CN106730765B - The health-care bicycle of the stepless control of the mobile terminal Android/IOS APP is ridden bench control system - Google Patents
The health-care bicycle of the stepless control of the mobile terminal Android/IOS APP is ridden bench control system Download PDFInfo
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
- A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/16—Training appliances or apparatus for special sports for cycling, i.e. arrangements on or for real bicycles
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
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Abstract
A kind of health-care bicycle of the stepless control of the mobile terminal Android/IOS APP is ridden bench control system, including display module, the mobile terminal Android/IOS APP main control module, real scene video module, information storage module, bluetooth module, for building body platform main control module, resistance module and sensor module.User is ridden platform using the mobile terminal the Android/IOS APP wireless control health-care bicycle on mobile phone.For building body platform receives the resistance gear information from the mobile terminal Android/IOS APP, in conjunction with the electromagnet magnetic field size of the PWM output current control for building body platform of PID FUZZY ALGORITHMS FOR CONTROL percentage control for building body platform, aluminium dish is braked jointly with permanent magnet field, the resistance that user rides is generated, and riding speed is fed back into the mobile terminal Android/IOS APP.The mobile terminal Android/IOS APP can be set and store the identity and motion information of multiple users, Contrast on effect can be trained, it can also show the real time data information that user rides, and there is real scene video training function, can satisfy the body-building demand of different user.
Description
Technical Field
The invention relates to a bicycle fitness riding table control system, in particular to a bicycle fitness riding table control system with an Android/IOS mobile terminal APP in stepless control.
Background
With the development of society and the acceleration of urbanization process, the status of the physique of Chinese people is worried, and in the modernization process, more and more people gradually pay attention to the importance of health and gradually start body-building exercise. However, the natural environment is increasingly deteriorated nowadays, and the living environment conditions of people are more and more serious, such as haze frequently appears; at present, traffic jam often occurs, civilization awareness of drivers is not mature enough, and safety of people in outdoor activities is difficult to guarantee; summer is too hot and summer is too cold and winter is not suitable for people to do daily outdoor exercises; in rainy days, typhoon days and the like, outdoor movement is directly hindered. Indoor motion is thus a good choice and limits of weather, time, space, etc. are impaired.
The existing indoor exercise training equipment is generally higher in price, complex in structure implementation and heavy in appearance, for example, other fitness equipment such as a treadmill and the like, and a bicycle is basically necessary for families as the simplest walking tool for China in the large country for producing and using the bicycle, so that the universality is high and the cost is low; in the process of urbanization, land resources become more and more valuable, and a bicycle platform for indoor body building can complete daily training without being affected by any place, weather and the like.
And traditional bicycle training ware does not have Android IOS and removes end APP and outdoor scene video training mode, most of them do not have user control terminal and display interface even, can't feed back training data information, be difficult for gathering motion state signal, more can not quantify each item training index, it is inconvenient to adjust the resistance gear, change the resistance effect and need manual mechanical adjustment, the gear increase and decrease is inhomogeneous, can not infinitely variable control, consequently, be difficult for letting the user obtain comfortable training and experience, can not improve body-building intensity gradually, thereby reach good body-building effect.
At present, the design of a bicycle body-building riding platform system aiming at stepless control mainly focuses on the aspects of a bicycle support mechanical structure, a driving mode and the like, and the research on a specific processing method aiming at the aspect of stepless control is less. The xue Yu provides a bicycle body-building equipment system (xue, a bicycle body-building equipment system: China, 204502268[ P ].2015-07-29), gives a mechanical structure design of the body-building bicycle, and introduces the principle of the mechanical structure design in detail, but the mechanical structure needs manual resistance adjustment, which is extremely inconvenient; a multifunctional somatosensory synchronous bicycle fitness and entertainment system (a Zhu assist, a Cao-smart multifunctional somatosensory synchronous bicycle fitness and entertainment system: China 204073263P. 2015-01-07) is provided by a Zhu assist and a Cao-smart, realizes fitness and entertainment as a whole, but only introduces that a bicycle is connected with a computer to realize entertainment effect, and is inconvenient because the computer needs to be controlled manually; the Mayun and Von on-book put forward a body-building apparatus with network game and coach function (Mayun, Von on-book body-building apparatus with network game and coach function: China, 105536202P, 2016-05-04), it installs a microcomputer with network access on the front end of the body-building apparatus, the USB port of the microcomputer is connected with the data interface of the body-building apparatus through the USB data module, the user can check the self-task state or control the running state of the running machine or the body-building bicycle through the microcomputer, but its control platform is limited to the microcomputer, it is inconvenient to use.
Disclosure of Invention
The invention provides a bicycle body-building riding platform control system under the control of an Android/IOS mobile terminal APP in order to overcome the defects in the prior art.
Firstly, the system has a humanized operation interface, so that different users can record own motion conditions during body building and display various body building indexes; secondly, the system is provided with a live-action video module, so that a user can see landscape videos when riding indoors, and the system has outdoor experience; thirdly, the system uses the Bluetooth wireless connection technology to realize wireless control; finally, the system controls the PWM output current in percentage by combining a PID fuzzy control algorithm, and realizes the stepless regulation of the body-building intensity.
The technical scheme adopted by the invention for solving the problems in the prior art is as follows:
the utility model provides an Android/IOS removes bicycle body-building platform control system that rides of end APP infinitely variable control, Android/IOS removes end APP and installs on user's Android or apple cell-phone, and the bicycle frame is on the platform is ridden in the body-building, and the platform is ridden in the body-building is supplied power by external power supply. Android/IOS removes bicycle body-building platform control system that rides of end APP wireless control include:
1) the display module is used for displaying a user operation interface and various fitness information, including user identity information display, real-time training feedback data display, Bluetooth connection information display, product related information and the like, and is also used for comparing historical training effects of all users. The identity information comprises height, weight, sex, date of birth and the like of the user; the real-time training feedback data comprises information such as real-time speed, power, riding mileage, riding time, energy consumption, riding gears and the like; the Bluetooth connection information display comprises a list of other Bluetooth devices which can be paired currently and a Bluetooth connection state of an Android/IOS mobile terminal APP; the product-related information includes version information of the product, contact information of a development team, official homepage connection and use help.
2) And the live-action video module is used for synchronously playing a first visual angle riding live-action recorded video when the user rides. The input of the real-time feedback speed information is real-time feedback speed information, the body-building riding platform uploads the real-time speed information to a main control module of an Android/IOS mobile terminal APP through a sensor module and a Bluetooth module, and then the main control module transmits the processed real-time feedback speed information to a live-action video module. A developer records a first visual angle riding live-action video in advance, the video is played when the real-time feedback speed is not zero, and the video is paused when the real-time feedback speed is zero. The live-action video can be played along with the riding of the user, and the playing is paused along with the stopping of the user, so that the user can see some roadside landscapes through the live-action video while riding, the feeling of riding outdoors is provided, and the riding experience of the user is enhanced.
3) And the information storage module is used for storing the identity information, the personalized setting and the historical training data of the user. The user sets, modifies and saves the identity information such as height, weight, sex, date of birth and the like; setting languages and units as metric system or English system in a personalized way; the historical training data is used to compare the historical training data of each user. After the user inputs the set or modified identity information and personalized information and uploads the training data each time, the main control module of the Android/IOS mobile terminal APP processes the information and the data and transmits the information and the data to the information storage module, and the information and the data are stored by the information storage module.
4) The Android/IOS mobile terminal APP main control module inputs real-time speed information acquired by a sensor module of the body-building riding platform and identity information, personalized information, resistance gear information and the like set on the Android/IOS mobile terminal APP by a user, outputs data to the display module, the live-action video module, the information storage module and the like after processing, and sends the resistance gear information to the body-building riding platform through the Bluetooth module. The main control module mainly calculates and processes data such as speed, power, riding mileage, riding time, energy consumption and the like; the screen display effect of the display module is also controlled; and can receive the speed information who comes from the platform of riding of body-building through bluetooth module to resistance gear information with the user setting sends the platform of riding of body-building.
5) The Bluetooth module is used for establishing wireless communication with the body-building riding platform by utilizing a Bluetooth connection function in the mobile phone for the Android/IOS mobile terminal APP, detecting nearby connected Bluetooth equipment, arranging names of the nearby connected Bluetooth equipment for a user to select, displaying the Bluetooth icon in a grey state in an unconnected state, and displaying the Bluetooth icon in a red state in a connected state; for the body-building riding platform, a Bluetooth module main chip adopts a series of low-power consumption Bluetooth 4.0 and later, is used for establishing wireless communication with an Android/IOS mobile terminal APP and passively establishes connection with other Bluetooth equipment. The main control module of the Android/IOS mobile terminal APP inputs resistance gear information set by a user to the Bluetooth module, and the Bluetooth module transmits the resistance gear information to the main control module of the body-building riding platform for processing; the body-building platform of riding's host system passes to bluetooth module after processing the real-time speed information that the sensor module gathered, and bluetooth module passes real-time speed information to Android/IOS removes the host system of end APP and handles again.
6) The resistance module mainly comprises an electromagnet, a permanent magnet and an aluminum disc. According to the electromagnetic induction principle, the input PWM current can change the magnetic field of the electromagnet, the superposed magnetic field of the electromagnet and the permanent magnet acts on the surface of the aluminum disc to form eddy current, and interaction force is generated between the aluminum disc and the original magnetic field when the aluminum disc rotates, so that riding resistance is generated.
Compared with other resistance control circuit schemes adopting relays, the resistance control circuit scheme adopting the motor module is adopted instead of the resistance control circuit scheme adopting the relay on the circuit of the body-building riding platform to control the PWM output current so as to steplessly adjust the riding resistance. The motor module is smaller in size, so that the design of a circuit and the appearance of the riding platform is facilitated; the motor module changes the positive and negative directions more stably, and the problem of current impact on the single chip caused by current mutation caused by sudden switching of the relay is solved; and motor module only opens and closes two kinds of mode in comparison with the relay, and motor module working method is more various for the scope of the resistance of riding becomes adjustable.
7) The sensor module and the speed acquisition sensor adopt Hall sensors. The Hall sensor collects the current pulse frequency caused by a small magnet on an iron disc connected with the axis of the body-building riding platform according to the magnetoelectric induction principle, and outputs the collected data information to the main control module of the body-building riding platform, so that the main control module can calculate the rotation frequency of the axis, and the riding real-time speed is obtained.
8) The body-building riding platform main control module mainly comprises a single chip microcomputer and other auxiliary circuits. The main control module receives pulse frequency data which are uploaded by the Hall sensor and are caused by a small magnet on an iron plate connected with the axis of the body-building riding platform, and the pulse frequency data are converted into the rotation frequency of the axis by combining the time interval among the pulses, so that the real-time linear speed of riding is finally obtained; the calculated real-time speed information is sent to an Android/IOS mobile terminal APP through a Bluetooth module; according to resistance gear instruction information received from the Android/IOS mobile terminal APP, the proportion of PWM current of the body-building riding platform is adjusted by combining a PID fuzzy control algorithm so as to control the riding resistance in a stepless manner; the LED lamp can be controlled to circularly flash, the cycle of the LED lamp to circularly flash is correspondingly changed according to the calculated real-time riding speed, namely the LED lamp is controlled to circularly flash fast when the riding speed is high, and the LED lamp is controlled to circularly flash slowly when the riding speed is low.
The body-building platform master control module that rides obtains the pulse number of times that the real-time body-building platform axle center links to each other on the iron disc that rides from the sensor module and arouses, and the time interval between each pulse converts into the rotational frequency of axle center into in combination, under the prerequisite that the jump data that the elimination interference brought and guaranteed data processing's real-time, has selected the time that hall sensor received several times pulse and has got the mode of its average value to calculate the real-time linear velocity of riding. If the hopping data caused by interference is not eliminated, the obtained speed information is inaccurate; if only once pulse data is taken for processing, the upper limit of speed measurement is limited because each module of the single chip microcomputer needs certain working time; if the pulse data is processed for a plurality of times, the speed information loses real-time performance when the speed is slow. Therefore, compared with other speed measuring modes of the riding platform, the speed information obtained by the method has higher real-time performance, the obtained speed data is more accurate, the upper limit range of the speed measurement is higher, and the real-time speed measurement of the extreme movement of the human is completely met.
Body-building platform host system of riding receive the resistance gear information instruction that the user set up from Android/IOS removes end APP after, combined PID fuzzy control algorithm come the electric current size of percentage infinitely variable control PWM circuit output to infinitely variable control electro-magnet magnetic field intensity size, braking pivoted aluminium dish after the electro-magnet magnetic field that produces and permanent magnet magnetic field stack, finally realize the infinitely variable control to body-building platform of riding resistance. In the prior art, the problems of inaccurate control and uneven resistance change can be caused by not using a control method for directly changing the magnitude of the magnetic resistance by using a control algorithm, so that the invention applies a PID fuzzy control algorithm and adopts a control method for percentage control of the magnitude of PWM output current, the control precision is higher, and the resistance change of each gear is in linear stepless gradual change. The PID fuzzy control mode is as follows:
①, selecting the reluctance error e and the error variation ec as the controller input quantity, and selecting the PWM current percentage as the output control quantity;
② pairs of collectedFuzzification is carried out on accurate quantity, a discourse domain V is arranged, and n accurate magnetic resistance data x are providediE.v (i ═ 1,2, …, n), with m fuzzy sets. A. theje.V (j is 1,2, …, m), if x existsiSo that the degree of membershipThen it is said to belong to fuzzy set AjExpressed as:
the above formula is expressed as a precise quantity xiDegree of membershipAscribed to fuzzy quantity Aj. And taking the argument of the error as X, the argument of the error change as Y and the argument of the controlled variable as Z.
The fuzzy quantity is described by fuzzy set, E represents actual value f of measured magnetic resistance to given magnetic resistance value f0Deviation e ═ f-f0EC represents the fuzzy set of the rate of change of reluctance, and U represents the fuzzy set of the percentage magnitude of the control PWM current; according to the relation between fuzzy division and quantization, the fuzzy subset numbers of E, EC and U are respectively 7, 7 and 5, and then the fuzzy set is expressed as:
wherein, the terms "NB", "NM", "NS", "ZO", "PS", "PM", "PB", "Z", etc. are fuzzy quantities;
determining the fuzzy quantity A to which the precise quantity x belongs through the membership functionjDegree of membership of; solving a membership function, namely determining the shape of the membership function; setting the fuzzy variable as a normal fuzzy variable, wherein the membership function of the fuzzy variable is as follows:
wherein a is expressed to correspond to the blur amount AjThe magnitude of δ directly affects the shape of the membership function curve;
③, establishing a knowledge base through fuzzy reasoning to obtain fuzzy control rules, describing the control rules by using an ifA and B then n C language (if A and B are C), wherein A, B is input quantity, C is output quantity, the fuzzy control language of the system consists of conditional statements of 'ifE ═ PB and EC ═ PB and then U ═ PB', and the system forms 49 control rules;
④ obtaining the relation R of each rule according to the rule determined by the control rule through reasoning and defuzzificationkExpressed as:
wherein, i is 1,2, …, 7; j ═ 1,2, …, 7; k is 1,2, …,49, "×" denotes the direct product of the sets, EiAnd ECjFuzzy quantities, U, belonging to E and EC, respectivelyijIs when the input quantity is EiAnd ECjUnder the condition of (1), obtaining an output fuzzy quantity according to a fuzzy control rule; fuzzy relation R determined according to each fuzzy statementkThe control rules of the whole system have to be described, so the overall fuzzy relation matrix R is expressed as:
according to the fuzzy inference synthesis rule, the output control quantity is a fuzzy set U:
wherein,for synthesizing symbols, the output U corresponding to each subset in the E and EC theoretical domains is calculated according to the formula, so that a fuzzy relation matrix is established, a U value is obtained according to the solved fuzzy relation matrix, and a fuzzy control table is established;
⑤ defuzzification is carried out to the output quantity, and the fuzzified precise quantity is subjected to fuzzy reasoning by using the following weighted average method expression
Performing defuzzification to obtain actual control execution quantityWherein u isiOutput quantity, mu (u), corresponding to the ith fuzzy subseti) Is a membership function.
The invention has the advantages and positive effects that:
compared with the traditional mechanical gear shifting rod and other user terminal controllers, the Android/IOS mobile end APP can be installed on a mobile phone of a user, so that the equipment manufacturing cost brought by the mechanical gear shifting rod and the user terminal controllers is saved; mechanical faults caused by a mechanical gear shifting rod and a user terminal controller are not needed to be worried about; excessive battery cost is not spent for the user terminal controller; the APP can be upgraded on line, so that a developer can repair problems and upgrade products conveniently; the controller appears in the form of APP, also conforms to the trend of intellectualization of the electric appliance nowadays, and is more easily accepted by users.
Compared with other indoor training platforms, the indoor training platform has the advantages of low cost, simple structure, convenience in construction, convenience in arrangement and movement, and capability of meeting the requirements of various different types of users; compared with the traditional bicycle training platform, the riding resistance is mechanically adjusted, the resistance adjustment is more optimized by using the Android/IOS mobile terminal APP and combining the PID fuzzy control algorithm, the informationized interface display is adopted, the wireless control is convenient, the stepless resistance adjustment is detailed, and the humanized live-action video training mode is introduced, so that the user can obtain relatively-digitalized body-building information, the digitalized body-building strength and the comfortable experience effect. Modern characters are rich in quality, but most of the modern characters lack of sports and are sub-healthy, an Android/IOS mobile end APP stepless control bicycle fitness riding platform is an excellent choice for exercising bodies after learning, working and resting, and the exercise bicycle fitness riding platform is popular, low in cost, convenient to install, easy to operate, high in resistance and the like, and facilitates fitness of the whole population.
Drawings
FIG. 1 is a schematic diagram of the platform of the present invention.
Fig. 2 is a control schematic block diagram of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings.
A bicycle body-building platform control system based on Android/IOS mobile terminal APP control is shown in figure 1, and a platform comprises an Android/IOS mobile terminal APP1 and a body-building platform 4. Android/IOS removes end APP1 and installs on user's cell-phone, be convenient for the user to set up and save identity and individualized information, also can show the real-time motion data information of riding, or use outdoor scene video training mode 2, bicycle 3's rear wheel frame is on body-building platform of riding 4, the user rides the rear wheel resistance that bicycle 3 can be given to body-building platform of riding 4's pivot, thereby reach the effect of motion body-building, establish wireless connection through the bluetooth between body-building platform of riding 4 and Android/IOS removes end APP1, for information such as transmission resistance gear and real-time speed of riding.
With reference to fig. 2, the principle and the using process of the invention are as follows:
the Android/IOS mobile terminal APP is installed on a mobile phone of a user, and the body-building riding platform is powered by an external power supply. After the indoor body-building riding platform is built according to the description of the figure 1, a user can carry out bicycle riding body-building exercise indoors.
1) Firstly, a user opens a setting interface of an Android/IOS mobile terminal APP, various fitness information of the user is set, modified and stored by touch screen operation, a main control module of the Android/IOS mobile terminal APP receives the data information and then transmits the data information to an information storage module for storage, and Bluetooth connection is established;
2) a user can adjust riding resistance gears through touch operation on a user operation interface, and an Android/IOS mobile terminal APP main control module wirelessly sends resistance gear instructions to a fitness riding platform through a Bluetooth module;
3) the body-building platform of riding master control module combines the gear information that obtains from its bluetooth module with the reluctance information that feeds back, utilizes PID fuzzy control algorithm, controls the circular telegram electric current size of electro-magnet in the resistance module through percentage regulation PWM electric current size to change the magnetic field of electro-magnet, wherein PID fuzzy control algorithm's specific control mode is as follows:
①, selecting an actual magnetic resistance, a magnetic resistance error e of riding resistance set on an Android/IOS mobile terminal APP by a user and a variable ec of the error as controller input quantities, and selecting a PWM current percentage as an output control quantity;
② fuzzification of the collected precise quantity, with argument V, n precise magneto-resistance data xiE.v (i ═ 1,2, …, n), with m fuzzy sets. A. theje.V (j is 1,2, …, m), if x existsiSo thatMembership degree of one forceThen it is said to belong to fuzzy set AjExpressed as:
the above formula is expressed as a precise quantity xiDegree of membershipAscribed to fuzzy quantity Aj. And taking the argument of the error as X, the argument of the error change as Y and the argument of the controlled variable as Z.
The fuzzy quantity is described by fuzzy set, E represents actual value f of measured magnetic resistance to given magnetic resistance value f0Deviation e ═ f-f0EC represents a fuzzy set of rates of change of reluctance and U represents a fuzzy set of controlling the magnitude of the PWM current percentage. And according to the relation between fuzzy division and quantization, the numbers of fuzzy subsets of E, EC and U are respectively 7, 7 and 5. The system takes the basic domains of the reluctance error e, the reluctance error change ec and the controlled variable u as (-5N, +5N), (-2N, +2N) and (0,1), respectively. The system output control quantity is used for controlling the PWM current percentage, so that the maximum step number and the minimum step number of the motor module achieving the purpose of controlling the PWM output current are converted into the PWM current percentage which is 0% -100%, and the PWM current is maximum 5mA, so that the PWM current is 0 mA-5 mA, and the PWM current is respectively corresponding to (0 and 1), namely when u is 0, the current is minimum 0mA, when u is 1, the current is maximum 1mA, and the rest can be done in the same way. And the magnetic resistance is within +/-5N, namely the current is the largest when the actually measured magnetic resistance ratio is lower than the set magnetic resistance by 5N, and the current is the smallest when the actually measured magnetic resistance ratio is higher than the set magnetic resistance by 5N. In combination with the variation of the magneto-resistance control, the quantization steps of e, ec and d are set as 11, namely the discrete domains of the sum are [ -5, -4, -3, -2, -1,0,1,2,3,4,5 [ ]]. Discrete universe of discourse for U is [0,1,2,3,4,5]In the control, if the deviation is large, a large control amount is used, and if the deviation is small, a small control amount is used, so that,the width of the blur amount partition increases non-linearly with the distance of the blur amount from the zero element. Expressed as a set: e ═ NB, NM, NS, ZO, PS, PM, PB }; EC ═ NB, NM, NS, ZO, PS, PM, PB }; u ═ ZO, PS, PM, PB, Z }. (NB is negative large, NM is negative medium, NS is negative small, ZO is zero, PS is positive small, PM is center, PB is positive large, Z is maximum)
And respectively determining the membership functions determined by the variables according to the fuzzy subsets. The membership functions of E and EC are:
the membership function for each fuzzy state of U is:
③, establishing a knowledge base through fuzzy reasoning to obtain fuzzy control rules, describing the control rules by using an ifA and B then C language (if A and B are C), wherein A, B is input quantity, C is output quantity, the fuzzy control language of the system is composed of conditional statements of 'ifE ═ PB and EC ═ PB and then U ═ PB', and the system forms 49 control rules as shown in Table 1.
TABLE 1 control Specification Table
④ obtaining the relation R of each rule according to the rule determined by the control rule through reasoning and defuzzificationkExpressed as:
wherein, i is 1,2, …, 7; j ═ 1,2, …, 7; k is 1,2, …,49, "×" denotes the direct product of the sets, EiAnd ECjAre the fuzzy quantities belonging to E and EC respectively,is when the input quantity is EiAnd ECjIn the case of (3), the output blur amount obtained according to the blur control rule. From the above formula, the following definitions can be obtained:
fuzzy relation R determined according to each fuzzy statementkA total fuzzy relation matrix R can be obtained:
according to the fuzzy inference synthesis rule, the output control quantity is a fuzzy set U:
wherein,to synthesize symbols, i.e.:
the output U corresponding to each subset in the E and EC domains is calculated.
The fuzzy relation matrix is solved, the value of U is obtained according to the solved fuzzy relation matrix, and a fuzzy control table shown in table 2 is established.
TABLE 2 fuzzy control table
⑤ defuzzification of the output U and determination of the actual output by weighted averagingThe specific expression is as follows:
after the bicycle is ridden, the rotating shaft directly pressed with the rear wheel of the bicycle rotates, the aluminum disc fixed on the rotating shaft rotates along with the rotating shaft, a plurality of small magnetic fields are generated on the surface of the aluminum disc in the magnetic field superposed by the electromagnet and the permanent magnet due to the eddy current effect, the magnetic fields and the external magnetic field act to generate the effect of inhibiting the rotation of the aluminum disc, and finally the effect of blocking the rotation of the rear wheel of the bicycle is achieved;
4) the body-building riding table main control module obtains the pulse times caused by a small magnet on an iron disc connected with the axis of the real-time body-building riding table from the sensor module, and converts the pulse times into the rotation frequency of the axis by combining the time intervals among all pulses, and selects a mode of taking the average value of the time taken by the Hall sensor to receive 7 pulses to calculate the real-time linear velocity of riding on the premise of eliminating jump data caused by interference and ensuring the real-time property of data processing;
5) the main control module of the body-building riding platform transmits the calculated real-time speed to the LED lamp control module, the LED lamp can correspondingly change the cycle flicker period of the LED lamp according to the calculated real-time riding speed, namely the LED lamp is controlled to flicker rapidly and circularly when the riding speed is faster, and the LED lamp is controlled to flicker slowly and circularly when the riding speed is slower;
6) the main control module of the body-building riding platform wirelessly transmits the processed real-time riding speed value to an Android/IOS mobile terminal APP through a Bluetooth module;
7) after the main control module of the Android/IOS mobile terminal APP calculates the received real-time speed value in combination with the riding resistance gear and riding time, the body-building time, the real-time speed, the riding distance, the consumed power, the calories and the like of the user displayed on the user interface of the display module are obtained and are used for the user to refer to;
8) the main control module of the Android/IOS mobile terminal APP calculates the received real-time speed value in combination with the riding resistance gear and riding time to obtain data which can also be used for a live-action video module, the main control module of the Android/IOS mobile terminal APP transmits the real-time riding speed to the live-action video module, when the real-time feedback speed is not zero, a video is played, and when the real-time feedback speed is zero, the video is paused.
The control condition of the whole system is shown above, and due to the existence of the display module and the Bluetooth module of the Android/IOS mobile terminal APP, the operation of a user becomes simple and convenient, and the body-building experience of the user is richer due to the live-action video training mode.
It is emphasized that the described embodiments of the present invention are illustrative rather than restrictive, and thus, the present invention is not limited to the embodiments described in the detailed description, but all other embodiments similar to those described by the skilled in the art according to the technical solutions of the present invention are also within the scope of the present invention.
Claims (1)
1. A bicycle body-building riding platform control system with Android/IOS mobile terminal APP in stepless control is disclosed, wherein the Android/IOS mobile terminal APP is installed on an Android or apple cell phone of a user, a bicycle is erected on the body-building riding platform, and the body-building riding platform is powered by an external power supply; Android/IOS removes bicycle body-building platform control system that rides of end APP infinitely variable control, include:
1) the display module is used for displaying a user operation interface and various fitness information, including user identity information display, real-time training feedback data display, Bluetooth connection information display and product related information, and also used for comparing historical training effects of all users; the identity information comprises height, weight, gender and date of birth of the user; the real-time training feedback data comprises real-time speed, power, riding mileage, riding time, energy consumption and riding gear information; the Bluetooth connection information display comprises a list of other currently paired Bluetooth devices and a Bluetooth connection state of an Android/IOS mobile terminal APP; the product related information comprises version information of the product, contact information of a development team, official website connection and use help;
2) the live-action video module is used for synchronously playing a first visual angle riding live-action recorded video when a user rides the bicycle; the input of the real-time feedback speed information is real-time feedback speed information, the real-time speed information is uploaded to a main control module of an Android/IOS mobile terminal APP by a body-building riding platform through a sensor module and a Bluetooth module, and then the processed real-time feedback speed information is transmitted to a live-action video module by the main control module; when the real-time feedback speed is not zero, playing the video, and when the real-time feedback speed is zero, pausing the video; the live-action video can be played along with the riding of the user, and the playing is paused along with the stopping of the user;
3) the information storage module is used for storing the identity information, the personalized setting and the historical training data of the user; the user sets, modifies and saves the identity information of height, weight, sex and birth date; setting languages and units as metric system or English system in a personalized way; the historical training data is used for comparing the historical training data of each user; after a user inputs set or modified identity information and personalized information and uploads training data each time, the main control module of the Android/IOS mobile terminal APP processes the information and the data and transmits the information and the data to the information storage module, and the information storage module stores the information and the data;
4) the Android/IOS mobile terminal APP main control module inputs real-time speed information acquired by a sensor module of the body-building riding platform and identity information, personalized information and resistance gear information set on the Android/IOS mobile terminal APP by a user, outputs the processed data to the display module, the live-action video module and the information storage module, and sends the resistance gear information to the body-building riding platform through the Bluetooth module; the main control module is used for calculating and processing speed, power, riding mileage, riding time and energy consumption data; the screen display effect of the display module is also controlled; the speed information from the body-building riding platform can be received through the Bluetooth module, and the resistance gear information set by the user is sent to the body-building riding platform;
5) the Bluetooth module is used for establishing wireless communication with the body-building riding platform by utilizing a Bluetooth connection function of the Android/IOS mobile terminal APP, detecting nearby connectable Bluetooth equipment, arranging names of the connected Bluetooth equipment for a user to select, displaying the Bluetooth icon in a gray state in an unconnected state, and displaying the Bluetooth icon in a red state in a connected state; for the body-building riding platform, a Bluetooth module main chip adopts a series of low-power consumption Bluetooth 4.0 and later, is used for establishing wireless communication with an Android/IOS mobile terminal APP and passively establishing connection with other Bluetooth equipment; the main control module of the Android/IOS mobile terminal APP inputs resistance gear information set by a user to the Bluetooth module, and the Bluetooth module transmits the resistance gear information to the main control module of the body-building riding platform for processing; the main control module of the body-building riding platform processes the real-time speed information collected by the sensor module and then transmits the processed real-time speed information to the Bluetooth module, and the Bluetooth module transmits the real-time speed information to the main control module of the Android/IOS mobile terminal APP for processing;
6) the resistance module mainly comprises an electromagnet, a permanent magnet and an aluminum disc; according to the electromagnetic induction principle, the input PWM current can change the magnetic field of the electromagnet, the superposed magnetic field of the electromagnet and the permanent magnet acts on the surface of the aluminum disc to form eddy current, and interaction force is generated between the aluminum disc and the original magnetic field when the aluminum disc rotates, so that riding resistance is generated;
7) the speed acquisition sensor adopts a Hall sensor; the Hall sensor collects the current pulse times caused by a small magnet on an iron disc connected with the axis of the body-building riding platform according to the magnetoelectric induction principle, and outputs the collected data information to a main control module of the body-building riding platform, so that the main control module can calculate the rotation frequency of the axis, and the real-time riding speed is obtained;
8) the body-building riding platform main control module mainly comprises a singlechip and other auxiliary circuits; the main control module receives pulse frequency data which are uploaded by the Hall sensor and are caused by a small magnet on an iron plate connected with the axis of the body-building riding platform, and the pulse frequency data are converted into the rotation frequency of the axis by combining the time interval among the pulses, so that the real-time linear speed of riding is finally obtained; the calculated real-time speed information is sent to an Android/IOS mobile terminal APP through a Bluetooth module; according to resistance gear instruction information received from the Android/IOS mobile terminal APP, the proportion of PWM current of the body-building riding platform is adjusted by combining a PID fuzzy control algorithm so as to control the riding resistance in a stepless manner; controlling the LED lamp to circularly flash, and correspondingly changing the cycle of the LED lamp to circularly flash according to the calculated real-time riding speed, namely controlling the LED lamp to circularly flash fast when the riding speed is high and controlling the LED lamp to circularly flash slowly when the riding speed is low;
the body-building riding platform main control module receives a resistance gear information instruction set by a user from an Android/IOS mobile terminal APP, and then the current output by the PWM circuit is subjected to percentage stepless regulation by combining a PID fuzzy control algorithm, wherein the PID fuzzy control mode is as follows: 21) selecting a magnetic resistance error e and an error variable ec as controller input quantities, and selecting a PWM current percentage as an output control quantity;
22) fuzzifying the acquired precise quantity, setting a discourse domain V and having n precise magnetic resistance data xie.V (i is 1,2, …, n) and m fuzzy sets; a. theje.V (j is 1,2, …, m), if x existsiSo that the degree of membershipThen it is said to belong to fuzzy set AjExpressed as:
the above mentionedFormula (II) is expressed as the precise quantity xiDegree of membershipAscribed to fuzzy quantity Aj(ii) a Taking the discourse domain of the error as X, the discourse domain of the error change as Y, and the discourse domain of the controlled variable as Z;
the fuzzy quantity is described by fuzzy set, E represents actual value f of measured magnetic resistance to given magnetic resistance value f0Deviation e ═ f-f0EC represents the fuzzy set of the rate of change of reluctance, and U represents the fuzzy set of the percentage magnitude of the control PWM current; according to the relation between fuzzy division and quantization, the fuzzy subset numbers of E, EC and U are respectively 7, 7 and 5, and then the fuzzy set is expressed as:
wherein, the words "NB", "NM", "NS", "ZO", "PS", "PM", "PB" and "Z" are fuzzy quantities;
determining the fuzzy quantity A to which the precise quantity x belongs through the membership functionjDegree of membership of; solving a membership function, namely determining the shape of the membership function; setting the fuzzy variable as a normal fuzzy variable, wherein the membership function of the fuzzy variable is as follows:
wherein a is expressed to correspond to the blur amount AjThe magnitude of δ directly affects the shape of the membership function curve;
23) establishing a knowledge base through fuzzy reasoning to obtain a fuzzy control rule; the control rules are described in the language "if A and B then C" (if A and B then C), where A, B is the input quantity and C is the output quantity; the fuzzy control language of the system consists of conditional statements of 'if E ═ PB and EC ═ PB then U ═ PB', and the system forms 49 control rules;
24) according to the rule determined by the control rule,defuzzification is carried out through reasoning; then obtaining the relation R of each rule according to the fuzzy quantity determined in the frontkExpressed as:
wherein, i is 1,2, …, 7; j ═ 1,2, …, 7; k is 1,2, …,49, "×" denotes the direct product of the sets, EiAnd ECjFuzzy quantities, U, belonging to E and EC, respectivelyijIs when the input quantity is EiAnd ECjUnder the condition of (1), obtaining an output fuzzy quantity according to a fuzzy control rule; fuzzy relation R determined according to each fuzzy statementkThe control rules of the whole system have to be described, so the overall fuzzy relation matrix R is expressed as:
according to the fuzzy inference synthesis rule, the output control quantity is a fuzzy set U:
wherein,for synthesizing symbols, the output U corresponding to each subset in the E and EC theoretical domains is calculated according to the formula, so that a fuzzy relation matrix is established, a U value is obtained according to the solved fuzzy relation matrix, and a fuzzy control table is established;
25) defuzzifying the output quantity, and performing fuzzy reasoning to obtain the fuzzified accurate quantity by using the following weighted average method expression
Performing defuzzification to obtain actual control execution quantity uoWherein u isiOutput quantity, mu (u), corresponding to the ith fuzzy subseti) Is a membership function;
the body-building platform master control module that rides obtains the pulse number of times that the real-time body-building platform axle center links to each other on the iron disc that rides from the sensor module and arouses, and the time interval between each pulse converts into the rotational frequency of axle center into in combination, under the prerequisite that the jump data that the elimination interference brought and guaranteed data processing's real-time, has selected the time that hall sensor received several times pulse and has got the mode of its average value to calculate the real-time linear velocity of riding.
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| CN108830934B (en) * | 2018-04-27 | 2022-06-17 | 浙江工业大学 | A real-life motion control method for a cycling training system |
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