Exercise apparatus

摘要

An exercise machine comprises a switched reluctance motor (26) which drives a moveable surface (20) upon which a user can exercise. A controller which is responsive to sudden load changes on the moveable surface controls the torque developed by the motor substantially to maintain a desired motor speed output without the need for a flywheel. In a first embodiment, the controller uses a feedback signal from a rotor position encoder (340) and a motor speed indicator (350) to control the motor output using a proportional-plus-integral signal processor (320). In a second embodiment, a composite state observer is used to provide estimates of the rotor position, motor speed and load disturbance states from which real time closed loop control of the motor speed with load disturbances on the moveable surface is effected.