JP5466563B2 - Wiper control device and wiper device control method - Google Patents

Description

  The present invention relates to a wiper control technique in a reversing wiper system that drives a wiper arm by rotating a motor forward and backward, and particularly relates to a wiper operation when restarting a wiper device that has been temporarily stopped when a starter is turned on.

  In recent years, a so-called reversing wiper system that drives a wiper arm by rotating a motor forward and backward is widely used as a wiper device for an automobile. In the reversing wiper system, the operation of the motor is controlled by a controller equipped with a microcomputer, and various wiper operations can be controlled, such as keeping the wiping operation constant and storing the blades, according to disturbances during travel. Done.

  The controller detects the absolute position of the wiper arm with a sensor provided on the worm wheel side of the motor unit, and detects the relative position of the wiper arm with a sensor provided on the amateur shaft side of the motor. Then, the reversal position and the storage position during the wiping operation are controlled using the absolute position and relative position data. The controller also calculates the motor speed from the input cycle of the signal from the amateur shaft side sensor. The calculated motor speed is compared with a reference motor speed (target speed MAP) stored in advance in the ROM of the controller. Then, in order to adjust the current motor speed to the reference motor speed, for example, the power supply voltage to the motor is varied by duty control by PID, and the motor speed is controlled.

JP 2004-130876 A

  On the other hand, in the above-described reversing wiper system, for example, when the starter is turned on, the wiping operation may be temporarily stopped and restarted when the starter is turned off, as in the case of a normal wiper system using a unidirectional rotating motor. is there. However, when the reference motor speed at the time of restart is high, the controller rapidly increases the motor speed with the motor speed as a target. FIG. 10 is an explanatory diagram showing the motor operation when the wiper is restarted after being stopped halfway.

  As shown in FIG. 10, in the wiper restart after a halfway stop, the motor is started by a soft start (a process for suppressing the sudden movement of the motor by gradually increasing the duty without performing the PID control), and the constant speed control ( When shifting to normal control by PID, the motor is accelerated rapidly in order to match the motor speed to the reference motor speed. When the motor accelerates rapidly, the wiper blade also moves suddenly, so that the wiper device suddenly starts moving at a high speed, which may give the driver and other users a sense of incongruity. In particular, in a vehicle that performs idle stop, there is a problem that such a phenomenon is likely to occur when starting from waiting for a signal, and there is a need for improvement.

  An object of the present invention is to prevent the wiper arm from starting at a rapid speed when the wiper device is stopped halfway, and to eliminate the user's uncomfortable feeling due to a sudden wiper operation. .

  A wiper control device according to the present invention is a wiper control device that performs drive control of a wiper device that includes a wiper arm that reciprocates between predetermined inversion positions, and an electric motor that drives the wiper arm. When restarting the target speed storage unit that stores the first target speed set corresponding to the position of the wiper arm as the rotational speed target, and the wiper arm stopped halfway between the reversal positions, And a start control unit that drives the electric motor based on a second target speed set at a speed lower than the target speed.

  In the present invention, when restarting the wiper arm stopped halfway between the reversing positions, such as when the starter is turned on, the first speed set to be lower than the first target speed used in the normal wiping operation is set. 2. The electric motor is driven based on the target speed. If the first target speed that is the target of the motor speed at the time of restarting is high, the motor speed increases rapidly and the wiper arm starts at a rapid speed in order to match the motor speed to the target speed. Since the electric motor is driven based on the second target speed that is slower than the first target speed, the motor speed does not increase rapidly, and the rapid operation of the wiper arm is suppressed.

  In the wiper control device, the wiper control device includes an actual speed detection unit that detects an actual rotation speed of the electric motor, an actual rotation speed of the electric motor detected by the actual speed detection unit, and A speed comparison unit that compares the first target speed, and the difference between the actual rotation speed of the electric motor calculated by the speed comparison unit and the first target speed is a predetermined threshold value. When exceeding, the start control unit may drive the electric motor based on the second target speed.

  In addition, when the first target speed is currently in a deceleration state, the start control unit drives the electric motor based on a third target speed set to a speed lower than the second target speed. Anyway.

  The wiper control method of the present invention includes a wiper arm that reciprocates between predetermined reverse positions, and an electric motor that drives the wiper arm, wherein the electric motor is set in accordance with the position of the wiper arm. A method of controlling a wiper device driven based on a target speed, wherein the second target is set to a speed lower than the first target speed when the wiper arm stopped halfway between the reversing positions is restarted. The electric motor is driven based on speed.

  In the present invention, when restarting the wiper arm stopped halfway between the reversing positions, such as when the starter is turned on, the first speed set to be lower than the first target speed used in the normal wiping operation is set. 2. The electric motor is driven based on the target speed. If the first target speed that is the target of the motor speed at the time of restarting is high, the motor speed increases rapidly and the wiper arm starts at a rapid speed in order to match the motor speed to the target speed. Since the electric motor is driven based on the second target speed that is slower than the first target speed, the motor speed does not increase rapidly, and the rapid operation of the wiper arm is suppressed.

  In the wiper control method, the actual rotational speed of the electric motor is compared with the first target speed, and a difference between the actual rotational speed of the electric motor and the first target speed is set to a predetermined threshold value. If it exceeds, the electric motor may be driven based on the second target speed.

  Further, when the first target speed is currently in a deceleration state, the electric motor may be driven based on a third target speed set to a speed lower than the second target speed.

  The wiper control device restarts a target speed storage unit that stores a first target speed set corresponding to the position of the wiper arm and a wiper arm that is stopped halfway between the reversing positions as a target of the rotational speed of the electric motor. A start control unit that drives the electric motor based on a second target speed that is set to a speed lower than the first target speed. When restarting the wiper arm, the electric motor is started based on the second target speed that is slower than the first target speed used during the normal wiping operation. Therefore, at the time of restart, it is possible to prevent the motor speed from rapidly increasing and to prevent the wiper arm from starting at a rapid speed, and to eliminate the user's uncomfortable feeling associated with the rapid operation of the wiper arm.

  When the wiper arm is restarted, the wiper control method is based on a second target speed set to a speed lower than the first target speed set corresponding to the position of the wiper arm as a target of the rotational speed of the electric motor. When the wiper arm stopped halfway between the reversing positions is restarted, such as when the starter is turned on, the second speed slower than the first target speed used during the normal wiping operation is used. The electric motor is started based on the target speed. Therefore, at the time of restart, it is possible to prevent the motor speed from rapidly increasing and to prevent the wiper arm from starting at a rapid speed, and to eliminate the user's uncomfortable feeling associated with the rapid operation of the wiper arm.

It is a block diagram which shows the structure of the reversing wiper system to which this invention is applied. It is a block diagram which shows the structure of the control system of the controller with which the wiper control method of this invention is performed. It is a flowchart which shows the outline of the process sequence in the wiper control method of this invention. It is a flowchart which shows the process sequence of a target speed change determination process. It is a flowchart which shows the process sequence of a MAP adjustment determination process. It is a flowchart which shows the process sequence of a target speed setting process. It is explanatory drawing which shows the motor operation | movement at the time of wiper restart at the time of performing smooth starting. It is explanatory drawing which shows the motor operation | movement at the time of wiper restart when the difference between an actual speed and a target speed is small. (A) is explanatory drawing which shows motor operation at the time of performing "smooth start-up" as it is at the time of motor deceleration, (b) shows motor operation at the time of performing "smooth start-up" in consideration of motor deceleration. It is explanatory drawing. It is explanatory drawing which shows the motor operation | movement at the time of the wiper restart after the middle stop in the conventional control form.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a reversing wiper system to which the present invention is applied. As shown in FIG. 1, the wiper device 1 includes wiper arms 2 a and 2 b on the driver seat side and the passenger seat side, and the wiper arms 2 a and 2 b are connected by a link mechanism 3. Wiper blades 4a and 4b for wiping the glass surface are attached to the wiper arms 2a and 2b. The link mechanism 3 is connected to the motor unit 5, and the wiper device 1 is driven by the motor unit 5.

  The motor unit 5 includes an electric motor 6 (hereinafter abbreviated as motor 6) and a gear box 7. A sensor for detecting the relative position of the wiper arms 2a and 2b is provided on the motor 6 side, and a sensor for detecting the absolute position (for example, the lower reverse position) of the wiper arms 2a and 2b is provided on the gear box 7 side. . A pulse signal is emitted from the relative position detection sensor as the motor rotates. Also, a single signal is emitted from the absolute position detection sensor when the wiper arms 2a and 2b are in the lower inverted position.

  The motor unit 5 is connected to a controller (wiper control device) 8, and the motor 6 is controlled by the controller 8. The controller 8 is provided with a CPU 11 in which a control program is installed and a ROM 12 in which various control data are stored. The controller 8 calculates position information (current position) of the wiper arms 2a and 2b based on signals output from the sensors. Then, with reference to the control data in the ROM 12, the inversion position and the storage position during the wiping operation are controlled according to the control program in the CPU 11.

  The controller 8 calculates the speed of the motor 6 from the input cycle of the pulse signal from the relative position detection sensor. The calculated motor speed is compared with a reference motor speed Va (target speed MAP value) stored in advance in the ROM 12 of the controller 8. A reference motor speed Va that is a target speed of the motor 6 is set in correspondence with the positions of the wiper arms 2a and 2b. Based on the current arm position, the controller 8 controls the motor speed so that the current motor speed matches the reference motor speed Va at that position. At this time, the controller 8 controls the motor speed by changing the power supply voltage to the motor 6 by, for example, duty control by the PID method.

  Thus, the wiper device 1 controls the motor 6 so that the current motor speed matches the reference motor speed Va. For this reason, when the wiper device 1 stops halfway and restarts thereafter, the controller 8 tries to increase the motor speed at a stroke to the reference motor speed Va that is the target speed at the stop position. As described above, in the conventional wiper device, the wiper blade suddenly operates due to such a control mode. On the other hand, in the control mode according to the present invention, paying attention to the difference between the current motor speed and the reference motor speed Va, the control mode of the motor 6 is changed in accordance with the difference, and the sudden change in the speed is reduced. ”Is executed to prevent the wiper blades 4a and 4b from operating suddenly.

  FIG. 2 is a block diagram showing the configuration of the control system of the controller 8 in which the wiper control method of the present invention is executed. As shown in FIG. 2, an actual speed detection unit 13, a speed comparison unit 14, and a start control unit 15 are provided in the CPU 11. The actual speed detector 13 receives the pulse signal from the relative position detection sensor, and detects the current rotational speed (actual speed) of the motor 6 from the input cycle. The speed comparison unit 14 compares the current rotational speed of the motor 6 detected by the actual speed detection unit 13 with the reference motor speed Va (first target speed) stored in the ROM 12 as the target speed MAP16. . The start control unit 15 changes the control mode at the start of the motor based on the comparison result in the speed comparison unit 14 to prevent sudden acceleration of the motor. That is, when the difference between the current speed and the reference motor speed Va exceeds a preset threshold value, the motor 6 is started at a slow speed set lower than the reference motor speed Va, which is the original target speed. The rapid operation of the wiper blades 4a and 4b is prevented.

  3 to 6 are flowcharts showing the processing procedure of the wiper control method of the present invention. FIG. 3 shows the outline of the processing procedure, and FIGS. 4 to 6 show the individual processing procedures. 3 to 6 are executed by the control system shown in FIG. 2, and as shown in FIG. 2, the target speed change determination process (S1), the MAP adjustment determination process (S3), and the target speed setting process. Each process of (S4) is performed. FIG. 7 is an explanatory diagram showing the motor operation when the wiper is restarted when “smooth start-up” is executed.

  In the target speed change determination process in step S1, the current motor speed is compared with the reference motor speed Va when switching from soft start to constant speed control, and whether or not “smooth start-up” is executed based on the difference. To decide. In step S2, ON / OFF of “smooth start-up” is determined. If ON, the process proceeds to step S3 and subsequent steps. On the other hand, if it is OFF, the process proceeds to step S5, and the normal wiping control in which the MAP value (reference motor speed Va) is set to the target motor speed Vb is selected and the routine is exited.

  In the MAP increase / decrease determination process in step S3, it is determined whether the MAP value indicating the reference motor speed Va is an acceleration state (or a constant state) or a deceleration state, and the “suppression during deceleration” executed during the target speed setting process in S4. A condition for determining whether or not “control” is necessary is determined. The target speed setting process in step S4 is a process for specifically setting the motor speed when performing smooth start-up. In step S4, it is determined whether or not the speed of the motor started by the smooth start is equal to or higher than the MAP value. If the speed is equal to or higher than the MAP value, the “smooth start end determination” for determining the end of the smooth start is also included. Done.

  By such processing of S1 to S4, the speed target (target motor speed Vb) of the motor 6 is corrected to a value (smooth start-up speed Vs) smaller than the MAP value, as indicated by a broken line in FIG. The actual motor speed is suppressed as shown by the solid line. As a result, the motor 6 is driven at a slow speed by “smooth start-up” and gradually approaches the MAP value without sudden acceleration. Then, after reaching the MAP value, constant speed control is performed, and the wiper operation returns to normal PID control.

  Then, each process of S1, S3, S4 is demonstrated according to FIGS. First, as shown in FIG. 4, in the “target speed change determination process” in step S1, the process starts when the wiper switch is turned on. In step S11, the motor control mode is changed from soft start to constant speed control. It is determined whether or not the timing for switching has arrived. From soft start to constant speed control, the control mode is switched when a pulse signal is input for one pulse (two edges) from the relative position detection sensor after the motor is driven in the required rotational direction. Switching of the control mode is performed by the start control unit 15, and the start control unit 15 confirms the input state of the pulse signal. When the signal input for one pulse is confirmed, the process proceeds to step S12 and is not confirmed. The process of step S1 is exited.

  In step S11, it is determined that it is time to switch from soft start to constant speed control. When the process proceeds to step S12, the actual speed of the motor 6 and the reference motor speed Va corresponding to the current position of the wiper arms 2a and 2b are determined. Are compared. The actual motor speed is calculated by the actual speed detector 13 based on the pulse signal, and the difference between the actual motor speed and the reference motor speed Va is obtained by the speed comparator 14 based on the target speed MAP16 in the ROM 12. It is done. In step S12, the difference between the actual motor speed and the reference motor speed Va is compared with a threshold value stored in advance in the ROM 12.

  As described above, when the difference between the actual speed and the reference motor speed Va is large, when the soft start is switched to the constant speed control as it is, the motor 6 is accelerated rapidly (see FIG. 10). The threshold value SV1 (first threshold value) is set as a reference value for determining whether or not to perform “smooth start-up” when the motor is started in order to prevent this sudden acceleration. Accordingly, as shown in FIG. 7, when the difference between the actual speed and the reference motor speed Va is large (when the threshold value is SV1 or more), it is determined that the start at the slow speed is necessary, and the process proceeds to step S13 and “smooth start-up” is performed. "" Is turned ON and the routine is exited. On the other hand, when the difference between the actual speed and the reference motor speed Va is small (less than the threshold value SV1), the “smooth start-up” is unnecessary because the rapid acceleration region is small as shown in FIG. Therefore, in this case, the process proceeds to step S14, where “smooth start-up” is turned off and the routine is exited.

  After determining whether or not “smooth start-up” is necessary in step S 1 as described above, if “smooth start-up: ON” is confirmed in step S 2, the process proceeds to step S 3 and “MAP addition / subtraction determination processing” is executed. Is done. In the control process, the MAP increase / decrease determination process is performed because the actual speed may exceed the MAP value if the slow correction of the target motor speed Vb is performed up to the MAP value during motor deceleration. is there. FIG. 9A is an explanatory diagram showing the motor operation when “smooth start-up” is executed as it is when the motor is decelerated, and FIG. 9B is the motor operation when “smooth start-up” is performed in consideration of motor deceleration. It is explanatory drawing which shows.

  As shown in FIG. 9A, if “smooth start-up” is executed at the time of motor deceleration and the target motor speed Vb is corrected to the MAP value, even if “smooth start-up” ends when the MAP value is reached. Since the motor speed has been increased until then, a phenomenon occurs in which the MAP value is exceeded until the motor speed converges to the MAP value due to control responsiveness and inertia of the motor itself. For this reason, the behavior of the wiper blades 4a and 4b may become unstable, and the wiper blades 4a and 4b may overrun from the reverse position.

  Therefore, in the control mode according to the present invention, acceleration / deceleration of the motor is detected, and at the time of motor deceleration, “deceleration suppression control” is executed to stop the increase of the target motor speed Vb at a time before the MAP value. Over is prevented. That is, when the motor deceleration is detected during the “smooth start-up”, as shown in FIG. 9B, the target motor speed Vb is kept constant when the MAP value reaches a predetermined upper limit value. Change to Thereby, even if the “smooth start-up” is finished when the actual motor speed reaches the MAP value, the motor speed smoothly converges to the MAP value without substantially exceeding the MAP value. Therefore, a phenomenon in which the user feels uncomfortable, such as unstable blade operation or overrun at the reversal position, can be prevented, and smooth wiper control is possible.

  The MAP increase / decrease determination process in step S3 is executed in order to obtain a determination condition necessary for the execution of the “deceleration suppression control”. First, in step S31, as shown in FIG. The current MAP value of the reference motor speed Va obtained in S12 is compared with the MAP value in the previous process. The “previous” and “current” mentioned here are identified for each cycle of the control process in FIG. In step S31, if the current MAP value is smaller than the previous MAP value, that is, if the MAP value is decreasing, the process proceeds to step S32, where the current MAP value and smooth activation are turned on. The current MAP value is compared.

  In step S32, if the current MAP value is less than the MAP value at the time of smooth activation ON, the MAP value has decreased from the time of the smooth activation start. And a predetermined threshold value SV2 (second threshold value) are compared. If the difference value obtained by subtracting the current MAP value from the MAP value at the time of smooth start-up is greater than or equal to the predetermined threshold value SV2, the process proceeds to step S34, and it is determined that the MAP value of the reference motor speed Va is in a decelerating state. Exit the routine.

  On the other hand, if the current MAP value is greater than or equal to the MAP value at the time of smooth start-up in step S32, the MAP value is the same as that at the start of the smooth start-up or is increasing. Since the phenomenon (a) does not occur, the process proceeds to step S35, where it is determined that the MAP value of the reference motor speed Va is in the acceleration state or the constant state, and the routine is exited. In step S33, if the difference value obtained by subtracting the current MAP value from the MAP value at the time of smooth activation ON is less than the predetermined threshold value SV2, the MAP value is decreased compared to that at the time of smooth activation start. Since the amount of decrease is small, the control proceeds to step S35, where the MAP value is included in the category of acceleration state or constant state, and the routine is exited.

  On the other hand, if the current MAP value is greater than or equal to the previous MAP value in step S31, the process proceeds to step S36, and the current MAP value and the previous MAP value are compared again. If the current MAP value exceeds the previous MAP value in S36, that is, if the MAP value has increased, the process proceeds to step S37, where it is determined that the MAP value is in an accelerated state. In step S38, the MAP value at the time of smooth start-up is updated to the current MAP value, and the routine is exited. Here, the MAP value is updated when the wiper operation shifts from the motor acceleration region to the deceleration region, recognizing the change, and in the start determination (S33) of “deceleration control during deceleration”, the threshold SV2 This is because the “decrease amount of the MAP value” to be compared is matched with the operation status of the wiper device.

  On the other hand, if the current MAP value does not exceed the previous MAP value in step S36, the relationship with step S31 indicates that the current MAP value is equal to the previous MAP value. Accordingly, the process proceeds to step S39, where it is determined that the MAP value is in a constant state, and the routine is exited.

  After the “MAP adjustment determination process” is executed in step S3, the process proceeds to step S4, and the “target speed setting process” in FIG. 6 is executed. In this target speed setting process, first, “smooth start-up end determination process” is executed, and then the target motor speed Vb is set. In the smooth activation end determination process, as shown in FIG. 6, first, in step S41, the current motor speed (during smooth activation) and the current MAP value are compared. If the motor speed during the smooth start is less than the current MAP value, it is determined that the speed has not been reached, the smooth start is kept ON, and the routine is exited. On the other hand, when the motor speed at the smooth start is equal to or higher than the current MAP value, it is determined that the reference motor speed Va is reached and the role of “smooth start” is finished, and the process proceeds to step S42, and the smooth start is performed. End (OFF). In step S43, the normal wiping control with the MAP value as the reference motor speed Va is selected and the routine is exited.

  When it is determined in step S41 that “smooth start-up” is to be continued, the process proceeds to step S51 and the subsequent steps, and the target motor speed is set. Here, first, in step S51, an upper limit speed at the time of motor deceleration is set. This deceleration upper limit speed Vh (third target speed) is an absolute value of the difference between the current MAP value and a predetermined set value T, and is used when the smooth start-up is performed in the motor deceleration region. When the difference between Va and the MAP value is less than a certain value (set value T), the target motor speed Vb is set to be constant without increasing any more.

  After the deceleration upper limit speed Vh is set in step S51, the process proceeds to step S52 to determine the acceleration / deceleration status of the motor. That is, based on the transition state of the MAP value obtained in the previous processing of S3, when the MAP value is in an acceleration state, or in a constant state, or the MAP value is in a deceleration state, and the previous time If the smooth start speed Vs (the previous motor speed in the smooth start) is less than the deceleration upper limit speed Vh, it is determined whether or not the start speed is Vs.

  If the condition of S52 is satisfied, the process proceeds to step S53, where the initial additional value N + pulse count value P from the operation start position K × predetermined increase value M (per pulse) as the smooth start speed Vs (second target speed). Speed increase value: increase coefficient) (see FIG. 7). That is, the smooth start speed Vs is set as a linear function value with the initial additional value N as an intercept, and as shown by a broken line in FIG. 7, the initial additional value N is increased to the pulse count value P from the K point. A value obtained by adding a value multiplied by M is set as a new smooth start speed Vs.

  Here, when the difference between the motor actual speed and the reference motor speed Va is equal to or greater than the threshold value SV1 and “smooth start-up” is performed, driving at a slow speed from speed 0 or the vicinity thereof takes time to reach the reference motor speed Va. It may take too much. Therefore, in the control processing according to the present invention, in order to converge the motor speed to the target value as quickly as possible while performing smooth start-up, an initial additional value N is set to the smooth start-up speed Vs in advance to “make getter”. ing. Even during smooth start-up, the motor speed suddenly increases by an amount that catches up with the initial additional value N at the beginning of start-up (X part in FIG. 7B), but it is a short time equivalent to the case of FIG. It does not give a sense of incongruity.

  After the smooth start speed Vs is newly set in step S53, the process proceeds to step S54, and the smooth start speed Vs is compared with the current MAP value (current reference motor speed Va corresponding to the wiper arm position = first target speed). Is done. If the set smooth start speed Vs is equal to or greater than the current MAP value in S54, the current motor speed has already reached the target value, and it is not necessary to perform smooth start. Therefore, in this case, the process proceeds to step S55, the target motor speed Vb is set to the MAP value, and the routine is exited. That is, normal wiping control is performed.

  On the other hand, if the smooth start speed Vs is less than the current MAP value, the process proceeds to step S56 to correct the motor speed slowly, and the routine is executed with the new smooth start speed Vs set as the target motor speed Vb. Exit. As a result, the motor speed is controlled in the form shown by the broken line in FIG. 7, and the rapid acceleration of the motor 6 is suppressed. Therefore, the rapid operation of the wiper blades 4a and 4b due to the rapid acceleration of the motor as shown in FIG. 10 can be prevented, and the wiper device 1 can be restarted without giving the user a sense of incongruity.

  On the other hand, when the condition of S52 is not met, that is, when the MAP value is in a deceleration state, but the previous smooth start speed Vs is equal to or higher than the deceleration upper limit speed Vh, the process proceeds to step S57. The case where the condition of S52 is not satisfied means that the motor speed has reached the point A in FIG. 9B, and in this control, the target motor speed Vb is kept constant at this point in time and the MAP value is exceeded. To prevent. Accordingly, in step S57, control is performed so that the previous smooth start speed Vs is the target motor speed Vb and the deceleration upper limit speed Vh is the upper limit value of the smooth start speed Vs, and the routine is exited.

  Thus, in the control mode of the present invention, when the wiper arms 2a and 2b stopped halfway between the reversing positions, such as when the starter is turned on, are restarted from the reference motor speed Va used during the normal wiping operation. The motor 6 is started at a slow “smooth start-up speed Vs”. For this reason, even when restarting from an intermediate stop, the motor speed does not increase rapidly, and the rapid operation of the wiper arm is suppressed. In particular, in a vehicle that frequently starts the starter, such as an idling stop vehicle, the wiper arm does not operate suddenly when restarting from a midway stop, and the user's discomfort can be greatly reduced. In addition, in the state where the motor decelerates at the time of restart, the smooth start speed Vs is suppressed to the deceleration upper limit speed Vh, so the motor speed smoothly converges to the MAP value without exceeding the MAP value, and the wiper behavior Does not become unstable.

It goes without saying that the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention.
For example, in the above-described embodiment, when switching from soft start to constant speed control, the current motor speed is compared with the reference motor speed Va to determine whether or not to execute “smooth start-up”. The necessity of “smooth start-up” may be determined based on the difference from the reference motor speed Va (MAP value) in the stop state (speed = 0). However, when the wiper arm reverses during normal wiping (motor forward / reverse switching), the arm may reverse before it is determined to stop, so when switching from soft start to constant speed control, “smooth start It is preferable to set the reference time for the execution determination of “” for stable control.

DESCRIPTION OF SYMBOLS 1 Wiper apparatus 2a, 2b Wiper arm 3 Link mechanism 4a, 4b Wiper blade 5 Motor unit 6 Electric motor 7 Gear box 8 Controller 11 CPU
12 ROM
13 Actual speed detection unit 14 Speed comparison unit 15 Start control unit 16 Target speed MAP
Va Reference motor speed (first target speed)
Vb Target motor speed Vs Smooth start speed (second target speed)
Vh Upper limit speed during deceleration (third target speed)
SV1 threshold SV2 threshold N initial additional value K operation start position P pulse count value M increase value T set value from operation start position

Claims (6)

A wiper control device that performs drive control of a wiper device that includes a wiper arm that reciprocates between predetermined inversion positions, and an electric motor that drives the wiper arm,
A target speed storage unit that stores a first target speed set corresponding to the position of the wiper arm as a target of the rotational speed of the electric motor;
A restart control unit that drives the electric motor based on a second target speed set to a speed lower than the first target speed when restarting the wiper arm that has been stopped halfway between the reversal positions; A wiper control device characterized by that. The wiper control device according to claim 1, wherein the wiper control device includes:
An actual speed detector for detecting an actual rotational speed of the electric motor;
A speed comparison unit that compares the actual rotation speed of the electric motor detected by the actual speed detection unit with the first target speed;
When the difference between the actual rotational speed of the electric motor calculated by the speed comparison unit and the first target speed exceeds a predetermined threshold, the start control unit A wiper control device that drives the electric motor based on speed.   3. The wiper control device according to claim 1, wherein, when the first target speed is currently in a deceleration state, the start control unit sets a third target speed set to a speed lower than the second target speed. The wiper control device that drives the electric motor based on A wiper arm that reciprocates between predetermined inversion positions; and an electric motor that drives the wiper arm, and the electric motor is driven based on a first target speed set corresponding to the position of the wiper arm. A method for controlling a wiper device, comprising:
When the wiper arm stopped halfway between the reversing positions is restarted, the electric motor is driven based on a second target speed set at a speed lower than the first target speed. Method. The wiper control method according to claim 4, wherein
When the actual rotational speed of the electric motor is compared with the first target speed, and the difference between the actual rotational speed of the electric motor and the first target speed exceeds a predetermined threshold value A wiper control method for driving the electric motor based on the second target speed.   6. The wiper control method according to claim 4 or 5, wherein when the first target speed is currently in a deceleration state, the electric motor is based on a third target speed set to a speed lower than the second target speed. The wiper control method characterized by driving.

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