Multi-motor module for a resistance training machine, systems, and methods of use
Provided herein are Methods and Systems For a Multi-Motor module system for a Resistance Training Machine, comprising a training program module and a programming framework; wherein a motor system module sets a mode of a drive system and motor hardware is operably coupled to an actuator to shift the drive system from a lower gear to a higher gear.
1 . A multi-motor resistance training and a motor system module for an exercise machine, comprising: a training program module and a programming framework;
wherein a motor system module sets a mode of a drive system in an isokinetic mode at varying velocity levels and/or a isotonic mode at varying force levels; the motor system module sets and removes the force for both a right and a left motor systems and operates a first motor in a left drive system and a second motor in a right motor system in parallel; the motor system module sets and removes a target velocity for the right and left motor system; and upon receiving a command to set and remove the target velocity, the motor system module independently maintains the commanded velocity through internal control mechanisms without the need for additional signals from a machine controller or from external encoders, wherein each of the left motor system and the right motor system further includes an actuator, and the motor system module shifts the left motor system and the right motor system to a lower gear from a higher gear, and from the higher gear to the lower gear; wherein the training program module removes a break/stop of the motor system and sets proper actuator position; the training program module sends a start calibration mode or sets a movement data from a previous calibration, where the motor system module tracks an encoder and not allow a user to pull out more cable by placing the brake at the proper max/min; wherein if calibration is needed, the motor drive module looks for a tension on the cables and if the user is resisting the cable, the drive system should stop pulling the cable in; and the user then presses a sensor once it is in a right stop; wherein the motor system module sets and checks a target distance for each repetition on the exercise machine; the motor system module receives the data from a motor sensor or a wireless sensors; data from each of the first motor and the second motor is collected, stored, and sent upon request from the motor system module; the programming framework is operably coupled and communicable to a motor hardware and a socket Controller Area Network (CAN); the programming framework controls the motor hardware contained in the drive system by a Proportional-Integral-Derivative (PID) controller; the motor hardware is operably coupled to the actuator to shift the drive system from a lower gear to a higher gear; wherein, the lower gear is between 1.6:1 and 4.8:1 and the higher gear is between 22:1 to 66:1; and the isokinetic mode sets the drive system to the higher gear and the isotonic mode sets the drive system to the lower gear.
2 . The motor system module of claim 1 , wherein the socket CAN is an implementation of (Controller Area Network) CAN protocols; the CAN socket includes an Application Programming Interface (API).
3 . The motor system module of claim 2 , wherein programming framework comprises the Proportional-Integral-Derivative (PID) controller that independently tunes the drive system to operate at a constant current, operate at a constant position, operate at a constant velocity, or implement a specific motion profile; the motor system module moves the cable and provides tension by a control loop; the motor system module may apply a stop value, a start value, apply current value or a speed value, depending on isotonic or isokinetic mode applied; the PID values instructions the motor on how smooth the motor pulls the cable and how much current is applied to the motor to pull the cable or provide tension on the cable or a counter force; the motor system module operatively supplies instructions to the drive system through a CAN bus, pulse width modulation (PWM) signal;
when the exercise machine is off, the motor system module applies a brake or stop value to the right and left motor systems.
4 . The motor system module of claim 3 , wherein the Proportional-Integral-Derivative (PID) controller continuously calculates an error value e(t) as the difference between a desired setpoint (SP) and a measured process variable (PV) and applies a correction based on a proportional term, an integral term, and a derivative term; wherein the PID controller automatically applies an accurate and responsive correction to a control function; the PID controller includes an algorithm that restores the measured speed to the desired speed with minimal delay and overshoot by increasing the current output of the motor in a controlled manner; and the PID controller updates all closed-loop modes every 1 ms.
5 . The motor system module of claim 4 , wherein the difference between the PV and SP is the error (e), which quantifies whether the current value or speed value is too low or too high and by how much; the input to the process and the electric current in the motor is the output from the PID controller, and is either a manipulated variable (MV) or a control variable (CV); measuring the position (PV), and subtracting it from the setpoint (SP), the error (e) is found, and from it the controller calculates how much electric current to supply to the motor (MV).
6 . The motor system module of claim 5 , wherein the PID controller includes a plurality of parameters Kp, Ki, Kd that are manipulated to produce various response Curves from a given process; the constant Kp, Ki, Kd values are set by using a resistor and a capacitor or a microcontroller, which integrates large amounts of code in a single IC; the Kp, Ki, Kd values are tuned for the isotonic and the isokinetic modes; while tuning the closed-loop, a tuner configuration changes the gains between 0.001 seconds and 0.1 seconds; once the PID loop is stable, the gain values are set in the code.
7 . The motor system module of claim 6 , wherein the PID controller pull closed-loop gain/setting information from a selected slot, wherein the selected slots includes four slots to choose from for gain-scheduling, kF, kP, KI, and kD; the PID controller loop is used for a velocity closed-loop, a current closed-loop, or a Velocity Feed Forward gain (kF); wherein the kF is the Feed Fwd gain for Closed loop, the kP is the Proportional gain for closed loop, and is multiplied by closed loop error in sensor units, the kI is the Integral gain for closed loop, which is multiplied by closed loop error in sensor units every PID Loop, and the kD is the Derivative gain for closed loop, and is multiplied by a derivative error (sensor units per PID loop).