JP4094927B2 - Control method of wiper device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control technology for a vehicle wiper device, and more particularly to a technology effective when applied to a counter-wiping wiper device.
[0002]
[Prior art]
In recent years, in a wiper device for a vehicle such as an automobile, in particular, a wiper device of an opposite wiping type (opposite type), each wiper arm on the driver's seat side and the passenger seat side is individually motor-driven as disclosed in JP-A-11-301409. The method is adopted. In such a wiper device, the motors are individually controlled while observing the position angle and speed of each blade so that the left and right wiper blades (hereinafter abbreviated as “blade” as appropriate) do not interfere on the wiping surface. For example, in the device disclosed in the above publication, the position angle of the left and right blades is constantly monitored by the wiper control device, and the target angle difference between both blades and the target speed for each blade angle are set in advance. The wiper control device individually controls the speeds of the left and right motors so as to reduce the difference between the target angle difference and the actually measured angle difference while referring to the position angle of the other blade.
[0003]
On the other hand, there has also been proposed a method in which a blade on the driver side (hereinafter abbreviated as DR side) always performs a predetermined operation in order to ensure as much as possible the visibility on the driver side with respect to a device failure. The motor for driving the DR side blade is directly connected to the power source, and operates at a constant output when the wiper operation switch is operated. On the other hand, the motor that drives the blade on the passenger seat side (hereinafter abbreviated as AS side) is controlled according to the situation of the DR side blade. That is, the position angle and speed of the DR side blade are always detected, and the output of the AS side motor is appropriately changed based on the target angle difference and the target speed so that the AS side blade is synchronized with the DR side blade.
[0004]
FIG. 8 is an explanatory diagram showing a control mode of the wiper device that performs such an operation. As shown in FIG. 8, the speed vAs of the AS side blade (hereinafter abbreviated as ASB speed vAs) is adjusted by PID control based on the position angle and speed of both blades. The position angle θDr, θAs of each blade is constantly detected based on a pulse output with the rotation of the motor, and the actually measured angle difference (θDr−θAs) is compared with the target angle difference θ *. The result is grasped as angle difference information, and is reflected in the control as an angle difference correction gain KF which is one of gain coefficients of PID control. Further, the speed of the DR side blade is the target speed v * Dr for the AS side to follow. Further, the current ASB speed vAs is always detected and fed back to the control.
[0005]
The control as shown in FIG. 8 adjusts the ASB speed vAs so that the AS side follows the DR side while maintaining a predetermined angular difference. In other words, the P term (proportional term), I term (integral term), and D term (differential term) are provided for the difference between the ASB speed vAs and the target speed v * Dr (difference in output pulse period), and the angle is set for each. While multiplying a gain coefficient such as the difference correction gain KF, the AS motor duty is set while referring to the current AS blade speed, and the ASB speed vAs is adjusted accordingly. As a result, the positional relationship between the two blades is corrected as appropriate with a focus on preventing interference, and the AS side is driven to synchronize with the DR side while avoiding blade interference.
[0006]
[Problems to be solved by the invention]
Thus, in such a control mode, the speed of the DR side blade occupies a large position in terms of control as the target speed v * Dr, and in order for the AS side to follow and drive to the DR side, first the speed of the DR side blade is detected. There is a need to. The speed of the DR side blade is obtained from the output pulse period of the DR side motor, and in order to calculate the speed, it is necessary to detect a minimum number of pulses. Therefore, the AS blade is driven later than the DR blade by the detection time of several pulses.
[0007]
Here, in the wiper device, the AS side generally operates before the DR side during the return path wiping operation. However, if the blade stops in or near the interference area of both blades and restarts, the AS side starts slightly later, so the DR side catches up with the AS side and there is a risk that both blades may interfere with each other. There was a problem. For example, when the ignition switch is turned off while the wiper switch is turned on and the blade stops in the interference area on the return path, when the ignition switch is turned on, the DR side is actuated first, the speed is detected, and then the AS side is driven. . The target angle difference between the blades is set so that the DR side and the AS side do not interfere with each other even in such a situation, but the AS side may be delayed due to the influence of wind or snow. In such a case, the angle difference between the two blades is smaller than the target, so the DR side may catch up with the AS side and cause interference between the blades.
[0008]
An object of the present invention is to prevent interference between blades when the wiper device is restarted in or near the interference region of the return path.
[0009]
[Means for Solving the Problems]
A wiper device control method according to the present invention is a wiper device control method including a first wiper blade driven by a first motor and a second wiper blade driven by a second motor, the wiper device comprising: The actual position angle difference between the two wiper blades calculated from the current position angle of the first and second wiper blades is compared with the preset target position angle difference between the two wiper blades. In addition, when any one of the first and second wiper blades is used as a reference and a difference between the actual position angle difference and the target position angle is within a predetermined value, a wiper blade that is not used as a reference is selected. When the reference wiper blade is driven in a stopped state and the difference between the actual position angle difference and the target position angle deviates from a predetermined value, the reference wiper is used. In addition to Paburedo, characterized in that also drives a wiper blade which is not the reference.
[0010]
In the present invention, the difference between the actual position angle difference between the wiper blades and the target position angle is obtained at the start, and the motor control mode is changed according to this difference . In other words, if the difference between the actual position angle difference and the target position angle is within a predetermined value on the basis of one of the first and second wiper blades, the wiper blade that is not used as a reference The wiper blade as a reference is driven in a state in which is stopped. On the other hand, when the difference between the actual position angle difference and the target position angle deviates from the predetermined value, the non-reference wiper blade is driven in addition to the reference wiper blade.
[0011]
For this reason, even when the blades may interfere with each other at the time of restart in the conventional control method, for example, when both blades are stopped in or near the interference area during the return path wiping operation, the AS The DR side blade can be driven after the side blade is operated, and the wiper device can be started smoothly while preventing interference between the blades.
[0012]
In the wiper device control method, the start-time control and the normal control may be switched depending on whether or not the reference wiper blade speed is detected. In this case, when the speed of the reference wiper blade is not detected, the start-up control is executed, and when the speed of the reference wiper blade is detected, the first and second wiper blades are controlled. Based on the difference between the actual position angle difference and the target position angle and the speed of the wiper blade as the reference, normal control for controlling the speed of the non-reference wiper blade may be executed. good. Furthermore, it is also possible to execute PID control in the normal control.
[0013]
As described above, since the motor control mode is switched between the start time control and the normal control based on whether or not the speed of the reference wiper blade is detected, the control mode can be switched to a highly responsive form when the start time control is not required. . Accordingly, it is possible to realize a wiping operation with no response delay while preventing interference between the blades at the time of starting, thereby improving the operational feeling.
[0014]
On the other hand, in the control method of the wiper device, the first motor drives the first wiper blade independently without interlocking with the second motor, and at that time, the first wiper blade is moved to the first wiper blade. A reference wiper blade may be used.
[0015]
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 an outline of a drive system and a control system in the counter-wiping wiper apparatus.
[0016]
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 has a so-called counter-wiping type configuration in which wiper blades on the driver's seat side and the passenger seat side are arranged to face each other. That is, the DR-side wiper blade (first wiper blade) 2a and the AS-side wiper blade (second wiper blade) 2b (hereinafter abbreviated as blades 2a and 2b) are positioned at the upper inversion positions set on both ends of the windshield. The wiping operation is performed oppositely between X and the lower inversion position Y set at the center of the lower end of the windshield. Both blades 2a and 2b are superposed vertically in the lower inversion position and are accommodated in the storage position Z when the wiper switch is OFF. In the 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 the AS side, respectively. Note that “a, b” in the reference numerals indicates members and portions related to the DR side and the AS side, respectively.
[0017]
A blade rubber member is attached to the blades 2a and 2b. By moving the 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 line in FIG. 1 are wiped off. The blades 2a and 2b are supported by wiper arms 6a and 6b fixed to the tips of the wiper shafts 5a and 5b, and perform a swinging motion to the left and right. Drive levers 7a and 7b are disposed at the other ends of the wiper shafts 5a and 5b. Connecting rods 8a and 8b are attached to the ends of the drive levers 7a and 7b. The other end sides 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. When the motors 3a, 3b rotate, the crank arms 9a, 9b rotate, and this movement is transmitted to the drive levers 7a, 7b via the connecting rods 8a, 8b, and the rotational movements of the motors 3a, 3b are wiped arm 6a, 6b. Is converted into a rocking motion.
[0018]
In the wiper device 1, the motors 3a and 3b are separately provided on the DR side and the AS side as described above. FIG. 2 is an explanatory diagram showing a configuration of a drive circuit for the motors 3a and 3b. The motors 3a and 3b are accommodated in the motor units 12a and 12b. From the sensors 41a and 41b provided in the units, a relative position signal (rotation signal) indicating a blade movement amount in proportion to the motor rotation angle, An absolute position signal indicating the blade position is output. Based on these signals, the motors 3a and 3b are controlled so that the blades do not interfere with each other.
[0019]
The AS side motor 3 b is driven and controlled by the wiper drive control device 10. The relative position signal and the absolute position signal described above are input to the wiper drive control device 10 from the motor units 12a and 12b. The relative position signal is a pulse signal generated as the motor rotates, and the number of pulses proportional to the rotation angle of the motor is output. The absolute position signal is a single signal generated when the blades 2a and 2b come to the lower inversion position. The wiper drive control device 10 calculates position information (current position) of the blade 2b based on these signals. Then, the motor 3b is controlled forward and backward at the upside down position to cause the blade 2b to perform a reciprocating wiping operation, and the rotation speed of the motor 3b is set to the rotation speed of the motor 3a so that the blades 2a and 2b do not collide. Control them together.
[0020]
On the other hand, on the DR side, although the relative position signal and the absolute position signal are output from the motor unit 12a, the motor 3a is always driven with a constant output. That is, as shown in FIG. 2, the motor 3 a is directly linked to the wiper switch 42, and is controlled only by turning the wiper switch 42 on and off regardless of the wiper drive control device 10. A relay plate 43 is attached to the motor 3a, and the polarity of the battery voltage VB applied to the motor 3a via the relay plate 43 is appropriately switched to perform forward / reverse rotation of the motor. As a result, the motor 3a rotates forward and backward at a predetermined rotation angle, and the blade 2a reciprocates constantly and constantly between the upside down positions.
[0021]
FIG. 3 is an explanatory diagram showing the configuration of the motor unit 12b. The motor unit 12b is an AS-side device, but the reference numerals of members, components, and the like inside the motor unit 12b are shown without adding the suffix “b”. Except for the presence or absence of the relay plate 43, the motor unit 12a has the same configuration as that shown in FIG.
[0022]
The motor unit 12 b includes a motor 3 b and a gear box 13, and the rotation of the motor shaft 14 of the motor 3 b is decelerated in the gear box 13 and is output to the output shaft 15. The motor shaft 14 is rotatably supported by a bottomed cylindrical yoke 16, and an armature core 17 and a commutator 18 around which a coil is wound are attached. A plurality of permanent magnets 19 are fixed to the inner surface of the yoke 16. The commutator 18 is in sliding contact with a power supply brush 20.
[0023]
A case frame 21 of the gear box 13 is attached to the opening side edge of the yoke 16. The tip of the motor shaft 14 protrudes from the yoke 16 and is stored in the case frame 21. A worm 22 is formed at the tip of the motor shaft 14, and a worm gear 23 that is rotatably supported by the case frame 21 is engaged with the worm 22. The worm gear 23 is integrally provided with a first gear 24 having a small diameter on the same axis. A large-diameter second gear 25 is engaged with the first gear 24. An output shaft 15 that is rotatably supported by the case frame 21 is integrally attached to the second gear 25. Although not shown in the drawing, another worm opposite to the screw direction is formed on the motor shaft 14 adjacent to the worm 22. The worm gear 23 and the first gear 24 are the same speed reducing members. Power is transmitted to the second gear 25.
[0024]
The driving force of the motor 3b is output to the output shaft 15 while being decelerated through the worm 22, the worm gear 23, the first gear 24, and the second gear 25. A crank arm 9 b is attached to the output shaft 15. Then, the rotation of the motor 3b drives the crank arm 9b via the output shaft 15, and the wiper arm 6b operates as described above.
[0025]
In the DR motor unit 12a, a relay plate 43 is attached to the output shaft 15. The relay plate 43 rotates in synchronization with the output shaft 15. When the blade 2a reaches the upside down position, the polarity of the voltage applied to the motor 3a is switched, the motor 3a rotates forward and backward, and the blade 2a reciprocates between the upside down positions.
[0026]
A multipolar magnetized magnet 26 (hereinafter abbreviated as magnet 26) is attached to the motor shaft 14. On the other hand, a relative position detection Hall IC 27 (hereinafter abbreviated as Hall IC 27) is provided in the case frame 21 as one of the sensors 41b so as to face the outer peripheral portion of the magnet 26. FIG. 4 is an explanatory diagram showing the relationship between the magnet 26 and the Hall IC 27 and the output signal (motor pulse) of the Hall IC 27.
[0027]
As shown in FIG. 4, two Hall ICs 27 (27A, 27B) are provided at positions having an angle difference of 90 degrees with respect to the center of the motor shaft. In the motor 3b, the magnet 26 is magnetized to 6 poles, and a pulse output for 6 cycles is obtained from each Hall IC 27 when the motor shaft 14 rotates once. From the Hall ICs 27A and 27B, as shown on the right side of FIG. 4, pulse signals whose phases are shifted by 1/4 period are output. Therefore, by detecting the appearance timing of the pulses from the Hall ICs 27A and 27B, the rotation direction of the motor shaft 14 can be determined, and thereby the forward / return path of the wiper operation can be determined.
[0028]
In the Hall ICs 27A and 27B, the rotational speed of the motor shaft 14 can be detected from one of the pulse output cycles. There is a correlation based on the reduction ratio and the link operation ratio between the rotational speed of the motor shaft 14 and the speed of the blade 2b, and the speed of the blade 2b can be calculated from the rotational speed of the motor shaft 14. Similarly, also in the motor unit 12a, the speed of the blade 2a is calculated from the rotational speed of the motor shaft 14.
[0029]
An absolute position detection magnet 28 (hereinafter abbreviated as magnet 28) is attached to the bottom surface of the second gear 25 as another sensor 41b. A printed circuit board 29 is attached to the case frame 21, and an absolute position detection Hall IC 30 (hereinafter abbreviated as Hall IC 30) is disposed on the printed circuit board 29 so as to face the magnet 28. One magnet 28 is provided on the bottom surface of the second gear 25, and faces the Hall IC 30 when the blade 2 b comes to the lower inversion position Y. The second gear 25 is attached with the crank arm 9b as described above, and rotates 180 degrees to reciprocate the blade 2b. When the second gear 25 rotates and the blade 2b reaches the lower inversion position Y, the Hall IC 30 and the magnet 28 face each other and a pulse signal is output. In the motor unit 12a, the absolute position signal may be obtained using the relay plate 43.
[0030]
The pulse outputs from the Hall ICs 27 and 30 are sent to the wiper drive control device 10. The CPU 11 of the wiper drive control device 10 recognizes the position of the blade 2b using the pulse output from the Hall IC 30 as an absolute position signal. The pulse signal from the Hall IC 27 is used as a relative position signal of the blade 2b, and the CPU 11 recognizes the current position of the blade 2b by counting the number of pulses after the absolute position signal is obtained. Here, the current position of the blade 2b is detected based on the combination of the absolute position signal indicating the downward inversion position from the Hall IC 30 and the number of pulses from the Hall IC 27. Similarly, in the motor unit 12a, the current position of the blade 2a is detected based on the pulse output from the Hall ICs 27 and 30.
[0031]
In this way, the wiper drive control device 10 recognizes the current positions and speeds of the blades 2a and 2b and controls the motor 3b based on the data. FIG. 5 is an explanatory diagram showing a control mode of a wiper device control method according to an embodiment of the present invention, FIG. 6 is a flowchart showing a control procedure in the control mode of FIG. 5, and FIG. 7 is an explanation showing blade operation in the wiper device. FIG. The CPU 11 treats the cumulative number of pulses of the relative position signal 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 angle (deg) of the blades 2a and 2b may be stored in the ROM in advance by a map or the like, and the following processing may be performed according to the angle (deg).
[0032]
As shown in FIG. 5, in the control according to the present invention, the two control modes of the start-time control S and the normal control N are switched based on the presence or absence of speed detection with the DR side blade 2a as a reference. That is, when the speed of the blade 2a is not detected, the start time control S described in the upper part of FIG. 5 is executed, and when the speed of the blade 2a is detected, the control is described in the lower part of FIG. The normal control N performed is executed. A flow of such control will be described with reference to FIG.
[0033]
As shown in FIG. 6, here, first, the measured position angle difference (θDr−θAs) is obtained from the position angles θDr and θAs of both blades 2a and 2b, and compared with the target angle difference θ * (step S1). As the position angles θDr and θAs, the data at the time of stop stored in the RAM in the wiper drive control device 10 is read. The target angle difference θ * is read from a target angle difference map stored in advance in the ROM. Then, the difference θd between the target angle difference θ * and the measured position angle difference (θDr−θAs) is calculated and stored in the RAM in the wiper drive control device 10 as angle difference information.
[0034]
For example, when the AS side is at the position angle of “50” pulse on the return path and the DR side is at the position angle of “60” pulse, the actually measured position angle difference is obtained by subtracting the position angle on the DR side from the position angle on the AS side. 10 "(50-60 = absolute value of -10). For example, when the position angle on the DR side is “60” pulse, the target angle difference θ * is set such that the position angle target on the AS side: “40” pulse and the target angle difference between them: “20”. Therefore, in this example, the angle difference information θd is 20 (target angle difference θ *) − 10 (measured position angle difference) = 10.
[0035]
After obtaining the angle difference information θd, the start-up control S is executed in steps S2 to 4 and 7. During the start-up control S, the same voltage is applied to the motors 3a and 3b. In the starting control S, it is first determined whether or not the angle difference information θd is 0 (step S2). That is, it is confirmed whether or not the target angle difference θ * matches the measured position angle difference (θDr−θAs). At this time, if the measured position angle difference is equal to the target angle difference (θd = 0), there is room for the blade 2a to move between the blades 2a and 2b for several pulses until the speed of the blade 2a is detected. Is secured. Therefore, even if the DR side is driven in the AS side stopped state, there is no possibility that the two collide before detecting the speed of the blade 2a. Therefore, in this case, the process proceeds to steps S3 and S4, and the blade 2a is driven in a state where the blade 2b is stopped.
[0036]
On the other hand, when the measured position angle difference is different from the target angle difference (θd ≠ 0), particularly when the measured position angle difference is smaller than the target angle difference θ * (θd> 0), the angle between the blades 2a and 2b. If the DR side only operates, there is a risk of collision with the AS side. For example, as shown in FIG. 7, when the blades 2a and 2b are stopped close to each other in the interference area, if the blade 2a is driven prior to the blade 2b, the speed of the blade 2a is detected. Both may interfere during several pulses. Therefore, in the control method according to the present invention, in such a case, although the speed of the blade 2a has not been detected, priority is given to prevention of interference, and the process proceeds to step S7 to drive the blade 2b and then drive the blade 2a ( Step S4).
[0037]
Looking at this in the previous example, the angle difference information θd is 20−10 = 10, and θd> 0. For this reason, if the blade 2b is stopped until the speed of the blade 2a is detected, the two blades 2a and 2b may interfere with each other. In this regard, in the control of FIG. 6, when θd ≠ 0 is detected, the blade 2a is driven in a state where the blade 2b is operated, and the speed detection is awaited. That is, since the blade 2a is driven while letting the blade 2b escape to the lower reversal position side, interference between the blades hardly occurs.
[0038]
In the forward path, the blade 2a located on the upper side is first driven in the direction of the upper reversal position. Therefore, even if the blades 2a and 2b are stopped in the interference region Q and restarted, the blade interference occurs. Hateful. At this time, even when the control of FIG. 6 is executed and the angle difference information θd is not 0 and the blade 2b is driven, both the blades 2a and 2b are driven, and the applied voltages of the motors 3a and 3b are constant. Since the voltage is the same, the blade 2b does not catch up with and collide with the blade 2a. That is, the control of FIG. 6 is highly effective on the return path, but may be executed regardless of the return path.
[0039]
After executing the start-up control S in this way, the process proceeds to step S5, where it is determined whether or not the speed of the blade 2a is detected. When the speed of the blade 2a is detected, the process proceeds to step S6, and the normal control N shown in the lower part of FIG. 5 is executed to exit the routine. When the speed of the blade 2a is not detected, the process returns to step S2, the angle difference information θd is confirmed, and the start time control S is executed.
[0040]
In the normal control N in step S6, as in the case of FIG. 8, the angle difference correction gain KF is set based on θd, and the PID control is executed with the speed of the blade 2a as the target speed v * Dr. That is, when the speed of the blade 2a is detected, the control is quickly switched to the normal control N that performs speed control + position control, and the AS side response is improved.
[0041]
In PID control, the P term (proportional term), I term (integral term), and D term (differential term) are provided for the difference between the velocity vAs of the blade 2b and the target velocity v * Dr. A gain coefficient such as KF is multiplied. As a result, the residual deviation in the vicinity of the target speed v * Dr is reduced as compared with the case of proportional control alone based on the speed difference (I term), and control is performed by determining the follow-up response from the tendency of the period change. Therefore (D term), the controllability is improved. Therefore, for example, even when the speed of the blade 2b changes due to wind pressure, snow accumulation, or the like, a command is appropriately issued to the motor 3b to maintain the target speed, and the blade speed is kept substantially constant regardless of load fluctuations.
[0042]
The wiper drive control device 10 also performs feedback speed control of the blade 2b together with PID control. This speed control is performed by PWM (Pulse Width Modulation) control of the motor 3b based on the target speed using the pulse output cycle of either one of the Hall ICs 27A and 27B. In this embodiment, the speed of the blade 2b is detected by a pulse signal from the Hall IC 27A, and PID control is performed while comparing this with the speed of the blade 2a that is the target speed.
[0043]
Thus, in the control method according to the present invention, the angle difference information θd is checked at the time of starting, and if there is a difference between the target angle difference and the actually measured position angle difference, the AS blade 2b is operated. After that, the DR side blade 2b is driven. For this reason, for example, when both blades 2a and 2b are stopped in or near the interference area Q during the return path wiping operation, there is a possibility that the blades may interfere with each other during restart in the conventional control method. However, the wiper device can be started smoothly without causing interference. Further, after the speed of the blade 2a is detected, the control is switched to the normal control N to improve the AS side responsiveness, so that the operation feeling can be improved while preventing the blades from interfering with each other at the time of starting.
[0044]
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.
For example, in the above-described embodiment, whether or not θd ≠ 0 is determined in step S2 and the operation of the AS blade 2b is controlled. However, the value of θd is widened, and the determination in step S2 is performed. “Θ ₁ ≦ θd ≦ θ ₂ ” may be set. In this case, when θd is out of the range of θ ₁ to θ ₂ , the process proceeds to S7. The above-described embodiment corresponds to the case where both θ ₁ and θ ₂ are 0. If θd is negative, the measured position angle difference deviates from the target angle difference on the side where the interference is unlikely to occur even if the blade 2a is actuated first, so the determination in step S2 is “θd ≦ 0”. Also good.
[0045]
Further, in the above-described embodiment, when θd ≠ 0 in step S2, the AS side is driven in step S7, and then the process proceeds to step S4 to drive the DR side. The side and the DR side may be driven simultaneously.
[0046]
On the other hand, as a basic control mode of the motor 3a, not only a mode in which the angle difference between the blades 2a and 2b is maintained at the target angle difference but also a mode in which both the motors 3a and 3b are maintained at the same speed can be adopted. Moreover, although the case where this invention was applied to the counter-wiping type wiper apparatus was demonstrated in the said embodiment, this invention is applicable also to a parallel wiping type wiper apparatus.
[0047]
【The invention's effect】
According to the wiper device control method of the present invention, when the wiper device is started, the difference between the actual position angle difference between the two wiper blades and the target position angle is obtained, and the motor control mode is changed according to this difference. In the conventional control method, even when there is a possibility that the blades may interfere with each other at the time of restarting, a control mode in which the DR side blade is driven after the AS side blade is operated becomes possible. For this reason, for example, even when both blades stop in the interference area or in the vicinity thereof during the return path wiping operation , the wiper device can be started smoothly while preventing interference between the blades.
[0048]
Further, according to the wiper device control method of the present invention, the motor control mode is switched between the start-time control and the normal control based on the presence / absence of the speed detection of the reference wiper blade, so that the start-time control is not necessary. The control mode is switched to a highly responsive type, and a wiping operation without a delay in response can be realized while preventing interference between the blades at the time of starting, thereby improving the operational feeling.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing an outline of a drive system and a control system in a counter-wiping wiper device.
FIG. 2 is an explanatory diagram showing a configuration of a motor drive circuit.
FIG. 3 is an explanatory diagram showing a configuration of a motor unit.
FIG. 4 is an explanatory diagram showing a relationship between a magnet and a Hall IC and an output signal (motor pulse) of the Hall IC.
FIG. 5 is an explanatory diagram showing a control mode of a wiper device control method according to an embodiment of the present invention.
6 is a flowchart showing a control procedure in the control mode of FIG. 5;
FIG. 7 is an explanatory diagram showing blade operation in the wiper device.
FIG. 8 is an explanatory diagram showing a conventional wiper device control mode;
[Explanation of symbols]
1 Wiper device 2a DR side wiper blade (first wiper blade)
2b AS wiper blade (second wiper blade)
3a DR side motor (first motor)
3b AS side motor (second 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 10 Wiper drive control device 11 CPU
12a, 12b Motor unit 13 Gear box 14 Motor shaft 15 Output shaft 16 Yoke 17 Armature core 18 Commutator 19 Permanent magnet 20 Brush 21 Case frame 22 Worm 23 Worm gear 24 First gear 25 Second gear 26 Multipolar magnetized magnet 27 ( 27A, 27B) Hall IC for relative position detection
28 Absolute Position Detection Magnet 29 Printed Circuit Board 30 Absolute Position Detection Hall IC
41a, 41b Sensor 42 Wiper switch 43 Relay plate P Non-interference area Q Blade interference area X Upper inversion position Y Lower inversion position Z Storage position θ * Target angle difference θAs AS side wiper blade position angle θDr DR side wiper blade position angle θd Angle difference information
KF Angle difference correction gain
v * Target speed

Claims (5)

A control method for a wiper device having a first wiper blade driven by a first motor and a second wiper blade driven by a second motor,
The actual position angle difference between the two wiper blades calculated from the current position angle of the first and second wiper blades at the start of the wiper device, and the preset target position angle difference between the two wiper blades In addition, when one of the first and second wiper blades is used as a reference, and the difference between the actual position angle difference and the target position angle is within a predetermined value, it is not used as a reference. When the reference wiper blade is driven in a state where the wiper blade is stopped and the difference between the actual position angle difference and the target position angle deviates from a predetermined value, in addition to the reference wiper blade, A wiper device control method comprising driving a wiper blade that is not used as the reference . 2. The method of controlling a wiper device according to claim 1, wherein the start-up control and the normal control are switched depending on whether or not the speed of the wiper blade as a reference is detected . The wiper device control method according to claim 2 , wherein when the speed of the reference wiper blade is not detected, the start-up control is executed, and when the speed of the reference wiper blade is detected, Based on the difference between the actual position angle difference between the first and second wiper blades and the target position angle, and the speed of the reference wiper blade, the speed of the non-reference wiper blade is controlled. A control method for a wiper device, characterized by executing normal control . 4. The wiper apparatus control method according to claim 2 , wherein PID control is executed in the normal control . 5. The method of controlling a wiper device according to claim 1 , wherein the first motor drives the first wiper blade independently without interlocking with the second motor, and A wiper device control method characterized in that one wiper blade is used as the reference .

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