CN-121971842-A - Swimming damping training regulation and control system based on dynamic characteristic analysis

CN121971842ACN 121971842 ACN121971842 ACN 121971842ACN-121971842-A

Abstract

The invention relates to the technical field of sports training equipment and automatic control, in particular to a swimming damping training regulation and control system based on dynamic characteristic analysis. According to the invention, by means of an inherent damping mechanism of a hysteresis braking technology and combining a feedforward-feedback composite control strategy, under the working condition of constant speed and constant damping, the defect that the resistance of the traditional equipment fluctuates along with the rotating speed is effectively overcome, the relatively stable water resistance characteristic during actual swimming is accurately simulated, the resistance load highly matched with an actual competition scene can be provided for athletes, an accurate training scheme is formulated by a power-assisted trainer based on quantized tension data, and the scientificity and pertinence of training are remarkably improved.

Inventors

Liu Gongju
PAN XU
JIN XUN
ZHANG YINGYUE
GAO QING
HOU YAO
LIU ZHONGZHONG
LIN HUIJIE
ZHU HOUWEI
GUO HAIYING
MENG GUANLIANG
WANG WEI
Zheng Kunliang
WANG HAIBO

Assignees

浙江体育职业技术学院

Dates

Publication Date: 20260505
Application Date: 20251225

Claims (9)

1. Swimming damping training regulation and control system based on dynamic characteristic analysis, characterized by comprising: The physical modeling and control target definition module is configured to construct a closed-loop tension control system based on the principle of rotation dynamics, define a core composition, and establish a control target for maintaining the rope tension in a specific range by deducing a dynamics equation and boundary conditions; The experiment platform software and hardware construction and configuration module is configured to construct an electromechanical coupling platform comprising a driving, load simulation and sensing detection module; The progressive experimental scheme and composite control strategy design module is configured to design a fixed-speed fixed-damping, variable-speed fixed-damping and variable-speed variable-damping three-stage progressive experiment, and adopts a feedforward-feedback composite control architecture to ensure experiment controllability and data reliability; And the multi-working-condition experiment verification and performance analysis module is configured to analyze three groups of experiment results to obtain corresponding conclusions and judge whether the requirements of swimming training on accurate control of resistance are met.
2. The swimming damping training regulation system based on dynamic characteristic analysis according to claim 1, wherein the physical modeling and control target definition module specifically comprises: The physical model is characterized in that an object with variable mass is pulled by a horizontal left force F in water and moves leftwards through a rope, the over-damping device dissipates energy to restrain the rotation of the object and control the dynamic state of the object, the model is divided into static, dynamic and compliance analysis, and a closed-loop discretization control system is adopted to realize random regulation and control of tension, and the model comprises the following components: A main body structure, wherein an object with a variable mass m is immersed in water; A driving mechanism for applying a horizontal left traction force F; A rope system, wherein a light rope with the length of L is connected with an object and a driving mechanism; Damping device for dissipating system energy and providing rotation damping effect.
3. A swimming damping training regulation system based on dynamic characteristics analysis according to claim 2, further comprising: the newton's multi-analysis method is as follows: the overall resultant force F is: Wherein, the method comprises the steps of, Resistance to the object; Friction force applied to the rope by winding and stretching on the wheel; Resistance to the rope; Taking the tension distribution of the rope in the motion process into consideration, establishing a differential relation: ; The tension profile along the rope length x is obtained by integration: Wherein, the method comprises the steps of, For the total force of the system to be, For the acceleration of the movement, For the length of the rope it is, 、 The mass of the object and the mass of the rope respectively; the boundary conditions are: , ; rope length dynamic conditions: ; Measured by an external sensor or obtained by linearly mapping it to the derivative of the above equation using Jacobi matrices.
4. A swimming damping training regulation system based on dynamic characteristics analysis according to claim 3, further comprising: the basic kinetic behavior is described by the differential equation: Wherein, the method comprises the steps of, Representing the moment of inertia of the reel about the axis; is a rotational damping coefficient; Is the angular displacement of the axle; is the wheel diameter; is rope tension; The change is as follows: ; Let the ideal output torque be: ; damping torque is: ; Defining the net torque of the system as: ; Wherein, the For driving torque input to the axle; net torque for the system; is damping torque; The core control objective of the system is to maintain rope tension within a certain range, satisfying: Wherein, the method comprises the steps of, For a target tension that the system is expected to maintain, From system torque The conversion is carried out to obtain the product, Is a preset initial target tension value.
5. The swimming damping training regulation and control system based on dynamic characteristic analysis according to claim 1, wherein the experimental platform software and hardware building and configuration module specifically comprises: The systematic preparation of the experiment comprises three key links of platform establishment, hardware design and software environment configuration, wherein, in order to ensure the reliability and repeatability of experimental data, the comprehensive design is carried out from three dimensions of electromechanical system integration, real-time control architecture and data analysis, namely, a closed loop test system comprising precise driving, load simulation and sensing detection is established on the aspect of a mechanical platform, a data acquisition network is established on the aspect of hardware by adopting a high-performance embedded controller and a professional level sensor, and a control framework and a visual analysis tool based on a real-time operation system are developed on the aspect of a software system.
6. The swimming damping training regulation and control system based on dynamic characteristic analysis according to claim 1, wherein the progressive experimental scheme and composite control strategy design module specifically comprises: Control model: The set damping target value generates reference control current through a torque-current conversion module, and the current signal is subjected to second-order Butterworth low-pass filtering to obtain a smooth current instruction Meanwhile, the actual damping value measured in real time through the torque sensor is corrected by an error compensation module and forms a deviation signal with a set value, and the error passes through a parameter setting compensator Dynamically adjusting; the output current is formed by overlapping feedforward current and feedback compensation quantity.
7. The swimming damping training regulation system based on dynamic characteristics analysis according to claim 6, further comprising a constant speed and damping experiment: under the constant damping condition, researching the influence characteristics of different rotating speeds on the dynamic torque of the system, and carrying out preliminary test on a system model: setting two groups of different experimental parameters, creating a software timer at a control end, changing 50rpm every 3s rotation speed, starting to increase to 300rpm from 100rpm, and reducing to 100rpm from 300rpm, and repeating for one period; Calculating various data statistical characteristics of the Gaussian filtered data; The torque generation mechanism depends on the magnetic field intensity established by exciting current, and the dependence on the rotor movement speed is weak; when the exciting current is increased from 200mA to 300mA, the torque-current relation maintains good linear characteristics; the torque gain increases with increasing current, confirming that the force-to-electrical conversion characteristics of the hysteresis brake conform to a linear constitutive relationship.
8. The dynamic analysis based swimming damping training regulation system of claim 7, further comprising a variable speed fixed damping experiment: simulating the speed fluctuation of the athlete in actual training by using sine wave functions, and setting three sine functions with different amplitudes: ; ; ; the method comprises the steps of acquiring data, preprocessing the data through Gaussian filtering, establishing a datum reference line by adopting an average fitting method, and finally obtaining complete statistical characteristics of six groups of experimental data; Under the condition of 200mA exciting current, three groups of sinusoidal rotating speed excitation with different amplitude values can obtain stable torque output; when the exciting current is raised to 300mA, the torque average value is raised, the variation coefficient CV value is reduced, and the fluctuation range is controlled within a preset range; under the condition of 200mA exciting current, the torque frequency spectrums of three groups of experiments all show stable direct current components, and the amplitude of the torque frequency spectrums is consistent with the time domain mean value; when the exciting current is raised to 300mA, the amplitude of the direct current component of the torque spectrum is synchronously increased, and the amplitude is consistent with the time domain mean value change trend.
9. The swimming damping training regulation system based on dynamic characteristics analysis according to claim 8, further comprising a variable speed and variable damping experiment: Three groups of sine rotating speed excitation with different amplitudes and two groups of cosine excitation currents are preset, and the cosine functions of the excitation currents are as follows: ; ; Two groups of experimental condition parameters are set, and corresponding data acquisition is carried out; the processing and analysis of experimental data adopts a Gaussian filtering algorithm and a least square curve fitting method, so that the interference of measurement noise is eliminated, and the dynamic response characteristic of the system is extracted; the torque output and the input current have extremely strong linear correlation; when the exciting current is raised to a high-current working interval of 300mA, the core performance index is still kept in an ideal range: Converting the time domain torque signal to the frequency domain by a fast fourier transform; under the working condition of 200mA exciting current, compared with the theoretical frequency of the instruction signal, the fundamental frequency of the frequency domain analysis display system has consistency with the frequency tracking error in the time domain analysis; When the exciting current is raised to 300mA, the nonlinear characteristic of the system is obviously changed in the frequency domain, the fundamental frequency measured value still keeps excellent tracking performance, but the harmonic component is obviously enhanced; the collaborative analysis of the time-frequency domain characteristics shows that the system keeps high-precision tracking of the time domain and the frequency domain harmonic components show rapid attenuation characteristics.

Description

Swimming damping training regulation and control system based on dynamic characteristic analysis Technical Field The invention relates to the technical field of sports training equipment and automatic control, in particular to a swimming damping training regulation and control system based on dynamic characteristic analysis. Background In modern swimming training, damping training equipment is a key device for improving strength, endurance and technical action normalization of athletes, and the existing equipment mainly relies on rubber rope elastic resistance, mechanical friction resistance or water flow impact resistance and other traditional modes to provide training load. However, the core defect of such conventional devices is that the resistance output is strongly related to the rotation speed, when the running speed of the athlete fluctuates, the resistance will change significantly, the relatively stable water resistance characteristics in the actual swimming process cannot be simulated, the training effect and the actual competition scene are disjointed, the resistance adjustment is mostly operated manually in a stepwise manner, continuous accurate regulation and control are difficult to realize, and the requirement of personalized and scientific training on the constant tension range cannot be met. Meanwhile, the existing equipment lacks an effective dynamic control architecture and multi-working condition adaptation capability, on one hand, the dynamic response speed is lagged, the action rhythm change of athletes is difficult to track quickly, the fluctuation range of resistance is large in complex scenes such as speed change training, and on the other hand, a torque-current mapping and error compensation mechanism of a system is not established, and high-precision sensing detection and real-time data feedback are lacking, so that the resistance control precision is low, the repeatability is poor, a training scheme cannot be formulated by a coach based on quantized data, and the scientificalness level of training is further restricted. The key point of the problems is that the traditional equipment does not adopt a damping generation technology and a compound control strategy which are adaptive to the dynamic characteristics of swimming training, and a novel damping training regulation and control system which is based on accurate mechanical modeling and has weak rotation speed dependence and quick dynamic response is needed. Disclosure of Invention The invention aims to solve the problems, and provides a swimming damping training regulation and control system based on dynamic characteristic analysis. In order to achieve the above purpose, the present invention adopts the following technical scheme: swimming damping training regulation and control system based on dynamic characteristic analysis includes: The physical modeling and control target definition module is configured to construct a closed-loop tension control system based on the principle of rotation dynamics, define a core composition, and establish a control target for maintaining the rope tension in a specific range by deducing a dynamics equation and boundary conditions; The experiment platform software and hardware construction and configuration module is configured to construct an electromechanical coupling platform comprising a driving, load simulation and sensing detection module; The progressive experimental scheme and composite control strategy design module is configured to design a fixed-speed fixed-damping, variable-speed fixed-damping and variable-speed variable-damping three-stage progressive experiment, and adopts a feedforward-feedback composite control architecture to ensure experiment controllability and data reliability; And the multi-working-condition experiment verification and performance analysis module is configured to analyze three groups of experiment results to obtain corresponding conclusions and judge whether the requirements of swimming training on accurate control of resistance are met. Preferably, the physical modeling and control target defining module specifically includes: The physical model is characterized in that an object with variable mass is pulled by a horizontal left force F in water and moves leftwards through a rope, the over-damping device dissipates energy to restrain the rotation of the object and control the dynamic state of the object, the model is divided into static, dynamic and compliance analysis, and a closed-loop discretization control system is adopted to realize random regulation and control of tension, and the model comprises the following components: A main body structure, wherein an object with a variable mass m is immersed in water; A driving mechanism for applying a horizontal left traction force F; A rope system, wherein a light rope with the length of L is connected with an object and a driving mechanism; Damping device for dissipating system energy and providing rotation