CN104133406B - A kind of automatic control system adjusted for massage bed pressure - Google Patents
A kind of automatic control system adjusted for massage bed pressure Download PDFInfo
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- CN104133406B CN104133406B CN201410367912.2A CN201410367912A CN104133406B CN 104133406 B CN104133406 B CN 104133406B CN 201410367912 A CN201410367912 A CN 201410367912A CN 104133406 B CN104133406 B CN 104133406B
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Abstract
The invention discloses a kind of massage bed pressure automatic control system, including main control module and massage bed device, the setting position of described massage bed device is provided with pressure sensor and helical riser, described main control module includes that single-chip microcomputer and the A/D converter being attached thereto and D/A converter 1 and D/A converter 2, the described D/A converter 1 that connects connect massage ball driving motor M1；Described A/D converter input connects pressure sensor, and described D/A converter 2 output connects the driving motor M2 of helical riser；Described single-chip microcomputer uses the pressure signal of integral-separated PID scheme processing pressure sensor and drives elevator motor according to this result, and then adjust massage ball height, control massage ball pressure, this device solves the technical problem that between massage bed massage ball and human body back, pressure stability controls, and improves the automatization level of massage bed.
Description
Technical field
The present invention relates to a kind of automatic control system, can particularly to a kind of massage pressure for massage bed
The closed loop automatic control system arranged.
Background technology
At present, Chinese traditional massage is extensively admitted by people, by massage, stimulates human acupoint, reaches doctor
Treat health-care efficacy.In existing massage means, point manual massage massages with apparatus.Wherein manual massage's means
Limited at aspects such as the impulsive force massaged, duration, and the technology degree of correlation massaging this is big, affects the treatment；
Although traditional apparatus massage means solve the deficiency of manual massage's means, but its pressure is difficult to artificial controlled
System, because traditional apparatus massage means or other massage means all do not have massage pressure automaton.By
In above reason, the curative effect in popular other apparatuses massage means of health care circle is the most preferable at present, needs
Improve raising further.
Summary of the invention
It is an object of the invention to overcome deficiency during pressure adjustment in existing massage bed technology, add for massage bed
Add a kind of pressure automatic control system, by set on massage bed position install pressure sensor, lifter with
And single-chip computer control system reaches the purpose of massage bed self-control pressure.
The present invention solves technical problem and adopts the following technical scheme that
A kind of automatic control system adjusted for massage bed pressure, including single-chip microcomputer and massage bed device,
It is characterized in that: an input of described single-chip microcomputer connects human-computer interaction interface, corresponding output
Connecting the input of D/A converter 1, described D/A converter 1 output that connects connects massage ball driving electricity
Machine M1, the ginseng of relevant massage ball massage force that human-computer interaction interface is set by described single-chip microcomputer, time etc.
Number signal is converted into analog signal by D/A converter 1 and drives massage ball vibration work；Described single-chip microcomputer
Another input connects A/D converter output, described A/D converter input connect be arranged on by
The bed that rubs sets the pressure sensor at position, and corresponding output connects the input of D/A converter 2,
Described D/A converter 2 output connects the driving electricity being arranged on the helical riser that massage bed sets position
Machine M2, the massage ball massage force that enforcement is collected by described pressure sensor is turned by A/D converter
Turn to digital data transmission and process this letter to single-chip microcomputer, described single-chip microcomputer employing integral-separated PID scheme
Number, and result is converted into analog signal driving lifter motor by D/A converter 2.
Massage bed device includes that massage ball, described massage ball are arranged on solid hyperbolic camber beam upper end, described
Solid hyperbolic camber beam lower end is fixedly mounted on transmission rocking bar, and described transmission rocking bar is as joint ball head axle
The ball rod held is nested in the inner casing of joint ball head bearing, and described transmission rocking bar lower part is placed in coupling
In transmission rocking bar guide pin bushing, described transmission rocking bar lower end connects helical spring, and described lower spring end is successively
It is provided with pressure pad and pressure sensor；Described transmission rocking bar guide pin bushing is placed in the one of parallelogram chute
In sideslip groove 1, opposite side parallel groove 2 is provided with helical riser, the top of described helical riser screw mandrel
End is installed with cross and supports and hold up the vertical arm of arm, and described cross supports holds up the horizontal arm of arm and described
Joint ball head bearing spherical shell bar fixed installation；The screw mandrel of described helical riser moves up and down and coordinates tune
Whole massage bed height, and then adjust the real-time pressure f of massage ball massage human body, when the actual pressure fed back
The deviation of f ' and setting value F within the specific limits after, the lifting action of lifter stops, thus reaches essence
Really control the purpose of massage ball and human body back pressure.
Described Integral disconection PID algorithm, its workflow comprises the following steps:
(1) what, the described human-computer interaction interface equipment described in SCM program reception inputted includes massage
The massage parameter of ball massage force F, line parameter of going forward side by side initializes, and drives massage ball action；
(2), described SCM program accept real-time massage bed pressure f ', and calculate the reality of F and f '
Deviation e (kT), and compare with setting threshold value e0, when e (kT) < e0 adoption rate-Integrated Derivative (PID) control
Algorithm processed calculates output quantity and controls parameter renewal, when e (kT) >=e0 adoption rate-differential (PD) control algolithm
Calculate output quantity and control parameter renewal.
Described transmission rocking bar lower end is thin rod shape, and described thin bar is through in helical spring, its length
Short with helical spring length.
Described parallelogram chute is positioned on base.
The present invention provides the benefit that against existing technologies:
1, this programme uses and arranges pressure sensor and helical riser at the setting position of massage bed device,
Intelligent adjustment and the control of massage bed device massage force is realized in conjunction with single-chip computer control system；
2, this programme uses integral separation type PID control method, and helical riser just may be used without frequently transferring
With steady pressure so that this programme is more stable for the Stress control of massage ball, meanwhile, spiral liter is decreased
The lifting frequency of fall device so that lifter weares and teares little in work continuously, and the life-span is long.
Accompanying drawing explanation
Fig. 1 be massage bed involved in the present invention automatically control schematic diagram；
Fig. 2 is massage bed mechanical construction drawing involved in the present invention；
Fig. 3 is integral-separated pid stream journey figure involved in the present invention；
Wherein, in Fig. 2,1 is massage bed, and 2 is massage ball, and 3 is hyperbolic camber beam, and 4 is transmission rocking bar,
5 is joint ball head bearing, and 6 is joint ball head bearing spherical shell bar, and 7 is transmission rocking bar guide pin bushing, and 8 is spiral bullet
Spring, 9 is pressure pad, and 10 is pressure sensor, and 11 is the side chute 1,12 of parallelogram chute
For base, 13 be the side chute 2,14 of parallelogram chute be helical riser and motor, 15 is spiral shell
Rotation lifter screw mandrel, 16 hold up arm for cross support；
Detailed description of the invention
See Fig. 2, a kind of automatic control system adjusted for massage bed pressure, including main control module and
Massage bed device, as it is shown in figure 1, the main control module of described control system includes single-chip microcomputer, described list
One input of sheet machine connects human-computer interaction interface, and corresponding output connects D/A converter 1
Input, described D/A converter 1 output that connects connects massage ball driving motor M1, described single-chip microcomputer
The parameter signal of the relevant massage ball massage force of human-computer interaction interface setting, time etc. is converted by D/A
Device 1 is converted into analog signal and drives massage ball vibration work；Another input of described single-chip microcomputer connects A/D
Converter output end, described A/D converter input connects the pressure biography being arranged on massage bed setting position
Sensor, corresponding output connects the input of D/A converter 2, and described D/A converter 2 is defeated
Go out end and connect the driving motor M2 being arranged on the helical riser that massage bed sets position, described pressure sensing
The massage ball massage force that enforcement is collected by device is converted into digital data transmission to single by A/D converter
Sheet machine, described single-chip microcomputer uses integral-separated PID scheme to process this signal, and result is passed through
D/A converter 2 is converted into analog signal and drives lifter motor.
Massage bed device includes that massage ball 2, described massage ball 2 are arranged on solid hyperbolic camber beam 3 upper end,
Described solid hyperbolic camber beam 3 lower end is fixedly mounted on transmission rocking bar 4, described transmission rocking bar 4
Ball rod as joint ball head bearing is nested in the inner casing of joint ball head bearing 5, described transmission rocking bar
5 lower part are placed in the transmission rocking bar guide pin bushing 7 of coupling, and described transmission rocking bar 7 lower end connects spiral bullet
Spring 8, described helical spring 8 lower end is disposed with pressure pad 9 and pressure sensor 10；Described biography
Shake fork guide pin bushing 7 and be placed in the side chute 1 of parallelogram chute 11, in opposite side parallel groove 2
13 are provided with helical riser 14, and the top of described helical riser screw mandrel 15 is installed with cross and supports
The vertical arm of arm 16, described cross is held up to support and hold up the horizontal arm of arm 16 and described joint ball head bearing 5
Spherical shell bar 6 fixedly mount；The screw mandrel 15 of described helical riser 14 moves up and down and coordinates adjustment massage
Bed height, and then adjust the real-time pressure f of massage ball massage human body, as the actual pressure f ' fed back and
The deviation of setting value F within the specific limits after, the lifting action of helical riser stops, thus reaches accurate
Control the purpose of massage ball and human body back pressure.
See Fig. 3, concrete control algolithm: use pid control algorithm, compared by single-chip microcomputer
The actual pressure value that given pressure set points and pressure sensor feeds back are come, utilizes its deviation value to control to rise
The raising and lowering of fall device, thus reach the purpose accurately controlling massage ball with human body back pressure.When feeding back to
Come actual pressure and setting value deviation within the specific limits after, stop lifter lifting action, massage
Ball and human body back pressure reach balance.Wherein
1, proportional component: scaling up COEFFICIENT Kp, can make that system acting is sensitive, reaction speed is accelerated.
But KpBigger than normal, can cause shaking number of times and add, regulating time lengthens；KpExcessive, system is unstable.Also
Have, increase KpError can only be reduced, it is impossible to steady-state error is completely eliminated.
2, integral element: can eliminate the steady-state error of system, improves the precision of system.Integral action strong
Weak depend on integration time constant Ti, TiThe biggest, integral action is the most weak, otherwise the strongest.
3, differentiation element: the variation tendency of energy stock dividends signal, and can become too in the value of deviation signal
Before great, introduce one in systems and effectively revise signal, and then the responsiveness of quickening system in early days, subtract
The minor adjustment time.
Claims (4)
1. the automatic control system adjusted for massage bed pressure, including main control module, it is characterized in that: described main control module includes single-chip microcomputer, one input of described single-chip microcomputer connects human-computer interaction interface, corresponding output connects the input of D/A converter 1, described D/A converter 1 output that connects connects massage ball driving motor M1, another input of described single-chip microcomputer connects A/D converter output, described A/D converter input connects the pressure sensor being arranged on massage bed setting position, corresponding output connects the input of D/A converter 2, described D/A converter 2 output connects the driving motor M2 being arranged on the helical riser that massage bed sets position；Relevant massage ball massage force, the parameter signal of massage time that human-computer interaction interface is set by described single-chip microcomputer are converted into analog signal by D/A converter 1 and drive massage ball vibration work；The massage ball massage force that enforcement is collected by described pressure sensor is converted into digital data transmission to single-chip microcomputer by A/D converter, described single-chip microcomputer uses integral-separated PID scheme to process this signal, and result is converted into analog signal driving lifter motor by D/A converter 2；
Massage bed device includes massage ball, described massage ball is arranged on solid hyperbolic camber beam upper end, described solid hyperbolic camber beam lower end is fixedly mounted on transmission rocking bar, described transmission rocking bar upper part is nested in the inner casing of joint ball head bearing as the ball rod of joint ball head bearing, described transmission rocking bar lower part is placed in the transmission rocking bar guide pin bushing of coupling, described transmission rocking bar lower end connects helical spring, and described lower spring end is disposed with pressure pad and pressure sensor；Described transmission rocking bar guide pin bushing is placed in the side chute 1 of parallelogram chute, opposite side parallel groove 2 is provided with helical riser, the top of described helical riser screw mandrel is installed with cross and supports the vertical arm holding up arm, and described cross supports the spherical shell bar fixed installation of horizontal arm and the described joint ball head bearing holding up arm.
A kind of automatic control system adjusted for massage bed pressure the most according to claim 1, it is characterised in that: described Integral disconection PID algorithm, its workflow comprises the following steps:
(1), described SCM program receive described in the massage parameter including massage ball massage force F of human-computer interaction interface equipment input, line parameter of going forward side by side initializes, and drives massage ball action；
(2), described SCM program accept real-time massage bed pressure f, and calculate actual deviation e (kT) of F Yu f, and and setting threshold value e0 compare, when e (kT) <
E0 adoption rate-Integrated Derivative (PID) control algolithm calculates output quantity and controls parameter renewal, updates when e (kT) >=e0 adoption rate-differential (PD) control algolithm calculates output quantity control parameter.
A kind of automatic control system adjusted for massage bed pressure the most according to claim 1, it is characterised in that: described transmission rocking bar lower end is thin rod shape, and described thin bar is through in helical spring, and it is shorter in length than helical spring length.
A kind of automatic control system adjusted for massage bed pressure the most according to claim 1, it is characterised in that: described parallelogram chute is positioned on base.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410367912.2A CN104133406B (en) | 2014-07-29 | 2014-07-29 | A kind of automatic control system adjusted for massage bed pressure |
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| CN201410367912.2A CN104133406B (en) | 2014-07-29 | 2014-07-29 | A kind of automatic control system adjusted for massage bed pressure |
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| CN104133406A CN104133406A (en) | 2014-11-05 |
| CN104133406B true CN104133406B (en) | 2016-08-31 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104771300A (en) * | 2015-04-30 | 2015-07-15 | 深圳市前海安测信息技术有限公司 | Massage pillow for sleep health management and control method thereof |
| CN104800061A (en) * | 2015-04-30 | 2015-07-29 | 深圳市前海安测信息技术有限公司 | Massage pillow for managing sleeping quality and control method of massage pillow |
| CN104921507A (en) * | 2015-06-29 | 2015-09-23 | 安娜 | Adjustable electromagnetic elastic device |
| CN106309095B (en) * | 2015-07-01 | 2019-07-12 | 康知园（杭州）健身器材有限公司 | The manipulation massaging mechanism that massage head can be moved back and forth all around |
| CN106038255B (en) * | 2016-06-23 | 2018-01-16 | 岳海燕 | A kind of hand massage intelligent robot dedicated transmission |
| CN105965497B (en) * | 2016-06-23 | 2017-12-05 | 威海御膳坊生物科技有限公司 | A kind of hand massage intelligent robot drive device |
| CN106038254B (en) * | 2016-06-23 | 2018-01-19 | 华北理工大学 | A kind of human hands Medical health-care massage intelligent robot |
| CN107536689A (en) * | 2016-06-28 | 2018-01-05 | 吴向阳 | A kind of massage bed |
| CN112807189A (en) * | 2019-11-18 | 2021-05-18 | 上海荣泰健康科技股份有限公司 | Massage chair and massage chair control method |
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| US6685659B2 (en) * | 2001-08-09 | 2004-02-03 | Steven C. Webb | Individual controlled body massage device |
| CN2664651Y (en) * | 2003-10-24 | 2004-12-22 | 胡柱根 | Armature voltage negative feedback type control device for motor of massage chair/mat |
| CN201701453U (en) * | 2010-04-02 | 2011-01-12 | 深圳嘉阳兴科技有限公司 | Pressure sensitive control massager |
| CN103830087A (en) * | 2014-03-05 | 2014-06-04 | 河北工业大学 | Tap massaging robot |
| CN203694079U (en) * | 2013-12-12 | 2014-07-09 | 张军 | Master-slave massage robot |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6685659B2 (en) * | 2001-08-09 | 2004-02-03 | Steven C. Webb | Individual controlled body massage device |
| CN2664651Y (en) * | 2003-10-24 | 2004-12-22 | 胡柱根 | Armature voltage negative feedback type control device for motor of massage chair/mat |
| CN201701453U (en) * | 2010-04-02 | 2011-01-12 | 深圳嘉阳兴科技有限公司 | Pressure sensitive control massager |
| CN203694079U (en) * | 2013-12-12 | 2014-07-09 | 张军 | Master-slave massage robot |
| CN103830087A (en) * | 2014-03-05 | 2014-06-04 | 河北工业大学 | Tap massaging robot |
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