A wiper control method and system for direct driving of a dual-wiper motor

Abstract

The application discloses a kind of double wiper motor direct-drive's wiper control method and system, suitable for double wiper motor direct-drive's wiper control system, system includes through CAN communication connection main wiper motor and vice wiper motor, control method includes the following steps: initialization setting to system, and synchronously main wiper and vice wiper;Real-time acquisition of the sensing information of main wiper and vice wiper, the sensing information includes position information and the off-axis angle information of motor;The current motor off-axis angle information collected is transmitted to main controller to be parsed and calculated, obtains the actual position and state of corresponding wiper motor;According to the angle information after resolving processing, control system generates corresponding control signal to realize the accurate control to wiper action;Control signal is sent to the driver of double wiper motor, adjusts the operating state of double wiper motor according to control signal, ensure that double wiper motor keeps synchronization in movement process, avoid the poor wiper effect or damage caused by different step.

Description

Technical Field

[0001] This invention belongs to the field of motor control technology, and in particular relates to a wiper control method and system with dual wiper motors directly driven. Background Technology

[0002] A windshield wiper motor is a blade-like structure installed on the windshield. It can remove raindrops and dust adhering to the windshield. It is driven by a motor, and the rotational motion of the motor is converted into the reciprocating motion of the wiper arm through a linkage mechanism, thereby realizing the wiper action. Generally, the wipers can be started as soon as the motor is turned on. By selecting high speed and low speed, the current of the motor can be changed, thereby controlling the motor speed and thus the wiper arm speed.

[0003] Traditional windshield wiper systems typically use a single motor to drive the wiper arm, with a mechanical linkage for reciprocating motion. This system is simple in structure and low in cost, but it can lead to uneven wiping or failure to reach corners on large windows. Some modern vehicles use electric wiper systems, where an electric motor directly drives the wiper arm. This system offers better wiping performance, but it is usually limited to a single motor and struggles to achieve complex motion patterns and adaptability to various scenarios. To address the wiping challenges on large windows, some high-end models have begun using dual-motor wiper systems. However, these systems often lack effective synchronization control and collision avoidance mechanisms, resulting in poor synchronization, inaccurate position recognition, collision risks, and potential interference and damage between the motors. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a car logo switching device, a vehicle and a control method thereof, to ensure that the dual wiper motors remain synchronized during operation, to avoid poor wiper performance or damage caused by asynchrony, and to accurately identify the position and status of each wiper motor in real time for precise control.

[0005] This invention provides a windshield wiper control method with dual wiper motors directly driven, applicable to windshield wiper control systems with dual wiper motors directly driven. The system includes a main wiper motor and a secondary wiper motor connected via CAN communication. The control method includes the following steps: The system is initialized and configured, and the main scraper and the auxiliary scraper are synchronized to ensure that their angles and positions are consistent. The sensor information of the main scraper and the auxiliary scraper is collected in real time, and the sensor information includes position information and off-axis angle information of the motor. The collected current off-axis angle information of the motor is transmitted to the main controller for analysis and calculation to obtain the actual position and status of the corresponding wiper motor; Based on the processed angle information, the control system generates corresponding control signals to achieve precise control of the wiper operation. The control signal is sent to the driver of the dual wiper motors, and the operating status of the dual wiper motors is adjusted according to the control signal.

[0006] Preferably, the step of transmitting the collected current motor off-axis angle information to the main controller for parsing includes: The off-axis angle of the current motor rotor is initially decoded using a magnetic encoder; Collect the sine and cosine voltage signals currently output by the motor, and the sine and cosine voltage signals include the position information of the motor rotor; The sampled sine and cosine voltage signals are normalized. The real-time angle of the motor rotor is calculated using the arctangent function based on the normalized sine and cosine voltage signals. The average estimated angle is calculated based on historical angle errors and the current angular velocity; The calculated average estimated angle compensation is added to the real-time angle to obtain the current rotor angle.

[0007] Preferably, the step of transmitting the collected current motor off-axis angle information to the main controller for analysis further includes: The current sector number of the rotor is determined by querying a pre-established angle-sector number lookup table; Determine whether the current sector of the rotor has undergone a sequence change, i.e., whether the rotor has moved from the first sector to the second sector; If the current sector undergoes a sequence change, read the corresponding angle base value for the current sector and estimate the new angle; Determine whether the difference between the estimated new angle and the current angle is within 30°; If the difference between the estimated new angle and the current angle is within 30°, then calculate the angle compensation amount and update the current angle of the output rotor to be fed back to the sampling step; If the difference between the estimated new angle and the current angle is not within 30°, then the angle compensation amount is cleared to zero and the current angle of the output rotor is updated.

[0008] Preferably, the step of transmitting the collected current motor off-axis angle information to the main controller for analysis further includes: If no sequence change has occurred in the current sector, determine whether the average estimated angle is greater than or equal to the preset angle threshold. If the average estimated angle is greater than or equal to the preset angle threshold, then the current rotor angle is forcibly updated, a new angle compensation amount is calculated, the current output rotor angle is updated, and the feedback to the upper-level sampling sine and cosine voltage signals is performed. If the average estimated angle is less than the preset angle threshold, return directly to the previous step of sampling sine and cosine voltage signals and continue the next round of angle analysis loop.

[0009] Preferably, the real-time acquisition of sensor information from the main scraper and the auxiliary scraper further includes: Activate either the forward scraping mode or the reverse scraping mode; Upon receiving the start command, the main scraper motor begins to operate at a preset low speed, while simultaneously notifying the auxiliary scraper motor to follow suit. The speed of the auxiliary scraper motor is adjusted according to the position information of the main scraper motor to maintain its relative position with the main scraper motor. During the forward / opposite scraping process, the main scraper motor continuously monitors its own position and sends the position information to the auxiliary scraper motor via the CAN bus; After the auxiliary scraper motor receives the position information, it compares it with its current position and calculates the position deviation. If the position deviation exceeds the preset threshold, the auxiliary scraper motor adjusts its speed to reduce the position deviation. If the positional deviation is within the allowable range, maintain the current speed.

[0010] As the preferred method, in the smoothing mode... In a constant speed state, the main scraper motor controls the main scraper to maintain a preset speed and move at a constant speed, while the auxiliary scraper motor finely adjusts the auxiliary scraper speed according to the position information of the main scraper motor to keep the main scraper and auxiliary scraper synchronized. During acceleration, the main scraper motor controls the main scraper to accelerate while the auxiliary scraper motor controls the auxiliary scraper to increase its speed proportionally, ensuring that the relative position between the main scraper and the auxiliary scraper remains unchanged. When the main scraper motor controls the main scraper to decelerate or stop, the auxiliary scraper motor controls the auxiliary scraper to reduce its speed proportionally or stop; and / or, In scraping mode, Under constant speed conditions, the main scraper motor and the auxiliary scraper motor control the main scraper and the auxiliary scraper to maintain a preset speed and move at a constant speed. The main scraper and the auxiliary scraper move in opposite directions to ensure that they do not meet. In acceleration mode, the main scraper motor and the auxiliary scraper motor control the main scraper and the auxiliary scraper to increase their speed and move simultaneously, while the main scraper and the auxiliary scraper move in opposite directions. In deceleration or stop mode, the main scraper motor and the auxiliary scraper motor control the main scraper and the auxiliary scraper to decelerate or stop simultaneously, and the main scraper and the auxiliary scraper move in opposite directions until the target position is reached or a new instruction is received.

[0011] Preferably, the real-time acquisition of sensor information from the main scraper and the auxiliary scraper further includes: During the scraping process, the main scraper collects the position information of the auxiliary scraper in real time; The position information of the wiper compartment is transmitted to the main controller via CAN communication. Based on the position information of the auxiliary scraper, the main scraper is accelerated, decelerated, and waited to dynamically adjust and ensure a safe distance between the main and auxiliary scrapers.

[0012] The present invention also provides a wiper control system with dual wiper motors directly driven, comprising: The initialization module is used to initialize the system and synchronize the main scraper and the auxiliary scraper to ensure that their angles and positions are consistent. The data acquisition module is used to acquire the sensing information of the main scraper and the auxiliary scraper in real time. The sensing information includes position information and the off-axis angle information of the motor. The calculation module is used to transmit the collected current off-axis angle information of the motor to the main controller for parsing and calculation, so as to obtain the actual position and status of the corresponding wiper motor. The control module is used to generate corresponding control signals based on the processed angle information to achieve precise control of the wiper action. The control signals are sent to the drivers of the dual wiper motors, and the operating status of the dual wiper motors is adjusted according to the control signals.

[0013] Preferably, the main scraper and the auxiliary scraper are set synchronously on glass surfaces of different sizes, with the same scraping angle. Synchronous control ensures that the movement trajectories of the main scraper and the auxiliary scraper are consistent, and the scraping range is adjusted according to the size of the glass surface.

[0014] Preferably, the positive terminal of the main scraper motor is connected to the positive terminal of the auxiliary scraper motor and then to the body switch. The negative terminal of the main scraper motor is connected to the negative terminal of the auxiliary scraper motor, forming a shared positive and negative terminal for both the main and auxiliary scraper motors. The main and auxiliary scraper motors are connected via CAN communication. The low-speed port, high-speed port, and intermittent port of the main scraper motor are respectively connected to the body switch.

[0015] Because the present invention adopts the above technical solution, it has the following advantages and positive effects compared with the prior art: The dual-wiper motor direct-drive wiper control method provided by this invention performs displacement and rotation operations by driving the car logo base. By collecting the sensing information of the main wiper and auxiliary wiper motors in real time, including position information and off-axis angle information, the main controller can accurately analyze and calculate the actual position and state of the wiper motors. This facilitates more precise control, reduces errors in wiper operation, and improves wiping performance. Dynamic adjustments to acceleration, deceleration, and waiting actions in both forward and reverse wiping modes ensure the wiper system can respond quickly to actual needs, enhancing its adaptability and flexibility. Initialization settings and synchronization modules ensure the main and auxiliary wiper motors maintain consistent angles and positions, preventing uneven wiping or collisions caused by asynchrony. During forward and reverse wiping, the main wiper motor continuously monitors its position and transmits this information to the auxiliary wiper motor via the CAN bus. The auxiliary wiper motor adjusts its speed based on this information to maintain its relative position to the main wiper motor. This real-time communication and adjustment mechanism further enhances the system's synchronization and coordination. Precise control of the wiper motor's operating status reduces the risk of glass scratches or motor damage caused by uneven wiping or collisions. The system's anomaly handling mechanism, such as handling situations where position deviation exceeds a preset threshold, further enhances the system's synchronism and coordination. Automatic adjustment of wiper position, judgment of sector changes, and calculation of angle compensation ensure stable operation of the wiper system under various conditions, improving system safety and reliability. Flexible control of forward and reverse wiping modes, along with dynamic adjustment of wiper speed, allows drivers to select the most suitable wiper mode based on actual weather and road conditions, enhancing the driving experience. The system's intelligent control logic, such as automatically adjusting wiper speed based on positional deviation and updating angles based on sector changes, reduces driver workload and improves driving comfort. The main and auxiliary wiper motors can be controlled independently with identical wiping angles. Synchronized control ensures that the wiper requirements of different vehicle models and glass sizes are met. Simultaneously setting the main and auxiliary wipers on glass surfaces of different sizes further enhances the system's applicability. The main wiper motor connects to multiple body switches, enabling low-speed, high-speed, and intermittent port functions, simplifying circuit design and reducing costs. Furthermore, data transmission and control command sending via CAN communication reduce additional wiring, further lowering costs and complexity. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the wiper control method with dual wiper motors directly driven in an embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the steps of the control system generating corresponding control signals based on the parsed angle information to achieve precise control of the wiper action in an embodiment of the present invention. Figure 3 This is a schematic diagram illustrating the angle at which the dual wipers are applied to the glass surface in an embodiment of the present invention. Figure 4 This is a partial circuit diagram of the wiper control system with dual wiper motors directly driven in an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the application of dual wipers in an embodiment of the present invention, where a large glass surface and a small glass surface are used. Detailed Implementation

[0017] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed explanation of the vehicle logo switching device and control method proposed in this invention. The advantages and features of this invention will become clearer from the following description and claims.

[0018] like Figure 1 As shown, this invention provides a wiper control method with dual wiper motors directly driven by the present invention. The method is applicable to a wiper control system with dual wiper motors directly driven by the present invention, the system comprising a main wiper motor and a secondary wiper motor connected via CAN communication, and the control method comprising the following steps: S1: Initialize the system settings and synchronize the main scraper and auxiliary scraper to ensure that their angles and positions are consistent. The synchronization settings not only involve the synchronization of the initial position, but also the real-time synchronization during operation, to ensure that the main scraper and auxiliary scraper motors can always maintain coordinated and consistent movements. S2: Real-time acquisition of sensor information from the main scraper and auxiliary scraper, including position information and off-axis angle information of the motor; S3: The collected current off-axis angle information of the motor is transmitted to the main controller for parsing and calculation to obtain the actual position and status of the corresponding wiper motor; S4: Based on the processed angle information, the control system generates corresponding control signals to achieve precise control of the wiper action; S5: Sends control signals to the drivers of the dual wiper motors and adjusts the operating status of the dual wiper motors according to the control signals.

[0019] In this embodiment, by acquiring real-time sensor information from the main and auxiliary wiper motors, including position and off-axis angle information, the main controller can accurately analyze and calculate the actual position and operating state of each wiper motor. This precise positioning and state perception is the foundation for achieving high-precision control. During the analysis and calculation process, methods such as magnetic encoder decoding, sine and cosine voltage signal processing, and arctangent function calculation are used to further improve the measurement accuracy of position and angle. Based on the analyzed and processed angle information, the control system can generate corresponding control signals. These signals can accurately guide the operating state of the wiper motors. By adjusting the parameters of the control signals, fine control of wiper actions, such as speed, acceleration, and deceleration, can be achieved. The main and auxiliary wiper motors are connected via CAN communication, enabling real-time data transmission and sharing. The main wiper motor can transmit its position information and operating status to the auxiliary wiper motor, which adjusts its operating status accordingly to maintain synchronization with the main wiper motor. In both forward and reverse wiping modes, the main wiper motor continuously monitors its own position and sends position information to the auxiliary wiper motor via the CAN bus. The auxiliary wiper motor adjusts its speed based on this information to ensure that the relative positions of the two remain unchanged. This real-time communication and collaborative work enhances the system's synchronization and coordination. The system includes multiple anomaly handling mechanisms, such as automatic adjustment when position deviation exceeds a preset threshold, sector change judgment, and angle compensation calculation. These mechanisms can promptly detect and correct anomalies, ensuring the safe operation of the wiper system. During wiper motor operation, if an anomaly is detected (such as motor failure, excessive position deviation, etc.), the control system will immediately take corresponding measures to prevent the wiper system from damaging the vehicle or affecting the driver's vision. Through the dual wiper motor direct drive design, even if one motor fails, the other motor can continue to operate, ensuring that the basic functions of the wiper system are not affected. This redundancy design improves the system's fault tolerance and reliability. Meanwhile, the analysis and calculation modules and control signal generation modules in the control system all have backup and recovery functions to ensure that the working state can be quickly restored in the event of a failure.

[0020] See Figure 2 As shown, the process of transmitting the collected current motor off-axis angle information to the main controller for parsing includes: The initial decoding of the current off-axis angle of the motor rotor is performed using a magnetic encoder. This refers to detecting the rotor's position using a magnetic encoder (such as a Hall sensor or resolver) mounted on the motor shaft. The magnetic encoder outputs a sine or cosine signal representing the rotor's position. Collect the sine and cosine voltage signals currently output by the motor, and the sine and cosine voltage signals include the position information of the motor rotor; The sampled sine and cosine voltage signals are normalized. By using the arctangent function to calculate the real-time angle of the motor rotor based on the normalized sine and cosine voltage signals, noise and interference in the signal can be eliminated, thus improving the accuracy of angle calculation. Based on historical angle errors and current angular velocity, the average estimated angle is calculated, and an average of 60° is used to estimate the angle: assuming that the rotor typically rotates 60° per sector, a fixed angle such as 60° can be used to estimate the rotor's position, which helps to further smooth the angle data and reduce the impact of random errors. The calculated average estimated angle compensation is added to the real-time angle to obtain the current rotor angle. Current angle = real-time angle + calculated angle compensation. That is, a compensation is added to the real-time angle to correct possible errors and further improve measurement accuracy.

[0021] The current sector number of the rotor is determined by querying a pre-established angle-sector number lookup table; Determining whether the rotor's current sector has undergone a sequence change, i.e. whether the rotor has moved from the first sector to the second sector, helps to promptly detect and handle sudden changes or anomalies in angle data, ensuring the accuracy and continuity of angle measurement. This helps the control system adapt to angle changes more quickly and reduces control lag or overshoot caused by sudden angle changes. If the current sector undergoes a sequence change, read the angle base value corresponding to the current sector and estimate the new angle. The estimated new angle = the angle base value of the previous sector + the average estimated angle of 60°. The system checks if the difference between the estimated new angle and the current angle is within 30°. If the difference is within 30°, it calculates the angle compensation and updates the current output rotor angle, feeding it back to the sampling step. If the difference is not within 30°, it clears the angle compensation and updates the current output rotor angle. In other words, when the difference between the estimated new angle and the current angle is not within 30°, the angle compensation is cleared and the current output rotor angle is updated. This anomaly handling mechanism avoids system errors or malfunctions caused by abnormal data, enhancing system stability and reliability.

[0022] If the current sector has not undergone a sequence change, determine whether the average estimated angle is greater than or equal to a preset angle threshold, for example, (60° + A°), where A° is a preset angle threshold. If the average estimated angle is greater than or equal to the preset angle threshold, then the current rotor angle is forcibly updated, a new angle compensation amount is calculated, the current output rotor angle is updated, and the feedback is sent to the upper-level sampling sine and cosine voltage signal step. If the average estimated angle is less than the preset angle threshold, then directly return to the upper-level sampling sine and cosine voltage signal step and continue the next round of angle analysis loop. This judgment mechanism helps prevent the system from entering an infinite loop or abnormal state, and improves the robustness of the system.

[0023] The core of the above scheme is to accurately estimate the rotor position by detecting sine and cosine signals, and to determine whether the angle compensation needs to be updated by sector changes, so as to ensure the accuracy of motor control. Through this closed-loop control, the position estimation error can be effectively reduced and the control performance of the motor can be improved.

[0024] In one embodiment, either the forward scraping mode or the reverse scraping mode is activated, meaning that the principles of the forward scraping mode and the reverse scraping mode are the same. Upon receiving the start command, the main wiper motor begins to operate at a preset low speed, while simultaneously notifying the auxiliary wiper motor to follow suit. The preset low-speed operation mode helps reduce the impact and wear of the wiper blades during startup, improving the service life and stability of the wiper system. By operating at the preset low speed, the moving speed and position of the wiper blades can be controlled more precisely, enhancing the control accuracy of the wiper system. The speed of the auxiliary scraper motor is adjusted according to the position information of the main scraper motor to maintain its relative position with the main scraper motor. During the forward / opposite scraping process, the main scraper motor continuously monitors its own position and sends the position information to the auxiliary scraper motor via the CAN bus; When the auxiliary wiper motor receives the position information, it compares it with its current position and calculates the position deviation. This position deviation adjustment mechanism enables the auxiliary wiper motor to follow the position changes of the main wiper motor in real time, ensuring the uniformity and stability of the wiper blades on the windshield surface. If the position deviation exceeds the preset threshold, the auxiliary scraper motor adjusts its speed to reduce the position deviation. If the positional deviation is within the allowable range, maintain the current speed.

[0025] Those skilled in the art will understand that by using a main wiper motor to drive an auxiliary wiper motor, the two motors work collaboratively. In both forward and reverse wiping modes, the main and auxiliary motors maintain a constant relative position, ensuring that the wiper blades evenly and effectively cover the windshield surface. This collaborative approach makes the entire wiper system more coordinated during operation, reducing the likelihood of poor wiping performance due to a single motor malfunction or abnormality. The main wiper motor continuously monitors its own position during operation and sends this position information to the auxiliary wiper motor via the CAN bus. The auxiliary wiper motor compares the received position information with its current position, calculates the position deviation, and adjusts its speed accordingly to reduce it. This real-time position adjustment mechanism ensures that the relative position between the main and auxiliary motors remains constant, thereby improving the synchronization and coordination of the wiper system. The above solution supports both forward and reverse wiping modes, allowing drivers to select the appropriate mode to meet their needs in different weather and road conditions.

[0026] In one embodiment, in the scraping mode, In a constant speed state, the main scraper motor controls the main scraper to maintain a preset speed and move at a constant speed, while the auxiliary scraper motor finely adjusts the auxiliary scraper speed according to the position information of the main scraper motor to keep the main scraper and auxiliary scraper synchronized. During acceleration, the main scraper motor controls the main scraper to accelerate while the auxiliary scraper motor controls the auxiliary scraper to increase its speed proportionally, ensuring that the relative position between the main scraper and the auxiliary scraper remains unchanged. When decelerating or stopping, the main wiper motor controls the main wiper to decelerate or stop, while the auxiliary wiper motor controls the auxiliary wiper to reduce its speed proportionally or stop. During continuous wiping, the system continuously monitors the distance between the two wiper arms to ensure that no collision occurs. If a potential collision risk is detected, such as obstacle detection, the system immediately takes measures such as decelerating, stopping, or adjusting the path.

[0027] In scraping mode, Under constant speed conditions, the main scraper motor and the auxiliary scraper motor control the main scraper and the auxiliary scraper to maintain a preset speed and move at a constant speed. The main scraper and the auxiliary scraper move in opposite directions to ensure that they do not meet. In acceleration mode, the main scraper motor and the auxiliary scraper motor control the main scraper and the auxiliary scraper to increase their speed and move simultaneously, while the main scraper and the auxiliary scraper move in opposite directions. In deceleration or stop mode, the main wiper motor and the auxiliary wiper motor control the main and auxiliary wipers to decelerate or stop simultaneously, and the main and auxiliary wipers move in opposite directions until they reach the target position or receive a new command. During wiping, the system pays special attention to the end positions of the two wiper arms to ensure that they do not meet or collide with other objects. If a potential collision risk is detected, the system will take immediate action, such as changing the path, decelerating, or stopping, to protect the wipers from damage.

[0028] In both forward and reverse wiping modes, the coordinated operation of the main and auxiliary motors enables precise control of the wiper blades. Whether at a constant speed, accelerating, or decelerating, the system ensures that the relative positions between the main and auxiliary wiper arms remain constant, thereby improving the coordination and synchronization of the wiper system. Particularly in reverse wiping mode, the main and auxiliary motors control the wiper arms to move in opposite directions. This design significantly reduces the possibility of the wiper arms meeting, further enhancing the system's coordination and safety.

[0029] In one embodiment, the real-time acquisition of sensor information from the main scraper and the auxiliary scraper further includes: During the scraping process, the main scraper collects the position information of the auxiliary scraper in real time; The position information of the wiper compartment is transmitted to the main controller via CAN communication. Based on the position information of the auxiliary wiper, the main wiper performs acceleration, deceleration, and waiting actions to dynamically adjust and ensure a safe distance between them. By acquiring the position information of the auxiliary wiper in real time and transmitting it to the main controller via CAN communication, the system can monitor the relative positions of the two wipers in real time, ensuring coordination and synchronization between them and enabling them to work more closely together. Based on the auxiliary wiper's position information, the main controller can perform acceleration, deceleration, or waiting actions on the main wiper to dynamically adjust the distance between them, further enhancing the coordination and synchronization of the wiper system and ensuring good wiping performance under different operating conditions. By acquiring and feeding back the auxiliary wiper's position information in real time, the main controller can precisely control the main wiper, ensuring a safe distance between them, which not only improves the control accuracy of the wiper system but also enhances its stability. Dynamically adjusting the main wiper's actions to respond to changes in the auxiliary wiper's position helps reduce wiper blade vibration or jumping caused by speed mismatch or improper positioning, improving the reliability of the wiper system and reducing potential failure risks.

[0030] Based on the same inventive concept, the present invention also provides a wiper control system with dual wiper motors directly driven, comprising: The initialization module is used to initialize the system and synchronize the main scraper and the auxiliary scraper to ensure that their angles and positions are consistent. The data acquisition module is used to acquire the sensing information of the main scraper and the auxiliary scraper in real time. The sensing information includes position information and the off-axis angle information of the motor. The calculation module is used to transmit the collected current off-axis angle information of the motor to the main controller for parsing and calculation, so as to obtain the actual position and status of the corresponding wiper motor. The control module is used to generate corresponding control signals based on the processed angle information to achieve precise control of the wiper action. The control signals are sent to the drivers of the dual wiper motors, and the operating state of the dual wiper motors is adjusted according to the control signals. The principle is the same as the wiper control method of direct drive of dual wiper motors described in the above embodiment, and will not be repeated here.

[0031] See Figure 4As shown, the positive terminal of the main scraper motor is connected to the positive terminal of the auxiliary scraper motor and then to the body switch. The negative terminal of the main scraper motor is connected to the negative terminal of the auxiliary scraper motor, forming a shared positive and negative terminal for both motors. The main and auxiliary scraper motors are connected via CAN communication. The low-speed, high-speed, and intermittent ports of the main scraper motor are connected to the body switch. By connecting the positive and negative terminals of the main and auxiliary scraper motors together and sharing the body switch, the circuit connection is greatly simplified, reducing the number and length of wires, and lowering the complexity and cost of wiring. Sharing positive and negative terminals also means a reduction in the number of electrical nodes in the system, thereby reducing the probability of failure and improving the stability and reliability of the system. Although the main and auxiliary scraper motors share positive and negative terminals, each has its own independent low-speed, high-speed, and intermittent ports connected to the body switch, allowing each motor to independently control its operating state, improving control efficiency and accuracy.

[0032] In this embodiment, the two motors communicate via CAN. The main wiper collects the position of the auxiliary wiper in real time. Based on the position information fed back by the auxiliary wiper, the main wiper performs actions such as acceleration, deceleration, and waiting to match the action of the auxiliary wiper, avoiding interference, collision, or random wiping. CAN communication can be limited to communication between the main and auxiliary wipers. If the vehicle body also has a CAN network, the wipers can communicate with the vehicle's CAN network, and the onboard MCU sends commands to the main wiper to implement the corresponding wiping action. The main and auxiliary wiper motors share the same positive and negative terminals. The main wiper has three wires leading out: intermittent, low speed, and high speed. These three wires are connected to a vehicle body switch to adjust the wiper speed. When both wipers are operating on the same glass surface, the main wiper needs to identify the zero position and real-time position of the auxiliary wiper. While manually scrambling the original positions, both the main and auxiliary wipers wipe outwards to avoid interference areas before returning to their initial positions to reset. When operating on two independent glass surfaces, if one wiper blade is damaged by external force, the other wiper blade can still operate independently.

[0033] Specifically, the main and auxiliary scrapers are synchronously set on glass surfaces of different sizes. The main and auxiliary scrapers have the same scraping angle. Synchronization control ensures that the movement trajectories of the main and auxiliary scrapers are consistent, and the scraping range is adjusted according to the size of the glass surface. When applied to scenarios with one large glass surface and one small glass surface, the synchronization principle allows for the same scraping angle but different scraping areas. See [link to relevant documentation]. Figure 5 As shown.

[0034] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.

Claims

1. A windshield wiper control method with dual wiper motors directly driven, characterized in that, A wiper control system suitable for direct drive of dual wiper motors, the system includes a main wiper motor and a secondary wiper motor connected via CAN communication, and the control method includes the following steps: The system is initialized and configured, and the main scraper and the auxiliary scraper are synchronized to ensure that their angles and positions are consistent. The sensor information of the main scraper and the auxiliary scraper is collected in real time, and the sensor information includes position information and off-axis angle information of the motor. The collected current off-axis angle information of the motor is transmitted to the main controller for analysis and calculation to obtain the actual position and status of the corresponding wiper motor; Based on the processed angle information, the control system generates corresponding control signals to achieve precise control of the wiper operation. The control signal is sent to the driver of the dual wiper motors, and the operating status of the dual wiper motors is adjusted according to the control signal.

2. The wiper control method with dual wiper motors directly driven as described in claim 1, characterized in that, The process of transmitting the collected current motor off-axis angle information to the main controller for analysis includes: The off-axis angle of the current motor rotor is initially decoded using a magnetic encoder; Collect the sine and cosine voltage signals currently output by the motor, and the sine and cosine voltage signals include the position information of the motor rotor; The sampled sine and cosine voltage signals are normalized. The real-time angle of the motor rotor is calculated using the arctangent function based on the normalized sine and cosine voltage signals. The average estimated angle is calculated based on historical angle errors and the current angular velocity; The calculated average estimated angle compensation is added to the real-time angle to obtain the current rotor angle.

3. The wiper control method with dual wiper motors directly driven as described in claim 2, characterized in that, The step of transmitting the collected current motor off-axis angle information to the main controller for analysis further includes: The current sector number of the rotor is determined by querying a pre-established angle-sector number lookup table; Determine whether the current sector of the rotor has undergone a sequence change, i.e., whether the rotor has moved from the first sector to the second sector; If the current sector undergoes a sequence change, read the corresponding angle base value for the current sector and estimate the new angle; Determine whether the difference between the estimated new angle and the current angle is within 30°; If the difference between the estimated new angle and the current angle is within 30°, then calculate the angle compensation amount and update the current angle of the output rotor to be fed back to the sampling step; If the difference between the estimated new angle and the current angle is not within 30°, then the angle compensation amount is cleared to zero and the current angle of the output rotor is updated.

4. The wiper control method with dual wiper motors directly driven as described in claim 3, characterized in that, The step of transmitting the collected current motor off-axis angle information to the main controller for analysis further includes: If no sequence change has occurred in the current sector, determine whether the average estimated angle is greater than or equal to the preset angle threshold. If the average estimated angle is greater than or equal to the preset angle threshold, then the current rotor angle is forcibly updated, a new angle compensation amount is calculated, the current output rotor angle is updated, and the feedback to the upper-level sampling sine and cosine voltage signals is performed. If the average estimated angle is less than the preset angle threshold, return directly to the previous step of sampling sine and cosine voltage signals and continue the next round of angle analysis loop.

5. The wiper control method with dual wiper motors directly driven as described in claim 1, characterized in that, The real-time acquisition of sensor information from the main scraper and the auxiliary scraper further includes: Activate either the forward scraping mode or the reverse scraping mode; Upon receiving the start command, the main scraper motor begins to operate at a preset low speed, while simultaneously notifying the auxiliary scraper motor to follow suit. The speed of the auxiliary scraper motor is adjusted according to the position information of the main scraper motor to maintain its relative position with the main scraper motor. During the forward / opposite scraping process, the main scraper motor continuously monitors its own position and sends the position information to the auxiliary scraper motor via the CAN bus; After the auxiliary scraper motor receives the position information, it compares it with its current position and calculates the position deviation. If the position deviation exceeds the preset threshold, the auxiliary scraper motor adjusts its speed to reduce the position deviation. If the positional deviation is within the allowable range, maintain the current speed.

6. The wiper control method with dual wiper motors directly driven as described in claim 5, characterized in that, In the squeegee mode, In a constant speed state, the main scraper motor controls the main scraper to maintain a preset speed and move at a constant speed, while the auxiliary scraper motor finely adjusts the auxiliary scraper speed according to the position information of the main scraper motor to keep the main scraper and auxiliary scraper synchronized. During acceleration, the main scraper motor controls the main scraper to accelerate while the auxiliary scraper motor controls the auxiliary scraper to increase its speed proportionally, ensuring that the relative position between the main scraper and the auxiliary scraper remains unchanged. When the main scraper motor controls the main scraper to decelerate or stop, the auxiliary scraper motor controls the auxiliary scraper to reduce its speed proportionally or stop; and / or, In scraping mode, Under constant speed conditions, the main scraper motor and the auxiliary scraper motor control the main scraper and the auxiliary scraper to maintain a preset speed and move at a constant speed. The main scraper and the auxiliary scraper move in opposite directions to ensure that they do not meet. In acceleration mode, the main scraper motor and the auxiliary scraper motor control the main scraper and the auxiliary scraper to increase their speed and move simultaneously, while the main scraper and the auxiliary scraper move in opposite directions. In deceleration or stop mode, the main scraper motor and the auxiliary scraper motor control the main scraper and the auxiliary scraper to decelerate or stop simultaneously, and the main scraper and the auxiliary scraper move in opposite directions until the target position is reached or a new instruction is received.

7. The wiper control method with dual wiper motors directly driven as described in claim 1, characterized in that, The real-time acquisition of sensor information from the main scraper and the auxiliary scraper further includes: During the scraping process, the main scraper collects the position information of the auxiliary scraper in real time; The position information of the wiper compartment is transmitted to the main controller via CAN communication. Based on the position information of the auxiliary scraper, the main scraper is accelerated, decelerated, and waited to dynamically adjust and ensure a safe distance between the main and auxiliary scrapers.

8. A wiper control system with dual wiper motors directly driven, characterized in that, The wiper control method with dual wiper motor direct drive as described in any one of claims 1 to 7 includes: The initialization module is used to initialize the system and synchronize the main scraper and the auxiliary scraper to ensure that their angles and positions are consistent. The data acquisition module is used to acquire the sensing information of the main scraper and the auxiliary scraper in real time. The sensing information includes position information and the off-axis angle information of the motor. The calculation module is used to transmit the collected current off-axis angle information of the motor to the main controller for parsing and calculation, so as to obtain the actual position and status of the corresponding wiper motor. The control module is used to generate corresponding control signals based on the processed angle information to achieve precise control of the wiper action. The control signals are sent to the drivers of the dual wiper motors, and the operating status of the dual wiper motors is adjusted according to the control signals.

9. The wiper control system with dual wiper motors directly driven as described in claim 8, characterized in that, The main and auxiliary scrapers are set synchronously on glass surfaces of different sizes. The scraping angles of the main and auxiliary scrapers are the same. Synchronous control ensures that the movement trajectories of the main and auxiliary scrapers are consistent, and the scraping range is adjusted according to the size of the glass surface.

10. The wiper control system with dual wiper motors directly driven as described in claim 8, characterized in that, The positive terminal of the main scraper motor is connected to the positive terminal of the auxiliary scraper motor and then to the body switch. The negative terminal of the main scraper motor is connected to the negative terminal of the auxiliary scraper motor, forming a shared positive and negative terminal for both the main and auxiliary scraper motors. The main and auxiliary scraper motors are connected via CAN communication. The low-speed port, high-speed port, and intermittent port of the main scraper motor are connected to the body switch respectively.

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