CN118662852A - Power dynamometer vehicle and control method thereof - Google Patents

Abstract

The present invention relates to the field of rehabilitation training, and provides a power dynamometer, including a frame, a handlebar, a seat, and a base connecting the handlebar and the seat, the base is provided with a transmission mechanism, the transmission mechanism is connected with a resistance adjustment device for adjusting the transmission resistance of the transmission mechanism, and the frame is also provided with a data processing module, the data processing module includes an information acquisition module for acquiring transmission data and an information calculation module for controlling the resistance adjustment device according to the transmission data to control the constant power output of the dynamometer. The power dynamometer provided by the present invention connects the resistance adjustment mechanism with the transmission mechanism, the information calculation module can acquire the transmission data in real time through the information acquisition module and perform calculations, and the information calculation module controls the resistance adjustment mechanism according to the calculation results to adjust the transmission resistance of the transmission mechanism, so that the dynamometer can maintain a constant power output, and can provide an effective, safe, and high-quality training mode, ensuring the safety of the user.

Description

Power dynamometer vehicle and control method of power dynamometer vehicle

Technical Field

The invention belongs to the field of rehabilitation training, and in particular relates to a power dynamometer vehicle and a control method of the power dynamometer vehicle.

Background Art

CPET is currently recognized as the gold standard for direct testing of aerobic capacity. However, anaerobic metabolism is the main energy supply for short-term high-load exercise. Metabolic substances and metabolic processes occur in the body without direct material exchange with the outside world. Therefore, quantification of anaerobic metabolism is difficult.

Traditional cardiopulmonary function tests generally require patients to exercise to exhaustion when performing a VO2max test. In the physical therapy world, exhaustion means that, ideally, one or more muscle groups of the participant can no longer do any useful work. In layman's terms, it means "falling down" and being unable to get up again.

However, in actual testing, it is difficult to ensure that every patient can reach absolute exhaustion. The results of traditional cardiopulmonary function tests are affected by individual differences and subjective factors, making the results inaccurate.

The essence of the constant power exercise evaluation method is to evaluate the human body's cardiopulmonary reserve capacity by observing and recording the changes in the human heart rate under quantitative load conditions. Between two levels of exercise load of the same magnitude, the smaller the degree of heart rate change, to a certain extent, it means that the individual's exercise cardiopulmonary reserve capacity is stronger. Power is the direct measurement unit of exercise load in power bike test. From the above analysis, it is not difficult to find that ensuring the constancy of each level of power in the exercise test is the premise and guarantee for constant power exercise evaluation. However, Herda et al. and Billinger et al. pointed out that due to the influence of subjective factors such as fatigue and emotion during the test, the pedaling rate fluctuates greatly, resulting in the inability to keep the power load at each level constant, and it is difficult to accurately obtain the corresponding stable heart rate and oxygen uptake platform under each level of load, thereby affecting the repeatability and accuracy of the evaluation results.

Similarly, during the training process, Liu Yanling et al. studied the personalized rehabilitation exercise prescription for chronic heart failure (CHF) patients by setting constant-load exercise with different target intensities at each stage based on the quantitative evaluation results of cardiopulmonary exercise testing (CPET). In addition, for some special populations such as chronic obstructive pulmonary disease (COPD), constant-load exercise testing on power bikes can also be used to evaluate the improvement of rehabilitation training and treatment plans on patients' exercise ability (Gosselink and Kwakkel, 2003, Casaburi and Porszasz 2009). Through the above research, it is not difficult to find that achieving constant power control during exercise is extremely important for achieving accurate personalized sports health management.

The precise measurement characteristics of the constant ergometer allow the therapist to apply a graded, measurable load to the user. Combined with an appropriate theoretical analysis model (e.g. Tests such as the Ekblom-Bak submaximal test can monitor changes in circulation, breathing, and metabolism in patients and athletes during and after training.

The essence of the constant power exercise assessment method is to observe and record the changes in the human heart rate under quantitative load conditions, and then evaluate the human cardiopulmonary reserve capacity. Between two levels of exercise load of the same magnitude, the smaller the degree of heart rate change, to a certain extent, it means that the individual's exercise cardiopulmonary reserve energy is stronger. Power is the direct unit of measurement of exercise load in power bike tests. Therefore, ensuring the constancy of power at all levels in exercise tests is the premise and guarantee for constant power exercise assessment. However, in the actual test process, due to the influence of subjective factors such as fatigue, endurance, and emotions on the tester, the pedaling rate fluctuates greatly, resulting in the inability to keep the power load at all levels constant, and it is difficult to prepare to obtain the corresponding stable heart rate and oxygen uptake under the load, thus affecting the accuracy of the assessment results.

Existing power bicycles can be divided into two types, one is a magnetic resistance distance adjustment bicycle, and the other is a wind resistance power bicycle; in the magnetic resistance power bicycle, after the flywheel is driven to rotate by stepping on the axle of the pedal, resistance is applied to the flywheel through the magnet above the flywheel. The closer the distance, the greater the resistance; in manual mode, the distance is adjusted by shifting the gear to adjust the resistance; in electric adjustment mode, a motor is installed at the distance adjustment position, and the distance between the magnet and the flywheel is adjusted by the rotation of the motor to change the resistance; in the wind resistance power bicycle, the flywheel is replaced with a fan, and the resistance value is adjusted by adjusting the size of the air duct.

However, in the above prior art, the resistance control of the dynamometer vehicle is through mechanical regulation or manual regulation, but this regulation method can only be carried out based on the subjective feeling of the user, and it is impossible to well predict the resistance increase or decrease value, so that the output power of the dynamometer vehicle cannot be constant, and there is a large error in the evaluation result; the method of determining a reasonable resistance value according to different users in the prior art is to select a value based on human experience, and determine the appropriate resistance value through continuous trial and error, but the continuous trial and error process requires the user to spend a lot of energy and physical strength. On the one hand, the long-term consumption of energy and physical strength will make the final determined appropriate resistance value inaccurate, and on the other hand, due to the large amount of physical consumption, injuries may occur in the subsequent evaluation process or inaccurate test results.

Summary of the invention

The purpose of the present invention is to overcome at least one of the deficiencies of the above-mentioned prior art, and to provide a power dynamometer vehicle and a control method for a power dynamometer vehicle. By real-time monitoring of transmission data and adjusting the transmission resistance through a resistance adjusting device, the resistance adjusting device is controlled to control the transmission mechanism, thereby realizing training modes with different constant resistances and training modes with different constant powers, and the application effect is good.

The technical solution of the present invention is: a power dynamometer vehicle, comprising: a frame, the frame is provided with a handlebar, a seat, and a base connecting the handlebar and the seat, the base is provided with a transmission mechanism, the transmission mechanism is connected with a resistance adjustment device for adjusting the transmission resistance, the frame is also provided with a data processing module, the data processing module includes an information acquisition module for acquiring transmission data and an information calculation module for controlling the resistance adjustment device according to the transmission data to control the constant power output of the dynamometer vehicle.

Furthermore, the transmission data includes the rotational speed of the transmission mechanism and the torque of the resistance adjusting device. The information calculation module obtains the rotational speed and the torque and performs analysis and calculation to control the resistance adjusting device to keep the output power of the dynamometer vehicle constant.

Furthermore, the resistance adjustment device is configured as a hysteresis brake, which includes a rotor and a stator. The rotor is connected to the base and to the transmission mechanism. The rotor and the stator poles are also provided with a plurality of coils, and the stator ring is provided on the rotor.

Furthermore, the information acquisition module includes a Hall element arranged on the base and used to obtain the rotation speed of the transmission mechanism and a sensor arranged on the base and used to obtain the resistance of the resistance adjustment device.

Furthermore, one end of the sensor is arranged on the base, and the other end is connected to the resistance adjustment device.

Furthermore, a first mounting plate and a second mounting plate are arranged opposite to each other along the edge of the base, and the base, the first mounting plate and the second mounting plate form an accommodating cavity, and the transmission mechanism is arranged in the accommodating cavity.

Further, the first mounting plate and the second mounting plate are respectively provided with a first shaft hole, a second shaft hole and a third shaft hole, and a first transmission shaft, a second transmission shaft and a third transmission shaft are respectively provided with the first shaft hole, the second shaft hole and the third shaft hole;

The transmission mechanism includes a first sprocket arranged on the first transmission shaft, a second sprocket and a first pulley arranged on the second transmission shaft, and the first sprocket and the second sprocket are provided with a first synchronous belt to achieve synchronous rotation; the third transmission shaft is provided with a second pulley and the resistance adjustment device, and the first pulley and the second pulley are provided with a second synchronous belt to achieve synchronous rotation.

The present invention also provides a control method for a power dynamometer vehicle, which is used to control the above-mentioned power dynamometer vehicle, comprising the following steps: the information acquisition module acquires the transmission data of the transmission mechanism and transmits it to the information calculation module, the information calculation module receives the transmission data and controls the resistance adjustment device according to the transmission data, under the action of the resistance adjustment device, the transmission data of the transmission mechanism is updated in real time to control the output power of the dynamometer vehicle to be constant.

Furthermore, the information calculation module is configured as a PID control system, and the output power of the dynamometer vehicle is graded into several levels in a step-by-step manner. When a user applies a force to the transmission mechanism, the information acquisition module obtains the transmission data of the transmission mechanism and transmits the transmission data to the PID control system. The PID control system receives the transmission data and calculates to obtain a calculation result, and selects a set step interval based on the calculation result. After the set step interval is selected, the PID control system receives the transmission data and calculates to control the resistance adjustment device in real time, adjust the resistance of the transmission mechanism, and control the output power of the dynamometer vehicle to be constantly output in the selected step interval.

Furthermore, the system output power range is set at 0-1000W, and is stepped into multiple step intervals according to the set difference (which may be 100W, 200W, etc.). The method for selecting and setting the step interval is as follows: the resistance adjustment device is controlled by the PID control system to adjust the resistance of the transmission mechanism to the maximum value. The user applies the maximum force, and the transmission mechanism generates transmission data and transmits it to the PID control system. The PID control system calculates the transmission data to determine the step interval.

A power dynamometer provided by the present invention connects a resistance adjustment mechanism with a transmission mechanism, and an information calculation module arranged on the frame can obtain the transmission data of the transmission mechanism in real time through an information acquisition module and perform calculations, and the information calculation module controls the resistance adjustment mechanism according to the calculation results, and can adjust the transmission resistance of the transmission mechanism, thereby achieving a constant power output of the dynamometer vehicle, and can provide targeted training and comprehensive data for health assessment of patients according to individual characteristics, and can provide an effective, safe, and high-quality training model, which not only greatly improves the training efficiency, but also ensures the safety of users in the field of cardiopulmonary rehabilitation, and has a good application effect.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a perspective view of the overall structure of a power dynamometer vehicle provided in an embodiment of the present invention;

2 is a three-dimensional schematic diagram of a power dynamometer base, a transmission mechanism and a resistance adjustment mechanism provided by an embodiment of the present invention;

3 is a flow chart of maintaining a constant power output of a power dynamometer vehicle provided by an embodiment of the present invention;

FIG. 4 is a schematic diagram showing the principle of adjusting parameters of a PID control system by a fuzzy controller of a power dynamometer vehicle provided in an embodiment of the present invention.

Reference numerals and names in the figures:

Base 1, first transmission shaft 2, second transmission shaft 3, third transmission shaft 4, first sprocket 5, second sprocket 6, first pulley 7, second pulley 8, rotor 9, stator 10, sensor 11, fixing block 12, connecting block 13, Hall element 14, pedal 15, crank 16, frame 17, faucet 18, seat 19, first support shaft 20, second support shaft 21, first mounting plate 22, second mounting plate 23, first shaft hole 24, second shaft hole 25, third shaft hole 26, first bracket 27, first telescopic rod 28, second bracket 29, sliding rod 30, first locking member 31, second locking member 32, second telescopic rod 33, third locking member 34, cushion 35, display screen 36

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

It should be noted that the terms “setting” and “connecting” should be understood in a broad sense. For example, it can be directly setting or connecting, or it can be indirectly setting or connecting through a central component or a central structure.

In addition, in the embodiments of the present invention, if there are terms such as "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings or the conventional placement state or use state, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure, feature, device or element referred to must have a specific orientation or positional relationship, nor must it be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

The various specific technical features and embodiments described in the specific implementation methods can be combined in any suitable manner unless there is any contradiction. For example, different implementation methods can be formed by combining different specific technical features/embodiments. In order to avoid unnecessary repetition, the various possible combinations of the specific technical features/embodiments in the present invention will not be described separately.

As shown in Figures 1 and 2, a power dynamometer provided by an embodiment of the present invention comprises a frame 17, on which a handlebar 18, a seat 19 and a base 1 connecting the handlebar 18 and the seat 19 are arranged (including), a transmission mechanism is arranged on the base 1, and a resistance adjusting device is connected to the transmission mechanism, and the resistance adjusting device is used to adjust the transmission resistance of the transmission mechanism. The frame 17 is also provided with a data processing module, and the data processing module includes an information acquisition module and an information calculation module. The information acquisition module is used to obtain the transmission data of the transmission mechanism. The information calculation module is used to control the resistance adjusting device according to the collected transmission data, so as to control the dynamometer vehicle to output at constant power. In an embodiment of the present invention, the resistance adjusting device is connected to the transmission mechanism, and the information calculation module is electrically connected to the information acquisition module and the resistance adjusting device. The information acquisition module collects the transmission data of the transmission mechanism and transmits the transmission data to the information calculation module. The information calculation module receives the transmission data and performs calculations. By real-time monitoring of the transmission data and adjusting the transmission resistance through the resistance adjusting device, the resistance adjusting device is controlled to control the transmission mechanism, and different constant resistance training modes and different constant power training modes can be realized, and the application effect is good.

Specifically, the transmission data includes the rotational speed of the transmission mechanism during operation and the resistance at the resistance adjusting device. The information acquisition module collects the above rotational speed and resistance and transmits the rotational speed and resistance to the information calculation module in real time. The information calculation module performs analysis and calculation after receiving the rotational speed and torque force. According to the calculation results, the resistance adjusting device is controlled to control the resistance of the transmission mechanism, so as to achieve constant output power of the dynamometer vehicle.

Preferably, the resistance adjustment device is set as a hysteresis brake, which includes a rotor 9 and a stator 10. The rotor 9 is connected to the base 1 and connected to the transmission mechanism. The rotor 9 and the stator 10 are provided with a plurality of coils. The diameter of the stator 10 is larger than that of the rotor 9. The stator 10 is sleeved on the rotor 9. The stator 10 and the rotor 9 of the hysteresis brake have multiple coils inside. After being energized, two repulsive magnetic fields will be generated to form resistance. There is only air between the stator 10 and the rotor 9, and friction is negligible. Assuming that the stator 10 is not fixed, the stator 10 is attached to the rotor 9 and can rotate freely. When not energized, the friction force is 0. The rotor 9 rotates and the stator 10 does not rotate. When energized, a resistance force is generated between the stator 10 and the rotor 9, and the stator 10 will rotate in the same direction as the rotor 9; but now the stator 10 is connected to the sensor (tension sensor) 11, so the sensor 11 receives all the resistance generated by the hysteresis brake. The resistance generated by the hysteresis brake is related to the magnetic field strength and has nothing to do with the rotation speed of the rotor 9, so the error is small when the resistance is adjusted; and the stator 10 and the rotor 9 of the hysteresis brake are not in direct contact, which avoids wear and contact errors, and has a longer service life and lower maintenance costs.

Preferably, the information acquisition module includes a Hall element 14 and a sensor 11 (tension sensor), the Hall element 14 is arranged on the base 1 and is used to collect the rotational speed of the transmission mechanism, the sensor 11 is arranged on the base 1 and is used to collect the torque generated by the hysteresis brake, one end of the sensor 11 is fixed to the base 1 through a fixing block 12, and the other end of the sensor 11 is connected to the stator 10 of the hysteresis brake at the connection of the outer edge of the stator 10 through a connecting block 13, wherein the direction of the sensor 11 (tension sensor) is perpendicular to the line connecting the center of the stator 10 and the connection. In this embodiment, the stator 10 is arranged longitudinally, and the tension sensor is horizontally connected to the bottom of the stator 10; the fixing block 12 is provided with two bar holes, which can more conveniently adjust the positional relationship between the sensor 11 and the stator 10.

Preferably, the first mounting plate 22 and the second mounting plate 23 are arranged opposite to each other at the edge of the base 1, the base 1, the first mounting plate 22 and the second mounting plate 23 form an accommodating cavity, the transmission mechanism is arranged in the accommodating cavity, the first mounting plate 22 and the second mounting plate 23 have completely consistent sizes and shapes, and the first mounting plate 22 and the second mounting plate 23 are correspondingly provided with a first shaft hole 24, a second shaft hole 25 and a third shaft hole 26, the first shaft hole 24 is provided with a first transmission shaft 2, the second shaft hole 25 is provided with a second transmission shaft 3, and the third shaft hole 26 is provided with a third transmission shaft 4; the transmission mechanism includes a first sprocket 5, a second sprocket 6, a first pulley 7 and a second pulley 8, The outer ring of the second sprocket 6 is provided with a sprocket gear, and a one-way bearing is provided inside. The one-way bearing can transmit torque when the transmission mechanism rotates clockwise, and does not transmit torque when the transmission mechanism rotates counterclockwise or differentially. The first sprocket 5 is provided on the first transmission shaft 2, the second sprocket 6 and the first pulley 7 are provided on the second transmission shaft 3, and the second pulley 8 is provided on the third transmission shaft 4. The first sprocket 5 and the second sprocket 6 keep synchronous rotation, and the first pulley 7 and the second pulley 8 keep synchronous rotation. In the embodiment of the present invention, the first sprocket 5 and the second sprocket 6 realize synchronous rotation through a chain, and the first pulley 7 and the second pulley 8 realize synchronous rotation through a belt. The transmission mechanism is designed as a two-stage transmission mechanism, which has the advantages of high transmission efficiency, large transmission ratio, compact structure, small size, etc.

In the above-mentioned two-stage transmission mechanism, through holes are provided in the middle positions of the first sprocket 5, the second sprocket 6, the first pulley 7 and the second pulley 8, the first transmission shaft 2, the second transmission shaft 3 and the third transmission shaft 4 respectively pass through the through holes and the two ends of the transmission shaft are respectively placed in the first shaft hole 24, the second shaft hole 25 and the third shaft hole 26; the hysteresis brake is arranged on the third transmission shaft 4, the rotor 9 is fixed on the third transmission shaft 4 and rotates synchronously with the third transmission shaft 4, the stator 10 is arranged around the rotor 9 and connected to the sensor 11 through the connecting block 13. The action process of this embodiment is as follows: the user applies external force to the dynamometer vehicle, the external force is transmitted to the first sprocket 5, the first sprocket 5 starts to rotate, and the second sprocket 6 immediately starts to rotate synchronously with the first sprocket 5 under the drive of the first synchronous belt chain. Since the second sprocket 6 and the first pulley 7 are arranged on the same transmission shaft, the first pulley 7 starts to rotate, and the second pulley 8 rotates synchronously with the first pulley 7 under the drive of the second synchronous belt belt. The rotor 9 and the second pulley 8 are arranged on the same transmission shaft, so the rotor 9 starts to rotate. In the embodiment of the present invention, the dynamometer is provided with a pedal 15 and a crank 16. When a user steps on the pedal 15, the pedal force is transmitted to the first transmission shaft 2 through the crank 16, so that the entire transmission mechanism starts to move; a first support shaft 20 and a second support shaft 21 are extended at both ends of the base 1, and the first support shaft 20 and the second support shaft 21 are arranged in parallel and perpendicular to the base 1. The transmission mechanism can also adopt a transmission method such as gear transmission.

The frame 17 includes a first bracket 27 arranged in the height direction from one end of the base 1 and a first telescopic rod 28 telescopically arranged on the first bracket 27. The first telescopic rod 28 is provided with a plurality of height positioning holes. The first locking member 31 is arranged on the first bracket 27 and can cooperate with the positioning holes of the first telescopic rod 28 to achieve the position of the first telescopic rod 28 being fixed relative to the first bracket 27, that is, when the dynamometer needs to adapt to users of different heights, the first telescopic rod 28 can be adjusted to a comfortable position for the user, and then the first telescopic rod 28 can be locked and fixed with the first locking member 31. The faucet 18 is arranged at the top of the frame 17 and has a handle for the user to hold.

The seat 19 includes a second bracket 29 arranged in the height direction from the other end of the base 1 and a second telescopic rod 33 which is telescopically arranged on the second bracket 29. The second telescopic rod 33 is provided with a plurality of height positioning holes. The second locking member 32 is arranged on the second bracket 29 and can cooperate with the positioning holes of the second telescopic rod 33 to realize that the position of the second telescopic rod 33 is locked and fixed relative to the second bracket 29. A sliding rod 30 is arranged horizontally on the top of the second telescopic rod 33. The seat cushion 35 can be slidably arranged on the sliding rod 30 and locked and fixed by the third locking member 34. The seat 19 can be adjusted as follows: the first telescopic rod 28 is telescopically arranged to adjust the height of the seat cushion 35. The seat cushion 35 can be slidably arranged on the sliding rod 30 to realize the front and rear adjustment of the seat cushion 35. The adjustment of the telescopic rod and the adjustment of the seat cushion 35 do not interfere with each other. The user can adjust to a suitable use position suitable for himself.

The ergometer vehicle is also provided with a display device, which is arranged in the middle position of the handle of the faucet 18. The display device includes a display screen 36. The display screen 36 can be a touch screen, and can also be optionally provided with operation buttons. The display screen 36 can display data information such as rotation speed, torque, time, etc. After the training is completed, it can generate functions such as performance reports. The operation buttons and touch screen can be electrically connected to the information calculation module, and some operation instructions can be transmitted to the information calculation module, such as adjusting the resistance of the resistance adjustment mechanism to the maximum value.

An embodiment of the present invention also provides a control method for a power dynamometer vehicle, which is used to control the power dynamometer vehicle in the above embodiment, including the following steps: an information acquisition module obtains transmission data of the transmission mechanism and transmits it to an information calculation module, the information calculation module receives the transmission data and controls the resistance adjustment device according to the transmission data, and under the action of the resistance adjustment device, the output power of the dynamometer vehicle is controlled to be constant.

In the embodiment of the present invention, the dynamic equation of the dynamometer movement is: P(t)=0.95*0.95*12*2pi*n*T(t)/60, wherein 0.95*0.95 is the secondary transmission efficiency, 12 is the sum of the transmission ratios of the transmission mechanism, n is the speed of the transmission mechanism, and T(t) is the resistance torque generated by the resistance adjustment device (the induction value of the tension sensor*the lever arm L, where the lever arm L is the distance between the center of the stator 10 and the connection). From the above formula, it can be obtained that when the output power P of the dynamometer remains constant, the speed of the transmission mechanism and the resistance torque of the resistance adjustment device are equal. It can be further obtained that when the information calculation module controls the resistance adjusting device to increase the resistance torque of the resistance adjusting mechanism, the rotational speed of the transmission mechanism will decrease accordingly. The reaction on the dynamometer vehicle is: the user will feel that the force that needs to be applied to the transmission mechanism of the dynamometer vehicle increases, so that the rotational speed of the transmission mechanism slows down. On the contrary, when the information calculation module controls the resistance adjusting device to decrease the resistance torque of the resistance adjusting mechanism, the user will feel that the force that needs to be applied to the transmission mechanism decreases, and the transmission mechanism can be more easily moved, so the rotational speed of the transmission mechanism will increase.

From the above formula, it can be seen that when the power P reaches a constant value, when the variable speed n increases, the resistance torque T should decrease accordingly. In this embodiment, the resistance torque T = the force F received by the sensor 11 * the force arm L from the sensor 11 to the connection point. Since the force arm L is determined, it can be inferred that the resistance torque T is affected by the force F. Combined with the above description, it can be further inferred that when the power P takes a constant value, when the speed n increases, the force F should decrease accordingly. After Laplace transformation, it can be obtained that: G(s) = 1/1.13411*n.

Referring to FIG3 , according to the Laplace transform formula obtained by the above assumption: G(s)=1/1.13411*n, in the embodiment of the present invention, the information calculation module is set as a PID control system. The PID control system has a simple principle, strong robustness and practicality, simple structure, and convenient parameter adjustment. It can be calculated according to the proportional, integral, and differential functional relationship according to the input value range with deviation, and the calculation result is used for output control; since the force applied by the user to the dynamometer vehicle is affected by many factors, it is difficult to achieve a completely constant output, but it can be output stably within a certain range, so the sine wave can be multiplied by different multiples instead of the speed n for simulation. After selecting the target power, the information acquisition module and the information calculation module collect and calculate the transmission data, generate torque force and calculate the real-time power through PID control of the hysteresis brake, feed back the real-time power and compare it with the target power, and repeat this process to achieve the constant output power of the dynamometer vehicle.

The dynamometer vehicle has different conditions under different output powers, and the PID control system will have different responses and sizes. In order to avoid causing large errors, the output power of the dynamometer vehicle is graded into 5 levels in a step-by-step manner in the embodiment of the present invention. According to group analysis, the output power of the dynamometer vehicle can be between 0-1000W, which can basically cover all users. Therefore, it can be graded in a step-by-step manner according to the set difference (taking 200W as an example), which are 0-200W, 200-400W, 400-600W, 600-800W, and 800-1000W respectively; of course, the difference can also be selected as a suitable range such as 100W. The method for determining a step interval suitable for a certain user is as follows: by using the operation button set on the display device, the information calculation module is controlled to adjust the resistance of the resistance adjustment device to the maximum value, the user steps on the pedal 15 with the maximum force, the sensor 11 receives the torque of the resistance adjustment device, and transmits the torque to the information calculation module, the information calculation module receives and calculates, and determines that the calculated value falls into a certain step interval, and the display device displays the appropriate step interval on the display screen 36, so that the power interval suitable for the user can be determined; after the appropriate step interval is determined, the user can test the cardiopulmonary reserve energy test method in a daily manner: by stepping on the pedal 15, a force is applied to the transmission mechanism, the information acquisition module obtains the transmission data of the transmission mechanism and transmits the transmission data to the information calculation module, that is, the transmission data is transmitted to the PID control system, the PID control system receives the transmission data and calculates, and controls the resistance adjustment device to increase or decrease the torque to adjust the transmission resistance of the transmission structure, so as to control the dynamometer to output constant power in the above-selected appropriate step interval. During the specified test time and after the test, the corresponding exercise data will be displayed in real time on the display screen 36, and a corresponding exercise report will be generated.

Or as shown in FIG4 , a fuzzy controller can be used to perform real-time dynamic adjustment of PID parameters, using the error and the error variation as input, writing fuzzy rules, and inferring three corresponding PID parameters.

The information acquisition module is configured to include a Hall element 14 for collecting the rotational speed of the transmission mechanism and a sensor 11 for collecting the torque of the resistance adjustment device. The data collected by the Hall element 14 and the sensor 11 are real-time, and the data are transmitted to the information calculation module in real time. The information calculation module receives the torque and rotational speed in real time, calculates in real time, and controls the resistance adjustment device in real time, with a fast response speed.

Specifically, the power dynamometer is provided with a communication module, which can be used to upload the user's training data and other information to the analysis system of the remote server. The training data may include the user's instantaneous power, pedaling torque, pedaling frequency, etc. The remote server has a storage module and an analysis and processing module. The storage module can store the user's basic information (including basic information such as age and gender) and the user's training data each time. In this way, the remote server can associate the training data with the user's basic information, and analyze the historical training data to output comparison charts and user set rankings, etc., so that the user can intuitively know the training effect.

The handlebars of the power dynamometer vehicle may be provided with sensors, and the sensors may include blood oxygen sensors to obtain the user's blood oxygen data. The power dynamometer vehicle may also include wireless sensors (heart rate sensors, etc.), which can be worn by the user. The power dynamometer vehicle is equipped with a built-in wireless receiving device for communicating with the wireless sensors to obtain the user's heart rate and other information, and analyze and process it in combination with the training data to better analyze the user's training effect.

In a specific application, the power dynamometer vehicle also includes a posture sensor disposed on the vehicle frame, which is used to obtain the user's posture during training, and can timely analyze whether the user's exercise posture is correct in combination with the user's output power, and can remind the user through a display screen to correct the user's posture. The posture sensor can be provided in two groups and each is provided with two handles, and the two groups of posture sensors are respectively facing the left and right sides of the user's body to respectively obtain the exercise posture data of the left and right limbs of the user.

A power dynamometer and a constant power output control system provided by an embodiment of the present invention have a simple structure, high transmission efficiency, a small overall volume, are easy to move, can be used by users of different heights, and have a wide range of applications. After the output power is graded in steps and a reasonable power step is determined, the output power is guaranteed to be constant within the above-selected power step under the joint action of an information calculation module and a resistance adjustment mechanism, replacing the original manual adjustment or mechanical adjustment, and adopting the algorithm adjustment of the system, so that the response speed is fast and more accurate.

The mechanical structure design part provided in the embodiment of the present invention is designed as a split design, which is divided into a frame part, a transmission part and a resistance adjustment part. The frame part and the transmission part are human-computer interaction carriers, and the resistance adjustment part realizes functional control. Therefore, the training of different parts of the human body can be completed by replacing the frame part. For example, when training the legs, it is only necessary to remove the frame 17, move the crank 16 away from the seat 19 and change the shape of the crank 16 accordingly, and the equipment can be changed into a reverse pedal, a seated leg press, a leg flexion and extension trainer, etc.

The implementation strategy of providing targeted training in the present invention is: the hysteresis brake is controlled by the host computer (information calculation module) to adjust the resistance adjustment device to the maximum resistance value, and the patient is asked to step on the hysteresis brake with the maximum force. At this time, the rotor of the hysteresis brake will not rotate, but the tension (compression) force sensor (sensor) will obtain a maximum pressure value. The appropriate pedaling force range of the patient can be calculated through the obtained tension (compression) force value, and the power consumption scheme can be designed in a targeted manner.

After the entire training process is completed, the tension (compression) force sensor in the present invention can obtain the patient's real-time pedaling torque value and the relative rotation speed. The host computer software of the present invention is provided with a data processing module and an image display module, which comprehensively outputs data such as rotation speed, torque, time, etc. After the training is completed, an exercise ability report can be generated for health assessment.

In specific applications, the mechanical structure of the power dynamometer adopts a split design, which is divided into a frame part and a transmission part. The transmission part realizes functional control. The frame part belongs to the human-computer interaction carrier and adopts a split structural design. Therefore, the training of different parts of the human body can be completed by replacing the frame carrier. The frame part can be replaced with training components of other parts of the human body, such as hand rotation training and leg training. The power dynamometer is easier to assemble and easy to mass produce. In the transmission structure, it can provide extremely large or extremely small resistance, simulate a variety of riding states, and accurately calculate the work done by the human body, which is currently unattainable by other riding training equipment. The power dynamometer in the prior art cannot achieve an adjustment accuracy of 1w, and cannot achieve real-time change of resistance according to different speeds, so as to complete the constant power output control of the human body. The transmission part of the power dynamometer adopts a two-stage transmission, which increases the transmission ratio and can realize the resistance simulation of the set power range (0-1000w), which greatly enriches various simulated scene modes and the usage of different people. In addition, in the design of the secondary transmission synchronous belt part, it is connected to the torque sensor part closer, which can absorb vibration and reduce interference.

The control strategy of the constant power output of the power dynamometer uses the Hall element to calculate the shaft speed, and then adjusts the resistance of the hysteresis brake through the current, and monitors it in real time. For the precise constant power stability control strategy, a step-by-step power is used to adjust the fixed PID parameters. Of course, the fuzzy controller can be used to adjust the PID parameters, and a solution that can provide targeted training and comprehensive data for health assessment of patients based on the individual characteristics of the patients can be provided. It can provide an effective, safe, and high-quality training mode, which not only greatly improves the training efficiency, but also ensures the safety of users in the field of cardiopulmonary rehabilitation. Moreover, the host computer software is placed in the computer, and a data image analysis module is set in the host computer interface. The data of patients using the power dynamometer can be statistically analyzed and finally a health assessment solution can be provided.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A power dynamometer vehicle, comprising: the vehicle frame is provided with a faucet, a seat, a base connected with the faucet and the seat, the base is provided with a transmission mechanism, the transmission mechanism is connected with a resistance adjusting device for adjusting transmission resistance, the vehicle frame is further provided with a data processing module, and the data processing module comprises an information acquisition module for acquiring transmission data and an information calculation module for controlling the resistance adjusting device to control constant power output of the dynamometer vehicle according to the transmission data.

2. The power dynamometer vehicle of claim 1, wherein the transmission data includes a rotational speed of a transmission mechanism and a resistance of the resistance adjustment device, and the information calculation module obtains the rotational speed and the torque force and performs analysis calculation, and controls the resistance adjustment device to keep the output power of the dynamometer vehicle constant.

3. The power dynamometer vehicle of claim 1, wherein the resistance adjusting device is configured as a hysteresis brake, the hysteresis brake comprising a rotor and a stator, the rotor being coupled to the base and to the transmission mechanism, the rotor and the stator further being configured with a plurality of coils, the stator being looped around the rotor.

4. The power dynamometer vehicle of claim 2, wherein the information acquisition module includes a hall element disposed on the base and configured to acquire a rotational speed of the transmission mechanism, and a sensor disposed on the base and configured to acquire a tension of the resistance adjustment device.

5. The power dynamometer vehicle of claim 4, wherein one end of the sensor is disposed on the base, and the other end is connected with the resistance adjusting device.

6. The power dynamometer vehicle of claim 1, wherein a first mounting plate and a second mounting plate are disposed opposite each other along an edge of the base, the first mounting plate, and the second mounting plate forming a receiving cavity, the transmission mechanism being disposed within the receiving cavity.

7. The power dynamometer vehicle of claim 6, wherein the first mounting plate and the second mounting plate are provided with a first shaft hole, a second shaft hole and a third shaft hole corresponding to each other, and a first transmission shaft, a second transmission shaft and a third transmission shaft are provided corresponding to the first shaft hole, the second shaft hole and the third shaft hole, respectively;

The transmission mechanism comprises a first sprocket wheel arranged on the first transmission shaft, a second sprocket wheel and a first sprocket wheel which are arranged on the second transmission shaft, and a first synchronous belt is arranged on the first sprocket wheel and the second sprocket wheel to realize synchronous rotation; the third transmission shaft is provided with a second belt wheel and the resistance adjusting device, and the first belt wheel and the second belt wheel are provided with a second synchronous belt to realize synchronous rotation.

8. A control method of a power dynamometer vehicle, characterized by being used for controlling the power dynamometer vehicle according to any one of claims 1 to 7, comprising the steps of:

The information acquisition module acquires transmission data of the transmission mechanism and transmits the transmission data to the information calculation module, the information calculation module receives the transmission data and controls the resistance adjustment device according to the transmission data, and under the action of the resistance adjustment device, the transmission data of the transmission mechanism are updated in real time to control the output power of the dynamometer car to be constant.

9. The control method of the power dynamometer vehicle according to claim 8, wherein the information calculation module is set as a PID control system, and the output power of the dynamometer vehicle is graded into a plurality of grades according to steps, when a user applies a force to the transmission mechanism, the information acquisition module acquires transmission data of the transmission mechanism and transmits the transmission data to the PID control system, the PID control system receives the transmission data and calculates to obtain a calculation result, a set step interval is selected according to the calculation result, after the set step interval is selected, the PID control system receives the transmission data and calculates, controls the resistance adjusting device in real time, adjusts the resistance of the transmission mechanism, and controls the output power of the dynamometer vehicle to be constantly output in the selected step interval.

10. The control method of a power dynamometer vehicle according to claim 9, wherein the system output power range is set to 0-1000W, and stepwise classification is performed into a plurality of stepwise intervals according to the set difference, the method of selecting the set stepwise intervals is as follows: and the PID control system controls the resistance adjusting device to adjust the resistance of the transmission mechanism to the maximum value, a user applies the maximum force, the transmission mechanism generates transmission data and transmits the transmission data to the PID control system, and the PID control system calculates the transmission data to determine the step interval.