Research and analysis of the control system based on sports running device to assist coaches to adjust speed adaptively

In this paper, an algorithm of adaptive speed control based on Sports runner assisted coach is proposed, and the control system based on Sports runner assisted coach adaptive speed regulation is established and simulated with MATLAB. The simulation results show that the test curve of the self-adaptive speed regulation of the sports running device is basically consistent with the actual situation of the auxiliary training device, with good stability and strong usability, which meets the requirements of sports running. At the same time, it also has a strong reference significance for the physical education teaching and training in other places.


Introduction
The speed regulation of sports auxiliary trainer has higher requirements for the dynamic characteristics and faster response speed of the system [1][2][3].There are many uncertain factors in the climbing process of athletes. The speed regulation effect of the single closed-loop negative feedback control system [4][5] of the traditional control strategy is not ideal. Physical training assisted robots have been studied for decades in foreign countries, and many commercial mobile products have been launched so far.
The core of the driving part of the auxiliary robot studied in this paper is the BLDCM, which can meet the general functions of the upper and lower buildings, with lower cost and higher cost performance [6].The commonly used speed control methods of BLDCM include PID control,cross coupling control [7][8][9],fuzzy control, optimal control [10], etc.Zhang Wanjun, professor level senior engineer, senior economist and doctor of Gansu Zede Electronic Technology Co., Ltd., has studied some model identification control systems [11]sports training assistant robots.
In this paper, an algorithm of adaptive speed control based on Sports runner assisted coach is proposed, and the control system based on Sports runner assisted coach adaptive speed regulation is established and simulated with MATLAB. The simulation results show that the test curve of the selfadaptive speed regulation of the sports running device is basically consistent with the actual situation of the auxiliary training device, with good stability and strong usability, which meets the requirements of sports running. At the same time, it also has a strong reference significance for the physical education teaching and training in other places.

Algorithm of adaptive speed control
In order to simplify the research model, it is assumed that the three-phase winding of the motor is completely symmetrical, without considering eddy current and hysteresis loss. Its core is a BLDCM. In order to simplify the research model, it is assumed that the three-phase winding of the motor is completely symmetrical, without considering eddy current and hysteresis loss. Electronic torque generated by stator winding: ;  is the motor speed. The rotor motion equation of two-phase hybrid stepping motor is as follows: From ormula (2): e T is the electromagnetic torque; J is the moment of inertia; L T is the load torque; B is the viscous damping coefficient.
The torque equation of two-phase hybrid stepping motor is as follows: Or it can be expressed by the inductance current equation ij L and jk L are the self inductance and mutual inductance of each phase respectively, and the higher harmonic composed of average component and basic component is ignored.

Adaptive speed control system
The single closed-loop negative feedback control of the speed of BLDCM can ensure that the system has no static difference under the steady-state condition, but it can not control the current or torque dynamic process of the motor according to the needs, which is mainly used in the situation of low dynamic characteristics. The control system structure diagram of the driving part of the sports auxiliary trainer is shown in Figure.1.

Experimental analysis and research
In this experiment, the rated speed of the motor is 3000rmin. When the reduction ratio is 1:150, the expected wheel speed is 20 Rmin.The total weight of the sports assistive trainer is about 50 kg, and the weight of the crew is set to 80 kg.The sum of the masses is about 130kg, the gravity g is 130n, and the horizontal distance d from the supporting point of the connecting rod to the vertical line of the center of gravity of the sports auxiliary training device is about 0.1M.Therefore, in this simulation test, when no one is riding, the load torque of the motor is about 0.33nꞏm, and the load torque is about 0.87nꞏm when riding.

Matlab simulation
A control system based on the speed regulation of sports auxiliary trainer is simulated by MATLAB. Matlab simulation diagram, as shown in Figure.

Comparison between test curve and actual curve of auxiliary trainer
The tracking accuracy (position) error curve of neuron adaptive PID control for sport assisted robot is shown in Figure 3  The simulation results show that the test curve of the self-adaptive speed regulation of the sports running device is basically consistent with the actual situation of the auxiliary training device, with good stability and strong usability, which meets the requirements of sports running.At the same time, it also has a strong reference significance for the physical education teaching and training in other places.

Actual test experiment
The experiment was carried out by Gou Xiaoping, associate professor of physical education in Longdong college.The analysis of experimental data was carried out by Zhang Wanjun, senior engineer, senior economist and doctor of Zede Electronic Technology Co., Ltd. of Gansu Province. The photo of the actual test of the auxiliary trainer is shown in Figure 5. The test of the assistive training device is basically consistent with the actual test of the assistive training device, which is more stable and comfortable, and meets the requirements of the actual teaching and physical training of the assistive training.

Summary
In this paper, an algorithm of adaptive speed control based on Sports runner assisted coach is proposed, and the control system based on Sports runner assisted coach adaptive speed regulation is established and simulated with MATLAB.The simulation results show that the test curve of the self-adaptive speed regulation of the sports running device is basically consistent with the actual situation of the auxiliary training device, with good stability and strong usability, which meets the requirements of sports running. At the same time, it also has a strong reference significance for the physical education teaching and training in other places.