基于自适应MPC的电动跑步机速度跟踪控制方法

Speed tracking control method of electric treadmill based on adaptive MPC

速度跟踪控制可以延长电动跑步机的寿命,但是跑步者的体重和跑台坡度会影响电动跑步机的速度控制效果,提出了基于自适应MPC的电动跑步机速度跟踪控制方法研究。根据电动跑步机的电机运行原理,计算电动跑步机输出的信号频率,基于电机转速测量原理,获取电动跑步机的电机转速,根据人体在不同跑步速度下的躯干倾角变化情况,调节电动跑步机的自适应速度,完成人体躯干倾角的检测,根据人体在电动跑步机上的运动模型,利用自适应MPC控制策略,设计了电动跑步机速度跟踪控制算法,实现电动跑步机速度的跟踪控制。实验结果表明,当跑步者体重为80 kg、跑台坡度为0级时,基于自适应MPC的电动跑步机速度跟踪控制方法对电动跑步机具有更好速度控制效果,从而延长电动跑步机的寿命。

Speed tracking control can prolong the life of electric treadmill,but the runner's weight and treadmill slope will affect the speed control effect of electric treadmill.A speed tracking control method of electric treadmill based on adaptive MPC is proposed.According to the motor operation principle of the electric treadmill,calculate the signal frequency output by the electric treadmill,obtain the motor speed of the electric treadmill based on the motor speed measurement principle,adjust the self-adaptive speed of the electric treadmill according to the change of trunk inclination under different running speeds,and complete the detection of human trunk inclination,According to the motion model of human body on the electric tread-mill,using the adaptive MPC control strategy,the speed tracking control algorithm of the electric treadmill is designed to real-ize the speed tracking control of the electric treadmill.The experimental results show that when the weight of the runner is 80kg and the slope of the treadmill is 0,the speed tracking control method of the electric treadmill based on adaptive MPC has better speed control effect on the electric treadmill,so as to prolong the service life of the electric treadmill.