CN110015267A - A kind of method for controlling speed regulation of windscreen wiper, speed-adjusting and control system and speed setting controller - Google Patents
A kind of method for controlling speed regulation of windscreen wiper, speed-adjusting and control system and speed setting controller Download PDFInfo
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- CN110015267A CN110015267A CN201910379993.0A CN201910379993A CN110015267A CN 110015267 A CN110015267 A CN 110015267A CN 201910379993 A CN201910379993 A CN 201910379993A CN 110015267 A CN110015267 A CN 110015267A
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- 230000033228 biological regulation Effects 0.000 title claims abstract description 16
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- 230000001939 inductive effect Effects 0.000 claims description 36
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 23
- 238000007790 scraping Methods 0.000 abstract description 16
- 230000009467 reduction Effects 0.000 abstract description 7
- 230000005489 elastic deformation Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 6
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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Abstract
A kind of method for controlling speed regulation of windscreen wiper, comprising steps of being divided into four angular intervals by the angular interval that double hall signals of dual-Hall sensor rotate a circle motor；To the target angular velocity function of all angles section setting motor of division, the target angular velocity function is piecewise function；The corresponding target drives effective voltage of each target angular velocity is calculated by the target angular velocity that each piecewise function is expressed, during the one-way movement of motor, it is moved by each target drives effective voltage driving motor, so that motor adjusts the movement velocity of windscreen wiper based on each target drives effective voltage.By the driving effective voltage for controlling motor, control windscreen wiper variable motion, such as, enable windscreen wiper reduction of speed near rollback point, in the intermediate region of rollback point, control windscreen wiper presses the Accelerating running of certain way, and water speed is scraped in raising, to guarantee that windscreen wiper speed of service in entirely scraping the water period is adjustable, the elastic deformation of scraping blade when high speed scrapes water is reduced, while reducing windscreen wiper reversion noise.
Description
Technical field
The present invention relates to windscreen wiper speed adjusting technique fields, and in particular to a kind of method for controlling speed regulation of windscreen wiper, speed regulating control system
System and speed setting controller.
Background technique
Windscreen wiper is also known as wiper, water is dialled, wiper or windscreen-wiper, is to keep out the wind for brushing except being attached to vehicle
The equipment of raindrop and dust on glass increases traffic safety to improve the visibility of driver.
Windscreen wiper is controlled respectively by top gear and low or first gear carry out high speed and scrape water and low speed scrapes water, wherein windscreen wiper is by electricity
Machine is driven by link mechanism, and there are two types of general driving methods:
A kind of driving method is motor at the uniform velocity Unidirectional, then by link mechanism, is converted one-way movement in one week to
Reciprocating motion of the windscreen wiper on glass surface；This driving method is generally difficult to adjust windscreen wiper well in windscreen wiper rollback point position
Speed reversal, and bring following problems:
1) distance that bigger distance A column need to be reserved when designing, since the scraping blade of windscreen wiper has certain elasticity, windscreen wiper high speed
When scraping water, scraping blade distance A column is closer, and therefore, it is necessary to reserve the distance of bigger distance A column to influence wiping surface in this case
Long-pending and driver's subjective feeling；
2) noise that windscreen wiper is generated in rollback point position is big, and e.g., scraping blade, which inverts, too fast brings bigger reversion noise.
Another driving method is control motor positive and inverse switching, and is converted motor positive and inverse by link mechanism
At reciprocating motion of the windscreen wiper on glass surface.By adjusting the running speed of motor positive and inverse in real time, windscreen wiper is adjusted in glass surface
On running speed, with this come control windscreen wiper rollback point region movement velocity and reversion noise.But because needing to control electricity
Machine positive and negative rotation, therefore, this driving method need the higher motor of cost, and whole system cost can be higher.
Summary of the invention
The application provides the dispatch control method, speed-adjusting and control system and speed setting controller of a kind of windscreen wiper, can solve electricity
Machine one-way movement is difficult to the problem of adjusting the speed reversal of windscreen wiper when driving windscreen wiper.
To solve the above problems, according in a first aspect, the technical solution of the windscreen wiper method for controlling speed regulation of the application is: will be electric
The one-way movement of machine is converted into the reciprocating motion of windscreen wiper, and the target drives of control motor are effectively electric in the one-way movement of motor
Pressure is made the motor be adjusted the movement velocity of windscreen wiper based on the target drives effective voltage, specifically includes step:
First angle area is divided by the angular interval that double hall signals of dual-Hall sensor rotate a circle motor
Between, second angle section, third angle section and fourth angle section；
To the target angular velocity function of all angles section setting motor of division, the target angular velocity function is segmentation
Function；
The corresponding target drives effective voltage of each target angular velocity is calculated by the target angular velocity that each piecewise function is expressed,
It during the one-way movement of motor, is moved by each target drives effective voltage driving motor, so that motor is based on each
The target drives effective voltage adjusts the movement velocity of windscreen wiper.
According to second aspect, a kind of speed-adjusting and control system of windscreen wiper is provided in a kind of embodiment, comprising:
Motor, motor are connect by link mechanism with windscreen wiper, and the one-way movement of the motor is converted by link mechanism
The reciprocating motion of windscreen wiper；
Inductive module is coupled with the motor, and the inductive module is used to be incuded according to motor one-way movement one week
Four groups of signals out；
Mould group is controlled, the control mould group is electrically connected with the motor, and the control mould group executes following operation control institute
The target drives effective voltage of motor is stated, so that the motor adjusts the movement speed of windscreen wiper based on the target drives effective voltage
Degree:
By the angular interval that four groups of signals rotate a circle motor be divided into first angle section, second angle section,
Third angle section and fourth angle section；
To the target angular velocity function of all angles section setting motor of division, the target angular velocity function is segmentation
Function；
The corresponding target drives effective voltage of each target angular velocity is calculated by the target angular velocity that each piecewise function is expressed,
It during the one-way movement of motor, is moved by each target drives effective voltage driving motor, so that motor is based on each
The target drives effective voltage adjusts the movement velocity of windscreen wiper.
According to the third aspect, a kind of speed setting controller of windscreen wiper, including control mould group and induction are provided in a kind of embodiment
Mould group；
The inductive module is coupled with motor, and the inductive module according to motor one-way movement one week for inducing
Four groups of signals；
The control mould group is electrically connected with motor, and the target drives that the control mould group executes following operation control motor have
Voltage is imitated, so that motor adjusts the movement velocity of windscreen wiper based on the target drives effective voltage:
By the angular interval that four groups of signals rotate a circle motor be divided into first angle section, second angle section,
Third angle section and fourth angle section；
To the target angular velocity function of all angles section setting motor of division, the target angular velocity function is segmentation
Function；
The corresponding target drives effective voltage of each target angular velocity is calculated by the target angular velocity that each piecewise function is expressed,
It during the one-way movement of motor, is moved by each target drives effective voltage driving motor, so that motor is based on each
The target drives effective voltage adjusts the movement velocity of windscreen wiper.
According to above-described embodiment method for controlling speed regulation, by motor unidirectional drive windscreen wiper move back and forth during,
The driving effective voltage of motor is controlled, control windscreen wiper variable motion e.g. enables windscreen wiper reduction of speed near rollback point, inverting
The intermediate region control windscreen wiper of point presses the Accelerating running of certain way, and water speed is scraped in raising, to guarantee that windscreen wiper is entirely scraping water
The speed of service is adjustable in period, reduces the elastic deformation of scraping blade when high speed scrapes water, while reducing windscreen wiper reversion noise.
Detailed description of the invention
Fig. 1 is the windscreen wiper speed regulating control flow chart of embodiment one；
Fig. 2 is that the windscreen wiper of embodiment one adjusts the speed another control flow chart；
Fig. 3 is the angular speed curve synoptic diagram based on double hall signals of embodiment one；
Fig. 4 is the windscreen wiper speed-adjusting and control system figure of embodiment two；
Fig. 5 is the circuit diagram of Fig. 4.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.
This example first provides a kind of illustrative existing application scenarios, and the windscreen wiper used on automobile is by motor linking rod knot
Structure driving, one of driving method is that the one-way movement of motor is converted to windscreen wiper on glass surface by link mechanism
It moves back and forth, but the external power supply voltage of motor is fixed and (is fixed to the virtual voltage that motor provides), so as to cause motor
Revolving speed fix, motor can only at the uniform velocity Unidirectional, can not achieve the scheduling to windscreen wiper.
Embodiment one:
For above-mentioned application scenarios, this example provides a kind of method for controlling speed regulation of windscreen wiper, and the mentality of designing of this method is:
Convert the one-way movement of motor to the reciprocating motion of windscreen wiper, and the target drives for controlling motor in the one-way movement of motor have
Voltage is imitated, motor is made to adjust the movement velocity of windscreen wiper based on target drives effective voltage.
Thinking by above-mentioned design, during motor unidirectional drive windscreen wiper moves back and forth, the driving for controlling motor has
Voltage is imitated, and then control windscreen wiper variable motion e.g. to enable windscreen wiper reduction of speed near rollback point, in the intermediate region of rollback point
The Accelerating running that windscreen wiper presses certain way is controlled, water speed is scraped in raising, to guarantee that windscreen wiper is entirely scraping operation speed in the water period
Adjustable, the elastic deformation of scraping blade when reduction high speed scrapes water is spent, while reducing windscreen wiper reversion noise.
To realize above-mentioned mentality of designing, the technical solution of this example basic ideas is described below, and flow chart is as shown in Figure 1.
S100: it is divided according to angular interval of the reciprocating motion of windscreen wiper to motor one-way movement one week.
S101: to the target angular velocity function of all angles section setting motor of division, target angular velocity function is point
Section function.
S102: it is effective that the corresponding target drives of each target angular velocity are calculated by the target angular velocity that each piecewise function is expressed
Voltage is moved, so that motor is based on during the one-way movement of motor by each target drives effective voltage driving motor
Each target drives effective voltage adjusts the movement velocity of windscreen wiper.
Because being divided according to the reciprocating motion of windscreen wiper to the angular interval of motor one-way movement one week, and according to division
The target angular velocity function of motor is arranged in all angles section, and it is effective then to calculate corresponding target drives by target angular velocity
Voltage, because different angular intervals is corresponding with different target angular velocity functions, so that the different angle section divided is corresponding with
Different target drives effective voltages, in turn, motor are effective according to different target drives in different rotation angular intervals
Voltage controls the movement velocity of windscreen wiper, to achieve the effect that adjusting windscreen wiper speed e.g. enables windscreen wiper near rollback point
Reduction of speed, in the intermediate region of rollback point, control windscreen wiper presses the Accelerating running of certain way, and water speed is scraped in raising, to guarantee windscreen wiper
The speed of service is adjustable in entirely scraping the water period, reduces the elastic deformation of scraping blade when high speed scrapes water, while reducing windscreen wiper reversion and making an uproar
Sound.
As shown in Fig. 2, this example is illustrated by taking the double hall signals control windscreen wiper speed regulation obtained as an example, including following step
Suddenly.
S200: first jiao is divided by the angular interval that double hall signals of dual-Hall sensor rotate a circle motor
Spend section, second angle section, third angle section and fourth angle section.
Specifically, by with the pole N and the pole S magnetic sheet or magnet ring be installed to motor worm gear center, magnetic sheet or magnet ring and motor
Output shaft synchronous rotation, dual-Hall sensor and magnetic sheet or magnet ring deviation are arranged, when the process that magnetic sheet or magnet ring are rotated with motor
In, dual-Hall sensor generates two-way inductive signal by the magnetic field of magnetic sheet or magnet ring, therefore, when motor single direction rotation one week
Afterwards, the angular interval (0,2 π) that motor rotates a circle is divided by four angular intervals by the signal of dual-Hall sensor, point
It Wei not first angle section, second angle section, third angle section and fourth angle section.
Wherein, the range of first angle section AB is (0,2/3 π), and the range of second angle interval B C is (2/3 π, π), the
The range of three angular interval CD is (π, 5/3 π), and the range of fourth angle section DA is (5/3 π, 2 π).
S201: the first angle section of division, second angle section, third angle section and fourth angle section are arranged
The target angular velocity function of motor, target angular velocity function are piecewise function.
In view of the smooth transition of target velocity, this example further includes being defined to invert under windscreen wiper according to the reversion of double hall signals
The step of point and upper rollback point, specifically, the angular interval based on division, is defined on second angle area for the lower rollback point of windscreen wiper
Between terminating point [0,0.4* π] range in or in [0,0.4* π] range of fourth angle section terminating point, likewise, will
The upper rollback point of windscreen wiper is defined in [0,0.4* π] range of fourth angle section terminating point or is located at the second angle section
In [0,0.4* π] range of terminating point, e.g., rollback point is in second angle section terminating point or fourth angle section terminating point
At 0.1 π, e.g., upper rollback point is arranged at the position of 9/10 π in second angle section, and lower anti-rollback point is arranged in fourth angle
At the position of 19/10 π in section.
In order to move windscreen wiper in all angles section internal speed-changing, this example is to the first angle section of division, second angle
The target angular velocity function of motor is respectively set in section, third angle section and fourth angle section, specifically comprises the following steps.
Step 1: in the upper rollback point position of windscreen wiper, the target angular velocity that motor is arranged is the First Speed to travel at the uniform speed；
Step 2: in the lower rollback point position of windscreen wiper, the target angular velocity that motor is arranged is the second speed to travel at the uniform speed；
Step 3: the target angular velocity segmentation in first angle section and fourth angle section being respectively set based on First Speed
Function.
Step 4: the target angular velocity segmentation in second angle section and third angle section being respectively set based on second speed
Function.
Wherein, the First Speed of upper rollback point position setting and the second speed of lower rollback point position setting can be equal
It can not wait, only reach low speed uniform motion in upper rollback point and lower rollback point reaching windscreen wiper, can reduce so anti-
The noise that windscreen wiper generates at turning point；And the adding according to certain way in first angle section and second angle section setting windscreen wiper
Speed operation, that improves windscreen wiper scrapes water speed.
In this example, target angular velocity piecewise function is arranged based on the time, the curve graph of target angular velocity is as shown in Figure 3.
Wherein, the expression of the target angular velocity piecewise function in first angle section and fourth angle section are as follows:
The expression formula of the target angular velocity piecewise function in first angle section are as follows:
The expression formula of the target angular velocity piecewise function in fourth angle section are as follows:
Wherein, V is the target angular velocity in each period, V1For the First Speed to travel at the uniform speed, a, b are respectively constant, T0
For the period of First Speed operation, t is the currently running time.
The expression formula of the target angular velocity piecewise function in second angle section are as follows:
The expression formula of the target angular velocity piecewise function in third angle section are as follows:
Wherein, V is the target angular velocity in each period, V2For the second speed to travel at the uniform speed, b, c are respectively constant, t
For the currently running time.
By the piecewise function expression formula of above-mentioned target angular velocity it is found that the speed of service of the windscreen wiper within each period not
Together, therefore, achieved the effect that control windscreen wiper variable motion.
S202: it is effective that the corresponding target drives of each target angular velocity are calculated by the target angular velocity that each piecewise function is expressed
Voltage is moved, so that motor is based on during the one-way movement of motor by each target drives effective voltage driving motor
Each target drives effective voltage adjusts the movement velocity of windscreen wiper.
In this step, the corresponding target drives of each target angular velocity are calculated by the target angular velocity that each piecewise function is expressed
Effective voltage, calculation formula are as follows:
Wherein, U is the target drives effective voltage of the motor in each period, and J rotary inertia, V is each piecewise function table
The target angular velocity reached,For the derivative of V, R electric motor resistance, B is coefficient of friction, KeFor back EMF coefficient, KcIt is normal for torque
Number,F is surface pressure.
The effective voltage of the driving motor in each period can be obtained based on above-mentioned calculation formula, finally, again by being somebody's turn to do
Effective voltage calculates the output duty cycle of motor, by the duty ratio driving motor of calculating, to reach speed Control windscreen wiper fortune
Dynamic effect, wherein duty ratio=effective voltage ÷ actual power voltage × 100%.
Embodiment two:
Based on embodiment one, this example provides a kind of speed-adjusting and control system of windscreen wiper, and shown in control principle Fig. 4, circuit shows
It is intended to as shown in Figure 5.
Including motor, inductive module and control mould group, wherein motor is connect by link mechanism with windscreen wiper, the list of motor
The reciprocating motion of windscreen wiper is converted by link mechanism to movement, about the link mechanism between motor and windscreen wiper, and realize
Windscreen wiper move back and forth, be it is well-known to those skilled in the art, this example does not repeat.
Inductive module is coupled with motor, and inductive module is used to induce four groups of letters according to motor one-way movement one week
Number；
Control mould group is electrically connected with motor, and control mould group executes the target drives effective voltage of following operation control motor,
So that motor adjusts the movement velocity of windscreen wiper based on target drives effective voltage:
By the angular interval that four groups of signals rotate a circle motor be divided into first angle section, second angle section,
Third angle section and fourth angle section；
To the target angular velocity function of all angles section setting motor of division, target angular velocity function is segmentation letter
Number；
The corresponding target drives effective voltage of each target angular velocity is calculated by the target angular velocity that each piecewise function is expressed,
It during the one-way movement of motor, is moved by each target drives effective voltage driving motor, so that motor is based on each
The movement velocity of target drives effective voltage adjusting windscreen wiper.
The inductive module of this example includes magnetic position sensor and magnetic device, wherein and magnetic device is installed on the output shaft of motor,
Magnetic device is rotated with the output shaft synchronous of the motor；Magnetic position sensor is located above magnetic device, to magnetic device with the electricity
When machine rotates a circle, magnetic position sensor induces discrete signal by the magnetic field strength of magnetic device.
In this example, magnetic position sensor is dual-Hall sensor, and magnetic device is magnetic sheet or magnet ring；Wherein, magnetic sheet or magnet ring
It is installed on the worm gear of motor, magnetic sheet or magnet ring and motor output shaft synchronous rotary；Dual-Hall sensor is located at magnetic sheet or magnet ring
Above the edge contour in projection region, and when magnetic sheet or magnet ring rotate a circle with motor, dual-Hall sensor passes through magnetic sheet or magnetic
The magnetic field strength of ring induces four groups of signals.
Specifically, by with the pole N and the pole S magnetic sheet or magnet ring be installed to motor worm gear center, magnetic sheet or magnet ring and motor
Output shaft synchronous rotation, dual-Hall sensor and magnetic sheet or magnet ring deviation are arranged, when the process that magnetic sheet or magnet ring are rotated with motor
In, dual-Hall sensor generates two-way inductive signal by the magnetic field of magnetic sheet or magnet ring, each generates two groups of inductive signals, because
This, when motor single direction rotation after a week, dual-Hall sensor induces four groups of signals, will be electric by the signal of dual-Hall sensor
The angular interval (0,2 π) that machine rotates a circle is divided into four angular intervals, respectively first angle section, second angle section,
Third angle section and fourth angle section.
In order to provide different target drives effective voltages to motor for four groups of different position signals, control mould group is logical
The target drives effective voltage for executing aforesaid operations control motor is crossed, so that motor is based on target drives effective voltage and adjusts windscreen wiper
Movement velocity, specific implementation procedure please refers to embodiment one, and this example does not repeat.
It should be noted that when dual-Hall sensor is made of two single Hall sensors, because of two Hall sensors
It is arranged in above the edge contour in the projection region of magnetic sheet or magnet ring, but the distance between adjacent Hall sensor need to be according to pre-
If distance is arranged, the calculation formula of the pre-determined distance is:
Wherein, B0Field strength when being overturn for Hall sensor level, BAFor the field strength peak value for measuring A point, BBTo measure B point
Field strength peak value, ψsetFor target angle；LAFor the field strength distance of Hall sensor A to magnetic sheet or magnet ring, LBFor Hall sensor B
To the field strength distance of magnetic sheet or magnet ring, pre-determined distance of the d between Hall sensor A and Hall sensor B.
The composed structure of control mould group is illustrated below.
Controlling mould group includes main control unit and power driving circuit, wherein output end and the power drive electricity of main control unit
Road electrical connection, power driving circuit are used for driving motor single direction rotation, and main control unit is connect with inductive module signal；Power drive
During circuit control motor single direction rotation, control mould group is provided according to the signal that inductive module is fed back to power driving circuit
The target drives effective voltage of the control motor of angular interval corresponding with the signal, so as to lead in the one-way movement of motor
The corresponding target drives effective voltage driving motor of each group signal is crossed, and then adjusts the movement velocity of windscreen wiper.
Wherein, power driving circuit is combined by following four:
1) PMOS and NMOS combination, the driving of motor flash are reserved sampling resistor in motor lower end, are worked normally in motor
When, reverse phase is opened each other by low side MOS and flash MOS, and motor immediately closes off flash MOS when stopping, and opens low side MOS, for electricity
Machine provides brake force.
2) PMOS and NMOS combination, the low side driving of motor, reserves sampling resistor in the lower end low side MOS, in the normal work of motor
When making, reverse phase is opened each other by flash MOS and low side MOS, and motor immediately closes off low side MOS when stopping, and opens flash MOS, is
Motor provides brake force.
3) NMOS and NMOS combination, the driving of motor flash are reserved sampling resistor in motor lower end, are worked normally in motor
When, reverse phase is opened each other by low side MOS and flash MOS, and motor immediately closes off flash MOS when stopping, and opens low side MOS, for electricity
Machine provides brake force.
4) NMOS and NMOS combination, the low side driving of motor, reserves sampling resistor in the lower end low side MOS, in the normal work of motor
When making, reverse phase is opened each other by flash MOS and low side MOS, and motor immediately closes off low side MOS when stopping, and opens flash MOS, is
Motor provides brake force.
In a kind of embodiment, main control unit includes main control MCU and driving circuit, wherein main control MCU and driving circuit it is defeated
Enter end coupling, the output end of driving circuit is coupled with the input terminal of power driving circuit, and main control MCU also connects with inductive module signal
It connects；
For performing the following operations, main control MCU specific operation process please refers to embodiment one to main control MCU, and this example is not gone to live in the household of one's in-laws on getting married
It states.
Main control MCU is divided into first jiao according to the angular interval that four groups of signals that inductive module is fed back rotate a circle motor
Spend section, second angle section, third angle section and fourth angle section；
Each angular interval of division is respectively set the target angular velocity function of motor, the target angular velocity function is point
Section function；
The corresponding target drives effective voltage of each target angular velocity is calculated by the target angular velocity that each piecewise function is expressed；
During the one-way movement of motor, main control MCU provides the mesh of angular interval corresponding with signal to driving circuit
The duty ratio of mark driving effective voltage, so that driving circuit is based on the duty ratio driving power driving circuit.It that is to say, master control
The corresponding duty ratio of the signal of feedback is sent to driving circuit by MCU, which is amplified and convert success rate by driving circuit
The voltage of driving circuit, so that power driving circuit is according to the duty ratio driving motor single direction rotation.
It is opened loop control between above-mentioned main control MCU, driving circuit and power driving circuit, in another embodiment,
Main control unit further includes amplifier, and the input terminal of the amplifier is coupled to power driving circuit, and the output end of amplifier is coupled to
Main control MCU, so that, main control MCU, driving circuit, power driving circuit and amplifier form closed-loop control, and main control MCU is according to putting
The sampling electric signal of the power driving circuit of big device feedback controls the duty ratio exported to driving circuit；Specifically, amplifier
Input terminal is coupled to the sampling resistor in power driving circuit, and the voltage signal of sampling resistor or current signal amplifier is anti-
It is fed to main control MCU, main control MCU is self-regulated according to the voltage signal or current signal of amplifier feed-back and accounts for what driving circuit exported
Empty ratio, to achieve the effect that accurately to control motor speed.
Further, main control unit further includes power module, which is used to power to main control MCU.It needs to illustrate
It is that at least one each component part of main control unit is separated structure, e.g., main control MCU, driving circuit, amplifier and power supply
Module is module independent；Alternatively, main control unit is integrated integrated pcb board, each composition segment set of main control unit
On integration pcb board described in Cheng Yu, e.g., main control MCU, driving circuit, amplifier and power module are integrated to be arranged in the integration
On pcb board.
Further, the control mould group of this example further includes reverse-connection preventing circuit, wherein the output end coupling power of reverse-connection preventing circuit
Module, for preventing main control unit to be reversely connected；For this purpose, control mould group further includes charge pump, the input terminal of charge pump is coupled to master control
MCU, the output end of charge pump couple reverse-connection preventing circuit, and charge pump is provided according to the control command of main control MCU to reverse-connection preventing circuit
Voltage, so that reverse-connection preventing circuit works.
The reverse-connection preventing circuit of this example has following four structure:
1) independent anti-reverse diode；
2) the MOSFET counnter attack of positive pole p-type is used, the pole S of PMOS connects external power supply, and the pole G passes through resistance eutral grounding, GS two
End uses electric resistance partial pressure, and increases clamp diode ZD and capacitor, prevents the excessive breakdown MOS of voltage；
3) the MOSFET counnter attack of power cathode N-type is used, the pole D of NMOS connects externally, and the pole G meets power supply, GS two by resistance
End uses electric resistance partial pressure, and increases clamp diode ZD and capacitor, prevents the excessive breakdown MOS of voltage；
4) the MOSFET counnter attack of positive pole N-type is used, the pole S of NMOS connects external power supply, and the pole G connects the electricity of MCU by resistance
Lotus pump output, the both ends GS use electric resistance partial pressure, and increase clamp diode ZD and capacitor, prevent the excessive breakdown MOS of voltage.
MOS or diode reverse withstand voltage need to reach 40V or more in the above reverse-connection preventing circuit.
Further, control mould group further includes filter circuit, one end coupling power module of filter circuit, other end coupling function
Rate driving circuit, filter circuit are used to power to power driving circuit, are also used to inhibit the PWM drive waveforms of power driving circuit
Externally transmitting；Specifically, filter circuit is LC filter circuit, which inhibits PWM driving inside power driving circuit
Waveform externally emits, and capacitor needs 680UF or more alminium electrolytic condenser, and the Π type left side can not have aluminium electroloysis, but need 1uF or more
And several 100nF, 1nF, the MLCC such as 10pF.
Further, the control mould group of this example further includes temperature sensor, the temperature sensor for incude pcb board temperature and
The worm gear temperature of motor, the temperature sensor are coupled with main control MCU, by the temperature Real-time Feedback of induction to main control MCU；The temperature
Sensor can be posive temperature coefficient thermistor (PTC), be also possible to the thermistor (NTC) of negative temperature coefficient.
Because four groups of signals that control mould group is fed back according to inductive module carry out the angular interval of motor one-way movement one week
It divides, and the target angular velocity function of motor is set according to all angles section of division, then calculated by target angular velocity
Corresponding target drives effective voltage, because different angular intervals is corresponding with different target angular velocity functions, so that divide
Different angle section is corresponding with different target drives effective voltages, in turn, motor basis in different rotation angular intervals
The movement velocity of different target drives effective voltage control windscreen wipers, to achieve the effect that adjusting windscreen wiper speed e.g. makes rain
Scrape can near rollback point reduction of speed, in the intermediate region of rollback point, control windscreen wiper presses the Accelerating running of certain way, and raising scrapes
Water speed reduces the elastic deformation of scraping blade when high speed scrapes water to guarantee that windscreen wiper speed of service in entirely scraping the water period is adjustable,
Reduce windscreen wiper reversion noise simultaneously.
In this example, the detailed process that control mould group executes above-mentioned steps please refers to embodiment one, and this example does not repeat.
Embodiment three:
Based on embodiment one and embodiment two, this example provides a kind of speed setting controller of windscreen wiper, including control mould group and sense
Answer mould group；Wherein, the sense in mould group identical as the control modular structure in embodiment two and inductive module and embodiment two is controlled
Answer modular structure identical, this example does not repeat the specific structure of control mould group and inductive module.
Inductive module is coupled with motor, and inductive module is used to induce four groups of letters according to motor one-way movement one week
Number；
Control mould group is electrically connected with motor, and control mould group executes the target drives effective voltage of following operation control motor,
So that motor adjusts the movement velocity of windscreen wiper based on target drives effective voltage:
By the angular interval that four groups of signals rotate a circle motor be divided into first angle section, second angle section,
Third angle section and fourth angle section；
To the target angular velocity function of all angles section setting motor of division, the target angular velocity function is segmentation
Function；
The corresponding target drives effective voltage of each target angular velocity is calculated by the target angular velocity that each piecewise function is expressed,
It during the one-way movement of motor, is moved by each target drives effective voltage driving motor, so that motor is based on each
The target drives effective voltage adjusts the movement velocity of windscreen wiper.
Because speed setting controller divides the angular interval of motor one-way movement one week according to the reciprocating motion of windscreen wiper, and
The target angular velocity function of motor is set according to all angles section of division, corresponding mesh is then calculated by target angular velocity
Mark driving effective voltage, because different angular intervals is corresponding with different target angular velocity functions, so that the different angle divided
Section is corresponding with different target drives effective voltages, and in turn, motor is in different rotation angular intervals according to different mesh
The movement velocity of mark driving effective voltage control windscreen wiper, to achieve the effect that adjusting windscreen wiper speed e.g. enables windscreen wiper to exist
Reduction of speed near rollback point, in the intermediate region of rollback point, control windscreen wiper presses the Accelerating running of certain way, and water speed is scraped in raising, from
And guarantee that windscreen wiper speed of service in entirely scraping the water period is adjustable, the elastic deformation of scraping blade when high speed scrapes water is reduced, is reduced simultaneously
Windscreen wiper inverts noise.
In this example, the detailed process that speed setting controller executes above-mentioned steps please refers to embodiment one, and this example does not repeat.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (27)
1. a kind of method for controlling speed regulation of windscreen wiper, which is characterized in that convert the one-way movement of motor to the reciprocating motion of windscreen wiper,
And the target drives effective voltage of motor is controlled in the one-way movement of motor, so that the motor is based on the target drives effective
Voltage adjusts the movement velocity of windscreen wiper, comprising steps of
First angle section, are divided by the angular interval that double hall signals of dual-Hall sensor rotate a circle motor
Two angular intervals, third angle section and fourth angle section；
To the target angular velocity function of all angles section setting motor of division, the target angular velocity function is segmentation letter
Number；
The corresponding target drives effective voltage of each target angular velocity is calculated by the target angular velocity that each piecewise function is expressed, in electricity
It during the one-way movement of machine, is moved by each target drives effective voltage driving motor, so that motor is based on each described
The movement velocity of target drives effective voltage adjusting windscreen wiper.
2. method for controlling speed regulation as described in claim 1, which is characterized in that the range in the first angle section is (0,2/3
π), the range in the second angle section is (2/3 π, π), and the range in the third angle section is (π, 5/3 π), the described 4th
The range of angular interval is (5/3 π, 2 π).
3. method for controlling speed regulation as claimed in claim 2, which is characterized in that further include the reversion according to double hall signals
Define under windscreen wiper rollback point and the step of upper rollback point, the lower rollback point be located at second angle section terminating point [0,
0.4* π] in range or in [0,0.4* π] range of fourth angle section terminating point, the upper rollback point is located at institute
State [the 0,0.4* π] in [0,0.4* π] range of fourth angle section terminating point or positioned at second angle section terminating point
In range.
4. method for controlling speed regulation as claimed in claim 2, which is characterized in that motor is arranged to all angles section of division
Target angular velocity function, comprising steps of
In the upper rollback point position of windscreen wiper, the target angular velocity that motor is arranged is the First Speed to travel at the uniform speed；
In the lower rollback point position of windscreen wiper, the target angular velocity that motor is arranged is the second speed to travel at the uniform speed；
The target angular velocity that the first angle section and fourth angle section is respectively set based on the First Speed is segmented letter
Number；
The target angular velocity that the second angle section and third angle section is respectively set based on the second speed is segmented letter
Number.
5. method for controlling speed regulation as claimed in claim 4, which is characterized in that the target angular velocity segmentation is arranged based on the time
Function, wherein the expression of the target angular velocity piecewise function in the first angle section and fourth angle section are as follows:
The expression formula of the target angular velocity piecewise function in the first angle section are as follows:
The expression formula of the target angular velocity piecewise function in the fourth angle section are as follows:
Wherein, V is the target angular velocity in each period, V1For the First Speed to travel at the uniform speed, a, b are respectively constant, T0It is
The period of one speed operation, t are the currently running time.
6. method for controlling speed regulation as claimed in claim 5, which is characterized in that the target angular velocity segmentation is arranged based on the time
Function, wherein the expression of the target angular velocity piecewise function in the second angle section and third angle section are as follows:
The expression formula of the target angular velocity piecewise function in the second angle section are as follows:
The expression formula of the target angular velocity piecewise function in the third angle section are as follows:
Wherein, V is the target angular velocity in each period, V2For the second speed to travel at the uniform speed, b, c are respectively constant, and t is to work as
The time of preceding operation.
7. method for controlling speed regulation as claimed in claim 6, which is characterized in that the target angular velocity expressed by each piecewise function
Calculate the corresponding target drives effective voltage of each target angular velocity, calculation formula are as follows:
Wherein, U is the target drives effective voltage of the motor in each period, and J rotary inertia, V is the expression of each piecewise function
Target angular velocity,For the derivative of V, R electric motor resistance, B is coefficient of friction, KeFor back EMF coefficient, KcFor torque constant,F is surface pressure.
8. method for controlling speed regulation as described in claim 1, which is characterized in that further include being had according to the target drives being calculated
The step of imitating voltage and virtual voltage calculating duty ratio, passes through the duty ratio driving motor of calculating.
9. a kind of speed-adjusting and control system of windscreen wiper characterized by comprising
Motor, motor are connect by link mechanism with windscreen wiper, and the one-way movement of the motor is converted into windscreen wiper by link mechanism
Reciprocating motion；
Inductive module is coupled with the motor, and the inductive module is used to induce four according to motor one-way movement one week
Group signal；
Mould group is controlled, the control mould group is electrically connected with the motor, and the control mould group executes following operation and controls the electricity
The target drives effective voltage of machine, so that the motor adjusts the movement velocity of windscreen wiper based on the target drives effective voltage:
First angle section, second angle section, third are divided by the angular interval that four groups of signals rotate a circle motor
Angular interval and fourth angle section；
To the target angular velocity function of all angles section setting motor of division, the target angular velocity function is segmentation letter
Number；
The corresponding target drives effective voltage of each target angular velocity is calculated by the target angular velocity that each piecewise function is expressed, in electricity
It during the one-way movement of machine, is moved by each target drives effective voltage driving motor, so that motor is based on each described
The movement velocity of target drives effective voltage adjusting windscreen wiper.
10. speed-adjusting and control system as claimed in claim 9, which is characterized in that the inductive module includes magnetic position sensor
And magnetic device；
The magnetic device is installed on the output shaft of the motor, and the magnetic device is rotated with the output shaft synchronous of the motor；
The magnetic position sensor is located above the magnetic device, described when the magnetic device rotates a circle with the motor
Magnetic position sensor induces discrete signal by the magnetic field strength of the magnetic device.
11. speed-adjusting and control system as claimed in claim 10, which is characterized in that the magnetic position sensor is double hall sensings
Device, the magnetic device are magnetic sheet or magnet ring；
The magnetic sheet or magnet ring are installed on the worm gear of the motor, the magnetic sheet or magnet ring rotation synchronous with the motor output shaft
Turn；
The dual-Hall sensor is located above the edge contour in the projection region of the magnetic sheet or magnet ring, and the magnetic sheet or magnetic
When ring rotates a circle with the motor, the dual-Hall sensor induces four groups by the magnetic field strength of the magnetic sheet or magnet ring
Signal.
12. speed-adjusting and control system as claimed in claim 11, which is characterized in that the distance between adjacent Hall sensor is pre-
If distance.
13. speed-adjusting and control system as claimed in claim 9, which is characterized in that the control mould group includes: main control unit and function
Rate driving circuit；
The output end of the main control unit is electrically connected with the power driving circuit, and the power driving circuit is described for driving
Motor single direction rotation, the main control unit are connect with the inductive module signal；
During the power driving circuit controls the motor single direction rotation, the main control unit is according to the inductive module
The signal of feedback provides the target drives of the control motor of angular interval corresponding with the signal to the power driving circuit
Effective voltage, so as to drive electricity by the corresponding target drives effective voltage of each group signal in the one-way movement of the motor
Machine, and then adjust the movement velocity of windscreen wiper.
14. speed-adjusting and control system as claimed in claim 13, which is characterized in that the main control unit includes main control MCU and drive
Dynamic circuit；
The main control MCU is coupled with the input terminal of the driving circuit, the output end of the driving circuit and the power drive
The input terminal of circuit couples, and the main control MCU is also connect with the inductive module signal；
The main control MCU is for performing the following operations:
The four groups of signals angular interval that motor rotates a circle fed back according to the inductive module be divided into first angle section,
Second angle section, third angle section and fourth angle section；
Each angular interval of division is respectively set the target angular velocity function of motor, the target angular velocity function is segmentation letter
Number；
The corresponding target drives effective voltage of each target angular velocity is calculated by the target angular velocity that each piecewise function is expressed；
During the one-way movement of motor, the main control MCU provides angle corresponding with the signal to the driving circuit
The duty ratio of the target drives effective voltage in section, so that the driving circuit is based on the duty ratio and drives the power drive
Circuit.
15. Dispatching Control System as claimed in claim 14, which is characterized in that the main control unit further includes amplifier, institute
The input terminal for stating amplifier is coupled to the power driving circuit, and the output end of the amplifier is coupled to the main control MCU, makes
, the main control MCU, driving circuit, power driving circuit and amplifier form closed-loop control, and the main control MCU is according to
The sampling electric signal of the power driving circuit of amplifier feed-back controls the duty ratio exported to the driving circuit.
16. speed-adjusting and control system as claimed in claim 14, which is characterized in that the main control unit further includes power module,
The power module is used to power to the main control MCU.
17. speed-adjusting and control system as claimed in claim 16, which is characterized in that the control mould group further includes anti-reverse electricity
The output end on road, the reverse-connection preventing circuit couples the power module, for preventing the main control unit to be reversely connected.
18. speed-adjusting and control system as claimed in claim 16, which is characterized in that the control mould group further includes filter circuit,
One end of the filter circuit couples the power module, and the other end couples the power driving circuit, and the filter circuit is used
It powers in the power driving circuit, is also used to inhibit the PWM drive waveforms of the power driving circuit externally to emit.
19. a kind of speed setting controller of windscreen wiper, which is characterized in that including control mould group and inductive module；
The inductive module is coupled with motor, and the inductive module is used to induce four groups according to motor one-way movement one week
Signal；
The control mould group is electrically connected with motor, and the target drives that the control mould group executes following operation control motor are effectively electric
Pressure, so that motor adjusts the movement velocity of windscreen wiper based on the target drives effective voltage:
First angle section, second angle section, third are divided by the angular interval that four groups of signals rotate a circle motor
Angular interval and fourth angle section；
To the target angular velocity function of all angles section setting motor of division, the target angular velocity function is segmentation letter
Number；
The corresponding target drives effective voltage of each target angular velocity is calculated by the target angular velocity that each piecewise function is expressed, in electricity
It during the one-way movement of machine, is moved by each target drives effective voltage driving motor, so that motor is based on each described
The movement velocity of target drives effective voltage adjusting windscreen wiper.
20. speed setting controller as claimed in claim 19, which is characterized in that the inductive module include magnetic position sensor and
Magnetic device；
The magnetic device is installed on the output shaft of the motor, and the magnetic device is rotated with the output shaft synchronous of the motor；
The magnetic position sensor is located above the magnetic device, described when the magnetic device rotates a circle with the motor
Magnetic position sensor induces discrete signal by the magnetic field strength of the magnetic device.
21. speed setting controller as claimed in claim 20, which is characterized in that the magnetic position sensor is double hall sensings
Device, the magnetic device are magnetic sheet or magnet ring；
The magnetic sheet or magnet ring are installed on the worm gear of the motor, the magnetic sheet or magnet ring rotation synchronous with the motor output shaft
Turn；
The dual-Hall sensor is located above the edge contour in the projection region of the magnetic sheet or magnet ring, and the magnetic sheet or magnetic
When ring rotates a circle with the motor, the dual-Hall sensor induces four groups by the magnetic field strength of the magnetic sheet or magnet ring
Signal.
22. speed regulating control device as claimed in claim 19, which is characterized in that the control mould group include: main control unit and
Power driving circuit；
The output end of the main control unit is electrically connected with the power driving circuit, and the power driving circuit is described for driving
Motor single direction rotation, the main control unit are connect with the inductive module signal；
During the power driving circuit controls the motor single direction rotation, the main control unit is according to the inductive module
The signal of feedback provides the target drives of the control motor of angular interval corresponding with the signal to the power driving circuit
Effective voltage, so as to drive electricity by the corresponding target drives effective voltage of each group signal in the one-way movement of the motor
Machine, and then adjust the movement velocity of windscreen wiper.
23. speed regulating control device as claimed in claim 22, which is characterized in that the main control unit includes main control MCU and drive
Dynamic circuit；
The main control MCU is coupled with the input terminal of the driving circuit, the output end of the driving circuit and the power drive
The input terminal of circuit couples, and the main control MCU is also connect with the inductive module signal；
The main control MCU is for performing the following operations:
The two groups of signals angular interval that motor rotates a circle fed back according to the inductive module be divided into first angle section,
Second angle section, third angle section and fourth angle section；
Each angular interval of division is respectively set the target angular velocity function of motor, the target angular velocity function is segmentation letter
Number；
The corresponding target drives effective voltage of each target angular velocity is calculated by the target angular velocity that each piecewise function is expressed；
During the one-way movement of motor, the main control MCU provides angle corresponding with the signal to the driving circuit
The duty ratio of the target drives effective voltage in section, so that the driving circuit is based on the duty ratio and drives the power drive
Circuit.
24. scheduling controlling device as claimed in claim 23, which is characterized in that the main control unit further includes amplifier, institute
The input terminal for stating amplifier is coupled to the power driving circuit, and the output end of the amplifier is coupled to the main control MCU, makes
, the main control MCU, driving circuit, power driving circuit and amplifier form closed-loop control, and the main control MCU is according to
The sampling electric signal of the power driving circuit of amplifier feed-back controls the duty ratio exported to the driving circuit.
25. speed regulating control device as claimed in claim 23, which is characterized in that the main control unit further includes power module,
The power module is used to power to the main control MCU.
26. speed regulating control device as claimed in claim 25, which is characterized in that the control mould group further includes anti-reverse electricity
The output end on road, the reverse-connection preventing circuit couples the power module, for preventing the main control unit to be reversely connected.
27. as claimed in claim 25 adjust also controls device processed, which is characterized in that the control mould group further includes filter circuit,
One end of the filter circuit couples the power module, power driving circuit described in other end couples, the filtered electrical
Road is used to power to the power driving circuit, is also used to inhibit the PWM drive waveforms of the power driving circuit externally to emit.
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|---|---|---|---|
| CN201910379993.0A CN110015267A (en) | 2019-05-08 | 2019-05-08 | A kind of method for controlling speed regulation of windscreen wiper, speed-adjusting and control system and speed setting controller |
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|---|---|---|---|
| CN201910379993.0A CN110015267A (en) | 2019-05-08 | 2019-05-08 | A kind of method for controlling speed regulation of windscreen wiper, speed-adjusting and control system and speed setting controller |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020224645A1 (en) * | 2019-05-08 | 2020-11-12 | 上海禹点电子科技有限公司 | Speed regulation control system for windshield wiper |
| CN114094909A (en) * | 2020-08-06 | 2022-02-25 | 上海汽车集团股份有限公司 | Speed regulation control method and speed regulation control system for automobile windscreen wiper |
| CN114633722A (en) * | 2020-12-16 | 2022-06-17 | 现代奥特奥博株式会社 | Control system and control method for automobile windscreen wiper |
| CN115257637A (en) * | 2022-09-13 | 2022-11-01 | 湖南联诚轨道装备有限公司 | Acceleration and deceleration control method for driving motor of electric window wiper of rail transit vehicle |
| CN118034096A (en) * | 2023-12-15 | 2024-05-14 | 上海禹点电子科技有限公司 | Windscreen wiper controller suitable for new energy automobile |
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| CN118034096A (en) * | 2023-12-15 | 2024-05-14 | 上海禹点电子科技有限公司 | Windscreen wiper controller suitable for new energy automobile |
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