to obtain the target elastic damping resistance of the target device. The technical solution of this invention can achieve stable output of the elastic damping resistance of the device, thereby improving the control accuracy of the device and the user experience.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of equipment control technology, and in particular to a method for generating elastic damping resistance, an electronic device, a storage medium, and a program. Background Technology

[0002] In smart fitness, rehabilitation training, and flexible resistance training scenarios such as Pilates, motor-loaded resistance equipment is gradually replacing traditional resistance devices such as counterweights, springs, and elastic bands, becoming the mainstream technical solution due to its advantages such as adjustable resistance, fast response, and digital control.

[0003] Existing motor-loaded resistance devices typically employ control strategies such as constant weight (constant force) output, centrifugal resistance output, or assist compensation to achieve basic resistance loading functionality. However, in applications requiring the simulation of progressive resistance from Pilates springs or elastic bands, or the damping characteristics of equipment cushioning, directly mapping displacement to resistance linearly results in a step-like jump in resistance with displacement. This leads to a harsh, impactful experience for the user, failing to replicate the smooth, progressive characteristics of flexible damping. Furthermore, when the user's movement speed is high, or when rebound or reversal occurs during movement, the control system is prone to torque oscillations and unstable output, affecting training feel and safety, and failing to meet the simulation requirements for high precision and high compliance. Summary of the Invention

[0004] This invention provides a method, apparatus, electronic device, storage medium, and program for generating elastic damping resistance, which can achieve stable output of the elastic damping resistance of the device, thereby improving the control accuracy of the device and the user experience.

[0005] According to one aspect of the present invention, a method for generating elastic damping resistance is provided, comprising: Obtain the elastic damping control-related parameters of the target device; The elastic damping control correlation parameters of the target device are input into the second-order virtual spring damping model of the target device; The target elastic damping resistance of the target device is obtained by solving the second-order virtual spring damping model of the target device.

[0006] According to another aspect of the present invention, an elastic damping resistance generating device is provided, comprising: The elastic damping control correlation parameter acquisition module is used to acquire the elastic damping control correlation parameters of the target device. The elastic damping control correlation parameter input module is used to input the elastic damping control correlation parameters of the target device into the second-order virtual spring damping model of the target device; The target elastic damping resistance solution module is used to solve the second-order virtual spring damping model of the target device to obtain the target elastic damping resistance of the target device.

[0007] According to another aspect of the present invention, an electronic device is provided, 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 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 elastic damping resistance generation method according to any embodiment of the present invention.

[0008] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the elastic damping resistance generation method according to any embodiment of the present invention.

[0009] According to another aspect of the present invention, a computer program product is also provided, comprising a computer program that, when executed by a processor, implements the elastic damping resistance generation method according to any embodiment of the present invention.

[0010] This invention obtains the elastic damping control correlation parameters of the target device and inputs these parameters into the second-order virtual spring damping model of the target device. Furthermore, the second-order virtual spring damping model of the target device is solved to obtain the target elastic damping resistance. This solution addresses the problems of existing motor-loaded resistance devices being unable to smoothly simulate flexible progressive damping, and prone to resistance jumps and torque oscillations. It enables stable output of the device's elastic damping resistance, thereby improving the control accuracy of the device and the user experience.

[0011] 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

[0012] 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.

[0013] Figure 1This is a flowchart of an elastic damping resistance generation method provided in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of an elastic damping resistance generating device provided in Embodiment 2 of the present invention; Figure 3 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. Detailed Implementation

[0014] 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.

[0015] It should be noted that the terms "first," "second," "initial," and "target," etc., used 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 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 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.

[0016] Example 1 Figure 1 This is a flowchart of an elastic damping resistance generation method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where the elastic damping control correlation parameters of a device are input into a second-order virtual spring damping model of the device to solve for the elastic damping resistance of the device. This method can be executed by an elastic damping resistance generation device, which can be implemented by software and / or hardware, and is generally integrated into an electronic device. This electronic device can be a device based on motor-driven output resistance, or it can be a control device with control functions for the device, as long as it can execute the elastic damping resistance generation method. The embodiments of the present invention do not limit the specific type of electronic device. Accordingly, as... Figure 1 As shown, the method includes the following operations: S110. Obtain the elastic damping control associated parameters of the target device.

[0017] The target device can be a device that outputs resistance based on a motor drive. For example, the target device can be a smart fitness device, a Pilates device, or a rehabilitation training device, etc. This embodiment of the invention does not limit the specific type of the target device. The elastic damping control associated parameters can be parameters related to the output elastic damping resistance of the target device. For example, the elastic damping control associated parameters can include, but are not limited to, the current position information and current speed information of the target device's power actuator, as well as the target device's preset training resistance, stiffness data, and damping coefficient, etc. This embodiment of the invention does not limit the specific data included in the elastic damping control associated parameters.

[0018] In this embodiment of the invention, in order to make the target device output a stable elastic damping resistance, the elastic damping control correlation parameters of the target device can first be obtained as a reference for determining the output magnitude of the elastic damping resistance of the target device.

[0019] In an optional embodiment of the present invention, obtaining the elastic damping control correlation parameters of the target device may include: obtaining the current position information and current speed information of the power actuator of the target device; obtaining the preset training resistance and initial stiffness parameters of the target device; constraining the initial stiffness parameters of the target device according to a preset stiffness threshold to obtain the stiffness data of the target device; determining the damping coefficient of the target device according to the stiffness data, damping ratio, and virtual mass of the target device; and using the current position information and current speed information of the power actuator of the target device, as well as the preset training resistance, stiffness data, and damping coefficient of the target device, as the elastic damping control correlation parameters of the target device.

[0020] The power actuator can be a complete set of mechanical and transmission components in the target device that converts the power of the motor into pulling, pushing, resisting, or displacement outputs that can be trained by the user. Current position information can be the position information of the power actuator at the current moment. Current speed information can be the speed information of the power actuator at the current moment. Preset training resistance can be the pre-set basic output resistance of the target device. Initial stiffness parameters can be stiffness parameter data set by the user or issued by the host computer. Preset stiffness threshold can be a pre-set threshold value for the stiffness parameters. For example, the preset stiffness threshold can be... This embodiment of the invention does not limit the specific value of the preset stiffness threshold. It is understood that the unit of the preset stiffness threshold is 1b / m. The stiffness data can be obtained after constraining the initial stiffness parameters of the target device. The damping ratio can be a dimensionless parameter describing the rate of vibration decay in the control system. The virtual mass can be a pre-set constant used to simulate the characteristics of a virtual spring. For example, the virtual mass can be 1.0 kg, and this embodiment of the invention does not limit the specific value of the virtual mass. The damping coefficient can be a coefficient used to characterize the proportional relationship between damping resistance and motion speed.

[0021] In this embodiment of the invention, when acquiring the elastic damping control correlation parameters of the target device, it can first be determined whether the target device is in operation and in elastic mode. Further, when it is determined that the target device is in operation and in elastic mode, the current position information of the target device's power actuator can be acquired through the target device's built-in displacement acquisition module, and the current speed information of the target device's power actuator can be acquired through the target device's built-in speed acquisition module. Simultaneously, the preset training resistance and the initial stiffness parameters issued by the user or host computer can be acquired. It should be noted that the preset training resistance can be the minimum resistance required to pull the power actuator, or it can be a resistance value set by the user based on their own training needs.

[0022] It should be noted that the initial stiffness parameters issued by the user or host computer may exceed the hardware performance range of the target device. Therefore, a corresponding preset stiffness threshold can be pre-set based on the hardware configuration of the target device. Based on this, the initial stiffness parameters of the target device can be constrained according to the preset stiffness threshold, thereby limiting the stiffness data of the target device within the device's physical capabilities and safety thresholds. This facilitates the calibration of the feel of different springs while preventing parameters from exceeding limits, which could lead to instability in the control system or hardware damage, ensuring the safety and stability of the elastic damping resistance output. In a specific example, the stiffness data of the target device can be determined based on the following formula: ; in, For the stiffness data of the target equipment, These are the initial stiffness parameters of the target device. To preset the stiffness threshold, This is a clipping function that limits the initial stiffness parameters to a preset stiffness threshold range.

[0023] Furthermore, the damping coefficient of the target device can be determined based on the stiffness data, damping ratio, and virtual mass of the target device using the following formula, to ensure that the damping coefficient adapts to changes in stiffness: ; in, The damping coefficient of the target device. For virtual quality, The damping ratio can be used to adjust the oscillation damping characteristics of the target equipment. By properly configuring the damping ratio, torque oscillations and resistance fluctuations during motion can be effectively suppressed, making the resistance output smoother and more stable, and improving the compliance and safety of the equipment. This can be set based on experience. For example, It can be 0.2, but this embodiment of the invention does not specify. The specific values ​​to be taken are limited.

[0024] After obtaining the above parameters, the current position and speed information of the target device's power actuator, as well as the target device's preset training resistance, stiffness data, and damping coefficient, can be used as the elastic damping control correlation parameters of the target device.

[0025] Optionally, when acquiring the current position information of the power actuator of the target device, if the acquired current position information is negative, the position offset update mechanism can be triggered to force the current position information to zero, or to correct it by offset to return it to a reasonable physical range, thereby eliminating the negative value anomaly from the source and ensuring that subsequent virtual displacement calculation, resistance output and other links are always based on effective and reliable position data, thereby improving the stability of the control system and the user training experience.

[0026] In an optional embodiment of the present invention, the target device includes a dual-channel mode device; the step of obtaining the current position information and current speed information of the power actuator of the target device may include: obtaining the first position information and first speed information of the power actuator of the first channel in the dual-channel mode device as the current position information and current speed information of the dual-channel mode device; and / or, obtaining the second position information and second speed information of the power actuator of the second channel in the dual-channel mode device as the current position information and current speed information of the dual-channel mode device.

[0027] The dual-channel mode device can be configured with two independent resistance systems that can be controlled in parallel or independently. The dual-channel mode device supports both single-sided precision training and bilateral collaborative training. For example, the dual-channel mode device may include, but is not limited to, a first channel and a second channel; this embodiment of the invention does not limit the specific structure of the dual-channel mode device. The dual-channel mode device may include, but is not limited to, a dual-rail strength trainer, a dual-channel strength detection device, and a dual-rail seated rowing machine; this embodiment of the invention does not limit the specific type of dual-channel mode device. The first position information can be the position information of the power actuator of the first channel in the dual-channel mode device at the current moment. The first speed information can be the speed information of the power actuator of the first channel in the dual-channel mode device at the current moment. The second position information can be the position information of the power actuator of the second channel in the dual-channel mode device at the current moment. The second speed information can be the speed information of the power actuator of the second channel in the dual-channel mode device at the current moment.

[0028] In this embodiment of the invention, the dual-channel mode device, employing left and right handles and double pull ropes, is prone to abnormal resistance output due to residual historical states when starting or stopping on one side or when the movements on both sides are asynchronous. Therefore, to achieve stable output of elastic damping resistance in the dual-channel mode device, when the first channel is enabled, the first position and first speed information of the power actuator in the first channel can be obtained as the current position and current speed information of the dual-channel mode device. Similarly, when the second channel is enabled, the second position and second speed information of the power actuator in the second channel can be obtained as the current position and current speed information of the dual-channel mode device. It should be noted that the first and second channels are independent and do not affect each other. The elastic damping resistance generation method provided in this embodiment of the invention can independently calculate the elastic damping resistance of the first and second channels of the dual-channel mode device.

[0029] Optionally, if one channel of the dual-channel mode device is not enabled, the output resistance corresponding to that channel can be set to static weight or zero, and the internal state of that channel can be cleared to avoid historical residual output when the channel is re-enabled, thereby ensuring the smoothness of the elastic damping resistance output of the control system.

[0030] In an optional embodiment of the present invention, the target device includes a combined mode device; obtaining the current position information and current speed information of the power actuator of the target device may include: obtaining the first initial position information and the first initial speed information of the first operating end of the power actuator in the combined mode device; obtaining the second initial position information and the second initial speed information of the second operating end of the power actuator in the combined mode device; calculating the average value of the first initial position information and the second initial position information to obtain the current position information of the combined mode device; and calculating the average value of the first initial speed information and the second initial speed information to obtain the current speed information of the combined mode device.

[0031] The combined mode device can be a device that fuses the motion displacements of both sides, ensuring that the output resistance on both sides is consistent and synchronously stable. For example, the combined mode device may include, but is not limited to, a first operating end and a second operating end, etc. This embodiment of the invention does not limit the specific structure of the combined mode device. The combined mode device may include, but is not limited to, intelligent barbells, combined elliptical trainers, and combined rehabilitation training tables, etc. This embodiment of the invention does not limit the specific type of the combined mode device. The first initial position information can be the position information of the first operating end of the power actuator in the combined mode device at the current moment, which can be directly obtained. The first initial velocity information can be the velocity information of the first operating end of the power actuator in the combined mode device at the current moment, which can be directly obtained. The second initial position information can be the position information of the second operating end of the power actuator in the combined mode device at the current moment, which can be directly obtained. The second initial velocity information can be the velocity information of the second operating end of the power actuator in the combined mode device at the current moment, which can be directly obtained.

[0032] In this embodiment of the invention, the combined mode device employing a barbell or crossbar structure needs to fuse the displacements on both sides and maintain consistent resistance during use. Therefore, to achieve a stable output of elastic damping resistance in the combined mode device, the first initial position information and the first initial velocity information of the first operating end of the power actuator in the combined mode device, as well as the second initial position information and the second initial velocity information of the second operating end of the power actuator in the combined mode device, can be obtained respectively. Based on this, the average value of the first initial position information and the second initial position information can be calculated as the current position information of the combined mode device. Simultaneously, the average value of the first initial velocity information and the second initial velocity information can be calculated as the current velocity information of the combined mode device.

[0033] S120. Input the elastic damping control correlation parameters of the target device into the second-order virtual spring damping model of the target device.

[0034] Among them, the second-order virtual spring-damping model can be a pre-constructed virtual particle-spring-damping second-order dynamic model.

[0035] Specifically, a second-order virtual spring-damping model can be pre-constructed for various target devices. This model does not calculate resistance based on the measured current position information of the target device. Instead, it uses the current position information as the target position / external excitation, and through dynamic approximation using a second-order system, obtains a smooth internal state of the control system. This state is then converted into a real-time output elastic damping resistance. In other words, the elastic damping control correlation parameters of the target device are used as input to the second-order virtual spring-damping model, which then outputs a smooth elastic damping resistance. Therefore, after obtaining the elastic damping control correlation parameters of the target device, these parameters can be input into the second-order virtual spring-damping model. By solving the second-order virtual spring-damping model, the target elastic damping resistance of the target device can be determined.

[0036] In an optional embodiment of the present invention, the second-order virtual spring damping model of the target device may include: ; ; ; ; in, The acceleration information of the target device. The stiffness data of the target device. This refers to the current location information of the target device; This represents the virtual displacement state of the target device at the current moment. Let be the damping coefficient of the target device. This refers to the virtual speed state of the target device at the current moment. This represents the virtual velocity state of the target device at the next sampling moment. The sampling period is This represents the virtual displacement state of the target device at the next sampling moment. This refers to the current speed information of the target device.

[0037] It should be noted that, except at the moment of entering or exiting the target device's elastic mode, the virtual speed state can be considered equal to the current speed information.

[0038] Understandably, the above-mentioned second-order virtual spring damping model is discretized using the Euler method. Optionally, trapezoidal integral or bilinear transform methods can be used for discretization to improve numerical stability.

[0039] S130. Solve the second-order virtual spring damping model of the target device to obtain the target elastic damping resistance of the target device.

[0040] Among them, the target elastic damping resistance can be the smooth elastic damping resistance output in real time by the target device.

[0041] Specifically, after inputting the elastic damping control parameters of the target device into the second-order virtual spring damping model of the target device, the model can be solved and dynamically analyzed to obtain the target elastic damping resistance that truly reflects the current motion state of the target device. Based on this, the solved target elastic damping resistance can be used as the control target. According to a preset torque-current mapping relationship or control algorithm, the torque and current of the target device can be adjusted and corrected in real time, ensuring that the actual damping force output by the target device tracks and approximates the target elastic damping resistance, thereby ensuring that the target device stably and accurately outputs the expected elastic damping effect.

[0042] Therefore, the elastic damping resistance generation method provided in this embodiment of the invention determines the target elastic damping resistance that matches the current motion state of the target device by inputting the elastic damping control correlation parameters of the target device into the second-order virtual spring damping model of the target device and solving the second-order virtual spring damping model. This accurately matches the real-time damping requirements of the target device under different motion speeds, displacements, and motion trends, significantly improving the dynamic response speed and control accuracy of the resistance output. Simultaneously, by solving and updating the target elastic damping resistance in real time based on the current motion state, dynamic adaptive adjustment of the elastic damping can be achieved, providing stable and delicate damping effects in different motion stages such as acceleration, constant speed, deceleration, and reversal, improving the smoothness and comfort of the user experience. Furthermore, this method does not rely on complex hardware structure modifications; it can achieve high-precision elastic damping resistance generation solely through model calculations. While reducing the control complexity and hardware cost of the control system, it improves the versatility and portability of the resistance generation scheme, making it suitable for various motion devices or resistance output devices that require simulation of elastic damping effects, and possessing strong practicality and engineering application value.

[0043] In an optional embodiment of the present invention, solving the second-order virtual spring damping model of the target device to obtain the target elastic damping resistance of the target device may include: solving the second-order virtual spring damping model of the target device to obtain the elastic resistance and damping resistance of the target device; summing the preset training resistance, the elastic resistance, and the damping resistance to obtain the initial elastic damping resistance of the target device; and constraining the initial elastic damping resistance according to a preset elastic damping resistance threshold to obtain the target elastic damping resistance of the target device.

[0044] Elastic resistance can be the restoring force generated by the target device when it undergoes elastic deformation or displacement, which is opposite to the direction of displacement and its magnitude changes positively with the amount of displacement. Damping resistance can be the resistance generated by the medium, structure, or control system during the movement of the power actuator, which is related to the speed of movement and opposite to the direction of movement. Initial elastic damping resistance can be the elastic damping resistance obtained by summing the preset training resistance, elastic resistance, and damping resistance. The preset elastic damping resistance threshold can be a pre-set range of elastic damping resistance adapted to the hardware configuration of the target device.

[0045] In this embodiment of the invention, in the process of solving the second-order virtual spring damping model of the target device to obtain the target elastic damping resistance of the target device, the virtual displacement state of the target device at the current moment can first be obtained by solving the second-order virtual spring damping model of the target device. And the virtual speed state of the target device at the current moment Furthermore, the virtual displacement state can be calculated. and stiffness data The product of these factors is used as elastic drag to calculate the virtual velocity state. and damping coefficient The product of these three factors serves as the damping resistance. After obtaining the elastic resistance and damping resistance of the target device, the initial elastic damping resistance of the target device can be obtained by summing the preset training resistance, elastic resistance, and damping resistance based on the following formula: ; in, The initial elastic damping resistance of the target equipment. Preset training resistance.

[0046] Based on this, the initial elastic damping resistance can be constrained according to the preset elastic damping resistance threshold using the following formula, thereby obtaining the target elastic damping resistance of the target device: ; in, The target elastic damping resistance of the target equipment. To preset the elastic damping resistance threshold, This is a trimming function, its purpose is to limit the initial elastic damping resistance within a preset elastic damping resistance threshold, ensuring that the target elastic damping resistance is compatible with the target device's hardware configuration and always operates within a safe range. For example, The maximum and minimum resistance values ​​can be set according to the target device's supported output.

[0047] In an optional embodiment of the present invention, the elastic damping resistance generation method may further include: when it is determined that the target device is in the initial start-up state of elastic mode, aligning the virtual displacement state at the current moment to the position information of the target device, and aligning the virtual velocity state at the current moment to the velocity information of the target device; when it is determined that the target device is in a non-operating state, a channel prohibited state, or an elastic mode exit state, setting both the virtual displacement state at the current moment and the virtual velocity state at the current moment to zero.

[0048] Among them, the elastic mode can be a dynamically variable resistance mode.

[0049] Specifically, to avoid abrupt state changes when initially entering the target device's elastic mode, alignment initialization can be performed after the first entry into elastic mode or after a reset operation. This involves aligning the current virtual displacement state with the actual position information of the target device, and aligning the current virtual velocity state with the actual velocity information of the target device. When the target device is in a non-operating state, a channel-prohibited state, or an elastic mode exit state, a reset operation can be performed on the target device, setting both the current virtual displacement and virtual velocity states to zero. This prevents historical input from being displayed in subsequent uses. Simultaneously, the uninitialized flag can be reset to prompt the control system to perform alignment initialization upon the next entry into elastic mode. Optionally, when performing motion locking, posture calibration, or training mode switching, users need to define the current position as the "natural length" or "zero point" of the elastic resistance and restart the resistance calculation based on this. Without a flexible zero-point setting mechanism, the precise control requirements in such scenarios cannot be met. Therefore, to adapt to usage scenarios such as locking or calibration, the zero point can be flexibly set. Convert the original position to a relative displacement: ; in, This is relative displacement. This is the current location information. To preset the zero point, Unit conversion factor.

[0050] In a specific example, a zero-point storage interface can be provided to support snapshot saving of the zero point of the target device's power actuator within lock-up related instructions. This zero point can serve as a reference benchmark for the spring's "natural length," ensuring that the elastic resistance is always calculated from the user's desired position, thereby avoiding resistance deviations caused by different initial user positions and ensuring the consistency and comparability of training data.

[0051] This invention obtains the elastic damping control correlation parameters of the target device and inputs these parameters into the second-order virtual spring damping model of the target device. Furthermore, the second-order virtual spring damping model of the target device is solved to obtain the target elastic damping resistance. This solution addresses the problems of existing motor-loaded resistance devices being unable to smoothly simulate flexible progressive damping, and prone to resistance jumps and torque oscillations. It enables stable output of the device's elastic damping resistance, thereby improving the control accuracy of the device and the user experience.

[0052] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information in this technical solution comply with relevant laws and regulations and do not violate public order and good morals.

[0053] It should be noted that all information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) involved in this disclosure are information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data comply with the relevant laws, regulations and standards of the relevant regions.

[0054] It should be noted that any arrangement or combination of the technical features in the above embodiments also falls within the protection scope of this invention.

[0055] Example 2 Figure 2 This is a schematic diagram of an elastic damping resistance generating device provided in Embodiment 2 of the present invention, as shown below. Figure 2 As shown, the device includes: an elastic damping control correlation parameter acquisition module 210, an elastic damping control correlation parameter input module 220, and a target elastic damping resistance solution module 230, wherein: The elastic damping control associated parameter acquisition module 210 is used to acquire the elastic damping control associated parameters of the target device.

[0056] The elastic damping control correlation parameter input module 220 is used to input the elastic damping control correlation parameters of the target device into the second-order virtual spring damping model of the target device.

[0057] The target elastic damping resistance solution module 230 is used to solve the second-order virtual spring damping model of the target device to obtain the target elastic damping resistance of the target device.

[0058] This invention obtains the elastic damping control correlation parameters of the target device and inputs these parameters into the second-order virtual spring damping model of the target device. Furthermore, the second-order virtual spring damping model of the target device is solved to obtain the target elastic damping resistance. This solution addresses the problems of existing motor-loaded resistance devices being unable to smoothly simulate flexible progressive damping, and prone to resistance jumps and torque oscillations. It enables stable output of the device's elastic damping resistance, thereby improving the control accuracy of the device and the user experience.

[0059] Optionally, the elastic damping control correlation parameter acquisition module 210 is specifically used for: acquiring the current position information and current speed information of the power actuator of the target device; acquiring the preset training resistance and initial stiffness parameters of the target device; constraining the initial stiffness parameters of the target device according to the preset stiffness threshold to obtain the stiffness data of the target device; determining the damping coefficient of the target device according to the stiffness data, damping ratio and virtual mass of the target device; and using the current position information and current speed information of the power actuator of the target device, as well as the preset training resistance, stiffness data and damping coefficient of the target device, as the elastic damping control correlation parameters of the target device.

[0060] Optionally, the target device includes a dual-channel mode device; the elastic damping control associated parameter acquisition module 210 is further configured to: acquire the first position information and the first speed information of the power actuator of the first channel in the dual-channel mode device, as the current position information and current speed information of the dual-channel mode device; and / or, acquire the second position information and the second speed information of the power actuator of the second channel in the dual-channel mode device, as the current position information and current speed information of the dual-channel mode device.

[0061] Optionally, the target device includes a combined mode device; the elastic damping control associated parameter acquisition module 210 is further configured to: acquire first initial position information and first initial velocity information of the first operating end of the power actuator in the combined mode device; acquire second initial position information and second initial velocity information of the second operating end of the power actuator in the combined mode device; calculate the average value of the first initial position information and the second initial position information to obtain the current position information of the combined mode device; calculate the average value of the first initial velocity information and the second initial velocity information to obtain the current velocity information of the combined mode device.

[0062] Optionally, the second-order virtual spring damping model of the target device may include: ; ; ; ; in, The acceleration information of the target device. The stiffness data of the target device. This refers to the current location information of the target device; This represents the virtual displacement state of the target device at the current moment. Let be the damping coefficient of the target device. This refers to the virtual speed state of the target device at the current moment. This represents the virtual velocity state of the target device at the next sampling moment. The sampling period is This represents the virtual displacement state of the target device at the next sampling moment. This refers to the current speed information of the target device.

[0063] Optionally, the target elastic damping resistance solving module 230 is specifically used to: solve the second-order virtual spring damping model of the target device to obtain the elastic resistance and damping resistance of the target device; sum the preset training resistance, the elastic resistance and the damping resistance to obtain the initial elastic damping resistance of the target device; and constrain the initial elastic damping resistance according to the preset elastic damping resistance threshold to obtain the target elastic damping resistance of the target device.

[0064] Optionally, the above-mentioned device may further include an alignment reset module, used to align the current virtual displacement state to the position information of the target device and the current virtual speed state to the speed information of the target device when it is determined that the target device is in the initial startup state of elastic mode; and to set both the current virtual displacement state and the current virtual speed state to zero when it is determined that the target device is in a non-operating state, a channel prohibited state, or an elastic mode exit state.

[0065] The above-described elastic damping resistance generating device can execute the elastic damping resistance generating method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in this embodiment can be found in the elastic damping resistance generating method provided in any embodiment of the present invention.

[0066] Since the elastic damping resistance generating device described above is an apparatus capable of executing the elastic damping resistance generating method in the embodiments of the present invention, those skilled in the art can understand the specific implementation and various variations of the elastic damping resistance generating device in this embodiment based on the elastic damping resistance generating method described in the embodiments of the present invention. Therefore, how the elastic damping resistance generating device implements the elastic damping resistance generating method in the embodiments of the present invention will not be described in detail here. Any apparatus used by those skilled in the art to implement the elastic damping resistance generating method in the embodiments of the present invention falls within the scope of protection of this application.

[0067] Example 3 Figure 3 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0068] like Figure 3 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.

[0069] 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.

[0070] 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 elastic damping resistance generation method.

[0071] In some embodiments, the elastic damping resistance generation method 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 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 elastic damping resistance generation method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the elastic damping resistance generation method by any other suitable means (e.g., by means of firmware).

[0072] Optionally, the method for generating elastic damping resistance may include: obtaining elastic damping control correlation parameters of the target device; inputting the elastic damping control correlation parameters of the target device into the second-order virtual spring damping model of the target device; solving the second-order virtual spring damping model of the target device to obtain the target elastic damping resistance of the target device.

[0073] 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), payload-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.

[0074] 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.

[0075] 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.

[0076] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); 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).

[0077] 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.

[0078] 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.

[0079] This application also discloses a computer program product, which includes a computer program that, when executed by a processor, implements the elastic damping resistance generation method provided in any embodiment of this application. This program product shares the same inventive concept as the elastic damping resistance generation method disclosed in the embodiments of this application, and therefore will not be described in detail here.

[0080] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0081] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. 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 disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for generating elastic damping resistance, characterized in that, include: Obtain the elastic damping control-related parameters of the target device; The elastic damping control correlation parameters of the target device are input into the second-order virtual spring damping model of the target device; The target elastic damping resistance of the target device is obtained by solving the second-order virtual spring damping model of the target device.

2. The method according to claim 1, characterized in that, The acquisition of elastic damping control correlation parameters of the target device includes: Obtain the current position and speed information of the power actuator of the target device; Obtain the preset training resistance and initial stiffness parameters of the target device; The initial stiffness parameters of the target device are constrained according to a preset stiffness threshold to obtain the stiffness data of the target device; The damping coefficient of the target device is determined based on the stiffness data, damping ratio, and virtual mass of the target device. The current position and speed information of the power actuator of the target device, as well as the preset training resistance, stiffness data and damping coefficient of the target device, are used as the elastic damping control correlation parameters of the target device.

3. The method according to claim 2, characterized in that, The target device includes a dual-channel mode device; obtaining the current position information and current speed information of the power actuator of the target device includes: Obtain the first position information and first speed information of the power actuator in the first channel of the dual-channel mode device, and use them as the current position information and current speed information of the dual-channel mode device; and / or The second position information and second speed information of the power actuator of the second channel in the dual-channel mode device are obtained as the current position information and current speed information of the dual-channel mode device.

4. The method according to claim 2, characterized in that, The target device includes a combined mode device; obtaining the current position information and current speed information of the power actuator of the target device includes: Obtain the first initial position information and the first initial velocity information of the first operating end of the power actuator in the combined mode device; Obtain the second initial position information and the second initial velocity information of the second operating end of the power actuator in the combined mode device; Calculate the average of the first initial position information and the second initial position information to obtain the current position information of the combined mode device; The average value of the first initial speed information and the second initial speed information is calculated to obtain the current speed information of the combined mode device.

5. The method according to claim 2, characterized in that, The second-order virtual spring damping model of the target device includes: ； ； ； ； in, The acceleration information of the target device. The stiffness data of the target device. This refers to the current location information of the target device; This represents the virtual displacement state of the target device at the current moment. Let be the damping coefficient of the target device. This refers to the virtual speed state of the target device at the current moment. This represents the virtual velocity state of the target device at the next sampling moment. The sampling period is This represents the virtual displacement state of the target device at the next sampling moment. This refers to the current speed information of the target device.

6. The method according to claim 1, characterized in that, Solving the second-order virtual spring damping model of the target device to obtain the target elastic damping resistance of the target device includes: Solving the second-order virtual spring-damped model of the target device yields the elastic resistance and damping resistance of the target device. The initial elastic damping resistance of the target device is obtained by summing the preset training resistance, the elastic resistance, and the damping resistance. The initial elastic damping resistance is constrained according to a preset elastic damping resistance threshold to obtain the target elastic damping resistance of the target device.

7. The method according to claim 5, characterized in that, The method further includes: When it is determined that the target device is in the initial startup state of elastic mode, the virtual displacement state at the current moment is aligned with the position information of the target device, and the virtual velocity state at the current moment is aligned with the velocity information of the target device; If it is determined that the target device is in a non-operating state, a channel-prohibited state, or a state where the elastic mode is exited, the virtual displacement state and the virtual speed state at the current moment are both set to zero.

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 is executed by the at least one processor to enable the at least one processor to perform the elastic damping resistance generation method according to any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the elastic damping resistance generation method according to any one of claims 1-7.

10. A computer program product, characterized in that, Includes a computer program / instruction, wherein when the computer program / instruction is executed by a processor, it implements the elastic damping resistance generation method according to any one of claims 1-7.

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