KR100938219B1 - Windscreen wiper system compring two opposed wipers - Google Patents

Abstract

The present invention relates to a wiper device comprising two reversely operable wipers (1, 2), each of which can be driven by one separate motor (M _FS , M _BS ), the motor (M) through a control signal _FS , M _BS ) is equipped with a control device 7 for independent control of each other, and the motor of the wiper 1, 2 to set the respective position of the time-dependent wiper via the trigonometric function ψ (t) M _FS , M _BS ) is controlled via the control device 7.

Description

Wiper device with two wipers operating in reverse direction {WINDSCREEN WIPER SYSTEM COMPRING TWO OPPOSED WIPERS}

The present invention relates to a wiper device comprising two wipers operating in the reverse direction. In a wiper operating in the reverse direction, the wipers of the wiper device operate in opposite directions. The wipers are driven through a single drive, and both wipers are coupled to each other via mechanisms so that the wipers do not collide during operation.

In the conventional manner, the angle of the wiper operating in the reverse direction is manually adjusted. The wiper is operated on the basis of the manually determined angular position so that the wipers do not contact each other. In the next step, these angular positions are connected to each other via a radial cam or controller curve. Such a method has the disadvantage that full collision prevention is not realized, and that the collision between the wipers is determined depending on the developer's experience. Also, since the cam (or curve) can be differentiated only once after the passage of time, the progress of the cam (or curve) is not suitable for control. In addition, when the wiper accelerates, the wiper progresses unstable, which causes tremor.

It is therefore an object of the present invention to control the reverse operability wiper so that the wiper does not shake and collide during operation.

This object is achieved through the wiper device of claim 1.

Another embodiment of the invention is described in the dependent claims.

In the present invention, two reverse operating wipers, each of which can be driven by one motor, are mounted to the wiper device. It is also equipped with a control unit to control the motors independently of each other via control signals. In order to specify the angular position that changes with time via the trigonometric function ψ (t), the wiper motor is controlled through the control device.

The core of the present invention is to provide a control device for a wiper device including two wipers operating in the reverse direction. The control device in particular ameliorates the disadvantages of the prior art, such as vibrations and collisions of the wiper. In particular, the wiper tends to vibrate near the switching position. In order to prevent this, in the present invention, the control device is formed so that the angular position can be determined according to the trigonometric function. The trigonometric function has the advantage of being able to differentiate over time regardless of the number of times. Thus, instability does not appear during acceleration of the wiper, it is possible to prevent shaking and minimize the electrical energy required for the wiper operation.

The trigonometric function is also suitable for wiper control because the conditions for preventing the impulse of the backward-operating wiper can be defined relatively simply.

The basic elements of the wiper progression that underlie the control are trigonometric functions such as sine and cosine, for example. These functions can be undivided over time regardless of the number of times. That is, no stick slip due to, for example, a change in acceleration, occurs in the wiper device. Also, the trigonometric function provides the advantage that the first control can be calculated directly from the trigonometric function based on the physical dynamic model. This primary control can significantly improve the control aspect.

Also, the advantage of using trigonometric functions for wiper control is that the wiper progress can be clearly determined with fewer variables. This allows for efficient and easy use of the controller.

Preferably the trigonometric function is defined as follows.

는 와이퍼의 위상각을 나타낸다. k 및 q는, 양측 와이퍼의 충돌이 억제되도록 선택된 변수이다. 이렇게 선택된 삼각함수를 통해 역방향 동작형 와이퍼가 포함된 와이퍼 장치를 제작하는 것이 가능하며, 와이퍼에 떨림 현상이 나타나지 않는데, 그 이유는 와이퍼 가속도의 급격한 변화가 억제되기 때문이다. 또한 적합한 변수 k 및 q의 확정을 통해 비교적 간단하게 와이퍼의 위상을 변경할 수 있고, 따라서 와이퍼의 충돌을 방지할 수 있다.Where ψ _BS is the current angle in the passenger seat and ψ _FS is the current angle in the driver's seat. _max represents the wiping range, and ω represents the angular velocity determined by the wiper period.

Represents the phase angle of the wiper. k and q are variables selected such that collision of both wipers is suppressed. The selected trigonometric function makes it possible to fabricate a wiper device that includes a backward-operated wiper, and the wiper does not show vibration because the rapid change in the wiper acceleration is suppressed. The determination of suitable variables k and q also makes it possible to change the phase of the wiper relatively simply, thus preventing the wiper from colliding.

Preferably, the variables k and q are selected such that the speed of one of the wipers exceeds the minimum at at least one switching position, so that the wiping of the wiper on the windscreen is suppressed. If the wiper speed is slow, the wiper vibration may occur, so that by appropriately selecting the variables k and q, the speed of the wiper near the switching position may exceed the minimum value.

Also preferably, the variables k and q are selected such that the angular progression of the wiper is made without changing the direction of the wiper operation between the upper and lower switching positions.

In the following, preferred embodiments of the present invention are described in detail based on the drawings. The drawings are as follows.

1 is a view showing a schematic structure of a wiper device according to the present invention,

2 is a diagram showing various temporal progressions of ψ _BS and ψ _FS according to k and q,

Figure 3 is an xy-graph with x = ψ _FS (t) and y = ψ _BS (t), showing a graph for comparison with the condition of y = gc x ',

4 is a graphical representation of equation (5) with variable p = 3.

1 is a schematic diagram of a preferred embodiment including two wipers operating in the reverse direction. The windscreen wash wipe system has a driver's seat wiper 1 and a passenger seat wiper 2. The driver's seat wiper 1 has a driver's seat wiper arm 3 and a driver's seat wiper blade 5.

The blade is attached to the end of the driver's seat wiper arm 3. The passenger wiper 2 comprises a passenger wiper arm 4 and a passenger wiper blade 6.

Each end of the corresponding side of the wiper arms 3, 4 is coupled with a drive M _FS , M _BS . The driver's seat driver M _FS drives the driver's seat wiper 1 and the driver's seat driver M _BS drives the passenger seat wiper 2. The driver's seat driver M _FS and the passenger seat driver M _BS are coupled with a control device 7 for operating the drives M _FS , M _BS according to a set angle position. Preferably, the driving devices M _FS and M _BS are driven by pulse width modulation, and branch currents as manipulated variables are driven by the driving devices M _FS and M _BS . Is output to In order to implement control in the control device 7, the control device 7 receives respective position and / or motion data or speed data from the drive devices M _FS , M _BS , and based on this data, the next operation. Calculate the variable.

The control device 7 is formed such that the angles of the driver's seat wiper 5 and the passenger seat wiper 6 to be adjusted are adjusted according to the trigonometric function. That is, in contrast to the conventional method in which the angular progression is measured in the curved section of the polygon inserted between the wiper positions empirically determined, a triangle including a formparameter selected so that the vibration of the wiper and the collision of the wiper can be suppressed. Measured through a function

_FS 또는

_BS로 표시된다.

_FS 또는

_BS는 d와 a 사이의 각도이다. 모든 각도는 와이퍼의 상승 방향에서 양수도 정의된다.The following symbols are used to describe the wiper device. Variables related to the passenger seat include BS and variables related to the driver seat include FS. The spacing between the rotation points D1, D2 of both wiper arms 3, 4 is denoted by d, a is the length of the wiper arm, and r is the half length of the wiper blades 5, 6. indicates the length of the imaginary line between the rotation points D1, D2 and the attachment of the wiper blades 5, 6 concerned. the angle between d and l

_FS or

_It is indicated by _BS .

_FS or

_BS is the angle between d and a. All angles are also positive in the upward direction of the wiper.

The temporal progression of the wiper angle must be determined so that no wiper collision occurs. In order to ensure that both wiper drives M _FS , M _BS do almost the same work through one wiping cycle, the wipers must proceed in the same fashion. Only the movement of the wiper is mirrored with respect to abscissa. This can be expressed as an expression:

_FS 및

_BS가 동일한 시점에 하단 또는 상단 전환점을 통과하도록 선택된다.Where F is the periodic function for time t. Phase shift (τ) and shift coefficient (κ) are

_FS and

_{The BS} is selected to pass through the bottom or top turning point at the same time.

Since the sine function causes a collision at the lower transition point, since the pure sine function cannot be used in the selection of the trigonometric function, a sinusoidal function that is wide at one transition point and narrow at the other transition point is required unlike in the pure sine function.

This variant should be chosen so that collision of the wiper does not occur during the wiping operation.

On the other hand, the curvature of the target trajectory at the turning point should not be too small, because if the speed is too slow at the turning point, the wiper rubber may stick to the windscreen for a short time, so that at the windscreen This is because vibration of the wiper may occur.

_FS ∈ [0, ψ_max] 및

_BS ∈ [0, ψ_max]를 통해 정의된다. 시간적 진행

_FS(t) 및

_BS(t)는 다음과 같이 정의된다. The desired trigonometric function can be formed from sinusoidal and cosine wave components. It has been proved that the trigonometric function is formed from the sum of the sine wave component and the cosine wave component. A cosine function comprising a dual frequency and an offset of 1 is added to the sine function. The cosine function is weighted through the coefficient k. Through the variable k, the deformation (buckling) of the function can be controlled. In order to prevent the target trajectory from becoming too low at the turning point, another sine wave component including triple frequency is added. The sinusoidal component is weighted through the coefficient q. Wiping interval

_FS ∈ [0, ψ _max ] and

_{It is} defined by _BS ∈ [0, ψ _max ]. Temporal progression

_FS (t) and

_BS (t) is defined as follows.

= π/2 는 와이핑 동작의 위상각을 나타낸다. 변수 k 및 q는, 양측 와이퍼의 충돌이 발생하지 않도록 선택되어야 한다.Where ω = 2π / T is the angular velocity, T is the period, and

= π / 2 represents the phase angle of the wiping operation. The variables k and q should be chosen so that collision of both wipers does not occur.

_FS(실선) 및

_BS(쇄선)에 대한 시간적 진행을 나타낸다. y축은 각도, x축은 초 단위의 시간을 나타낸다. 양측 와이퍼 암은 0.5초 후에 상단 전환 위치에 도달한다. 도2a에 도시된 곡선에서 전환 위치 근처의 경사는 점환점 근처에서의 속도를 나타낸다. 이 전환 위치에서의 경사가 너무 낮을 경우, 즉 와이퍼가 느리게 동작하는 경우에는 와이퍼의 유착이 발생되며 따라서 떨림 현상이 유발된다. 양측 와이퍼는 1초 후에 하단 전환 위치에 도달한다. 여기에서도 전환 위치 근처에서의 와이퍼 암의 속도는 최소값을 초과해야 하고, 하단 전환 위치 근처에서 양측 곡선이 충분한 간격을 가져야 하므로, 와이퍼 암의 충돌이 발생하지 않는다. 2A-2D show how the variables k and q affect the wiper progression. Figure 2a shows when k is 10 and q is 100

_FS (solid line) and

_Show temporal progression over _BS (dashed line). The y-axis represents the angle and the x-axis represents the time in seconds. Both wiper arms reach the top transition position after 0.5 seconds. The slope near the transition position in the curve shown in FIG. 2A represents the velocity near the point of point of loss. When the inclination at this switching position is too low, that is, when the wiper operates slowly, coalescence of the wiper occurs, thus causing a shaking phenomenon. Both wipers reach the lower transition position after one second. Here too, the speed of the wiper arm near the switching position must exceed the minimum value, and the curves on both sides must be sufficiently spaced near the lower switching position, so that no wiper arm collision occurs.

_FS 및

_BS에 대한 시간적 진행이 도시되어 있다. 이 그래프에서는, 상단 전환 위치에서 운전석 와이퍼의 와이퍼 진행이 매우 낮고, 따라서 이 전환 위치에서의 속도가 매우 느리며, 유착, 즉 와이퍼의 떨림이 발생할 수 있다는 것을 알 수 있다. 또한 하단 전환 위치 근처에서 조수석 와이퍼(2)의 진행이 매우 낮고, 따라서 이 전환 위치에서 떨림 현상이 발생할 수 있다.Figure 2b shows when the variable k is 5 and q is 100

_FS and

_The temporal progression for the _BS is shown. In this graph, it can be seen that the wiper progression of the driver's wiper in the upper switching position is very low, and therefore the speed in this switching position is very slow, and adhesion, that is, vibration of the wiper may occur. Also, the progression of the passenger wiper 2 is very low near the lower switching position, and thus a shaking phenomenon may occur at this switching position.

In Fig. 2C the progress of the wiper is shown when the variable k is 2 and q is 2. In this graph, although the speed at the switching position is fast enough, it can be seen that a short-term direction change occurs between the upper switching position and the lower switching position. This is undesirable because the wiper's progression must be continuous from the top transition position to the bottom transition position or from the bottom transition position to the top transition position; This is because of the disturbance of vision.

In FIG. 2D the progress of the wiper is shown when the variable k is 5 and q is 15. FIG. In this graph, there is a continuous wiper progression between the upper and lower transition positions, a sufficient inclination at the upper transition position and the lower transition position, and a sufficient interval of angular progression for the driver's seat wiper 1 and the passenger seat wiper 2. This is observed.

The progress of the wiper shown in FIG. 2D indicates the preferred progress of the wiper. The following describes how to select the appropriate variables k and q.                 

_FS 및

_BS의 시간적 진행 및 가중 변수를 결정한 후에, 다음의 기준을 적용하여 변수 k 및 q를 확정해야 한다.

_FS and

After determining the temporal progression and weighting variables of the _BS , the following criteria should be applied to confirm the variables k and q.

_FS)가 형성된다. 양측 회전점 사이의 간격은 d로 표시되며, 가상의 삼각형의 높이는 2h이다. 이 경우 다음과 같은 등식이 성립된다.The geometry of the wiper device can be studied in a triangle with vertices D1, D2, S1 as shown in FIG. S1 proceeds along the connecting line (D2, S2) between the outer vertex (point S2) of the passenger wiper blade and the passenger turning point, the angle (

_FS ) is formed. The distance between the two turning points is denoted by d, and the height of the imaginary triangle is 2h. In this case, the following equation holds:

Choose the following equation so that the wiper does not crash.

_FS(t) / d

_BS(t) 가 영점에서의 g'(

_FS)와 같거나 커야 한다는 것이다. 이와 관련된 세부 사항은 도3을 통해 설명된다. It is therefore an object of the present invention to select q and k such that the condition of equation (3) is met. The precondition for the broad meaning is the slope d at zero.

_FS (t) / d

_BS (t) is g 'at zero

_FS ) must be greater than or equal to Details related to this are described with reference to FIG. 3.

_FS(t)와 y=

_BS(t)의 관계가 도시되어 있다. 도3에서 k 및 q는, 양측 곡선이 동일한 경사로 영점을 출발하도록 선택되었다. 추가적인 전환점이 존재하지 않는 경우에는 와이퍼 진행을 나타내는 변수 그래프는 d의 그래프 상에 존재한다. x=0일 때 등식(2)에서 다음과 같은 등식을 얻을 수 있다.In FIG. 3, when k is 5, q is 15, and 1 / d is 3/4, x =

_FS (t) and y =

The relationship of _BS (t) is shown. In Figure 3 k and q were chosen such that both curves started at zero with the same slope. In the absence of additional turning points, a variable graph representing the wiper progress is on the graph of d. When x = 0, the following equation can be obtained from equation (2).

Now the following relationship is required.

Here the following equation holds:

 According to L'Hospital's law, the slope at the origin can be obtained.

Since ρ ≥ d / 2, ρ ≥ 1 holds. This equation can be summarized for q or k.

The following describes how to select k and q with respect to the driver's seat wiper progression. In Fig. 4 the range of k and q allowed according to equation (5) is shown. It can be seen here that when q is set to a particular value, the corresponding k should be located adjacent to the graph of equation (5). The larger k, the more the drive accelerates the wiper more slowly because the distortion of the sinusoid is reduced. On the other hand, singularity according to equation (5) appears when k = 4 (ρ + 1) / (ρ-1). K is constrained through k ≤ 4 (ρ + 1) / (ρ-1) above.

Under these conditions, q should now be present on the graph of FIG. 4 for the following equation.

Now we need to determine the unknown variable k. If the variable k is determined to be a close number of its upper bounds, the influence of q is lost. That is, no additional curvature is formed at the transition position. This case corresponds to the graph shown in FIG. 2B.

On the other hand, since the variable q causes too strong deformation at the position t = T / 4, it should not select too small q. This case corresponds to the graph of FIG. 2C.

The system parameters of the wiper drive are calculated through a wide variety of time derivatives. System variables may be current, voltage, motor angle, motor speed, wiper speed, and the like. Since equations (1a) and (1b) can be arbitrarily subdivided with time, the equations allow direct calculation of the voltage (u) of the drive motor and the current (I) in the stator circuit directly according to k and time (t). Can be.

You can now define the cost function K and minimize it in subsequent steps. The cost function can select, for example, the electrical energy consumed during the cycle.

You can find the variable k in the following order:

Calculate q (k) according to equation (7)

Calculation of U and I through the inverse system

-determine the cost function K for k

K adjustment until K is minimum

To find the minimum value of K (k), a simple numerical method can be applied, for example the simplex method.

When setting the conditions for collision avoidance according to equation (5), the geometry of the wiper is simply assumed to be a triangle. In practice, the minimum spacing between wipers is greater than assumed, since the bottom transition positions do not directly overlap. Under these conditions, the length of the lower wiper can be shortened so that it can be calculated by applying equation (5). To do this, substitute l = l + s into equation (4), where f is chosen as a negative number. If a positive s is selected, the safety clearance between the wipers on both sides can be extended.

Multiple advantages can be obtained by selecting a trigonometric function to determine the progress of the wiper. One of these advantages is that the system parameters of the wiper drive, such as current, voltage, motor angle, motor speed and wiper speed, are relatively largely calculated through a time derivative. This calculation is very simple, especially with trigonometric functions. Another advantage is that it is possible to define, for example, a relatively simple condition such as a collision suppression condition, i.e. a minimum velocity near the switching position, which can be obtained from a trigonometric function specified via a variable.

Claims (4)

delete A wiper device having two reversely operable wipers (1, 2), The two reversely operable wipers 1 and 2 may each be driven by one separate motor M _FS and M _BS , and the motors M _FS and M _BS may be separated from each other by separate control signals. The control device 7 for controlling independently is mounted, and the motors M _FS and M _BS of the wipers 1 and 2 are adapted to set the respective position of the time-dependent wiper according to the trigonometric function ψ (t). Controlled by the control device 7, The trigonometric function for the passenger wiper (2) is defined as

The trigonometric function for the driver's seat wiper (1) is defined as

Where ψ _BS represents the current angle in the passenger seat, ψ _FS represents the current angle in the driver's seat, ψ _max represents the wiping range, ω represents the angular velocity determined according to the period of the wiper,

Is the phase angle of the wiper, and k and q are variables selected such that collision of both wipers is suppressed. 3. The vibration of the wiper (1, 2) on the windscreen according to claim 2, wherein the variables k and q are selected such that the wiper speed exceeds the minimum value in at least one switching position of one of the wipers (1, 2). The wiper device, wherein the phenomenon is suppressed. 4. The wiper device according to claim 2 or 3, wherein the variables k and q are selected so that the angular progression of the wiper is made without changing the direction of the wiper operation from the upper transition position to the lower transition position.

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