CN-122018585-A - Self-adaptive control method and system for heart rate of running machine

Abstract

The invention discloses a self-adaptive control method and a self-adaptive control system for a heart rate of a running machine, which comprise the steps of S1, S2, acquiring a running machine speed instruction and an actual heart rate of a user in real time according to a preset period, S3, on-line identifying and updating discrete time model parameters for describing the dynamic relation of the speed and the heart rate of the current user through a recursive least square method with forgetting factors based on an acquired historical data sequence, S4, calculating self-adaptive controller parameters based on an internal model control principle according to the discrete time model parameters, S5, determining a new running machine speed instruction according to the deviation of the target heart rate and the actual heart rate of the user and the self-adaptive controller parameters, S6, adjusting the target speed by utilizing the new running machine speed instruction, and returning to the step S2 for circulation. The intelligent heart rate control system has the advantages of realizing high-precision and high-stability full-automatic heart rate control, realizing true personalized adaptation and having intelligent adaptation capability for coping with dynamic changes of the user state.

Inventors

• ZHONG DAIDI
• WANG SHIWEI
• HUANG ZHIYONG

Assignees

• 重庆大学

Dates

Publication Date

20260512

Application Date

20260212

Claims (10)

1. 1. The heart rate self-adaptive control method of the running machine is characterized by comprising the following steps of: s1, setting a target heart rate value; S2, acquiring a speed instruction of the running machine and the actual heart rate of a user in real time according to a preset period; S3, based on the acquired historical data sequence, online identifying and updating discrete time model parameters for describing the current user ' S ' speed-heart rate ' dynamic relationship by a recursive least square method with forgetting factors; s4, calculating self-adaptive controller parameters based on an internal model control principle according to the discrete time model parameters; s5, determining a new running machine speed instruction according to the deviation of the target heart rate value and the actual heart rate of the user and the self-adaptive controller parameters obtained in the step S4; And S6, adjusting the target speed by utilizing the new running machine speed instruction, and returning to the step S2 for circulation.
2. 2. The method for adaptively controlling heart rate of a treadmill according to claim 1, wherein the discrete time model describing the dynamic relationship of the current user's velocity-heart rate' is a controlled autoregressive model expressed as: ; Wherein, the Is that Heart rate at the moment of time, Is that A running machine speed command at a moment in time, In order to be a transfer function, And Is a polynomial to be identified and is defined as: ; ; Model parameters ; Representing the shift-back operator, satisfying the relationship ; And Polynomial orders selected based on system characteristics; And Is the model parameter to be identified.
3. 3. The method for adaptively controlling heart rate of running machine according to claim 1 or 2, wherein in the recursive least square method with forgetting factors, a recursive form is as follows: The gain vector is calculated according to the following steps: ; parameter estimation update is as follows: ; Covariance matrix update is as follows: ; Wherein: In order to be a sequence of historical data, Is that Heart rate at the moment of time, As a forgetting factor, As a unitary matrix, initial parameter vector Configured for zero vector or empirically, initial covariance matrix , Is the initial value of the configuration.
4. 4. The method for adaptively controlling heart rate of a treadmill according to claim 3, wherein said forgetting factor According to model post-test residual differences The dynamic adjustment is specifically as follows: , wherein, Lower limit of forgetting factor, model post-test residual error 。
5. 5. The method for adaptively controlling heart rate of a treadmill according to claim 3, wherein the second order history data is used to construct a history data sequence, and the discrete time model is updated to be the second order model in step S3.
6. 6. The method for adaptively controlling heart rate of a treadmill according to claim 4 or 5, wherein the adaptive controller is an in-mold controller with a transfer function By the inverse of the reversible part of the discrete-time model And low pass filter Formed in series, and the adjustment coefficient of the low-pass filter Dynamic adjustment is carried out according to the residual error condition of model identification, and the final running machine speed instruction is as follows: determining, wherein the feedback signal Defined as actual heart rate output Prediction output from internal model Difference between them.
7. 7. The method for adaptively controlling heart rate of a treadmill according to claim 6, wherein the low-pass filter is of a first order form, and if the model identification residual is small, the low-pass filter is reduced To increase the response speed, if the residual error is larger The robustness of the system is enhanced, and the severe fluctuation of the speed is prevented.
8. 8. A running machine heart rate self-adaptive control system is characterized in that a speed regulating motor, a speed sensor, a control panel and a central controller unit are arranged on the running machine, the running machine heart rate self-adaptive control system is characterized in that a user sets a target heart rate value through the control panel, the central controller unit obtains speed feedback of the running machine through the speed sensor, the central controller unit obtains actual heart rate of the user through a heart rate detection module, and the central controller unit further controls the running machine heart rate self-adaptive control method according to any one of claims 1-7.
9. 9. The system of claim 8, wherein the user configures the heart rate detection device and connects the heart rate detection module via a wired or wireless connection, and the control panel is configured to display a system status including a real-time speed and a real-time heart rate, and further configured to store model parameters, motor speed and heart rate data.
10. 10. A running machine, which is characterized in that the heart rate self-adaptive control system of the running machine is provided with the device as claimed in claim 8 or 9.

Description

Self-adaptive control method and system for heart rate of running machine Technical Field The invention belongs to an automatic control technology, and particularly relates to a self-adaptive control method and system for heart rate of a running machine. Background The heart rate targeting exercise (HEART RATE TRAINING) of the treadmill, which is widely used as an aerobic exercise device, is attracting attention because of the effective improvement of heart and lung functions and fat burning efficiency. The accurate mathematical model of the system is a core foundation for deeply understanding physiological response mechanism of human body to exercise load, designing a high-performance controller, guaranteeing training safety and realizing personalized training. However, existing treadmill heart rate control techniques rely primarily on either a manual feedback adjustment mode or a preset program control mode. Aiming at the manual mode, the heart rate of the user is displayed on the running machine in real time, the user observes the heart rate reading by himself and adjusts the speed or gradient by manually operating the control panel so as to maintain the heart rate in the target interval. The defects are that: (1) Depending on experience and subjectivity, the adjusting effect is seriously dependent on the cognition and operation response of the user to the physical ability of the user, and the common user is difficult to control accurately. (2) The regulation lag and fluctuation are large, and there is a physiological and operational dual delay between heart rate variation and speed adjustment. The user usually begins to adjust after the heart rate has obviously deviated, so that the heart rate continuously fluctuates in the whole training process, cannot be stabilized in a target interval, and seriously influences the training effect. (3) The process is complicated, the experience is split, and a user needs to continuously switch among running, observation, thinking and manual operation, interrupt the movement rhythm and have poor experience. Aiming at a preset program control mode, a plurality of preset training programs (such as heart rate interval training and intermittent training) are arranged in the running machine, and the programs automatically control the running machine according to a preset and fixed speed/gradient time sequence. The defects are that: (1) The lack of personalized adaptation, the preset program is based on a 'standard crowd' model, and the individual difference of users is not considered. Some users may be insufficiently strong, while others may be too strong or even risky. (2) Open loop control, which cannot cope with disturbances, is a "open loop" system in which the program is executed as a fixed instruction. It cannot sense and respond to heart rate changes caused by fatigue, dehydration, distraction and other factors of users, so that the deviation of the actual heart rate from the target value is larger and larger. (3) It is still essentially a rate control, not a heart rate control, whose control objective is to complete a preset rate profile, rather than to stabilize the heart rate at a certain target value. In summary, the core contradiction of the existing methods is that the "heart rate" which is a physiological output that needs to be precisely controlled is not actually used as a closed loop feedback signal of the control system. Either rely on unreliable manual closed loops or have no closed loops at all, resulting in low control accuracy, poor individuation, poor experience. Disclosure of Invention In view of this, the present invention firstly provides a method for adaptively controlling the heart rate of a treadmill, which mainly solves the following three core problems in the prior art: (1) Solves the problems of low control precision and poor stability Aiming at the dual hysteresis (physiological delay + operation delay) and subjective randomness of the existing manual observation-manual adjustment mode, the invention aims to solve the problem of how to realize full-automatic, high-precision and high-stability heart rate control. Specifically, how to replace manual work through technical means promptly eliminates artificial observation, decision and operation links, makes the rhythm of heart can be adjusted and stabilize in preset target value or interval by automatic, quick and steadily, avoids undulant and the vibration by a wide margin, ensures the accuracy of training load. (2) Solving the problem that the control strategy lacks personalized adaptation Aiming at the 'one-tool' fixed speed curve adopted by the existing 'preset program-open-loop execution' mode, the invention aims to solve the problem of how to provide customized control for each specific user. In particular, how to enable the control system to automatically recognize and learn unique and dynamic physiological response model parameters of the current user on line, so that the generation of