CN106730765A - The health-care bicycle of the Android/IOS mobile terminals stepless controls of APP is ridden bench control system - Google Patents
The health-care bicycle of the Android/IOS mobile terminals stepless controls of APP is ridden bench control system Download PDFInfo
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- CN106730765A CN106730765A CN201611157597.6A CN201611157597A CN106730765A CN 106730765 A CN106730765 A CN 106730765A CN 201611157597 A CN201611157597 A CN 201611157597A CN 106730765 A CN106730765 A CN 106730765A
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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
-
- 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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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Feedback Control In General (AREA)
Abstract
A kind of health-care bicycle of the stepless controls of Android/IOS mobile terminals APP is ridden bench control system, including display module, Android/IOS mobile terminals APP main control module, real scene video module, information storage module, bluetooth module, for building body platform main control module, resistance module and sensor assembly.User is ridden platform using the Android/IOS mobile terminals APP controlled in wireless health-care bicycles on mobile phone.For building body platform receives the resistance gear information from Android/IOS mobile terminals APP, the electromagnet magnetic field size of for building body platform is controlled with reference to the PWM output currents of PID FUZZY ALGORITHMS FOR CONTROLs percentage control for building body platform, aluminium dish is braked jointly with permanent magnet field, the resistance for producing user to ride, and riding speed is fed back into Android/IOS mobile terminals APP.Android/IOS mobile terminals APP can set and store the identity and movable information of multiple users, Contrast on effect can be trained, the real time data information that user rides can also be shown, and with real scene video training function, the body-building demand of different user can be met.
Description
Technical field
Ridden bench control system, especially a kind of Android/IOS mobile terminals APP the present invention relates to a kind of health-care bicycle
The health-care bicycle of stepless control is ridden bench control system.
Background technology
As the development and the acceleration of urbanization process of society, the constitution of compatriots go from bad to worse, present situation is troubling, and
In the process of modernization, increasing people also begins to notice gradually the importance of health, has gradually started body building.But
It is that present natural environment goes from bad to worse, and the living environment situation of people go fromes bad to worse, such as frequently occur haze；And it is existing
Often there is the congestion of traffic, the civilization consciousness of driver is also still not mature enough, and people's security movable out of doors is also difficult
To be guaranteed；Summer excessively heat winter excessively severe cold is also not suitable for the mankind carries out daily outdoor exercises；Rainy day and platform
Wind day etc. even more directly hinders outdoor sport.Thus indoor sport into a kind of good selection, and weaken weather, when
Between, the limitation of the factor such as space.
Existing indoor sport training equipment prevailing price is higher, and structure implements complicated, and outward appearance is heavy, such as treadmill etc.
Other body-building apparatus, and bicycle is used as simplest walking-replacing tool, for being produced as bicycle and using the China of big country
For, substantially family is indispensable, and universality is high, with low cost；In urbanization process, land resource becomes more and more precious
It is expensive, one be indoors body-building bicycle platform, hardly to receive any place, weather etc. to influence that just daily instruction can be completed
Practice.
And traditional bicycle exerciser does not have Android/IOS mobile terminals APP and real scene video training mode, or even greatly
Most all no user control terminal and display interfaces, it is impossible to feedback training data message, are difficult to gather motion state signal, more
Not energetic every training quota, regulation resistance gear is inconvenient, and changing drag effect needs armstrong's patent to adjust, gear increase and decrease
It is uneven, it is impossible to step-less adjustment, therefore be difficult to allow user to obtain comfortable training experience, it is impossible to body-building intensity is gradually stepped up, from
And reach good body-building effect.
At present, the health-care bicycle for stepless control ride platform system design be concentrated mainly on bike rack machinery
The aspects such as structure, type of drive, the Study on processing method for specific stepless control aspect is less.Xie Yu proposes one kind certainly
A kind of driving fitness equipment system (bicycle body-building device systems of Xie Yu：China, 204502268 [P] .2015-07-29), give
A kind of Design of Mechanical Structure of Exercycle, and describe this kind of principle of Design of Mechanical Structure in detail, but it needs manually
Resistance adjustment is carried out, it is extremely inconvenient；Zhu Yi, Cao Yicong propose multi-functional body-sensing synchronous self car body-building recreation system (Zhu Yi,
The multi-functional body-sensing synchronous self car body-building recreation systems of the acute hearing of Cao one,:China, 204073263 [P] .2015-01-07), realize
Body-building is integrated with amusement, but it only describes bicycle and is connected with computer realizes entertainment effect, it is desired nonetheless to artificial
Control computer is gone, it is extremely inconvenient；Ma Yi, Feng Shu propose a kind of health and fitness facilities with online game and coach function
(Ma Yi, Feng's health and fitness facilities with online game and coach function in book:China, 105536202 [P] .2016-05-04),
Its microcomputer by installing online in the front end of health and fitness facilities, the port of the USB of microcomputer passes through usb data module and health and fitness facilities
Data-interface connection, user can by microcomputer check from task status or control treadmill or Exercycle operation shape
State, but its control platform is only limitted to microcomputer, in-convenience in use.
The content of the invention
The present invention will overcome the disadvantages mentioned above of prior art, the present invention to propose that a kind of Android/IOS mobile terminals APP is wireless
The health-care bicycle of control is ridden bench control system.
The system has the operation interface of hommization first, allows different users that the motion feelings of oneself are recorded in body-building
Condition, shows all kinds of body-building indexs；Secondly the system there is real scene video module, when user can be allowed to ride indoors it can be seen that
Landscape video, just like the experience for facing open air；The system has used bluetooth wireless connection technology again, realizes controlled in wireless；Most
The system controls PWM output currents by combining PID FUZZY ALGORITHMS FOR CONTROLs come percentage afterwards, realizes the stepless of body-building intensity
Regulation.
The present invention is for the solution technical scheme that is used of prior art problem：
A kind of health-care bicycle of the stepless controls of Android/IOS mobile terminals APP is ridden bench control system, Android/
IOS mobile terminals APP be arranged on user Android or i Phone on, bicycle rack on for building body platform, for building body platform by
External power supply is powered.The health-care bicycle of described Android/IOS mobile terminals APP controlled in wireless is ridden bench control system bag
Include：
1) display module, its input is all static and dynamic datas, and these data are by Android/IOS mobile terminals APP
Main control module be uniformly processed after be transmitted to display module again, for showing user interface and all kinds of body-building information, including with
Family identity information shows, real-time training feedback data display, bluetooth connection presentation of information and product related information etc., and it is right to be also used to
Than the history training effect of each user.The height of identity information including user, body weight, sex and etc. the date of birth；Training in real time
Feedback data includes real-time speed, power, mileage of riding, time of riding, consumed energy, the information such as gear of riding；Bluetooth connection
Presentation of information includes the bluetooth connection of other the bluetooth equipment lists and Android/IOS mobile terminals APP that can currently match
State；Version information of the product related information including product, the contact method of development teams, official website homepage are connected and use side
Help.
2) real scene video module, rides outdoor scene recorded video for synchronously playing one section of first visual angle when user rides.
Its input is Real-time Feedback velocity information, by for building body platform by sensor assembly and bluetooth module by real time speed information
After being transmitted to the main control module of Android/IOS mobile terminals APP, be transmitted to for the Real-time Feedback velocity information after treatment again by main control module
Real scene video module.Record one section of first visual angle in advance by developer to ride real scene video, when Real-time Feedback speed is not zero
When play video, Real-time Feedback speed then suspends video when being zero.I.e. real scene video can be played with riding for user, with
The stopping of user and suspend broadcasting, allow user also can see some roadside landscape by the real scene video while riding, have
A kind of body faces the outdoor sensation ridden, and enhances the experience of riding of user.
3) information storage module, identity information, personal settings and historic training data for preserving user.User sets
Put, change and preserve the identity informations such as height, body weight, sex and date of birth；It is public affairs that personal settings set language and unit
System is made in Great Britain；Historic training data is used for contrasting the historic training data of each user.When the identity letter that user will set or change
After training data upload after breath and customized information input and each, the main control module of Android/IOS mobile terminals APP
These information and data can be processed and information storage module is transmitted to, under information storage module will preserve these information and data
Come.
4) Android/IOS mobile terminals APP main control modules, the reality that its input is gathered for the sensor assembly of for building body platform
When velocity information and the user identity information, customized information and the resistance gear that are set on the APP of Android/IOS mobile terminals
Information etc., after treatment again by data output to display module, real scene video module and information storage module etc., and by indigo plant
Resistance gear information is sent to for building body platform by tooth module.Main control module mainly completes speed, power, mileage of riding, rides
The calculating and treatment of the data such as time, consumed energy；Also the Showing Effectiveness On Screen of display module is controlled；And can be by bluetooth mould
Block receives the velocity information from for building body platform, and the resistance gear information that user is set is sent into for building body platform.
5) bluetooth module, for Android/IOS mobile terminals APP, make use of the bluetooth connection function of being carried in mobile phone, use
In wireless telecommunications are set up with for building body platform, the bluetooth equipment of connection nearby is detected, and its title is arranged out for user
Selection, bluetooth icon appears dimmed under not-connected status, and bluetooth icon is shown in red under connection status；For for building body
Platform, bluetooth module master chip uses low-power consumption bluetooth 4.0 and later series, for being set up with Android/IOS mobile terminals APP
Wireless telecommunications, passively set up with other bluetooth equipments and are connected.The main control module of Android/IOS mobile terminals APP sets user
The resistance gear information put inputs to bluetooth module, and resistance gear information is transmitted to bluetooth module the master control mould of for building body platform again
Block is processed；Bluetooth is transmitted to after the real time speed information treatment that the main control module of for building body platform collects sensor assembly
Module, bluetooth module is again processed the main control module that real time speed information is transmitted to Android/IOS mobile terminals APP.
6) resistance module, is mainly made up of electromagnet, permanent magnet and aluminium dish.According to electromagnetic induction principle, the PWM electricity of input
Stream size can change the magnetic field size of electromagnet, and the superposition magnetic fields of electromagnet and permanent magnet form whirlpool on the surface of aluminium dish
Stream, produces interaction force, so as to produce the resistance ridden when aluminium dish is rotated and former magnetic field between.
Described for building body platform uses the draught control circuit arrangement of relay on circuit compared to other, replaces with
The resistance for using the draught control circuit arrangement of motor module to control PWM output currents size to be ridden with step-less adjustment.Motor
Module volume is smaller, is easy to circuit and the design of platform outward appearance of riding；Motor module change both forward and reverse directions it is more steady, eliminate by
Relay switchs suddenly the problem of the rush of current that the current break for causing is caused to single-chip microcomputer；And motor module compared to after
Electrical equipment only has two kinds of mode of operations of unlatching and closure, and motor module working method is more various so that the scope of riding resistance becomes
It is adjustable.
7) sensor assembly, speed acquisition sensor uses Hall sensor.Hall sensor is according to magnetoelectric induction principle
The current impulse number of times that the small magnet on iron pan that collection is connected with for building body platform axle center triggers, the data message that will be gathered is defeated
Go out the rotational frequency for calculating axle center so as to main control module to the main control module of for building body platform, it is real-time so as to what is ridden
Speed.
8) for building body platform main control module, is mainly made up of single-chip microcomputer and other auxiliary circuits.For realizing that sensor is adopted
The treatment of the real time speed information of collection, main control module receives the iron plate being connected with for building body platform axle center that Hall sensor is uploaded
On small magnet trigger pulse number data, the rotational frequency in axle center is converted into conjunction with the time interval between each pulse,
Finally give the real-time linear velocity ridden；The real time speed information that will be calculated by bluetooth module is sent to Android/IOS
Mobile terminal APP；And according to the resistance gear command information received from Android/IOS mobile terminals APP, with reference to PID Fuzzy Controls
The drag size that algorithm processed is ridden to adjust the PWM percentage of current size of for building body platform with stepless control；And can control
LED circulation flicker, the size according to the real-time riding speed being calculated accordingly changes the cycle of LED circulation flicker, i.e.,
The flicker of LED Rapid Circulation is controlled when riding speed is very fast, controls LED slowly to circulate flicker when riding speed is slower.
Described for building body platform main control module obtains the connected iron pan in real-time for building body platform axle center from sensor assembly
On small magnet trigger pulse number, the rotational frequency in axle center is converted into conjunction with the time interval between each pulse, disappearing
On the premise of going the saltus step data of interference fringe and ensureing the real-time of data processing, have chosen Hall sensor receive it is some
Time used by subpulse takes the mode of its average value to calculate the real-time linear velocity ridden.If not eliminating the saltus step of interference fringe
Data, the then velocity information for obtaining will be inaccurate；If only taking the data of pulsatile once to process, because each module of single-chip microcomputer is needed
Certain working time is wanted, causes the tachometric survey upper limit to be limited；If taking multiple pulse data to process, speed
When slower, velocity information will lose real-time.So, this mode compares the mode that tests the speed of other platforms of riding, the speed for obtaining
Degree information has real-time higher, and the speed data for obtaining is also more accurate, and tachometric survey upper range is higher, completely
Meet the measurement of mankind's extreme sport real-time speed.
Described for building body platform main control module receives the resistance shelves of user's setting from Android/IOS mobile terminals APP
After the information command of position, the size of current that PID FUZZY ALGORITHMS FOR CONTROLs carry out the output of percentage step-less adjustment pwm circuit is combined, so that
The aluminium dish of rotation is braked in step-less adjustment electromagnet magnitude of field intensity, the electromagnet magnetic field of generation after being superimposed with permanent magnet field,
The final step-less adjustment realized to for building body platform riding resistance.Control algolithm was not used directly to change magnetic resistance size in the past
Control mode can bring control, and accurate and resistance does not change uneven problem, so the present invention has used PID fuzzy controls to calculate
Method, and the control mode that percentage controls PWM output current sizes is employed, control accuracy is higher, and the resistance of each gear becomes
Change linear stepless alternation.Described PID fuzzy control methods are as follows：
1. the variable quantity ec of selection magnetic resistance error e and error selects PWM percentage of current sizes as controller input quantity
As output control amount；
2. obfuscation is carried out to the precise volume for collecting, is provided with domain V, there is n accurate magnetic resistance data xi∈ V (i=1,
2 ..., n), while there is m fuzzy set.Aj∈ V (j=1,2 ..., m), if there is xiSo that degree of membershipThen
Title belongs to fuzzy set Aj, it is expressed as：
Above-mentioned formula is expressed as precise volume xiDegree of membershipBelong to fuzzy quantity Aj.The domain of error is taken for X, error
The domain of change is Y, and the domain of controlled quentity controlled variable is Z.
Fuzzy quantity is described with fuzzy set, E represents the actual value f of tested magnetic resistance to given magnetic resistance value f0Deviation e=
f-f0Fuzzy set, EC represents the fuzzy set of change rate of magnetic reluctance, and U represents the fuzzy set of control PWM percentage of current sizes
Close；According to the relation between fuzzy division and quantization, the fuzzy subset's number for taking E, EC, U is respectively 7,7,5, then fuzzy set
It is expressed as：
Wherein, these vocabulary such as " NB ", " NM ", " NS ", " ZO ", " PS ", " PM ", " PB ", " Z " are fuzzy quantity；
Determine that precise volume x is subordinate to fuzzy quantity A by membership functionjDegree of membership；Membership function is asked for, that is, determines to be subordinate to
The shape of function；Fuzzy variable is set to Normal Type fuzzy variable, its membership function is：
Wherein, a is expressed as corresponding to fuzzy quantity AjPrecise volume, the size of δ directly affects the shape of membership function curve；
3. by fuzzy reasoning, knowledge base is set up, obtains fuzzy control rule；With " ifA and B then C " (if A and
B then C) language describes control rule, and wherein A, B is input quantity, and C is output quantity；The fuzzy control language of the system is by " ifE
Conditional statement composition as=PB and EC=PB then U=PB ", the system forms 49 control rules；
4. the rule for being determined according to control rule, by reasoning, anti fuzzy method.Further according to fuzzy quantity determined above, obtain
To the relation R of each rulek, it is expressed as：
Wherein, i=1,2 ..., 7；J=1,2 ..., 7；K=1,2 ..., 49, "×" represents the direct product of set, EiAnd ECjPoint
The fuzzy quantity of E and EC, U are not belonging toijBe input quantity be EiAnd ECjIn the case of, according to fuzzy control rule obtain it is defeated
Go out fuzzy quantity；According to the fuzzy relation R that each fuzzy sentence is determinedk, the control rule of whole system must be described, therefore, always
Fuzzy relationship matrix r be expressed as：
According to fuzzy inference synthesis rule, the controlled quentity controlled variable of output should be fuzzy set U：
Wherein,It is synthesis symbol, so that, each subset calculated according to above formula in correspondence E and EC domains is corresponding
Output U, therefore, set up fuzzy relation matrix, U values are drawn according to the fuzzy relation matrix obtained, set up fuzzy control table；
5. anti fuzzy method is carried out to output quantity, by fuzzy reasoning, the precise volume of obfuscation is utilized into following weightings
Method of average expression formula
Anti fuzzy method is carried out, actual control execution amount is obtainedWherein, uiOutput corresponding to i-th fuzzy subset
Amount, μ (ui) it is membership function.
Advantages and positive effects of the present invention are：
Health-care bicycle is controlled to ride platform present invention employs Android/IOS mobile terminals APP, compared to traditional machine
Tool stick and other user terminal controllers, Android/IOS mobile terminals APP can be arranged on the mobile phone of user, saved
The apparatus cost of manufacture that power shifting bar and user terminal controller bring；Controlled without having to worry about power shifting bar and user terminal
The mechanical breakdown that device brings；Without the battery consumption for user terminal controller overspending；APP can be with online upgrading, side
Just developer carries out problem reparation and product up-gradation to it；Controller occurs in the form of APP, has also conformed to electrical equipment intelligence now
The trend of change, it is easier to received by user.
The present invention compares the indoor training platform of other classifications, and with low cost, simple structure is built conveniently, is easy to placement
Move, various types of user's request can be met；The present invention is compared to traditional training cycles platform by machinery
Regulation riding resistance, is more optimized, using letter using Android/IOS mobile terminals APP and with reference to PID FUZZY ALGORITHMS FOR CONTROL resistance trimmings
The interface display of breathization, the wireless operated of facilitation, detailed-oriented stepless resistance trimming, and introduce the real scene video training mould of hommization
Formula, allows user to obtain body-building information, the body-building intensity of quantification and the experience effect of comfortableization of relative data.Modern personage
Matter is plentiful, but most of shortage motions, and a kind of body inferior health, bicycle of the stepless controls of Android/IOS mobile terminals APP is good for
Body ride platform be learn, handle official business, rest after the excellent selection taken exercises, popular, inexpensive, just placement, easy to operate, resistance
The features such as power is big facilitates nationwide fitness programs.
Brief description of the drawings
Fig. 1 is platform composition schematic diagram of the invention.
Fig. 2 is control principle block diagram of the invention.
Specific embodiment
The embodiment of the present invention is further described below in conjunction with accompanying drawing.
A kind of health-care bicycle based on Android/IOS mobile terminals APP controls is ridden bench control system, as shown in figure 1,
Platform composition includes Android/IOS mobile terminals APP1 and for building body platform 4.Android/IOS mobile terminals APP1 is arranged on and uses
On the mobile phone at family, it is easy to user to set and storage identity and customized information, it is also possible to the real-time motion data letter that display is ridden
Breath, or using real scene video training mode 2, on for building body platform 4, user's middle body-building of riding is ridden for the rear wheel frame of bicycle 3
The rotating shaft of row platform 4 can be to the rear wheel drag of bicycle 3, so as to reach the effect of sport and body-building, for building body platform 4 and Android/
Wireless connection is set up by bluetooth between the APP1 of IOS mobile terminals, to the information such as transport resistance gear and real-time riding speed.
It is with reference to Fig. 2, the principle of patent of the present invention and as follows using process：
Android/IOS mobile terminals APP is arranged on the mobile phone of user, and for building body platform is powered by external power supply.According to
Put up indoor body-building to the description of Fig. 1 to ride after platform, user can indoors carry out cycling body building.
1) user opens the setting interface of Android/IOS mobile terminal APP first, is set using contact action, changed
And all kinds of body-building information of storage user, the main control module of Android/IOS mobile terminals APP passes after receiving these data messages
Preserved to information storage module, and set up bluetooth connection；
2) riding resistance gear can be adjusted by touch operation in user interface user, Android/IOS is moved
Moved end APP main control modules transmit wirelessly resistance gear and instruct by bluetooth module to for building body platform；
3) gear information that for building body platform main control module will be obtained from its bluetooth module combines the magnetic resistance letter for feeding back
Breath, with PID FUZZY ALGORITHMS FOR CONTROLs, adjusts PWM size of current to control the energization of electromagnet in resistance module by percentage
Size of current, so as to change the magnetic field of electromagnet, the specific control mode of wherein PID FUZZY ALGORITHMS FOR CONTROLs is as follows：
1. the magnetic resistance error e of the riding resistance that actual magnetic resistance and user set on the APP of Android/IOS mobile terminals is selected
With the variable quantity ec of error as controller input quantity, selection PWM percentage of current size is used as output control amount；
2. obfuscation is carried out to the precise volume for collecting, is provided with domain V, there is n accurate magnetic resistance data xi∈ V (i=1,
2 ..., n), while there is m fuzzy set.Aj∈ V (j=1,2 ..., m), if there is xiSo that degree of membership piece powerThen claim to belong to fuzzy set Aj, it is expressed as：
Above-mentioned formula is expressed as precise volume xiDegree of membershipBelong to fuzzy quantity Aj.The domain of error is taken for X, error
The domain of change is Y, and the domain of controlled quentity controlled variable is Z.
Fuzzy quantity is described with fuzzy set, E represents the actual value f of tested magnetic resistance to given magnetic resistance value f0Deviation e=
f-f0Fuzzy set, EC represents the fuzzy set of change rate of magnetic reluctance, and U represents the fuzzy set of control PWM percentage of current sizes
Close.According to the relation between fuzzy division and quantization, the fuzzy subset's number for taking E, EC, U is respectively 7,7,5.System takes magnetic resistance
Error e, magnetic resistance error change ec, the basic domain of controlled quentity controlled variable u are respectively (- 5N ,+5N), (- 2N ,+2N), (0,1).System is defeated
Go out controlled quentity controlled variable for the purpose motor module that controls PWM percentage of current size so as to reach control PWM output current sizes
It is exactly 0%~100% that maximum number of steps and minimum step number are converted into PWM percentage of current, and PWM electric currents are 5mA to the maximum,
So PWM electric currents are 0mA~5mA, correspond respectively to (0,1), i.e., at that time u=0 when, show electric current be minimum 0mA, u=1
When, electric current is maximum 1mA, by that analogy.And magnetic resistance is then between ± 5N, that is, to survey the low 5N of magneto resistive ratio setting magnetic resistance then electric currents
Maximum, then electric current is minimum for actual measurement magneto resistive ratio setting magnetic resistance 5N high.With reference to the situation of change that magnetic resistance is controlled, the quantized level of e, ec sum
The discrete domain that number is set to 11, i.e. sum is [- 5, -4, -3, -2, -1,0,1,2,3,4,5].The discrete domain of U for [0,1,2,
3,4,5] in control, if deviation is big, big controlled quentity controlled variable is used, if deviation is small, uses small controlled quentity controlled variable, so, fuzzy quantity is drawn
Point width be the non-linear increase with the distance of fuzzy quantity and neutral element.It is with set expression：E=NB, NM, NS, ZO, PS,
PM,PB}；EC={ NB, NM, NS, ZO, PS, PM, PB }；U={ ZO, PS, PM, PB, Z }.(NB is expressed as bearing greatly, during NM is to bear,
NS is negative small, and ZO is that zero, PS is just small, and PM is center, and PB is honest, and Z is expressed as maximum)
According to above-mentioned fuzzy subset, the membership function that each variable determines is determined respectively.Each membership function of E and EC is：
The membership function of each fringe of U is：
3. by fuzzy reasoning, knowledge base is set up, obtains fuzzy control rule；With " ifA and B then C " (if A and
B then C) language describes control rule, and wherein A, B is input quantity, and C is output quantity；The fuzzy control language of the system is by " ifE
Conditional statement composition as=PB and EC=PB then U=PB ", the system forms 49 control rules, such as the institute of table 1
Show.
Table 1 controls specification table
4. the rule for being determined according to control rule, by reasoning, anti fuzzy method.Further according to fuzzy quantity determined above, obtain
To the relation R of each rulek, it is expressed as：
Wherein, i=1,2 ..., 7；J=1,2 ..., 7；K=1,2 ..., 49, "×" represents the direct product of set, EiAnd ECjPoint
The fuzzy quantity of E and EC is not belonging to,Be input quantity be EiAnd ECjIn the case of, according to fuzzy control rule obtain it is defeated
Go out fuzzy quantity.Can be defined as below by above formula：
According to the fuzzy relation R that each fuzzy sentence is determinedk, total fuzzy relationship matrix r can be obtained：
According to fuzzy inference synthesis rule, the controlled quentity controlled variable of output should be fuzzy set U：
Wherein,It is synthesis symbol, i.e.,：
Calculate the corresponding output U of each subset in correspondence E and EC domains.
Solve fuzzy relation matrix, the value of U is drawn according to the fuzzy relation matrix obtained, set up as shown in table 2 obscuring
Control table.
The fuzzy control table of table 2
5. anti fuzzy method is carried out to output U, actual output quantity is ruled out with weighted mean methodExpression is：
After cycling, the axis of rotation directly compressed with bicycle rear, aluminium dish fixed thereon follows rotation, aluminium
Panel surface in the magnetic field that electromagnet and permanent magnet are superimposed because eddy current effect generates many small magnetic fields, these magnetic fields with it is extraneous
Magnetic fields are generated and suppress the effect that aluminium dish is rotated, and finally have the effect for hindering bicycle rear to rotate；
4) for building body platform main control module is obtained on the connected iron pan in real-time for building body platform axle center from sensor assembly
The pulse number that small magnet triggers, the rotational frequency in axle center is converted into conjunction with the time interval between each pulse, dry eliminating
On the premise of disturbing the saltus step data brought and the real-time for ensureing data processing, have chosen Hall sensor and receive 7 subpulses
Time used takes the mode of its average value to calculate the real-time linear velocity ridden；
5) real-time speed that the main control module of for building body platform will be calculated is transmitted to LED lamp control module, and LED will
Size according to the real-time riding speed being calculated accordingly changes the cycle of LED circulation flicker, i.e., when riding speed is faster
The Rapid Circulation flicker of control LED, controls LED slowly to circulate flicker when riding speed is slower；
6) main control module of for building body platform again by treatment after real-time riding speed value by bluetooth module transmit wirelessly
Give Android/IOS mobile terminals APP；
7) main control module of Android/IOS mobile terminals APP to the real-time speed value combination riding resistance gear that receives and
After the time of riding is calculated, the gym time of user that obtains being shown in display module user interface, real-time speed, ride
Distance, the power of consumption and calorie etc. are for reference；
8) main control module of Android/IOS mobile terminals APP to the real-time speed value combination riding resistance gear that receives and
The time of riding calculated after the data that obtain can be equally used for real scene video module, the master of Android/IOS mobile terminals APP
Real-time riding speed is transmitted to real scene video module by control module, and video, Real-time Feedback are played when Real-time Feedback speed is not zero
Then suspend video when speed is zero.
Above is the control situation of whole system, the display module of Android/IOS mobile terminals APP and depositing for bluetooth module
, allow the operation of user to become simple and convenient, it is more rich that real scene video training mode allows user for body-building to experience.
It is emphasized that the embodiment that the present invention is narrated is illustrative, rather than limited, therefore the present invention includes
The embodiment described in specific embodiment is not limited to, it is every to be obtained by those skilled in the art's technology according to the present invention scheme
The similar other embodiment for going out, also belongs to protection scope of the present invention.
Claims (3)
1. a kind of health-care bicycle of the stepless controls of Android/IOS mobile terminals APP is ridden bench control system, Android/IOS
Mobile terminal APP is arranged on the Android of user or i Phone, and on for building body platform, for building body platform is by external for bicycle rack
Power supply is powered；The health-care bicycle of the described Android/IOS mobile terminals stepless controls of APP is ridden bench control system, including：
1) display module, its input is all static and dynamic datas, these data by Android/IOS mobile terminals APP master
Control module is transmitted to display module again after being uniformly processed, for showing user interface and all kinds of body-building information, including user's body
Part presentation of information, real-time training feedback data display, bluetooth connection presentation of information and product related information etc., are also used to contrast each
The history training effect of user；The height of identity information including user, body weight, sex and etc. the date of birth；Real-time training feedback
Data include real-time speed, power, mileage of riding, time of riding, consumed energy, the information such as gear of riding；Bluetooth connection information
Display includes other bluetooth equipment lists of current pairing and the bluetooth connection state of Android/IOS mobile terminals APP；Product
Version information of the relevant information including product, the contact method of development teams, official website homepage are connected and use help.
2) real scene video module, rides outdoor scene recorded video for synchronously playing one section of first visual angle when user rides；Its is defeated
It is Real-time Feedback velocity information to enter, and is uploaded to real time speed information by sensor assembly and bluetooth module by for building body platform
After the main control module of Android/IOS mobile terminals APP, the Real-time Feedback velocity information after treatment is transmitted to outdoor scene by main control module again
Video module；Video is played when Real-time Feedback speed is not zero, Real-time Feedback speed then suspends video when being zero；Real scene video
Can be played with riding for user, broadcasting is suspended with the stopping of user；
3) information storage module, identity information, personal settings and historic training data for preserving user；User's setting,
Modification and preservation height, body weight, sex and the identity information of date of birth；Personal settings set language and unit be metric system or
It is made in Great Britain；Historic training data is used for contrasting the historic training data of each user；When user will set or modification identity information and
After training data after customized information input and each is uploaded, the main control module of Android/IOS mobile terminals APP can be located
Manage these information and data and be transmitted to information storage module, information storage module will preserve these information and data；
4) Android/IOS mobile terminals APP main control modules, the real-time speed that its input is gathered for the sensor assembly of for building body platform
Identity information, customized information and resistance gear information that degree information and user are set on the APP of Android/IOS mobile terminals
Deng after treatment again by data output to display module, real scene video module and information storage module, and by bluetooth module
Resistance gear information is sent to for building body platform；Main control module completes speed, power, mileage of riding, time of riding, consumption energy
Measure the calculating and treatment of data；Also the Showing Effectiveness On Screen of display module is controlled；And can be received from strong by bluetooth module
Body is ridden the velocity information of platform, and the resistance gear information that user is set is sent into for building body platform.
5) bluetooth module, for Android/IOS mobile terminals APP, make use of the bluetooth connection function of being carried in mobile phone, for
For building body platform sets up wireless telecommunications, detects the bluetooth equipment that can nearby connect, and its title is arranged out for user
Selection, bluetooth icon appears dimmed under not-connected status, and bluetooth icon is shown in red under connection status；For for building body
Platform, bluetooth module master chip uses low-power consumption bluetooth 4.0 and later series, for being set up with Android/IOS mobile terminals APP
Wireless telecommunications, passively set up with other bluetooth equipments and are connected；The main control module of Android/IOS mobile terminals APP sets user
The resistance gear information put inputs to bluetooth module, and resistance gear information is transmitted to bluetooth module the master control mould of for building body platform again
Block is processed；Bluetooth is transmitted to after the real time speed information treatment that the main control module of for building body platform collects sensor assembly
Module, bluetooth module is again processed the main control module that real time speed information is transmitted to Android/IOS mobile terminals APP；
6) resistance module, is mainly made up of electromagnet, permanent magnet and aluminium dish；According to electromagnetic induction principle, the PWM electric currents of input are big
The superposition magnetic fields of the small magnetic field size that can change electromagnet, electromagnet and permanent magnet form vortex, aluminium on the surface of aluminium dish
Interaction force is produced and former magnetic field between when disk is rotated, so as to produce the resistance ridden；
7) sensor assembly, speed acquisition sensor uses Hall sensor；Hall sensor is gathered according to magnetoelectric induction principle
The current impulse number of times that small magnet on the iron pan being connected with for building body platform axle center triggers, by the data message of collection export to
The main control module of for building body platform, the rotational frequency in axle center is calculated so as to main control module, so as to the real-time speed ridden；
8) for building body platform main control module, is mainly made up of single-chip microcomputer and other auxiliary circuits；For realizing sensor collection
The treatment of real time speed information, main control module is received on the iron plate being connected with for building body platform axle center that Hall sensor is uploaded
The pulse number data that small magnet triggers, the rotational frequency in axle center are converted into conjunction with the time interval between each pulse, finally
The real-time linear velocity ridden；The real time speed information that will be calculated by bluetooth module is sent to Android/IOS movements
End APP；And according to the resistance gear command information received from Android/IOS mobile terminals APP, calculated with reference to PID fuzzy controls
The drag size that method is ridden to adjust the PWM percentage of current size of for building body platform with stepless control；And control LED to circulate
Flicker, the size according to the real-time riding speed being calculated accordingly change LED circulation flicker cycle, i.e., riding speed compared with
Control LED Rapid Circulation flicker when fast, controls LED slowly to circulate flicker when riding speed is slower.
2. the health-care bicycle of APP stepless controls in Android/IOS mobile terminals according to claim 1 ride platform control system
System, it is characterised in that：Described for building body platform main control module receives user's setting from Android/IOS mobile terminals APP
Resistance gear information instruction after, combine PID FUZZY ALGORITHMS FOR CONTROLs come percentage step-less adjustment pwm circuit output electric current it is big
Small, described PID fuzzy control methods are as follows：21) the variable quantity ec of selection magnetic resistance error e and error is input into as controller
Amount, selection PWM percentage of current size is used as output control amount；
22) obfuscation is carried out to the precise volume for collecting, is provided with domain V, there is n accurate magnetic resistance data xi∈ V (i=1,2 ...,
N), while there is m fuzzy set.Aj∈ V (j=1,2 ..., m), if there is xiSo that degree of membershipThen claim category
In fuzzy set Aj, it is expressed as：
Above-mentioned formula is expressed as precise volume xiDegree of membershipBelong to fuzzy quantity Aj.The domain of error is taken for X, error change
Domain be Y, the domain of controlled quentity controlled variable is Z.
Fuzzy quantity is described with fuzzy set, E represents the actual value f of tested magnetic resistance to given magnetic resistance value f0Deviation e=f-f0's
Fuzzy set, EC represents the fuzzy set of change rate of magnetic reluctance, and U represents the fuzzy set of control PWM percentage of current sizes；According to
Relation between fuzzy division and quantization, the fuzzy subset's number for taking E, EC, U is respectively 7,7,5, then fuzzy set is expressed as：
Wherein, these vocabulary such as " NB ", " NM ", " NS ", " ZO ", " PS ", " PM ", " PB ", " Z " are fuzzy quantity；
Determine that precise volume x is subordinate to fuzzy quantity A by membership functionjDegree of membership；Membership function is asked for, that is, determines membership function
Shape；Fuzzy variable is set to Normal Type fuzzy variable, its membership function is：
Wherein, a is expressed as corresponding to fuzzy quantity AjPrecise volume, the size of δ directly affects the shape of membership function curve；
23) by fuzzy reasoning, knowledge base is set up, obtains fuzzy control rule；With " if A and B then C " (if A and B
Then C) language describes control rule, and wherein A, B is input quantity, and C is output quantity；The fuzzy control language of the system is by " if E
Conditional statement composition as=PB and EC=PB then U=PB ", the system forms 49 control rules；
24) rule determined according to control rule, by reasoning, anti fuzzy method.Further according to fuzzy quantity determined above, obtain every
The relation R of one rulek, it is expressed as：
Wherein, i=1,2 ..., 7；J=1,2 ..., 7；K=1,2 ..., 49, "×" represents the direct product of set, EiAnd ECjIt is respectively
Belong to the fuzzy quantity of E and EC, UijBe input quantity be EiAnd ECjIn the case of, according to the output mould that fuzzy control rule is obtained
Paste amount；According to the fuzzy relation R that each fuzzy sentence is determinedk, the control rule of whole system must be described, therefore, total mould
Paste relational matrix R is expressed as：
According to fuzzy inference synthesis rule, the controlled quentity controlled variable of output should be fuzzy set U：
Wherein,It is synthesis symbol, so that, the corresponding output U of each subset in correspondence E and EC domains is calculated according to above formula,
Therefore, set up fuzzy relation matrix, U values are drawn according to the fuzzy relation matrix obtained, set up fuzzy control table；
25) anti fuzzy method is carried out to output quantity, by fuzzy reasoning, the precise volume of obfuscation is utilized into following weighted averages
Method expression formula
Anti fuzzy method is carried out, actual control execution amount is obtainedWherein, uiOutput quantity corresponding to i-th fuzzy subset, μ
(ui) it is membership function.
3. the health-care bicycle of APP stepless controls in Android/IOS mobile terminals according to claim 1 ride platform control system
System, it is characterised in that：Described for building body platform main control module obtains real-time for building body platform axle center and is connected from sensor assembly
Iron pan on the pulse number that triggers of small magnet, the rotation for being converted into axle center in conjunction with the time interval between each pulse is frequently
Rate, on the premise of the real-time for eliminating the saltus step data of interference fringe and ensureing data processing, have chosen Hall sensor and connects
Receiving the time used by some subpulses takes the mode of its average value to calculate the real-time linear velocity ridden.
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