WO2010124620A1 - Essuie-glace électrique pour automobile et son procédé de commande - Google Patents

Essuie-glace électrique pour automobile et son procédé de commande Download PDF

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Publication number
WO2010124620A1
WO2010124620A1 PCT/CN2010/072237 CN2010072237W WO2010124620A1 WO 2010124620 A1 WO2010124620 A1 WO 2010124620A1 CN 2010072237 W CN2010072237 W CN 2010072237W WO 2010124620 A1 WO2010124620 A1 WO 2010124620A1
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WO
WIPO (PCT)
Prior art keywords
signal
magnetic
wiper
angle
motor
Prior art date
Application number
PCT/CN2010/072237
Other languages
English (en)
Chinese (zh)
Inventor
郝双晖
郝明晖
Original Assignee
浙江关西电机有限公司
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Filing date
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Application filed by 浙江关西电机有限公司 filed Critical 浙江关西电机有限公司
Publication of WO2010124620A1 publication Critical patent/WO2010124620A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0814—Wipers or the like, e.g. scrapers characterised by the drive electrically driven using several drive motors; motor synchronisation circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/16—Means for transmitting drive
    • B60S1/163—Means for transmitting drive with means for stopping or setting the wipers at their limit of movement

Definitions

  • the invention relates to a wiper and a control method thereof, in particular to an automobile electric wiper and a control method thereof.
  • the existing automobile wiper includes a motor, a reducer, a rocker shaft, a four-bar linkage mechanism, a wiper arm, etc., and has a complicated structure and a large volume.
  • the document No. 03256255.1 discloses a wiper that can achieve a 180° swing angle, but the structure is complicated; the document of application number 20062010131.X discloses a pneumatically controlled wiper, which simplifies the mechanical structure but has a complicated control structure. Moreover, the speed adjustment of the wiper is not convenient; the application No.
  • 200620053557.2 uses two motors to drive two wipers respectively, which simplifies the mechanical structure, but requires two motors, which increases the cost, and the synchronous movement of the two motors does not It is easy to guarantee; the application number of 200320106137.2 adds some protection circuits to realize the "resistance" protection of the wiper, but the mechanical structure of the wiper is not changed, and the protection circuit is also complicated.
  • the application number is 03270496.8.
  • the DC motor is used as the drive motor of the wiper.
  • the DC motor has a brush, which has short service life and high noise. Summary of the invention
  • the technical problem to be solved by the present invention is to provide an automobile electric wiper and a control method thereof according to the deficiencies of the prior art, which adopts an AC servo motor as a driving motor of the wiper, realizes the wiper reversing by the position detecting device, and removes the existing wiper.
  • the mechanical reversing device is simple in structure and low in cost. It can realize any swing angle of 0° to 180° of the wiper. It has “resistance and rotation” protection function, which can realize stepless speed regulation, high reliability and long service life.
  • the invention provides an automotive electric wiper, comprising a first servo motor and a first wiper arm, wherein an output of the first servo motor is connected to the first wiper shaft through a first coupling, and the first wiper shaft is provided with a first a wiper arm, and the first wiper arm swings with the rotation of the first wiper shaft, the servo motor has a first position detecting device on the motor shaft; and the first wiper arm is provided
  • the magnetic steel is provided with a magnetic sensing element at a corresponding position of the automobile, and the first position detecting device and the magnetic sensing element output the detected position signal to the first servo controller, and the first servo controller controls the first servo motor and drives The first wiper arm swings.
  • a speed reducer and a second coupling are sequentially connected between the first coupling and the first wiper shaft, and the first coupling is connected with the active component of the reducer, and the follower of the reducer passes through The two couplings are connected to the first wiper shaft.
  • the first wiper shaft is sleeved with a first crank, the first crank is connected to the second crank through a synchronous lever, and the second crank is provided with a second wiper shaft, and the second wiper shaft rotates and The second wiper arm fixed thereto is swung.
  • the speed reducer is a worm gear reducer or a spur gear reducer or a bevel gear reducer or a planetary gear reducer or a combination thereof.
  • the present invention further includes a second servo motor and a second wiper arm, wherein the second servo motor has a second position detecting device on the motor shaft, and the second position detecting device outputs the detected position signal Providing a second servo controller, wherein the second servo controller is connected to the first servo controller; the first position detecting device and the magnetic sensing component output the detected position signal to the first servo controller, first The servo controller outputs the position signal to the second servo controller to control the second servo motor and drive the second wiper arm to swing.
  • the first position detecting device, the first servo controller and the first servo motor are integrally arranged; the second position detecting device, the second servo controller and the second servo motor are integrally provided.
  • the first servo motor and the second servo motor are preferably AC servo motors as needed.
  • the servo controller in the above-mentioned automobile electric wiper includes a data processing unit, a motor driving unit and a current sensor, and the data processing unit receives an input command signal, a motor input current signal collected by the current sensor, and a representative motor output by the position detecting device.
  • the information of the angle is subjected to data processing, and the control signal is output to the motor driving unit, and the motor driving unit outputs an appropriate voltage to the servo motor according to the control signal, thereby realizing precise control of the servo motor.
  • the data processing unit includes a mechanical loop control subunit, a current loop control subunit, a PWM control signal generating subunit, and a sensor signal processing subunit;
  • the sensor signal processing subunit receives information representing a motor angle output by the position detecting device, and transmits an angle of the motor to the mechanical ring control subunit; the sensor signal processing subunit further receives the current sensor The detected current signal is sampled by A/D and output to the current loop control subunit;
  • the mechanical ring control subunit obtains a current command through operation according to the received command signal and the rotation angle of the motor shaft, and outputs the current command to the current loop control subunit;
  • the current loop control subunit obtains a duty control signal of the three-phase voltage according to the current signal output by the current sensor of the received current command, and outputs the duty control signal to the PWM control signal generating subunit;
  • the PWM control signal generating sub-unit generates six PWM signals having a certain order according to the received duty control signal of the three-phase voltage, and respectively acts on the motor driving unit.
  • the motor drive unit comprises six power switch tubes, the switch tubes are connected in series in two groups, three groups are connected in parallel between the DC power supply lines, and the control end of each switch tube is output by the PWM control signal generating sub-unit.
  • the control of the PWM signal, the two switching tubes in each group are time-divisionally turned on.
  • the data processing unit is an MCU, and the motor driving unit is an IPM module.
  • the first position detecting device and the second position detecting device comprise a magnetic steel ring, a magnetic flux ring and a magnetic induction element, wherein the magnetic conductive ring is composed of two or more segments of the same radius and the same center. a gap is left in the adjacent two arc segments, and the magnetic induction element is placed in the gap.
  • the magnetic induction element converts the sensed magnetic signal into a voltage signal. And transmitting the voltage signal to the corresponding signal processing device.
  • the magnetic conductive ring is composed of two arc segments of the same radius and the same center, which are respectively a quarter arc segment and a 3/4 arc segment, and the corresponding magnetic induction elements are two; or, the magnetic conductive ring is The three segments are formed by arcs of the same radius, respectively, which are 1/3 arc segments, and the corresponding magnetic induction elements are three; or, the magnetic conductive ring is composed of four segments of the same radius, which are respectively 1/4 arc segments.
  • the corresponding magnetic induction elements are four; or, the magnetic conductive ring is composed of six segments of the same radius, which are respectively 1/6 arc segments, and the corresponding magnetic induction elements are six.
  • the end portion of the arc of the magnetic flux ring is chamfered, which is a chamfer formed by cutting in the axial direction or the radial direction or both in the axial direction and the radial direction.
  • the first position detecting device and the second position detecting device further comprise a skeleton, and the magnetic conductive ring is disposed on the skeleton forming mold, and is fixed to the skeleton when the skeleton is integrally formed. together.
  • the sensor signal processing subunit or the position detecting device includes a signal processing circuit of the position detecting device, and is configured to obtain a rotation angle of the motor shaft according to the voltage signal of the position detecting device, and specifically includes:
  • the A/D conversion circuit performs A/D conversion on the voltage signal sent from the magnetic induction element in the position detecting device, and converts the analog signal into a digital signal;
  • a synthesizing circuit that processes the A/D converted plurality of voltage signals sent from the position detecting device to obtain a reference signal D; and an angle obtaining circuit that selects an angle opposite to the standard angle table as an offset according to the reference signal D Angle;
  • a storage circuit for storing a standard angle table for storing a standard angle table.
  • the first position detecting device and the second position detecting device include a rotor and a stator that surrounds the rotor, the turn The first magnetic steel ring and the second magnetic steel ring;
  • first magnetic steel ring and the second magnetic steel ring are respectively fixed on the motor shaft;
  • the magnetic pole magnetization sequence of the second magnetic steel ring causes the output of the n magnetic induction elements to be in a Gray code format, and only one bit of the adjacent two outputs changes;
  • the stator On the stator, corresponding to the first magnetic steel ring, there are m magnetic induction elements distributed at an angle on the same circumference centered on the center of the first magnetic steel ring, wherein m is an integer multiple of 2 or 3
  • the total magnetic pole number of the first magnetic steel ring is equal to the total number of magnetic poles of the second magnetic steel ring, and the polarities of the adjacent two poles are opposite;
  • the magnetic induction element converts the sensed magnetic signal into a voltage signal when the rotor is relatively rotationally moved relative to the stator, and outputs the voltage signal to a signal processing device.
  • the angle between the adjacent two magnetic induction elements on the stator corresponding to the first magnetic steel ring when m is 2 or 4, the included angle is 90° / g; when m is 3, the included angle is 120° / g; when m is 6, the angle is 60° / g, where g is the total number of magnetic poles of the second magnetic steel ring.
  • the first position detecting device and the second position detecting device include a rotor and a stator that surrounds the rotor, and the rotor includes a first magnetic steel ring and a second magnetic steel ring;
  • the stator On the stator, corresponding to the first magnetic steel ring, there are m magnetic induction elements distributed at an angle on the same circumference centered on the center of the first magnetic steel ring, wherein m is an integer multiple of 2 or 3;
  • the magnetic induction element converts the sensed magnetic signal into a voltage signal when the rotor is relatively rotationally moved relative to the stator, and outputs the voltage signal to a signal processing device.
  • the angle between adjacent two magnetic sensing elements on the stator corresponding to the second magnetic steel ring is 360° /N.
  • the angle between each adjacent two magnetic induction elements is 90 ° /N, when m When it is 3, the angle between each adjacent two magnetic induction elements is 120° / N; when m is 6, the angle between each adjacent two magnetic induction elements is 60 ° /N.
  • the magnetic sensing element is directly attached to the inner surface of the stator.
  • the first position detecting device and the second position detecting device further comprise two magnetic conductive rings, each of the magnetic conductive rings being composed of a plurality of arcs of the same center and the same radius. A gap is left in the adjacent two arc segments, and magnetic induction elements corresponding to the two magnetic steel rings are respectively disposed in the gap.
  • the end portion of the arc of the magnetic flux ring is chamfered, which is a chamfer formed by cutting in the axial direction or the radial direction or both in the axial direction and the radial direction.
  • the magnetic sensing element is a Hall sensing element.
  • the sensor signal processing subunit or the position detecting device includes a signal processing circuit of the position detecting device, and is configured to obtain a rotation angle of the motor shaft according to the voltage signal of the position detecting device, and specifically includes:
  • the A/D conversion circuit performs A/D conversion on the voltage signal sent from the position detecting device to convert the analog signal into a digital signal.
  • a relative offset angle calculating circuit configured to calculate a relative offset of the first voltage signal sent by the magnetic sensing element corresponding to the first magnetic steel ring in the position detecting device during the signal period;
  • An absolute offset calculation circuit according to the second of the position detecting device corresponding to the magnetic flux element of the second magnetic steel ring a voltage signal, which is determined by calculation to determine an absolute offset of a first position of a signal period at which the first voltage signal is located; an angle synthesis and output module, configured to add the relative offset and the absolute offset to synthesize the first a rotation angle represented by a voltage signal at the moment;
  • a storage module for storing data.
  • a signal amplifying circuit for amplifying a voltage signal from the magnetoelectric sensor before the A/D conversion circuit performs A/D conversion.
  • the relative offset angle calculation circuit includes a first synthesis circuit and a first angle acquisition circuit, and the first synthesis circuit processes the A/D-converted voltage signals sent by the position detection device to obtain a reference signal. D.
  • the first angle acquiring circuit selects an angle opposite to the first standard angle table as an offset angle according to the reference signal D.
  • the relative offset angle calculation circuit or before the synthesis circuit further includes a temperature compensation circuit for eliminating the influence of temperature on the voltage signal transmitted from the magneto-electric sensor.
  • the output of the synthesis circuit or the first synthesis circuit further includes a signal R;
  • the temperature compensating unit includes a coefficient corrector and a multiplier, the signal R of the output of the synthesizing module by the coefficient corrector and the signal R in a standard state corresponding to the signal. Comparing to obtain an output signal K; the multiplier is a plurality, and each of the multipliers outputs a voltage signal that is A/D converted from the position detecting device and an output signal K of the coefficient correction module. Multiply, and the multiplied result is output to the first synthesizing circuit.
  • the absolute offset calculation circuit includes a second synthesis circuit and a second angle acquisition circuit, and the second synthesis circuit is configured to synthesize a second voltage signal sent by the position detecting device corresponding to the second magnetic steel ring. Obtaining a signal E; the second angle obtaining circuit selects an angle opposite to the signal in the second standard angle table as the absolute offset of the first position of the signal period in which the first voltage signal is located.
  • the invention also provides a control method of a motor electric wiper, the method comprising the following steps:
  • Step 1 The wiper arm swings in the direction of the magnetic induction element driven by the servo motor, and the rotation direction of the servo motor is set to the forward rotation direction, and the swing direction of the wiper arm is the forward swing;
  • Step 2 The wiper arm swings to the limit position, so that the magnetic steel on the wiper arm corresponds to the position of the magnetic induction element, the magnetic induction element senses the position of the magnetic steel and transmits the position signal to the servo controller, and the servo motor performs Position control, controlling the servo motor to reverse, so that the wiper arm swings in the opposite direction;
  • Step 3 Preset the servo motor rotation angle to control the position of the servo motor, calculate the angle of the servo motor rotation, and calculate the angle of the wiper arm rotation.
  • the servo motor rotates through the set angle, the servo motor is controlled. Turn, which causes the wiper arm to swing forward again.
  • the step 2 specifically includes: the wiper arm includes first and second wiper arms, and the two are connected by a synchronization rod; as the first wiper arm swings, the magnetic steel disposed thereon moves to a position corresponding to the magnetic induction element, the magnetic induction element senses the position of the magnetic steel and transmits the position signal to the servo controller, and the servo motor performs position control to control the motor to reverse, thereby causing the first wiper arm to swing in the opposite direction; The rod simultaneously drives the second wiper arm to swing in the opposite direction.
  • the step 2 specifically includes: the wiper arm includes first and second wiper arms, and the two are respectively provided with respective position detecting devices, a servo controller and a servo motor, and the servo motors of the two are connected;
  • the first wiper arm swings to the extreme position, so that the magnetic steel on the first wiper arm corresponds to the position of the magnetic induction element, and the magnetic induction element senses the position of the magnetic steel and transmits the position signal to the first wiper arm.
  • the servo controller performs position control, controls the motor to reverse, so that the first wiper arm swings in the reverse direction; the servo controller of the first wiper arm simultaneously transmits the control signal to the servo control of the second wiper arm
  • the servo motor performs position control to control the motor to reverse, so that the second wiper arm and the first wiper arm synchronously swing in opposite directions.
  • the motor is controlled to rotate forward, so as to drive the wiper arm to swing forward, specifically comprising: the wiper arm includes first and second wiper arms, and the two are connected by a synchronous rod, and the servo motor drives The first wiper arm swings forward; the synchronous lever simultaneously drives the second wiper arm to swing forward.
  • the step 3 specifically includes: the wiper arm includes first and second wiper arms, and the two are respectively provided with respective position detecting devices, a servo controller and a servo motor, and the servo motors of the two are connected; Set the servo motor rotation angle to position the servo motor, calculate the angle of the servo motor rotation, and calculate the angle at which the wiper arm turns.
  • the servo motor rotates through the set angle
  • the servo motor is controlled to rotate forward.
  • the first wiper arm swings forward again; the servo controller of the first wiper arm simultaneously transmits a control signal to the servo controller of the second wiper arm, and controls the second wiper arm to synchronize with the first wiper arm to re-align Swinging.
  • the invention has the advantages of simple structure and low cost; the commutation of the wiper is related to the installation position of the magnetic induction element, and the adjustment of the position of the magnetic induction element can realize the arbitrary swing angle of the wiper from 0° to 180°;
  • the AC servo system can realize the "resistance” protection for the AC servo motor, and will not burn the motor due to the "resistance” of the wiper.
  • the AC servo system can realize the stepless Speed regulation, stepless speed regulation can be realized for the wiper, and the speed adjustment is very convenient; since the mechanical structure of the existing wiper is greatly simplified, and the AC servo motor is used, the service life is longer than that of the DC motor, so the reliability of the whole system is high.
  • FIG. 1 is a schematic structural view of a vehicle electric wiper according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic structural view of a vehicle electric wiper according to a second embodiment of the present invention.
  • FIG. 3 is a schematic structural view of a vehicle electric wiper according to a third embodiment of the present invention.
  • FIG. 4 is a schematic structural view of a vehicle electric wiper according to a fourth embodiment of the present invention.
  • FIG. 5 is a schematic structural view of a vehicle electric wiper according to Embodiment 5 of the present invention.
  • FIG. 6 is a schematic structural view of a vehicle electric wiper according to Embodiment 6 of the present invention.
  • FIG. 7 is a schematic structural view of a vehicle electric wiper according to Embodiment 7 of the present invention.
  • Embodiment 8 is a schematic structural view of a vehicle electric wiper according to Embodiment 8 of the present invention.
  • FIG. 9 is a schematic structural view of a vehicle electric wiper according to Embodiment 9 of the present invention.
  • FIG. 10 is a schematic structural view of a vehicle electric wiper according to Embodiment 10 of the present invention.
  • FIG. 11 is a schematic structural view of a vehicle electric wiper according to Embodiment 11 of the present invention.
  • Figure 12 is a schematic structural view of a control system of an automotive electric wiper according to the above embodiment
  • Figure 13 is a structural schematic diagram of an AC servo system
  • Figure 14 is a schematic diagram of the synchronous control of the dual motor wiper
  • Figure 15 is a structural schematic view showing the position detecting device of the present invention mounted on a shaft;
  • Figure 16 is an exploded perspective view of the position detecting device of the present invention.
  • Figure 17 is a perspective view of the position detecting device of the present invention mounted on a shaft;
  • Figure 18 is another perspective view of the position detecting device of the present invention mounted on a shaft;
  • Figure 19 is a perspective view of the magnetic steel ring mounted on the shaft
  • Figure 20 is a perspective view of the magnetically permeable ring mounted on the skeleton
  • Figure 21 is a perspective view of the magnetically permeable ring removed from the skeleton
  • 22A-22D are chamfering designs of a magnetically permeable ring of the present invention.
  • Figure 23 is a schematic structural view of Embodiment 1 of the position detecting device of the present invention
  • Figure 24 is a block diagram of a signal processing apparatus according to a first embodiment of the position detecting device of the present invention
  • Figure 25 is a schematic structural view of a second embodiment of the position detecting device
  • Figure 26 is a block diagram of a signal processing device of a second embodiment of the position detecting device
  • Figure 27 is a schematic structural view of a third embodiment of the position detecting device.
  • Figure 28 is a block diagram of a signal processing device of a third embodiment of the position detecting device.
  • Figure 29 is a schematic structural view of Embodiment 4 of the position detecting device.
  • Figure 30 is a block diagram of a signal processing device of a fourth embodiment of the position detecting device.
  • Figure 31 is an exploded perspective view of a position detecting device according to a fifth embodiment of the present invention.
  • Figure 32 is a view showing the mounting of the position detecting device shown in Figure 31;
  • Figure 33 is another mounting view of the position detecting device shown in Figure 31;
  • Figure 34 is a flow chart of a signal processing method of the position detecting device of the present invention.
  • 35 is a second flowchart of a signal processing method of the position detecting device of the present invention.
  • Figure 36 is a third flowchart of the signal processing method of the position detecting device of the present invention.
  • FIG. 40 is a structural view of a second magnetic steel ring, a magnetic flux ring, and a magnetic induction element of the position detecting device according to Embodiment 5 of the present invention
  • FIG. 41 is a view showing a uniform magnetic field of the first magnetic steel ring of the position detecting device according to Embodiment 5 of the present invention; 6 pairs of poles corresponding to the arrangement of two magnetic sensing elements;
  • Figure 42 is a structural diagram of a first magnetic steel ring, a magnetic flux ring, and a magnetic induction element of a position detecting device according to a fifth embodiment of the present invention
  • Figure 43 is a circuit block diagram of a signal processing device of a position detecting device according to a fifth embodiment of the present invention
  • Figure 44 is a structural view showing a first magnetic steel ring, a magnetic flux ring, and a magnetic induction element according to Embodiment 6 of the present invention.
  • Figure 45 is a circuit block diagram of a signal processing apparatus according to a sixth embodiment of the present invention.
  • Figure 46 is a structural view showing a first magnetic steel ring, a magnetic flux ring, and a magnetic induction element according to Embodiment 7 of the present invention.
  • Figure 47 is a circuit block diagram of a signal processing apparatus according to Embodiment 7 of the present invention.
  • Figure 48 is a structural view showing a first magnetic steel ring, a magnetic flux ring, and a magnetic induction element according to Embodiment 8 of the present invention.
  • FIG. 49 is a circuit block diagram of a signal processing apparatus according to Embodiment 8 of the present invention.
  • Figure 50 is an exploded perspective view showing another configuration of a position detecting device according to Embodiments 5 to 8 of the present invention
  • Figures 51A, 51B and 51C are respectively a structure of a position detecting device provided with a magnetic conductive ring of Embodiment 9
  • Stereoscopic, schematic and structural drawings Stereoscopic, schematic and structural drawings.
  • FIG. 1 is a schematic structural view of a vehicle electric wiper according to a first embodiment of the present invention.
  • the automobile electric wiper includes: a first servo motor la and a first wiper arm 2a, and an output of the first servo motor la is connected to the first wiper shaft 4a through the first coupling 3a, first
  • the wiper shaft 4a is provided with a first wiper arm 2a, and the first wiper arm 2a is swung with the rotation of the first wiper shaft 4a.
  • a first position detecting device 5a is disposed on the motor shaft of the first servo motor la; a magnetic steel 6 is disposed on the first wiper arm 2a, and a magnetic sensing element is disposed at a corresponding position of the automobile, and the magnetic sensing element 7 is in the present invention. Hall sensing element, first position detection The measuring device 5a and the magnetic sensing element 7 output the detected position signal to the first servo controller 8a, and the first servo controller 8a controls the first servo motor 1a and drives the first wiper arm 2a to swing.
  • the magnetic induction element 7 is connected to the first servo controller 8a via a signal line 9a, and the first position detecting means 5a is connected to the first servo controller 8a via a signal line 9b, which is connected to the first servo via the motor power line 10 Controller 8a.
  • control method of the automobile electric wiper includes the following steps:
  • Step 1 The first wiper arm 2a is swung in the direction of the magnetic induction element 7 by the servo motor la, and the rotation direction of the servo motor is set to the forward rotation direction, and the swing direction of the wiper arm is the forward swing;
  • Step 2 The first wiper arm 2a swings to the extreme position, so that the magnetic steel 6 on the first wiper arm 2a corresponds to the position of the magnetic induction element 7, and the magnetic induction element 7 senses the position of the magnetic steel 6 and signals the position Passed to the first servo controller 8a, the first servo motor la performs position control, and controls the first servo motor la to reverse, thereby causing the first wiper arm 2a to swing in the opposite direction;
  • Step 3 preset the first servo motor la rotation angle to positionally control the first servo motor la, calculate the angle that the first servo motor la turns, and calculate the angle that the first wiper arm 2a turns, when the first After the servo motor la rotates through the set angle, the first servo motor la is controlled to rotate forward, thereby causing the wiper arm to swing forward again.
  • the electric wiper further includes a speed reducer.
  • the first servo controller 8a controls the operation of the first servo motor la, the motor is connected to the worm 11 through the first coupling 3a, the worm 11 is rotated, the worm 11 drives the worm wheel 12 to rotate, and the worm shaft 13 passes through the second coupling 3b.
  • the first wiper shaft 4a is coupled to drive the first wiper shaft 4a to rotate.
  • the reducer used here is a worm gear reducer, and a spur gear reducer, a bevel gear reducer, a planetary gear reducer, or the like can also be used.
  • the electric wiper is a wiper with a single wiper structure. The structure is simple. The servo controller can control the wiper to achieve any angle of 0° to 180°. Therefore, it can not only replace the wiper of the existing single wiper structure, but also replace the existing double rain. Wipe the structure of the wiper.
  • the first wiper shaft 4a of the electric wiper blade is sleeved with a first crank 14a, and the first crank 14a is connected to the second crank 14b via a synchronizing rod 15, the second crank
  • the second wiper shaft 4b is disposed on the 14b, and the second wiper shaft 4b rotates to drive the second wiper arm 2b fixed thereto to swing.
  • Step 1 The first wiper arm 2a is swung in the direction of the magnetic induction element 7 by the first servo motor la, and the rotation direction of the first servo motor 1a is set to the normal rotation direction, and the swing of the first wiper arm 2a is set.
  • the direction is a forward swing
  • Step 2 The first wiper arm 2a swings to the extreme position, so that the magnetic steel 6 on the first wiper arm 2a corresponds to the position of the magnetic induction element 7, and the magnetic induction element 7 senses the position of the magnetic steel 6 and signals the position Passed to the first servo controller 8a, positionally controls the first servo motor la, and controls the first servo motor la to reverse, thereby causing the first wiper arm 2a to swing in the opposite direction;
  • the first wiper arm 2a and the second wiper arm 2b are connected by a synchronizing rod 15; as the first wiper arm 2a swings, the magnet 6 disposed thereon moves to correspond to the magnetic sensing element 7. Position, the magnetic induction element 7 senses the position of the magnetic steel and transmits the position signal to the first servo controller 8a, and the first servo motor la performs position control to control the first servo motor la to reverse, thereby making the first wiper arm 2a reverse swing; the synchronizing rod 15 simultaneously drives the second wiper arm 2b to swing in the opposite direction.
  • Step 3 preset the first servo motor la rotation angle to positionally control the first servo motor la, calculate the angle that the first servo motor la turns, and calculate the angle that the first wiper arm 2a turns, when the first After the servo motor la rotates through the set angle, the first servo motor la is controlled to rotate forward, thereby causing the first wiper arm 2a to swing forward again.
  • the synchronizing rod 15 simultaneously drives the second wiper arm 2b to swing forward.
  • a speed reducer i.e., a first gear 16a and a second gear 16b
  • a bevel gear reducer i.e., a planetary gear reducer or the like can be used.
  • the first servo controller 8a controls the operation of the first servo motor la, the motor is connected to the worm 11 through the first coupling 3a, and the worm 11 is rotated, and the worm 11 drives the worm wheel 12 to rotate.
  • the worm shaft 13 is coupled to the first wiper shaft 4a via the second coupling 3b to drive the first wiper shaft 4a to rotate.
  • the first wiper shaft 4a drives the first wiper arm 2a and the first crank 14a to rotate.
  • the first crank 14a is connected to the second crank 14b via the synchronization lever 15, and the second crank 14b is rotated.
  • the second crank 14b drives the second rain.
  • the scraping shaft 4b rotates to drive the second wiper arm 2b to rotate.
  • a magnetic steel 6 is attached to the first wiper arm 2a, and on the side of the first wiper arm 2a, the position of the automobile corresponding to the magnetic steel 6 is provided with a magnetic induction element 7 (when the magnetic steel 6 follows the first wiper arm 2a) When turned to one side, it corresponds to the position of the magnetic sensing element 7).
  • the magnetic steel 6 approaches the magnetic induction element 7, the magnetic field is increased, and the induced voltage of the magnetic induction element 7 is increased.
  • the magnetic induction element 7 When the magnetic steel 6 is closest to the Hall, the magnetic induction element 7 When the induced voltage is maximum, the CPU detects the maximum voltage of the magnetic induction element 7, thereby generating a turn signal, controlling the reverse operation of the motor, and moving the first wiper arm 2a away from the magnetic induction element 7.
  • the first servo controller 8a performs position control on the first servo motor la, and controls the number of turns of the motor, when the first servo motor la turns over the designation After the number of turns, the first servo motor 1a is controlled to rotate in the opposite direction, thereby moving the first wiper arm 2a toward the magnetic induction element 7.
  • the first wiper arm 2a moves in the direction of approaching the magnetic induction element 7, when the magnetic steel 6 moves to the closest distance to the magnetic induction element 7, the magnetic induction element 7 generates a maximum induced voltage signal, which is transmitted to the first servo controller 8a, A servo controller 8a controls the first servo motor 1a to be reversed, and the first wiper arm 2a moves in a direction away from the magnetic induction element 7.
  • the reciprocating motion of the first wiper arm 2a is realized by the magnetic induction element 7, the magnetic steel 6, and the position control.
  • the second wiper arm 2b is kept in synchronous motion with the first wiper arm 2a via the first crank 14a, the synchronizing lever 15, and the second crank 14b.
  • the electric wiper is a wiper with a double motor structure, and each motor drives a wiper arm.
  • the first servo controller 8a and the servo controller 8b synchronously control the two motors, and a signal line 9d is connected therebetween for communication to realize synchronous control of the dual motors.
  • the gear unit used is a worm gear reducer, and a spur gear reducer, a bevel gear reducer, a planetary gear reducer, etc. can also be used.
  • the structure of the electric wiper is similar to that described in the first embodiment, and is characterized in that the speed reducer is not used, and the motor shaft is directly connected to the wiper shaft 4a through the coupling 3a, and the servo system is adopted.
  • the integrated servo system is a single wiper with integrated structure.
  • the structure of the electric wiper is very simple, but since there is no reducer, the torque provided by the motor is required to be large.
  • the electric wiper is a double wiper with integrated structure.
  • Each motor drives a wiper arm.
  • the first servo controller 8a and the servo controller 8b synchronously control the two motors, and a signal line 9b is connected therebetween for communication to realize synchronous control of the dual motors.
  • the servo motors la and lb are directly connected to the wiper shafts 4a and 4b via the couplings 3a and 3b, respectively, and there is no speed reducer in between.
  • the electric wiper is a wiper of a single wiper structure using an integrated servo system.
  • the servo system used is an integrated servo system, and the servo controller and the servo motor are integrated, which is simpler than the wiper structure of the second embodiment.
  • the reducer used is a worm gear reducer, and a cylindrical gear reducer and a bevel gear reducer can also be used. Planetary gear reducer, etc.
  • the electric wiper is a wiper of a single wiper structure using an integrated servo system.
  • the speed reducer used is a cylindrical gear reducer, that is, the first gear 16a and the second gear 16b, and a bevel gear reducer, a planetary gear reducer or the like can also be used.
  • the electric wiper is a wiper with two integrated servo systems, each of which drives a wiper arm.
  • the servo controller 8a and the servo controller 8b synchronously control the two motors, and a signal line 9b is connected therebetween for communication to realize synchronous control of the dual motors.
  • the gear unit used is a worm gear reducer, and a spur gear reducer, a bevel gear reducer, a planetary gear reducer, etc. can also be used.
  • the motor is preferably an AC servo motor.
  • Step 1 The wiper arm is swung in the direction of the magnetic induction element by the servo motor, and the rotation direction of the servo motor is set at this time. In the forward direction, the swing direction of the wiper arm is a forward swing;
  • Step 2 The wiper arm swings to the limit position, so that the magnetic steel on the wiper arm corresponds to the position of the magnetic induction element, the magnetic induction element senses the position of the magnetic steel and transmits the position signal to the servo controller, and the servo motor performs Position control, controlling the servo motor to reverse, so that the wiper arm swings in the opposite direction;
  • Step 3 Preset the servo motor rotation angle to control the position of the servo motor, calculate the angle of the servo motor rotation, and calculate the angle of the wiper arm rotation.
  • the servo motor rotates through the set angle, the servo motor is controlled. Turn, which causes the wiper arm to swing forward again.
  • the step 2 specifically includes: the wiper arm includes first and second wiper arms, and the two are connected by a synchronization rod; as the first wiper arm swings, the magnetic steel disposed thereon moves to a position corresponding to the magnetic induction element, the magnetic induction element senses the position of the magnetic steel and transmits the position signal to the servo controller, and the servo motor performs position control to control the motor to reverse, thereby causing the first wiper arm to swing in the opposite direction; The rod simultaneously drives the second wiper arm to swing in the opposite direction.
  • the step 2 specifically includes: the wiper arm includes first and second wiper arms, and the two are respectively provided with respective position detecting devices, a servo controller and a servo motor, and the servo motors of the two are connected;
  • the first wiper arm swings to the extreme position, so that the magnetic steel on the first wiper arm corresponds to the position of the magnetic induction element, and the magnetic induction element senses the position of the magnetic steel and transmits the position signal to the first wiper arm.
  • the servo controller performs position control, controls the motor to reverse, so that the first wiper arm swings in the reverse direction; the servo controller of the first wiper arm simultaneously transmits the control signal to the servo control of the second wiper arm The servo motor performs position control to control the motor to reverse, so that the second wiper arm and the first wiper arm synchronously swing in opposite directions.
  • the motor is controlled to rotate forward, so as to drive the wiper arm to swing forward, specifically comprising: the wiper arm includes first and second wiper arms, and the two are connected by a synchronous rod, and the servo motor drives The first wiper arm swings forward; the synchronous lever simultaneously drives the second wiper arm to swing forward.
  • the step 3 specifically includes: the wiper arm includes first and second wiper arms, and the two are respectively provided with respective position detecting devices, a servo controller and a servo motor, and the servo motors of the two are connected; Set the servo motor rotation angle to position the servo motor, calculate the angle of the servo motor rotation, and calculate the angle at which the wiper arm turns.
  • the servo motor rotates through the set angle, the servo motor is controlled to rotate forward.
  • the first wiper arm swings forward again; the servo controller of the first wiper arm simultaneously transmits a control signal to the servo controller of the second wiper arm, and controls the second wiper arm to synchronize with the first wiper arm to re-align Swinging.
  • Fig. 12 is a schematic block diagram showing a control system of a vehicle electric wiper according to the above embodiment.
  • car wiper The control system consists of a servo controller, an AC servo motor, a position detecting device, a Hall and a magnetic steel.
  • the servo controller is composed of a single chip microcomputer (MCU), an IPM, a current sensor, and the like.
  • the single chip receives the motor current signal of the current sensor and the voltage signal of the position detecting device and the induced voltage signal of the Hall, and solves the motor turning signal, the running angle solving algorithm and the control program, and generates the PWM signal to control the IPM.
  • the IPM Based on the PWM signal, the IPM generates a three-phase voltage to the AC servo motor.
  • the whole system is a closed-loop control system with a short control period (a control period of only a few tens of microseconds), fast response and high precision.
  • the MCU has a CPU, an A/D, a synchronous communication port, and a PWM signal generating module.
  • the analog signal input by the current sensor to the MCU is sampled by A/D and converted into a digital signal. Thereby obtaining current feedback.
  • the position detection device inputs the voltage signal to the MCU, and after A/D sampling, converts it into a digital signal, and the CPU runs the angle solving algorithm to obtain angle feedback.
  • the voltage signal input by the Hall to the MCU is converted into a digital signal by A/D sampling.
  • the magnetic field of the Hall induction magnet when the magnetic steel moves to the position corresponding to the Hall, the magnetic field is the strongest, thereby generating a turn signal.
  • the CPU runs the control program based on the turn signal, current feedback, and angle feedback.
  • the control program mainly includes a mechanical ring and a current loop.
  • the mechanical loop calculates a current command according to the set command and the angle feedback, and the current loop calculates the three-phase voltage duty ratio according to the current command and the current feedback.
  • the PWM signal generation module generates a PWM signal based on the three-phase voltage duty cycle and transmits it to the IPM. Based on the PWM signal, the IPM generates a three-phase voltage to the AC servo motor.
  • the difference between the control and the traditional AC servo system is that instead of the encoder, the encoder is replaced by the position detecting device, and the angle solving algorithm and the control program are all completed in one MCU.
  • the traditional AC servo encoder also has an MCU for processing angle-related A/D sampling and running angle solving algorithms, and sends the angle to the MCU in the controller through the synchronous port communication.
  • the MCU in the controller is used for Run the control program.
  • This patent uses only one MCU to complete the work done by the two MCUs, saving one MCU and saving the connection of peripheral circuits, encoders and controllers. Therefore, the cost is reduced compared with the traditional AC servo system. .
  • the magnetic steel approaches the Hall, the magnetic field increases, and the induced voltage of the Hall increases.
  • the induced voltage of the Hall is the largest, and the CPU detects The maximum voltage of the Hall, thereby generating a turn signal, controls the motor to run in reverse, and the first wiper arm moves away from the Hall.
  • the servo controller controls the position of the AC servo motor to control the number of turns of the motor.
  • the motor rotates through the specified number of turns, the motor is controlled in the opposite direction. Rotate so that the first wiper arm moves toward the side where the Hall is mounted.
  • the reciprocating motion of the first wiper arm is achieved by Hall, magnet and position control.
  • the second wiper arm maintains a synchronized motion with the first wiper arm through the first crank, the sync lever, and the second crank.
  • the mechanical loop obtains the angle feedback according to the angle command and the angle solving algorithm, and after the control calculation, calculates the current command and transmits it to the current loop.
  • the mechanical ring of the electric valve control system consists of two position loops and a speed loop, position loop output speed command, and speed loop output current command.
  • the steering signal is also the input to the mechanical ring and is used to control the direction in which the motor rotates.
  • the position loop is used to calculate the number of turns of the motor when the first wiper arm moves away from the Hall. When the motor rotates through the specified number of turns, the motor is controlled to rotate in the opposite direction, thereby making the first A wiper arm moves toward the side where the Hall is mounted.
  • the angle command is an instruction set by the control program or calculated according to the set command.
  • the position detecting device senses the angular position of the motor shaft, and transmits the induced voltage signal to the MCU. After the A/D sampling, the digital signal containing the angle information is obtained, and is transmitted to the CPU in the MCU, and the CPU runs the angle solving algorithm to obtain the angle feedback.
  • the angle command subtracts the angle feedback to obtain the angle error.
  • the PID controller controls the angle through the PID controller to obtain the speed command.
  • the PID control of the angle is called the position loop, and the position loop outputs the speed command, which is transmitted to the speed loop.
  • the angle feedback is obtained by the differentiator, the speed command is subtracted from the speed feedback, and the speed error is obtained.
  • the PID controller controls the speed through the PID controller to obtain the current command Id - re f , - .
  • the PID control of speed is called the speed loop.
  • the current command is the output of the speed loop, also the output of the mechanical loop.
  • the mechanical loop outputs the current command d - ref , «- re / to the current loop.
  • Figure 14 shows a schematic diagram of the synchronous control of a dual motor wiper. As shown in Figure 14, the dual motor wiper includes two AC servo systems, and the servo controllers of the two AC servo systems are connected by data lines for data communication.
  • the MCU1 receives the Hall-induced voltage signal, performs A/D sampling, and the steering signal is solved to obtain a turn signal.
  • the MCU1 receives the set command at the same time, and sets the set command and the turn signal as the input of the MCU1 mechanical ring. After the setting command and the steering signal are calculated, the angle command 2 is calculated and transmitted to the MCU 2 through the data line as the input of the MCU2 mechanical ring. Then, the servo controller 1 and the servo controller 2 respectively perform position control on the AC servo motors 1, 2 to ensure that the two motors are synchronized.
  • Fig. 15 is a structural schematic view showing the position detecting device of the present invention mounted on a shaft.
  • Fig. 16 is an exploded perspective view showing the position detecting device of the present invention.
  • the position detecting device of the present invention is composed of a magnetic induction element board 102, a magnetic steel ring 103, a magnetic conductive ring 104, and a skeleton 105.
  • the magnetic induction element board 102 is composed of a PCB board and a magnetic induction element 106, and magnetic induction.
  • a connector 108 is also mounted on the component board 102.
  • the magnetic steel ring 103 is mounted on the shaft 107.
  • the shaft 107 is the rotating shaft of the servo motor
  • the magnetic conductive ring 104 is fixed on the skeleton 105
  • the skeleton 105 is fixed at a suitable position of the servo motor.
  • the magnetic sensing element 106 fixed on the PCB converts the magnetic field passing through the magnetically permeable ring 104 into a voltage signal and outputs it, and the voltage signal directly enters the main control board chip.
  • the voltage signal is processed by the chip on the main control board, and finally the angular displacement is obtained.
  • the magnetic flux ring 104 is disposed on the skeleton forming mold, and is fixed to the skeleton 105 when the skeleton is integrally formed.
  • FIG. 17 and 18 are overall perspective views of the position detecting device of the present invention mounted on a shaft.
  • Figure 19 is a perspective view of the magnetic steel ring mounted on the shaft.
  • Figure 20 is a perspective view of the magnetically permeable ring mounted on the skeleton.
  • Figure 21 is a perspective view of the magnetically permeable ring removed from the skeleton.
  • the same components in the above figures as those in Figs. 15 and 16 are denoted by the same reference numerals.
  • the magnetic flux ring 104 is mounted on the skeleton 105, and the magnetic steel ring 103 is mounted on the shaft 107, and the magnetic flux ring 104 and the magnetic steel ring 103 are relatively rotatable.
  • the utility model can reduce the size of the position detecting device by reasonably arranging the layout of each component.
  • FIG. 22A to 22D illustrate a chamfering design of the magnetic flux guiding ring of the present invention by taking a magnetic conducting ring composed of a 1/4 arc segment and a 3/4 arc segment as an example.
  • the magnetic flux ring is composed of two or more segments of the same radius and the same center, and the magnetic ring shown in Fig. 22A is not chamfered, and the arc shown in Figs. 22B to 22D.
  • the end portion is provided with a chamfer which is a chamfer formed by cutting in the axial direction (Fig. 22B) or the radial direction (Fig. 22C) or simultaneously in the axial direction and the radial direction (Fig.
  • the axial section 151, 154, radial section 152, 153 is left between two adjacent arc segments, and a magnetic induction element is placed in the gap.
  • the magnetic induction element converts the sensed magnetic signal into a voltage signal, and This voltage signal is transmitted to the corresponding controller.
  • ⁇ it can be known that when ⁇ is certain, ⁇ can be increased by decreasing.
  • the enthalpy is relatively small, so that the heat generation due to the alternating magnetic field can be reduced.
  • the magnetic field strength of the end portion can be increased, so that the output signal of the magnetic induction element is enhanced.
  • Such a signal pickup structure has a simple manufacturing process, low signal noise picked up, low production cost, high reliability, and small size.
  • the signal processing device of the position detecting device includes: an A/D conversion module, a synthesis module, an angle acquisition module, and a storage module, wherein the A/D conversion module performs a voltage signal transmitted from the magnetic induction element in the position detecting device.
  • A/D conversion converting analog signals into digital signals, corresponding to the number of magnetic sensing elements, the module has a plurality of A/D converters for respectively performing A/D on voltage signals transmitted from each magnetic sensing element Conversion; the synthesis module has more A/D conversion
  • the voltage signal is processed to obtain a reference signal D.
  • the degree acquisition module selects an angle opposite to the angle storage table as an offset angle according to the reference signal D.
  • the storage module is configured to store data.
  • Each of the above modules may constitute an MCU.
  • This embodiment provides a position detecting device provided with two magnetic sensing elements.
  • Figure 23 is a block diagram showing the structure of the first embodiment of the position detecting device.
  • the magnetic flux ring is composed of two arc segments of the same radius, which are respectively a quarter arc segment 111 and a 3/4 arc segment 112, and the positions A and B are at an angle of 90 ° and slit.
  • Two magnetic sensing elements 109 and 110 are respectively placed in the slits at A and B.
  • This structure is advantageous for reducing magnetic field leakage, increasing the magnetic flux induced by the magnetic induction element, and since the magnetic flux induced by the magnetic surface is the integral of the magnetic field, There are uses to reduce signal noise and harmonics in the signal.
  • a magnetically permeable ring composed of two arc segments 111, 112 of the same radius is mounted concentrically with the magnetic steel ring 113.
  • Figure 24 is a block diagram of a signal processing device of the first embodiment of the position detecting device.
  • the output signals of the magnetic sensing elements H la and H 2a are connected to the analog input port of the built-in A/D converter of the MCU, and the output signal is multiplied by analog-to-digital conversion.
  • the output signal K of the coefficient corrector 5a is connected to the input terminals of the multipliers 20a, 21a, the output signals of the multipliers 20a, 21a are coupled to the input of the device 3a, and the synthesizer 3a outputs the signals D and R
  • the coefficient corrector 5a receives the signals D and R output from the synthesizer 3a, obtains the signal K by calculation, and multiplies the signals of the magnetic induction elements H la and H 2a by the signal K, thereby performing temperature compensation and eliminating the temperature. The effect on the signal.
  • An angle storage table is stored in the memory 40a, and the MCU selects an angle opposite thereto in the angle storage table as the offset angle according to the signal D.
  • the processing of the signal that is, the processing principle of the synthesizer 3a on the signal is: comparing the magnitude of the values of the two signals, the signal D having a small value for output, and the structure of the signal D is ⁇ the coincidence of the first signal, The coincidence bit of the second signal, the numerical value of the signal of the smaller value ⁇ .
  • _0 indicates the value bit of the data X (the absolute value of the data), that is, the remaining data bits are removed from the sign bit.
  • R 2 + B 2 .
  • a standard angle table is stored in the storage module in which a series of codes are stored, each code corresponding to an angle.
  • the table is obtained by calibration, and the calibration method is: using the detecting device of the embodiment and a high-precision position sensor, the signals output by the magnetic sensing element in the embodiment and the angle of the high-precision position sensor output are in one-to-one correspondence. In order to establish a relationship between the signal and the angle of the output of a magnetic induction element.
  • some data correction tables are also stored in the storage module, and the tables include a correspondence table of the signal D and the signal R Q , wherein the signal R.
  • a signal R can be obtained by looking up the signal through the synthesis module, that is, the signal D obtained by the synthesizer 3a. By comparing the signal R Q with the signal R, such as division, the signal 1 ⁇ is obtained.
  • FIG. 25 is a block diagram showing the structure of the second embodiment of the position detecting device.
  • the magnetic flux ring is composed of four segments of the same radius of the 1/4 arc segments 118, 119, 120 and 121, and the four positions A, B, C, and D are sequentially separated by 90 degrees, and each has a narrow Seam.
  • the four magnetic sensing elements 114, 115, 116 and 117 are respectively placed at the slits 8, B, C and D.
  • This structure is advantageous for reducing magnetic field leakage, increasing the magnetic flux induced by the magnetic sensing element, and the magnetic flux induced by the magnetic surface is
  • the integration of the magnetic field is therefore utilized to reduce the signal noise to the higher harmonics in the signal.
  • the magnetic conductive ring and the magnetic steel ring 122 composed of four segments of the same radius 1/4 arc segments 118, 119, 120 and 121 are concentrically mounted.
  • Figure 26 is a block diagram of a signal processing device of a second embodiment of the position detecting device.
  • the signal processing device is similar to the first embodiment, except that since there are four magnetic sensing elements that are 90 degrees apart from each other in the embodiment, the subtractors 20b and 21b, that is, the digital difference modules are added to the signal processing device. The temperature and zero drift are suppressed by the subtractors 20b, 21b, thereby improving the data accuracy, and finally the signal output to the synthesizer 4b is still two.
  • This embodiment provides a position detecting device provided with three magnetic sensing elements.
  • Figure 27 is a schematic view showing the structure of the third embodiment of the position detecting device.
  • the magnetic flux ring is composed of three 1/3 arc segments 126, 127 and 128 of the same radius.
  • the three positions A, B and C are 120° apart from each other, and a slit is opened, and three magnetic induction elements are arranged. 123, 124, and 125 are placed at the A, B, and C slits respectively.
  • This structure is beneficial to reduce magnetic field leakage, increase the magnetic flux induced by the sensor, and reduce the signal due to the magnetic flux induced by the sensor surface.
  • the noise is in the harmonics of the sum signal.
  • the magnetic guide ring and the magnetic steel ring 129 composed of three segments of the same radius of 1/3 arc segments 126, 127 and 128 are concentrically mounted.
  • Figure 28 is a block diagram of a signal processing device of a third embodiment of the position detecting device.
  • the synthesizer 3c Different from the first embodiment, there are three magnetic induction elements, and three signals are output to the synthesizer 3c.
  • the synthesizer 3c is different from the first embodiment in processing the signals, and the rest is the same as the first embodiment. Here, only how the synthesizer 3c processes the signal will be explained.
  • the processing of the signal that is, the processing principle of the synthesizer 3c for the signal is: first, the coincidence bits of the three signals are judged, and the magnitudes of the values of the signals conforming to the same bit are compared, and the value is small for output.
  • Signal D the structure of signal D is ⁇ the coincidence of the first signal, the coincidence of the second signal, the coincidence of the third signal, the value of the signal of the smaller value ⁇ .
  • _0 indicates the value bit of the data X (the absolute value of the data), that is, the remaining data bits are removed from the sign bit.
  • This embodiment provides a position detecting device provided with six magnetic sensing elements.
  • Figure 29 is a block diagram showing the structure of the fourth embodiment of the position detecting device.
  • the magnetic flux ring is composed of six segments of the same radius 1/6 arc segments 136, 137, 138, 139, 140 and 141, and the six positions A, B, C, D, E, F are 60 degrees apart. ° , and both have a slit, and six magnetic sensing elements 130, 131, 132, 133, 134 and 135 are respectively placed at the A, B, C, D, E, F slits, and this structure is advantageous for reducing magnetic field leakage.
  • the magnetic flux induced by the sensor is increased, and since the magnetic flux induced by the surface of the sensor is the integral of the magnetic field, there is a use of reducing the signal noise to neutralize the higher harmonics in the signal.
  • the non-load output shaft of the motor is equipped with a permanent magnet ring, and the magnetic flux ring and the magnetic steel ring 142 composed of six segments of the same radius 1/6 arc segments 136, 137, 138, 139, 140 and 141 are concentrically mounted.
  • Figure 30 is a block diagram of a signal processing device of a fourth embodiment of the position detecting device.
  • the subtractors 20d, 21d, and 22d are added to the signal processing device, and the temperature and zero drift are suppressed by the subtractors 20d, 21d, and 22d, thereby improving The accuracy of the data is still three, and the signal output to the synthesizer 4d is still the same.
  • the processing procedure is the same as that in the third embodiment.
  • the position detecting device includes a rotor and a stator that surrounds the rotor, and the rotor includes a first magnetic steel ring 201a and a second magnetic steel ring 201b, and a first magnetic conductive ring 205a and a second guide.
  • the magnetic ring 205b, the first magnetic steel ring 201a and the second magnetic steel ring 201b are respectively fixed to the motor shaft 200, wherein the stator is a bracket 203.
  • the first magnetic conductive ring 205a and the second magnetic conductive ring 205b are respectively formed by a plurality of arcs of the same center and the same radius, and a gap is left between the adjacent two arc segments, corresponding to Magnetic sensing elements 204 of the two magnetic steel rings are respectively disposed in the gap.
  • the magnetic flux ring here is the same as that described in the above embodiment.
  • the magnetic pole magnetization sequence of the second magnetic steel ring causes the n magnetic induction original outputs to be in the form of a Gray code.
  • the polarity of the magnetic pole is that the first digit of the Gray code is "0" corresponding to the "N/S” pole, and the first digit is "1" corresponding to the "S/N” pole.
  • the first magnet ring 201a has a uniform magnetization of g (the value of g is equal to the total number of poles in the second magnet ring) and the opposite pole (the N pole and the S pole are alternately arranged), when the total number of magnetic poles in the second magnet ring is At 6 o'clock, the number of pole pairs of the first magnet ring 201a is six pairs.
  • First magnetic The center of the steel ring 201a is on the same circumference of the center of the circle, and is provided with m magnetic sensing elements, such as two, and the angle between the two magnetic sensing elements and H 2 is 90° /6.
  • the arrangement of the magnetic induction elements when the first magnetic steel ring is uniformly magnetized to 6 poles is as shown in FIG.
  • the magnetic sensing element converts the sensed magnetic signal into a voltage signal when the rotor is relatively rotationally moved relative to the stator, and outputs the voltage signal to a signal processing device.
  • the angular displacement can be considered to consist of two parts: 1. During the " ⁇ 3 ⁇ 4 signal period The relative offset, the magnetic induction element and ⁇ 2 induce the magnetic field of the first magnetic steel ring to determine the offset ⁇ (value greater than 0 less than 360° / g) during this "NS" signal period; 2. “Signal period” The absolute offset of the first position is determined by the magnetic field induced by the sensors l_3a, l_4a, ... l_na to determine which "NS" the rotor is at.
  • the signal processing device based on the position detecting device and the principle includes: an A/D conversion module, a relative offset calculation module, an absolute offset calculation module, and a storage module.
  • A/D conversion is performed on the voltage signal sent from the first magnetic steel ring and the second magnetic steel ring in the position detecting device, and the analog signal is converted into a digital signal;
  • the displacement calculation module performs an angle solution on the first voltage signal corresponding to the first magnetic steel ring sent by the position detecting device, and calculates a relative offset of the signal corresponding to the first magnetic steel ring in the signal period;
  • the absolute offset calculation module performs an angle solution on the first voltage signal corresponding to the second magnetic steel ring sent by the position detecting device to determine an absolute offset of the first position of the signal period where the first voltage signal is located;
  • a synthesizing and outputting module such as an adder, for adding the relative offset and the absolute offset to synthesize a rotation angle represented by the first voltage signal at the moment.
  • a signal amplifying module such as an amplifier, added to the basis of Fig. 34 is used to amplify a voltage signal from the position detecting device before the A/D conversion module performs A/D conversion.
  • 36 is a flow chart of signal processing including temperature compensation, and includes a process of temperature compensation before the angle is solved;
  • FIG. 37 is a specific process of temperature compensation based on FIG. 36, that is, when performing temperature compensation, coefficient correction is performed first. The temperature compensation is then performed by a specific method in which the signal output from the A/D converter and the coefficient corrected output are multiplied by a multiplier.
  • a multiplier there are many specific ways of temperature compensation, which are not introduced here.
  • the relative offset calculation module includes a signal synthesis unit, a first angle acquisition unit, and a temperature compensation unit.
  • the signal synthesis unit processes the A/D converted voltage signal sent by the different position detection devices to obtain a reference signal D.
  • the first angle acquiring unit selects an angle opposite to the first standard angle table as an offset angle; wherein, before obtaining the reference signal D, the signal input to the signal synthesizing unit is firstly temperature
  • the compensation unit performs temperature compensation, and then processes the temperature-compensated signal to obtain a signal D. The processing described here will be described in detail later.
  • the absolute offset calculation module includes a second synthesizer and the second angle acquisition unit, configured to synthesize the second voltage signal sent by the position detecting device corresponding to the second magnetic steel ring to obtain a shaft rotation signal period a number, thereby determining an absolute offset of the first position of the signal period at which the first voltage signal is located, the specific implementation being the second voltage signal sent by the second synthesizer to the position detecting device corresponding to the second magnetic steel ring Synthesizing, a signal E is obtained; the second angle acquiring unit selects an angle opposite thereto in the second standard angle table according to the signal E as an absolute offset of the first position of the signal period in which the first voltage signal is located.
  • the n magnetic induction original outputs are in the form of a Gray code.
  • the polarity of the magnetic pole is that the first position of the Gray code is "0" corresponding to the "N/S” pole, and the first position is "1" corresponding to the "S/N” pole. Therefore, in the present embodiment, since n is 3, the code shown in Fig. 38 is obtained, and 6 codes are obtained, that is, 6 poles are obtained, and the magnetization sequence is as shown in Fig.
  • the positional relationship of the second magnetic flux ring 205b, the bracket 203, and the magnetic induction element 204 is as shown in FIG. Since the total number of magnetic poles of the second magnetic steel ring is 6, the first magnetic steel ring is uniformly magnetized into 6 pairs of poles, and the arrangement and magnetic sequence of the two magnetic induction elements are as shown in FIG. 41, the first magnetic conductive
  • the positional relationship of the ring 205a, the bracket 203, and the magnetic sensing element 204 is as shown in FIG.
  • Fig. 43 is a circuit block diagram showing the signal processing apparatus in the embodiment in which two magnetic induction elements are provided for the first magnetic steel ring and three magnetic induction elements are provided for the second magnetic steel ring.
  • the output signals of the sensors l_la and l_2a are amplified by the amplifiers 2_1a, 2_2a, and then connected to the A/D converters 3_la, 3_2a, and the output signals are multiplied by the analog-to-digital converters 4_la, 5_la, and the coefficient corrector 10_la outputs the signal multiplier
  • the input terminals of 4_la, 5_la, the output signals A, B of the multipliers 4_la, 5_la are connected to the input ends of the first synthesizer 6_la, and the first synthesizer 6_la processes the signals A, B to obtain signals D, R, according to the signal D
  • An angle opposite thereto is selected from the standard angle table stored in the memory 8_la as an offset angle.
  • the output signal R of the first synthesizer 6_la is supplied to the coefficient aligner 10_la, and the coefficient aligner 10_la obtains the signal K according to the signal R and the signal R0 obtained from the memory 9_la, which is used as the other of the multipliers 4_la, 5_la
  • the input terminal is multiplied by the signals C1 and C2 output from the amplifiers 2_la, 2_2a to obtain signals A and B as inputs to the first synthesizer 6_la.
  • the output signals of the sensors l_3a, l_4a, ... l_na are amplified by the amplifiers 2_3a, 2_4a, ... 2_na, respectively, and then connected to the A/D converters 3_3a, 3_4a, ... 3_na for analog-to-digital conversion and then by the second synthesis.
  • the device 7_la performs synthesis to obtain a signal E; according to the signal E, a relative angle between the second standard angle table in the memory 11_la is selected as the absolute offset of the first position of the signal period in which the first voltage signal is located, and The measured absolute angular displacement output is obtained by the adder 12_la.
  • the function of the second synthesizer 7_la is to synthesize the signals of the sensors l_3a, l_4a, ... l_na to obtain which "N-S" signal period the rotor is in at this time.
  • E ⁇ C3 - 0; C4 - 0; Cn_0 ⁇ .
  • the processing of the signal by the first synthesizer 6_la is: comparing the magnitudes of the values of the two signals, the signal D having a small value for output, the structure of the signal D is ⁇ the coincidence of the first signal, the second signal The match bit, the value bit of the smaller value signal ⁇ . details as follows:
  • the signal K is generally obtained by dividing the signals R Q and R.
  • first and second standard angle tables two tables are stored in the memory, each table corresponding to a series of codes, each code corresponding to an angle.
  • the table is obtained by calibration, and the calibration method is: using the detecting device of the embodiment and a high-precision position sensor, the signals output by the magnetic sensing element in the embodiment and the angle of the high-precision position sensor output are in one-to-one correspondence.
  • a first standard angle table is stored corresponding to the signal D, and each signal D represents a relative offset.
  • each signal E represents an absolute offset.
  • the embodiment four magnetic induction elements are disposed corresponding to the first magnetic steel ring, and the angle between the four magnetic induction elements, H 2 , H 3 , and H 4 is 90° 16 .
  • the structural relationship between the first magnetic flux ring 205a, the bracket 203, and the magnetic induction element 204 is as shown in FIG.
  • Fig. 45 is a circuit block diagram showing a signal processing device corresponding to the case where four magnetic induction elements are provided in the first magnetic steel ring.
  • the output signals of the sensors l_lc and l_2c are differentially amplified by the amplifying circuit 2_lc, and the output signals of the sensors l_3c and l_4c are differentially amplified by the amplifying circuit 2_2c, and then connected to the A/D converters 3_lc, 3_2c, and the subsequent processing is similar to the setting 2
  • the case of a magnetic sensing element is a circuit block diagram showing a signal processing device corresponding to the case where four magnetic induction elements are provided in the first magnetic steel ring.
  • the output signals of the sensors l_lc and l_2c are differentially amplified by the amplifying circuit 2_lc
  • the output signals of the sensors l_3c and l_4c are differentially amplified by the amplifying circuit 2_2c, and
  • the function of the second synthesizer 7_lc is to synthesize the signals of the sensors l_5c, l_6c, ... l_nc to obtain which "N-S" signal period the rotor is in at this time.
  • the difference between the embodiment and the fifth and sixth embodiments is that three magnetic induction elements 204 are disposed corresponding to the first magnetic steel ring, and the angle between the three magnetic induction elements, H 2 and H 3 is 120° /6, as shown in the figure. 46 is shown.
  • Fig. 47 is a circuit block diagram showing a signal processing device corresponding to the case where three magnetic induction elements are provided in the first magnetic steel ring.
  • the processing is basically the same as the first two embodiments, except that since the input signals of the first synthesizer 7_lb are three, the processing of the signals D, R is slightly different from the first two embodiments.
  • the principle of processing the signal by the first synthesizer 7_lb is: first judging the coincidence bits of the three signals, and comparing the magnitudes of the values of the signals conforming to the same bit, and the signal D for outputting the signal having a small value
  • the structure of D is ⁇ the coincidence bit of the first signal, the coincidence bit of the second signal, the coincidence bit of the third signal, and the numerical value of the signal of the smaller value ⁇ .
  • _0 indicates the value bit of the data X (the absolute value of the data), that is, the remaining data bits are removed from the sign bit.
  • This embodiment differs from the seventh embodiment in that six magnetic sensing elements are disposed corresponding to the first magnetic steel ring, and the angle between the six magnetic sensing elements 204 is 60°.
  • the first magnetic conductive ring 205a, the bracket 203 and the magnetic induction The structural relationship of the element 204 is as shown in FIG.
  • Fig. 49 is a circuit block diagram showing a signal processing device corresponding to the case where six magnetic induction elements are provided in the first magnetic steel ring. The specific process has been explained in the first three embodiments, and the description will not be repeated here.
  • FIG 50 is an exploded perspective view showing another configuration of the fifth to eighth embodiments of the position detecting device.
  • the position detecting device includes a rotor and a stator that surrounds the rotor.
  • the rotor includes a first magnetic steel ring 201a and a second magnetic steel ring 201b.
  • the first magnetic steel ring 201a and the second magnetic steel ring 201b are respectively fixed to the motor shaft 200.
  • the stator is a bracket 203.
  • the magnetic sensing element 204 is directly attached to the inner surface of the bracket 203.
  • the first magnetic steel ring in the position detecting device of Fig. 50 may be provided with 2, 4, 3, and 6 magnetic induction elements.
  • the signal processing devices of the position detecting devices based on different numbers of magnetic induction elements are the same as those of the fifth to eighth embodiments, respectively.
  • Fig. 51 A, 51B and 51C are respectively an exploded perspective view, a schematic view and a structural view of the structure of the position detecting device provided with the magnetically permeable ring.
  • the position detecting means is composed of a magnetic steel ring 302, a magnetic steel ring 303, a magnetic conducting ring 304, a magnetic conducting ring 305, a bracket 306, and a plurality of magnetic sensing elements.
  • the diameters of the magnetic steel rings 302 and 303 are smaller than the diameters of the magnetic conductive rings 304 and 305, so that the magnetic conductive rings 304 and 305 are respectively sleeved outside the magnetic steel rings 302 and 303, and the magnetic steel rings 302 and 303 are fixed to the rotating shaft 301.
  • Upper, and the magnetic flux rings 304, 305 and the magnetic steel rings 302, 303 are relatively rotatable such that the plurality of sensor elements 307 disposed on the inner surface of the bracket 306 are within the gaps of the magnetic steel ring.
  • Figure 51C is a plan view showing the combination of the elements of the position detecting device provided with the magnetically permeable ring, and it can be seen from Figure 51C that the magnetic steel ring 302 and the magnetic steel ring 303 are arranged in parallel on the shaft 301, corresponding to the magnetic The steel ring 302 and the magnetic steel ring 303 are respectively provided with two rows of magnetic sensing elements 308 and 309.
  • the first magnetic sensing elements that is, the plurality of magnetic sensing elements corresponding to the magnetic steel ring 302 and the magnetic conductive ring 304 are all represented by the magnetic sensing element 308, and the second magnetic sensing element is the corresponding magnetic steel ring 303 and the guiding A plurality of magnetic sensing elements of the magnetic ring 305 are all represented by magnetic sensing elements 309.
  • the magnetic steel ring 302 is defined as a first magnetic steel ring
  • the magnetic steel ring 303 is defined as a second magnetic steel ring
  • the magnetic conductive ring 304 is defined to correspond to the first magnetic steel ring
  • the magnetic conductive ring is to be 305 is defined to correspond to the second magnetic steel ring, however the present invention is not limited to the above definition.
  • the magnetic flux ring here is the same as that described in the above embodiment.
  • N 2 n is a preferred embodiment of the invention, the object of the invention can also be achieved when N 2 n .
  • the magnetic sequence is determined according to a magnetic order algorithm; on the bracket 306, corresponding to the first magnetic steel ring 302, the first magnetic steel ring 302
  • Other aspects of this embodiment are similar to the fifth embodiment to the eighth embodiment, and are not described herein again.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)

Abstract

L'invention concerne un essuie-glace électrique pour automobile et son procédé de commande. L'essuie-glace électrique comprend un premier servo-moteur (1a) et un premier bras d'essuie-glace (2a). La sortie du premier servo-moteur (1a) est reliée à un premier arbre d'essuie-glace (4a) par le biais d'un premier couplage d'arbre (3a). Le premier arbre d'essuie-glace (4a) est relié au premier bras d'essuie-glace (2a), qui entre en mouvement de balayage avec la rotation du premier arbre d'essuie-glace (4a). Un premier détecteur de position (5a) se trouve sur l'arbre moteur du servo-moteur (1a). De l'acier magnétique (6) est déposé sur le premier arbre d'essuie-glace (2a) et un élément d'induction magnétique (7) se trouve à la position correspondante de l'automobile. Ce premier détecteur de position (5a) et l'élément d'induction magnétique (7) fournissent un signal de position détectée à un premier dispositif de servocommande (8a) qui commande le premier servo-moteur (1a) et fait entrer le premier arbre d'essuie-glace (2a) en mouvement de balayage. Le produit décrit a une structure simple et est peu onéreux. Il offre un angle de balayage compris entre 0 et 180 degrés et une fonction de protection qui assure un blocage de la rotation, et permet une régulation de la vitesse à variation continue, pour une fiabilité et une durée de vie de service élevées.
PCT/CN2010/072237 2009-04-30 2010-04-27 Essuie-glace électrique pour automobile et son procédé de commande WO2010124620A1 (fr)

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CN111284451A (zh) * 2020-02-28 2020-06-16 西安文理学院 一种同步控制电路、雨刷系统以及该系统的控制方法
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CN108099847A (zh) * 2017-12-26 2018-06-01 宁波江北珂达汽车技术有限公司 一种感应式车用雨刷
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CN110901588B (zh) * 2019-12-10 2021-08-06 温州科丰汽车零部件有限公司 汽车雨量传感器
CN111361528A (zh) * 2020-04-27 2020-07-03 浙江宏博汽配有限公司 一种智能雨刷电机的控制系统
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CN112775060B (zh) * 2021-01-22 2022-06-17 成都辰天信息科技有限公司 一种单电机控制的大范围雨刮结构
CN113576650A (zh) * 2021-07-26 2021-11-02 李汉忠 一种电机驱动的等离子电切镜
CN113748828A (zh) * 2021-09-07 2021-12-07 浙江亚特电器有限公司 一种割草机电驱切割高度调节装置及割草机
CN117411246B (zh) * 2023-10-23 2024-05-14 温州豪华汽车配件有限公司 一种新能源车雨刮器电机

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CN111284451A (zh) * 2020-02-28 2020-06-16 西安文理学院 一种同步控制电路、雨刷系统以及该系统的控制方法
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CN113504761A (zh) * 2021-08-13 2021-10-15 东莞市聚研硅胶科技有限公司 汽车伸缩摆动杆波纹管防水密封性仿真测试机

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