JP3910296B2 - Opposite wiping type wiper device and control method thereof - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control technology for a vehicle wiper device, and particularly to a technology effective when applied to a counter-wiping type wiper device.
[0002]
[Prior art]
In order to increase the wiping area accompanying the increase in the size of the windshield and improve the visibility in the lateral direction, the wiper arm rotation center is arranged on both the left and right ends of the windshield, and the wiper blade operates from both sides of the windshield toward the center. Opposite wiping type wiper devices have been adopted.
[0003]
In this counter wiping type wiper device, a motor for driving the wiper is first arranged at the center of the vehicle, and the left and right wiper blades are operated to oppose each other via a link mechanism. That is, the crank arm is attached to the rotating shaft of the motor, and an intermediate link pivotally supported at the upper and lower intermediate positions is provided, and one end side of the crank arm is connected to the crank arm by the connecting rod. Thereby, the rotational motion of the motor is converted into the reciprocating rocking motion of the intermediate link. The upper and lower ends of the intermediate link are connected to the drive levers of the left and right wiper shafts protruding from the lower ends of both ends of the windshield via drive rods, and the left and right wiper arms are operated in opposition.
[0004]
However, when the counter-wiping type wiper device is driven by a single motor in this way, a drive mechanism that is almost equal to the full width of the vehicle is required as described above, and the mechanism becomes large and its weight also increases. There was a problem. Therefore, in order to solve such a problem, a system in which the left and right wiper blades are separately driven by a motor has been developed.
[0005]
In this case, it is difficult to dispose motors having completely the same characteristics on the left and right wiper blades, and it is also impossible to eliminate load fluctuations on the motors. Therefore, the asynchronous operation of the left and right motors is likely to occur, causing a problem that the left and right movements are scattered and the wiper blades interfere with each other.
[0006]
Therefore, although it is not a known method, the position angle of the left and right wiper arms is detected, and the position angle of the wiper arm on the other side is subtracted from the position angle of the wiper arm on the reference side to obtain the position angle difference between them. Based on this, a method for controlling the operations of both wiper arms has been developed.
[0007]
First, for example, with reference to the driver's seat side (hereinafter abbreviated as DR side), the position angle difference = DR side wiper arm position angle−passenger side (hereinafter abbreviated as AS side) wiper arm position angle is obtained. At this time, the position angle difference is an absolute value of the calculation result. When the calculation result is +, the angle on the DR side is large, and when the calculation result is-, the angle on the AS side is large. When the obtained value is +, depending on the absolute value, the output of the DR side motor is increased, the output of the AS side motor is decreased, or both are performed to eliminate the position angle difference. When the calculation result is-, the reverse operation is performed to restore the normal operation.
[0008]
[Problems to be solved by the invention]
However, when controlling the wiper operation based only on such a positional angle difference, if the left and right wiper blades and wiper arms are subjected to equal loads on the left and right due to traveling wind pressure, the wiper blade wiping speed similarly decreases on the left and right. Or rise. At this time, since there is no difference between the left and right position angles, no feedback control is performed for this speed change. For this reason, there has been a problem that the cycle of one wiping of the wiper blade fluctuates and a desired wiping effect cannot be obtained.
[0009]
An object of the present invention is to provide a control method for an opposed wiper device that can maintain a desired wiping speed even when an equal load is applied to left and right wiper blades.
[0010]
[Means for Solving the Problems]
The counter-wiping wiper device according to the present invention includes a first motor, a second motor, a first wiper blade driven by the first motor, and a second wiper blade driven by the second motor. A counter-wiping type wiper device that calculates the position angle of each of the first and second wiper blades to drive and control the first motor and the second motor, wherein the first wiper blade and the second wiper blade The target angle difference information that is the target of the position angle difference of the first wiper blade and the second wiper blade as the first wiper blade target angle difference information and the second wiper blade target angle difference information for the respective position angles of the first wiper blade and the second wiper blade. First storage means for storing separately in advance, and second for storing target values of the wiping speeds of the first wiper blade and the second wiper blade Based on the storage means, the position angle calculation means for calculating the position angle data of the first wiper blade and the second wiper blade, and the position angle data of the first wiper blade and the second wiper blade, the first wiper Based on measured angle difference information calculating means for calculating measured angle difference information, which is a difference in position angle between the blade and the second wiper blade, and position angle data of the first wiper blade and the second wiper blade, the first angle An actual speed calculation means for calculating an actual speed that is an actual speed of each of the first wiper blade and the second wiper blade; a target value of the wiping speed of the first wiper blade; an actual speed of the first wiper blade; Based on the target value of the wiping speed of the two wiper blades and the measured speed of the second wiper blade, the speed difference information The difference in speed between the first wiper blade, the first motor output calculating means for controlling the first motor based on the angular difference information and the speed difference information of the first wiper blade, and the angular difference of the second wiper blade Second motor output calculation means for controlling the second motor based on the information and the speed difference information. It is characterized by that.
[0011]
According to another aspect of the present invention, there is provided a control method for an opposing wiping type wiper device comprising: a first motor; a second motor; a first wiper blade driven by the first motor; and a second wiper driven by the second motor. A control method of a counter-wiping type wiper apparatus that includes a blade, calculates a position angle of each of the first and second wiper blades, and drives and controls the first motor and the second motor. Target angle difference information, which is a target of the position angle difference between the wiper blade and the second wiper blade, is obtained with respect to the respective position angles of the first wiper blade and the second wiper blade. 2 wiper blade target angle difference information is stored separately in advance, and the wiping speed target values of the first wiper blade and the second wiper blade are stored. The position angle data of the first wiper blade and the second wiper blade are respectively calculated, and the first wiper blade and the second wiper are calculated based on the position angle data of the first wiper blade and the second wiper blade. Measured speed difference information, which is a difference in position angle with the blade, is calculated, and based on the position angle data of the first wiper blade and the second wiper blade, actual information of the first wiper blade and the second wiper blade is calculated. An actual measurement speed, which is a speed, is calculated, and a target value of the wiping speed of the first wiper blade, an actual speed of the first wiper blade, a target value of the wiping speed of the second wiper blade, and an actual measurement of the second wiper blade are calculated. Speed difference information is calculated based on each speed, and the angle difference information and speed difference information of the first wiper blade are calculated. The first controls the motor, controls the second motor based on the angle difference information and the speed difference information of the second wiper blade based on the It is characterized by that.
[0012]
With the above configuration, the operations of the first and second wiper blades are controlled in consideration of not only the angular difference fluctuation between the two wiper blades but also the speed fluctuation of the wiper blade. Thereby, not only the variation in the angle difference due to the external force load fluctuation but also the speed fluctuation can be suppressed. Therefore, even when an equal load is applied to the left and right wiper blades and the wiper arm, a desired wiping speed can be maintained, and fluctuations in one wiping cycle of the wiper blade can be prevented.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is an explanatory diagram showing the outline of the configuration of a counter-wiping wiper device and its control system. The wiper control method suppresses variations in the speed variation and the angle difference due to the external force load variation by monitoring the speed variation in addition to the angular difference variation between the wiper blades.
[0014]
In FIG. 1, reference numeral 1 denotes a wiper device to which a wiper control method according to the present invention is applied. The wiper device 1 includes a DR-side wiper blade (first wiper blade) 2a and an AS-side wiper blade (second wiper blade) 2b (hereinafter abbreviated as wiper blades 2a and 2b) with the DR side and AS side facing each other. It is a so-called counter-wiping type configuration in which the upper and lower portions are superposed at the lower inversion position. In this wiper device 1, a DR side motor (first motor) 3a and an AS side motor (second motor) 3b (hereinafter abbreviated as motors 3a and 3b) are separately provided on the DR side and AS side, respectively. The wiper blades 2a and 2b are individually controlled on the basis of the rotational angle of the motor and the angle θa and θb from the lower reverse position. Note that “a, b” in the reference numerals indicates members and portions related to the DR side and the AS side, respectively.
[0015]
A blade rubber member (not shown) is attached to the wiper blades 2a and 2b. Then, by moving the blade rubber member in close contact with the windshield of the vehicle, water droplets and the like existing in the wiping areas 4a and 4b shown by the two-dot chain lines in FIG. 1 are wiped off. The wiper blades 2a and 2b are supported by wiper arms 6a and 6b that perform a swinging motion left and right about the wiper shafts 5a and 5b. Drive levers 7a and 7b are disposed on the wiper arms 6a and 6b symmetrically with the wiper shafts 5a and 5b. Further, connecting rods 8a and 8b are attached to the end portions of the drive levers 7a and 7b. The other ends of the connecting rods 8a and 8b are connected to the tip ends of crank arms 9a and 9b rotated by the motors 3a and 3b. As the motors 3a and 3b rotate, the crank arms 9a and 9b rotate. This movement is transmitted to the drive levers 7a and 7b via the connecting rods 8a and 8b, and the rotational motions of the motors 3a and 3b are wiped out. 6a and 6b are converted into swinging motions.
[0016]
The motors 3a and 3b are driven by drive circuits provided separately, that is, by the DR side motor drive device 10a and the AS side motor drive device 10b. The motors 3a and 3b are connected to a DR side pulse detection device 11a and an AS side pulse detection device 11b, which are pulse detection means using a rotary encoder or the like, so that the rotation angle can be detected. . In this case, the motor drive devices 10a and 10b are controlled by the wiper drive control device 12, and the detection values of the pulse detection devices 11a and 11b are also sent to the wiper drive control device 12.
[0017]
FIG. 2 is a block diagram showing a circuit configuration of the wiper drive control device 12 according to the embodiment of the present invention. As shown in FIG. 2, the wiper drive control device 12 has a CPU 21 as a center, an I / O interface 22, a microcomputer in which a timer 23, a ROM 24, and a RAM 25 are connected to each other via a bus line 26, And peripheral circuits. And the signal from each pulse detection apparatus 11a, 11b is processed, and a control signal is sent to each motor drive apparatus 10a, 10b.
[0018]
The I / O interface 22 is connected to the DR side pulse detection device 11a, the AS side pulse detection device 11b, the DR side motor drive device 10a, and the AS side motor drive device 10b. The ROM 24 stores a control program and various fixed data for control, and the RAM 25 stores output signals to the motor driving devices 10a and 10b after data processing and data processed by the CPU 21. The Then, the CPU 21 executes drive control of the wiper device 1 in accordance with a control program stored in the ROM 24.
[0019]
On the other hand, FIG. 3 is a block diagram showing the main functional configuration of the CPU 21. Hereinafter, the wiper device control method according to the present invention will be specifically described through the function of the CPU 21 including its processing procedure.
[0020]
As shown in FIG. 3, the CPU 21 determines the current position angle θa of the wiper blades 2a and 2b based on the pulses acquired from the DR side pulse detection device 11a and the AS side pulse detection device 11b via the I / O interface 22. , Θb, DR side position angle calculation means (first wiper blade side position angle calculation means) 31a and AS side position angle calculation means (second wiper blade side position angle calculation means) 31b, and the obtained position angle. In this configuration, DR side motor control means 32a and AS side motor control means 32b that calculate control outputs for the motors 3a and 3b and send them to the motor drive devices 10a and 10b are provided.
[0021]
In this case, each position angle calculation means 31a, 31b accumulates the pulses acquired from the respective pulse detection devices 11a, 11b to calculate the current position angle of the wiper blades 2a, 2b. The CPU 21 treats the cumulative number of pulses as a position angle as it is, and performs the following processing based on the number of pulses. However, the relationship between the number of pulses and the position angles θa and θb (deg) of the wiper blades 2a and 2b may be stored in advance in the ROM 24 by a map or the like, and the following processing may be performed depending on the angle (deg). Further, since one rotation of the motor (360 °) corresponds to one reciprocation of the wiper arm, the rotation angle of the motors 3a and 3b is obtained from the cumulative number of pulses and handled as the position angle x °. Based on this, the following processing is performed. You can go.
[0022]
In the CPU 21, the motor control means 32a and 32b are each provided with the following functional means. First, from the current position angle of the wiper blades 2a and 2b, the actual position angle difference between the wiper blades 2a and 2b as seen from the respective positions on the DR side and AS side is calculated. DR side actual angle difference calculation means (first wiper blade side actual angle difference calculation means) 33a that corrects the value and calculates DR side actual angle difference information, and AS side that calculates AS side actual angle difference similarly Measured angle difference calculating means (second wiper blade side measured angle difference calculating means) 33b is provided.
[0023]
In this case, the difference between the measured angle seen from the respective positions on the DR side and AS side is, for example, a difference between the position angle of the AS-side wiper blade 2b on the DR side with reference to the position angle of the DR-side wiper blade 2a. It is an angle difference obtained by this. That is, for example, when the DR side is at a position angle of “10” pulses (20 ° in the rotation angle of the motor 3a) and the AS side is at the position angle of “3” pulses, the DR side measured angle difference (first wiper blade side measured The (angle difference) is obtained by subtracting the AS-side position angle from the DR-side position angle to (10-3) “+7”. On the other hand, when viewed from the AS side, the AS side measured angle difference (second wiper blade side measured angle difference) is based on the position angle of the AS side wiper blade 2b, and the position angle on the DR side from the position angle on the AS side. Is reduced to (−3) to become “−7”.
[0024]
Next, in the subsequent stage of each measured angle difference calculation means 33a, 33b, the target angle difference that is the target value of the position angle difference between the wiper blades 2a, 2b at the current position angle and the previously obtained actual angle difference are shown. DR side angle difference information calculating means (first wiper blade side angle difference information calculating means) 34a for calculating angle difference information indicating the difference between the actual measured angle difference and the target angle difference at this time, and the AS side angle difference. Information calculation means (second wiper blade side angle difference information calculation means) 34b is provided.
[0025]
Here, the target angle difference to be compared is read from each of the DR side target angle difference map 36a and the AS side target angle difference map 36b stored in advance in the ROM 24. 4 and 5 show these configurations. FIG. 4 is a DR-side target angle difference map 36a showing a target angle difference (first wiper blade-side target angle difference) based on the DR-side position angle, and FIG. 5 is a target based on the AS-side position angle. It is AS side target angle difference map 36b which shows an angle difference (2nd wiper blade side target angle difference).
[0026]
In this case, when the DR side target angle difference map 36a in FIG. 4 is viewed, for example, when the position angle on the DR side is “10” pulse, the position angle target on the AS side is “5” pulse, and the target between the two. It can be seen that the angle difference is “+5”. Therefore, for example, in the case where the position information with the measured angle difference “+3” is obtained with “DR = 10, AS = 7” as in the previous example, the DR-side angle difference information calculation unit 34a performs the target angle difference. In contrast, DR side angle difference information (first wiper blade side angle difference information) of “+2” ((+5) − (+ 3)) is calculated. This represents a state in which the AS side is advanced (approached) by “2” pulses from the target position angle as viewed from the preceding DR side.
[0027]
On the other hand, in the AS side target angle difference map 36b of FIG. 5, in the case of the above example (“DR = 10, AS = 7”), the position angle target on the DR side when the AS side position angle is “7” pulse. Is a “14” pulse, and the target angle difference between them is “−7”. On the other hand, in the previous example, the actually measured angle difference is “−3” (7−10), and the AS side angle difference information calculating unit 34 b is “−4” ((−7) with respect to the target angle difference. -(-3)) AS side angle difference information (second wiper blade side angle difference information) is calculated. This represents a state in which the DR side is delayed (approached) by “4” pulses from the target position angle as viewed from the following AS side.
[0028]
By the way, in each target angle difference map 36a, 36b, the data distribution of the pulse is coarser on the leading side than on the following side. This is because when the wiper blade is controlled so as not to collide with the preceding side, it is necessary to make the control on the following side finer, and at this time, the pulse division on the leading side may be coarse. Looking at this in each map, for example, in FIG. 4, the target position angle on the AS side is 1 pulse until the target position angle on the DR side is 1 to 3 pulses, and the AS side is stepwise relative to the DR side. The target position angle is set to. In other words, there is a movement of 3 pulses on the DR side with respect to the 1 pulse on the AS side to follow, and the DR side becomes coarse data accordingly. In FIG. 5, the target value is set so that when the AS side advances one pulse at the time of initial movement, the DR side advances two pulses. This means that the DR side moves by two pulses with respect to the following AS side pulse, and the data on the preceding DR side is coarse as described above.
[0029]
For this reason, even if it is the same position angle on DR side and AS side, the case where a control form differs comes out. For example, when the position angle data “DR = 3, AS = 1” is obtained, according to FIG. 4, the DR side actually measured angle difference “2” (3-1) matches the target angle difference “2”. It becomes OK data. However, in FIG. 5, the target angle difference is “−1” for AS = 1, and NG for the actually measured angle difference “−2” (1-3) in this case. For this reason, normal control is performed on the DR side, while follow-up control is performed on the AS side to recover the delay.
[0030]
In the wiper device 1, the preceding side and the following side are reversed at the upper inversion position. In other words, on the return path, the AS side precedes the DR side. Accordingly, in each of the target angle difference maps 36a and 36b, although not shown, the AS side precedes the pulse 124 after the pulse 90. The maps shown in FIGS. 4 and 5 are merely examples, and it goes without saying that the map form and the numerical values therein are not limited to those shown in FIGS.
[0031]
As described above, in the wiper control device of the present invention, the DR side and the AS side are individually provided with maps having correspondences with the counterparts, and the wiper blades 2a and 2b having different moving speeds are positioned at their own position angles. In addition, the control is performed in consideration of not only the other position angle. For this reason, when a pulse from the motor 3a or 3b is input to one of the sides, the control of both the motors 3a and 3b is started.
[0032]
Here, the CPU 21 performs wiper control by grasping information on the speed of the wiper blades 2a and 2b in addition to information on the position angle. That is, the CPU 21 is provided with a wiper blade actual speed calculation unit 37 and a speed difference information calculation unit 38 in addition to the motor control units 32a and 32b.
[0033]
The wiper blade actual speed calculating means 37 calculates the actual speed of the wiper blades 2a and 2b at the current time. Here, the time required for the wiper blades 2a and 2b to move by one pulse, that is, the required time per pulse. Is determined as the measured speed of the wiper blade. Accordingly, the wiper blade actual speed calculation means 37 first acquires the position angles of the wiper blades 2a and 2b from the position angle calculation means 31a and 31b. Next, based on the acquired position angle and the time measured by the timer 23, the required time per pulse of the wiper blades 2a and 2b is calculated. At this time, in the CPU 21, the average value of the speeds of the wiper blades 2a and 2b is used as the actually measured speed, but either value may be adopted as the representative value. Then, this is sent to the speed difference information calculation means 38 at the next stage as the measured speed of the wiper blade.
[0034]
Next, the speed difference information calculation means 38 compares the sent actual speed of the wiper blade with the target speed of the wiper blade previously stored in the ROM 24 to create speed difference information. . So Then, the speed difference information calculation means 38 obtains the difference between the target speed and the measured speed of the wiper blade, and creates speed difference information indicating the difference between the two. Note that the target speed is set to a different value depending on the operation mode of the wiper, such as LOW and HIGH. Further, when HIGH, a value obtained by multiplying the value at LOW by a constant is set.
[0035]
On the other hand, in the subsequent stage of the angle difference information calculating means 34a, 34b and the speed difference information calculating means 38, the DR side for calculating and determining the outputs of the motors 3a, 3b based on the obtained angle difference information and speed difference information. Motor output calculation means (first motor output calculation means) 35a and AS motor output calculation means (second motor output calculation means) 35b are provided. Here, each motor 3a, which reduces the difference between the target angle difference and the actually measured angle difference and reduces the difference between the target speed and the actually measured speed based on the previous angle difference information and the speed difference information. The output of 3b is calculated, respectively, and this is instruct | indicated to each motor drive device 10a, 10b. At this time, the angle difference information uses values calculated on the DR side and AS side, respectively, but the speed difference information uses the same value on both motors 3a and 3b.
[0036]
That is, in the DR side motor output calculation unit 35a, first, the angle difference information is taken into account, and as the DR side angle difference information, for example, a value of “+2” is acquired in the previous example, and the speed difference information is further added to this. Thereafter, the output of the DR side motor 3a is calculated. Accordingly, the new output of the motor 3a is expressed in the form of “new output = a × (target angle difference−measured angle difference) + b × (target speed−measured speed), a and b are coefficients”. In this case, regarding the angle difference, it is recognized from the acquired angle difference information that the AS side is closer by “2” pulses than the target value, and in accordance with this recognition, the DR side is used to widen the position angle difference and approach the target value. A higher output (number of rotations) than the present is calculated for. And a control signal is sent to DR side motor drive device 10a so that this output may be realized.
[0037]
Further, according to the previous example, the AS-side motor output calculation means 35b obtains a value of “−4” as the AS-side angle difference information, and the output of the subsequent AS-side motor 3b based on this and the speed difference information. Is calculated. In this case, regarding the angle difference, it is recognized from the acquired angle difference information that the DR side is closer to the target value by “4” pulses, and in accordance with this recognition, the AS side is used to widen the position angle difference and approach the target value. A lower output (rotational speed) than the present is calculated for. And a control signal is sent to AS side motor drive device 10b so that this output may be realized.
[0038]
As described above, in the wiper control device of the present invention, not only the angular difference fluctuation but also the speed fluctuation is monitored and the wiper control is performed, so that the measured angular difference between the wiper blades 2a and 2b approaches the target angular difference. In addition to independently controlling 3a and 3b, both motors 3a and 3b are controlled so that the measured speed of wiper blades 2a and 2b approaches the target speed.
[0039]
That is, when the positional angle difference between the wiper blades 2a and 2b becomes smaller than the target (approaching), the output on the preceding side is increased and the output on the following side is decreased to reduce the target position angle as in the above example. Try to reduce the difference. Further, when the position angle difference becomes larger than the target (away from the target), the output on the preceding side is lowered, the output on the following side is increased, and the difference from the target position angle is reduced. Further, when the speed of the wiper blades 2a and 2b is higher than the target speed, the output of the motors 3a and 3b is increased, and when the speed is low, the output of the motors 3a and 3b is decreased.
[0040]
For this reason, even if the positional angle difference between the wiper blades 2a and 2b changes due to external force load fluctuation or the like, the output of both the motors 3a and 3b can be sequentially varied with respect to the fluctuation, so that it is shown in the target angle difference map. It quickly converges to the target position angle difference. Therefore, it is possible to suppress variations in the position angle difference between the wiper blades 2a and 2b. Further, since the outputs of the motors 3a and 3b can be varied based on the speed difference information, it is possible to suppress speed fluctuation due to external force load fluctuation.
[0041]
It goes without saying that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention.
[0042]
For example, regarding the speed difference information, a predetermined threshold value may be provided for the difference between the target speed and the actually measured speed, and the motor output control may be involved only when the predetermined threshold is exceeded. It is also possible to individually control the motors 3a and 3b by calculating the speed difference information separately on the DR side and AS side instead of the average value on the DR side and AS side. Further, the average value T itself of one wiping cycle may be used as the target speed, and this may be compared with the measured one cycle time of the wiper blade.
[0043]
【The invention's effect】
In the present invention, not only the variation in the angle difference between the wiper blades but also the change in the wiper blade speed is controlled to control the operation of the wiper blade. In addition, speed fluctuation can be suppressed. Therefore, even when an equal load is applied to the left and right wiper blades and wiper arms, a desired wiping speed can be maintained, and fluctuations in the cycle of one wiping of the wiper blade can be prevented.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing an outline of a configuration of a counter-wiping wiper device and a control system thereof.
FIG. 2 is a block diagram showing a circuit configuration of a wiper drive control device according to an embodiment of the present invention.
FIG. 3 is a block diagram showing a main functional configuration of a CPU.
FIG. 4 is a DR-side target angle difference map in which a target angle difference is set based on a DR-side position angle.
FIG. 5 is an AS side target angle difference map in which a target angle difference is set based on an AS side position angle.
[Explanation of symbols]
1 Wiper device
2a DR wiper blade
2b AS side wiper blade
3a DR side motor
3b AS side motor
4a, 4b Wiping area
5a, 5b Wiper shaft
6a, 6b Wiper arm
7a, 7b Drive lever
8a, 8b Connecting rod
9a, 9b Crank arm
10a DR side motor drive device
10b AS side motor drive device
11a DR side pulse detector
11b AS side pulse detector
12 Wiper drive control device
22 I / O interface
23 Timer
26 Bus line
31a DR side position angle calculation means (first wiper blade side position angle calculation means)
31b AS side position angle calculation means (second wiper blade side position angle calculation means)
32a DR side motor control means
32b AS side motor control means
33a DR side measured angle difference calculating means (first wiper blade side measured angle difference calculating means)
33b AS side measured angle difference calculating means (second wiper blade side measured angle difference calculating means)
34a DR side angle difference information calculating means (first wiper blade side angle difference information calculating means)
34b AS side angle difference information calculation means (second wiper blade side angle difference information calculation means)
35a DR motor output calculation means (first motor output calculation means)
35b AS side motor output calculation means (second motor output calculation means)
36a DR side target angle difference map
36b AS side target angle difference map
37 Wiper blade actual speed calculation means
38 Speed difference information calculation means

Claims (2)

A first motor, a second motor, a first wiper blade driven by the first motor, and a second wiper blade driven by the second motor, wherein the first and second wiper blades A counter-wiping wiper device that calculates a position angle and drives and controls the first motor and the second motor,
Target angle difference information, which is a target of the position angle difference between the first wiper blade and the second wiper blade, is obtained for each position angle between the first wiper blade and the second wiper blade. First storage means for separately storing in advance as information and second wiper blade target angle difference information;
Second storage means for storing a target value of the wiping speed of the first wiper blade and the second wiper blade;
Position angle calculating means for calculating position angle data of each of the first wiper blade and the second wiper blade;
Measured angle difference information calculating means for calculating measured angle difference information, which is a difference in position angle between the first wiper blade and the second wiper blade, based on the position angle data of the first wiper blade and the second wiper blade; ,
Actual speed calculation means for calculating actual speeds, which are actual speeds of the first wiper blade and the second wiper blade, based on position angle data of the first wiper blade and the second wiper blade, respectively.
Speed difference information is calculated based on the target value of the wiping speed of the first wiper blade, the measured speed of the first wiper blade, the target value of the wiping speed of the second wiper blade, and the measured speed of the second wiper blade. Speed difference information calculating means;
First motor output calculation means for controlling the first motor based on angle difference information and speed difference information of the first wiper blade;
Second motor output calculation means for controlling the second motor based on angle difference information and speed difference information of the second wiper blade;
A wiper apparatus for opposing wiping, characterized by comprising: A first motor, a second motor, a first wiper blade driven by the first motor, and a second wiper blade driven by the second motor, wherein the first and second wiper blades A control method for a counter-wiping wiper device that calculates a position angle and drives and controls the first motor and the second motor,
Target angle difference information, which is a target of the position angle difference between the first wiper blade and the second wiper blade, is obtained for each position angle between the first wiper blade and the second wiper blade. Information and second wiper blade target angle difference information are stored separately in advance,
Storing a target value of the wiping speed of the first wiper blade and the second wiper blade;
Calculate the position angle data of the first wiper blade and the second wiper blade,
Based on the position angle data of the first wiper blade and the second wiper blade, calculated actual speed difference information which is a difference in position angle between the first wiper blade and the second wiper blade;
Based on the position angle data of the first wiper blade and the second wiper blade, respectively calculate actual speeds that are actual speeds of the first wiper blade and the second wiper blade;
Speed difference information is calculated based on the target value of the wiping speed of the first wiper blade, the measured speed of the first wiper blade, the target value of the wiping speed of the second wiper blade, and the measured speed of the second wiper blade, respectively. And
Controlling the first motor based on angle difference information and speed difference information of the first wiper blade; ,
The second motor is controlled based on angle difference information and speed difference information of the second wiper blade.
A control method for a counter-wiping type wiper device.

Images