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A control system and method for exercise equipment and the like provides a way to simulate a physical activity in a manner that takes into account the physics of the physical activity being simulated to provide an accurate simulation. According to one aspect of the present invention, the control sys

A control system and method for exercise equipment and the like provides a way to simulate a physical activity in a manner that takes into account the physics of the physical activity being simulated to provide an accurate simulation. According to one aspect of the present invention, the control system and method takes into account the physics of the corresponding physical activity to generate a virtual or predicted value of a variable such as velocity, acceleration, force, or the like. The difference between the virtual or expected physical variable and a measured variable is used as a control input to control resistance forces of the exercise equipment in a way that causes the user to experience forces that are the same or similar to the forces that would be encountered if the user were actually performing the physical activity being simulated rather than using the exercise equipment.

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The invention claimed is: 1. A stationary exercise bike system, comprising: a support structure; a pair of pedals rotatably connected to the support structure; a force-generating device configured to provide a variable resistance force that varies an amount of force required to move the pedals; a c

The invention claimed is: 1. A stationary exercise bike system, comprising: a support structure; a pair of pedals rotatably connected to the support structure; a force-generating device configured to provide a variable resistance force that varies an amount of force required to move the pedals; a controller operably connected to the force-generating device to selectively vary a resistance force of the pedals in a manner that tends to cause a rotational rate of the pedals to be synchronized with a musical beat of a preselected musical recording. 2. The stationary exercise bike system of claim 1, wherein: the stationary exercise bike provides variable resistance based, at least in part, on a hill angle corresponding to an apparent position on terrain being simulated. 3. The stationary exercise bike system of claim 2, wherein: the variable resistance is increased and decreased relative to a zero degree hill angle when the apparent position correspond to uphill and downhill terrain, respectively. 4. The stationary exercise bike system of claim 3, wherein: the stationary exercise bike comprises a first stationary exercise bike, and including: a plurality of additional stationary exercise bikes that are operably connected to the first stationary exercise bike and provide variable resistances; and wherein increasing and decreasing resistance provided by at least selected ones of the additional exercise bikes to simulate hills is synchronized such that the selected ones of the additional stationary exercise bikes provide increased and decreased resistance at substantially the same time. 5. The stationary exercise bike system of claim 4, wherein: a selected one of the exercise bikes comprises a lead exercise bike defining an apparent position on the terrain being simulated, and wherein at least selected ones of the stationary bikes other than the lead exercise bike define apparent positions on the terrain being simulated that are substantially the same as the apparent position of the lead exercise bike. 6. The stationary exercise bike system of claim 5, wherein: the system includes a compensating feature that provides different resistance levels for different users. 7. The stationary exercise bike system of claim 6, wherein: the compensating feature comprises a gear rollout that is increased or decreased to provide different resistance levels for different users. 8. The stationary exercise bike system of claim 7, wherein: each stationary exercise bike includes a controller that simulates inertial affects utilizing a difference between a calculated velocity and a measured velocity to determine a resistance to be provided to a user. 9. The stationary exercise bike system of claim 8, wherein: the compensating feature varies the resistance of individual stationary bikes such that the pedal positions of the individual stationary bikes are substantially the same. 10. The stationary exercise bike system of claim 9, wherein: the pedal positions are synchronized at a selected rotational rate. 11. The stationary exercise bike system of claim 10, wherein: the selected RPM corresponds to a musical beat of music provided to at least some of the stationary exercise bikes of the system. 12. The stationary exercise bike system of claim 11, wherein: the gear rollout for individual ones of the stationary exercise bikes is set based, at least in part, on fitness test results for individual users. 13. The stationary exercise bike system of claim 12, wherein: the fitness test results include an average power output capability, and the gear rollout for individual stationary bikes is set to provide an effort level that is a fractional percentage of a lead user power output capability of a selected lead user. 14. The stationary exercise bike system of claim 6, wherein: the compensating feature comprises a manual input device on each exercise bike that permits individual users to manually change the resistance levels. 15. The stationary exercise bike system of claim 6, wherein: the compensating feature provides different hill angles for different users. 16. The stationary exercise bike system of claim 6, wherein: each user has an ability level; and each stationary exercise bike simulates frictional losses of an actual bike, and wherein the compensating feature includes adjusting the frictional losses to compensate for the ability levels of individual users. 17. The stationary exercise bike system of claim 6, wherein: each user defines an ability level; and each stationary exercise bike simulates wind resistance, and the compensating feature includes adjusting the wind resistance to compensate for the ability levels of individual users. 18. The stationary exercise bike system of claim 6, wherein: each user defines an ability level; and the stationary exercise bikes include internal bike models that determine a difference between a calculated variable and a measured variable and use the difference as an input to define a gain, and wherein the gain is adjusted to compensate for the ability levels of individual users. 19. The stationary exercise bike system of claim 6, wherein: the ability level of each user is proportional to the average power output capability of each user as determined by a fitness test. 20. The stationary exercise bike system of claim 4, wherein: the stationary exercise bikes are operably interconnected by a computer network. 21. The stationary exercise bike system of claim 20, wherein: each stationary exercise bike includes a control system that simulates inertial effects utilizing a difference between a calculated velocity and a measured velocity. 22. The stationary exercise bike system of claim 21, wherein: each stationary exercise bike includes a control system that simulates inertial effects utilizing a difference between a calculated force and a measured force. 23. The stationary exercise bike system of claim 1, including: an electric motor that is operably connected to the pedals, and wherein: the controller is operably connected to the electric motor, and wherein the controller causes the electric motor to provide power to the pedals in a manner tending to cause the pedals to rotate. 24. The stationary exercise bike system of claim 23, wherein: the stationary exercise bike defines frictional power losses, and the power provided by the electric motor is less than the frictional losses during at least some operating conditions. 25. The stationary exercise bike system of claim 24, wherein: the electric motor comprises a DC electric motor. 26. The stationary exercise bike system of claim 23, wherein: the pedals define top dead center positions and bottom dead center positions, and wherein: the electric motor provides power to the pedals at the top and bottom dead center positions. 27. The stationary exercise bike system of claim 23, wherein: a force-generating device providing a resistance force to the pedals; and wherein: the controller is configured to simulate inertial effects by controlling power provided by the electric motor to the pedals and the resistance force of the force-generating device. 28. The stationary exercise bike system of claim 1, including: a force sensor configured to measure a force applied to the pedals by a user, wherein the force sensor measures a relative displacement of first and second points on the stationary exercise bike that are interconnected by a drive structure defining a stiffness whereby a force can be determined based on the relative displacement and the stiffness; and wherein: the controller is operably connected to the force-generating device and the force sensor, and wherein the controller varies the resistance force generated by the force-generating device to simulate inertial effects based, at least in part, on a force measured by the force sensor. 29. The stationary exercise bike system of claim 28, wherein: the first and second points rotate. 30. The stationary exercise bike system of claim 29, including: a crank wheel that rotates with the pedals; and wherein: the force-generating device comprises an alternator having a rotating member; the force sensor includes a first encoder measuring a position of the crank pedals, and a second encoder measuring a position of the rotating member. 31. The stationary exercise bike system of claim 30, wherein: the drive structure includes at least one elongated flexible drive member forming a loop. 32. The stationary exercise bike system of claim 31, wherein: the elongated flexible drive member comprises a belt. 33. The stationary exercise bike system of claim 32, including: a rotating shaft to which the pedals are fixed; a first structure extending radially outward from the shaft and rotating with the shaft; a second structure having a generally circular perimeter with a plurality of cogs on the perimeter engaging the elongated flexible drive member; and wherein: the first point is on the first structure and the second point is on the second structure, and the drive structure extends between and interconnects the first and second structures such that force applied to the pedals is transmitted through the drive structure. 34. The stationary exercise bike system of claim 33, wherein: the first structure comprises a disk. 35. The stationary exercise bike system of claim 34, wherein the drive structure comprises a plurality of spring members. 36. The stationary exercise bike system of claim 33, wherein: the force sensor comprises reflective material including a plurality of discrete reflective portions spaced at intervals, the sensor further comprising: an emitter and detector mounted to the support structure, and wherein the other of the first and second structures includes an edge portion generally aligned with the discrete reflective portions such that a signal from the emitter is at least partially obscured by the edge portion and wherein relative movement of the first and second structures causes the edge portion to move relative to the reflective portions such that a signal received by the dector changes whereby a position of the first structure relative to the second structure can be determined based on a signal strength received by the detector. 37. The stationary exercise bike system of claim 33, wherein: the emitter and detector utilize light to generate the signal. 38. The stationary exercise bike system of claim 36, wherein: the emitter and detector utilize electromagnetic waves to generate the signal. 39. The stationary exercise bike system of claim 36, wherein: the first structure comprises a disk, and the second structure defines a circular perimeter and includes a plurality of cogs extending around the perimeter, and wherein the disk includes at least one opening therethrough forming the edge portion. 40. The stationary exercise bike system of claim 29, wherein: the pedals rotate about an axis of rotation, and the force-generating device includes a rotating output member; and including: first and second arms extending away from a first rotating base portion, and wherein the axis of rotation passes through the rotating base portion and a first one of the pedals is mounted to an end portion of the first arm and a second one of the pedals is mounted to an end portion of the second arm, and wherein the second pedal defines first and second opposite sides and the end portion of the second arm is positioned adjacent the first opposite side of the second pedal; a third arm extending away from a second rotating base portion and defining an end portion positioned adjacent the second opposite side of the second pedal; and wherein: the second rotating base portion is connected to the rotating output member. 41. The stationary exercise bike system of claim 40, wherein: first and second bearings; and wherein: the first and second rotating base portions comprise first and second shaft sections, respectively, and wherein the first and second shaft sections are rotatably connected to the support structure by the first and second bearings, respectively. 42. The stationary exercise bike system of claim 41, wherein: the axis of rotation comprises a first axis of rotation; the rotating output member defines a second axis of rotation that is coaxial with the first axis of rotation. 43. The stationary exercise bike system of claim 41, wherein: the rotating output member is fixed to the rotating base portion and rotates at the same angular velocity as the rotating base portion. 44. The stationary exercise bike system of claim 28, wherein: the force-generating device includes a rotating output member and an emitter and a detector mounted to the support structure; and including: a first disk fixed to the rotating output member, the first disk having at least one edge portion; and a second disk mounted to the first disk by at least one spring member forming the drive structure, the second disk defining a first surface facing the first disk and including a perimeter having a plurality of cogs disposed about the perimeter, and a plurality of discrete reflective portions on the first surface generally aligned with the reflective portions such that a signal from the emitter is at least partially obscured by the edge portion whereby relative movement of the first and second disks changes a signal strength detected by the detector such that a change in position of the first disk relative to the second disk can be determined. 45. The stationary exercise bike system of claim 44, wherein: the emitter and detector utilize light to generate the signal. 46. The stationary exercise bike system of claim 44, wherein: the emitter and detector utilize electromagnetic waves to generate the signal. 47. The stationary exercise bike system of claim 44, wherein: an encoder mounted to the rotating output member. 48. The stationary exercise bike system of claim 44, wherein: the first disk includes a plurality of openings forming a plurality of edge portions. 49. The stationary exercise bike system of claim 28, wherein: the discrete reflective portions form a ring. 50. The stationary exercise bike system of claim 28, including: a shaft rotatably mounted to the support structure; a first structure fixed to the shaft and extending radially outwardly from the shaft; a second structure connected to the first structure by the drive structure, wherein the drive structure extends radially outwardly from the first structure; a plurality of discrete reflective surfaces on the first and second structures with substantially non-reflective surfaces between the discrete reflective surfaces; a first emitter configured to generate a signal that is reflected from the discrete reflective surfaces on the first structure; a first detector configured to detect a signal from the first emitter that is reflected from the discrete reflective surfaces on the first structure; a second emitter configured to generate a signal that is reflected from the discrete reflective surfaces on the second structure; a second detector configured to detect a signal from the second emitter that is reflected from the discrete reflective surfaces on the second structure, whereby the position of the first structure relative to the second structure can be determined based on the signals detected by the first and second detectors, and wherein the drive structure has a predetermined stiffness such that a magnitude of a force transmitted through the drive structure can be determined. 51. The stationary exercise bike system of claim 50, wherein: the first structure comprises a disk, and the second structure comprises a ring. 52. The stationary exercise bike system of claim 51, wherein: the drive structure comprises a plurality of spring members. 53. The stationary exercise bike system of claim 28, including: a shaft rotatably mounted to the support structure; a first structure fixed to the shaft and extending radially outwardly from the shaft, the first structure defining first and second opposite sides and a plurality of openings extending through the first structure; a second structure connected to the first structure by the drive structure such that a force applied to the pedals is transmitted from the first structure to the second structure, the second structure defining first and second opposite sides, and a plurality of openings extending through the second structure; a first emitter mounted on the support structure on the first side of the first structure such that a signal from the first emitter passes through the openings through the first structure as the first structure rotates; a first detector mounted on the support structure on the second side of the first structure such that the first detector detects signals from the first emitter when the signals pass through the openings in the first structure; a second emitter mounted on the support structure on the first side of the second structure such that a signal from the second emitter passes through the openings through the second structure as the second structure rotates; a second detector mounted on the support structure on the second side of the second structure such that the second detector detects signals from the second emitter when the signals pass through the openings in the second structure; whereby a position of the first structure relative to the second structure can be determined based on signals detected by the first and second detectors. 54. The stationary exercise bike system of claim 53, wherein: the first structure comprises a disk, and the second structure comprises a ring. 55. The stationary exercise bike system of claim 54, wherein: the drive structure comprises a plurality of springs. 56. The stationary exercise bike system of claim 53, wherein: the first and second emitters emit light, and the first and second detectors detect light. 57. The stationary exercise bike system of claim 28, including: a first disk member rotatably connected to the support structure for rotation about an axis of rotation, and defining first and second opposite sides and a plurality of openings through the first member; a second disk member connected to the first disk member by the drive structure, the second disk member defining first and second opposite sides and including a plurality of openings therethrough, and wherein the first and second disk members are spaced apart along the axis of rotation; a first emitter positioned on the first side of the first disk member; a first detector positioned on the second side of the first disk member whereby a signal from the first emitter passes through the openings through the first disk such that it can be detected by the first detector; a second emitter positioned on the first side of the second disk member; a second detector positioned on the second side of the second disk member whereby a signal from the second emitter passes through the openings through the second disk such that it can be detected by the second detector; whereby differences between signals received by the first and second detectors is utilized to determine a relative position of the first and second disk members to thereby calculate a force transmitted between the first and second disk members through the drive structure. 58. The stationary exercise bike system of claim 57, wherein: the drive structure comprises a plurality of spring members. 59. The stationary exercise bike system of claim 57, wherein: the openings through the first disk member form a first ring; the openings through the second disk form a second ring; and the first and second rings are circular with substantially the same diameter. 60. The stationary exercise bike system of claim 57, wherein: a selected one of the first and second disk members has a circular perimeter and a plurality of cogs extending about the perimeter. 61. The stationary exercise bike system of claim 60, wherein: the force-generating device includes a rotating output member, and wherein the first disk member is mounted to the rotating output member. 62. The stationary exercise bike system of claim 1, including: a sensor configured to determine a measured rotational velocity of the pedals; and wherein: the controller causes the resistance force to vary to simulate inertial effects of a rolling bike, and wherein the controller utilizes the measured rotational velocity of the pedals in determining the resistance force, and wherein the measured rotational velocity is modified by a gear rollout value to define a velocity input that is utilized by the controller to simulate inertial effects. 63. The stationary exercise bike system of claim 62, wherein: the measured rotational velocity is multiplied by the gear rollout value. 64. The stationary exercise bike system of claim 63, wherein: the gear rollout value is selected from a plurality of discrete gear rollout values corresponding to actual gear ratios. 65. The stationary exercise bike system of claim 64, wherein: the stationary exercise bike includes an input feature whereby a user can manually select a gear rollout from a plurality of gear rollouts. 66. The stationary exercise bike system of claim 64, wherein: the controller is programmed to select a gear rollout during operation based, at least in part, upon predefined criteria. 67. The stationary exercise bike system of claim 66, wherein: the predefined criteria include a user's ability level that has been entered into the system. 68. The stationary exercise bike system of claim 63, wherein: the controller determines a virtual velocity utilizing the principle of conservation of momentum; the controller determines a difference between the velocity input and the virtual velocity, and wherein the difference is multiplied by a gain to control the resistance force. 69. The stationary exercise bike system of claim 68, wherein: the stationary exercise bike is operably connected to a plurality of stationary exercise bikes having controllers that are configured to simulate inertial effects in substantially the same manner as the controller of the first stationary exercise bike; at least a selected one of the plurality of stationary exercise bikes determines a gear rollout based on at least a selected one of the operating parameters of the first stationary exercise bike. 70. The stationary exercise bike system of claim 69, wherein: the stationary exercise bikes are configured to provide resistance forces that simulate riding a bike along a predefined course and define positions on the course, and wherein the controllers of the at least two of the stationary exercise bikes are configured such that the two stationary exercise bikes stay at substantially the same positions relative to one another on the course; and the controller of at least one of the two stationary exercise bikes varies the gear rollout to adjust an effort required of a user. 71. The stationary exercise bike system of claim 62, wherein: the gear rollout comprises a plurality of discrete numerical values. 72. The stationary exercise bike system of claim 71, wherein: the discrete numerical values correspond to gear ratios of an actual bike. 73. The stationary exercise bike system of claim 62, wherein: the gear rollout comprises a substantially continuously variable numerical value. 74. The stationary exercise bike system of claim 73, wherein: the gear rollout is determined by interpolating a plurality of discrete gear rollouts. 75. The stationary exercise bike system of claim 23, wherein: the controller is configured to determine how much force the D.C. motor requires to rotate the pedals to thereby determine frictional losses of the stationary exercise bike. 76. The stationary exercise bike system of claim 75, wherein: the controller stores frictional loss data and compares current loss data to stored frictional loss data to determine if a change in frictional losses exceeds a predefined amount. 77. The stationary exercise bike system of claim 75, wherein: the controller is operably connected to a network, and information pertaining to the frictional losses is transmitted over the network to a remote receiver. 78. The stationary exercise bike system of claim 23, wherein: the controller is configured to cause the electric motor to move the pedals at a first time, and to determine a first amount of electrical power required to move the peals at the first time, and wherein the controller is configured to move the pedals a second time that is seven days after the first time, and to determine a second amount of electrical power required to move the pedals at the second time, and wherein the controller is configured to determine a difference between the first and second amounts of power and to compare the difference to a predefined value.