CN201410933Y - car electric wiper - Google Patents

Abstract

An automobile electric wiper, comprising a first servo motor and a first wiper arm, the output of the first servo motor is connected to a first wiper shaft through a first coupling, and a first wiper shaft is provided on the first wiper shaft Arm, and the first wiper arm swings with the rotation of the first wiper shaft, wherein, the motor shaft of the servo motor is provided with a first position detection device; the first wiper arm is provided with a magnetic steel, a magnetic induction element is provided at the corresponding position of the automobile, and the first position detection device and the magnetic induction element output the detected position signal to the first servo controller, and the first servo controller controls the first servo motor and drives the second A wiper arm swings. The utility model has the advantages of simple structure and low cost, can realize any swing angle of the wiper from 0° to 180°, has the protection function of "rotation resistance", can realize stepless speed regulation, and has high reliability and long service life.

Description

car electric wiper

technical field

The utility model relates to a wiper, in particular to an electric wiper for automobiles.

Background technique

Existing automobile wipers include motors, reducers, rocker shafts, four-bar linkages, wiper arms, etc., and are complex in structure and bulky. The document with the application number 03256255.1 discloses a wiper blade which can realize a swing angle of 180°, but the structure is complex; the document with the application number 200620101371.X discloses a pneumatically controlled wiper blade, although the mechanical structure is simplified, but the control structure is complex , and the speed regulation of the wiper is inconvenient; the document whose application number is 200620053557.2 uses two motors to drive two wipers respectively, which simplifies the mechanical structure, but needs to use two motors, which increases the cost, and the synchronous movement of the two motors does not Easy to guarantee; the document with application number 200320106137.2 adds some protection circuits to realize the "blocking" protection of the wiper, but the mechanical structure of the wiper is not changed, and the protection circuit is also complicated. The document whose application number is 03270496.8 adopts a DC motor as the driving motor of the wiper. The DC motor has brushes, which has short service life and high noise.

Utility model content

The technical problem to be solved by the utility model is to provide an electric car wiper for the deficiencies of the prior art, using an AC servo motor as the driving motor of the wiper, realizing the reversing of the wiper through the position detection device, and removing the mechanical reversing of the existing wiper The device has simple structure and low cost, can realize any swing angle of the wiper from 0° to 180°, has the protection function of "rotation resistance", can realize stepless speed regulation, and has high reliability and long service life.

The technical problem to be solved by the utility model is achieved through the following technical solutions:

The utility model provides an electric wiper for automobiles, which comprises a first servo motor and a first wiper arm, the output of the first servo motor is connected with the first wiper shaft through a first coupling, and the first wiper shaft is provided with The first wiper arm, and the first wiper arm swings with the rotation of the first wiper shaft, the motor shaft of the servo motor is provided with a first position detection device; the first wiper arm is provided with There is a magnetic steel, and a magnetic induction element is provided at the corresponding position of the vehicle. The first position detection device and the magnetic induction element output the detected position signal to the first servo controller, and the first servo controller controls the first servo motor and Drive the first wiper arm to swing.

The first coupling and the first wiper shaft are also connected in turn with a reducer and a second coupling, the first coupling is connected with the driving part of the reducer, and the driven part of the reducer passes through the first The second coupling is connected with the first wiper shaft.

The first crank is sleeved on the first wiper shaft, the first crank is connected with the second crank through a synchronous rod, the second crank is provided with a second wiper shaft, and the second wiper shaft rotates and Drive the second wiper arm fixed thereon to swing.

The reducer is a worm gear reducer, a cylindrical gear reducer, a bevel gear reducer, a planetary gear reducer or a combination thereof.

As a deformation structure, the utility model also includes a second servo motor and a second wiper arm, the motor shaft of the second servo motor is provided with a second position detection device, and the second position detection device will detect the position signal Output to the second servo controller, the second servo controller is connected to the first servo controller; the first position detection device and the magnetic induction element output the detected position signal to the first servo controller, the second A servo controller outputs the position signal to the second servo controller to control the second servo motor and drive the second wiper arm to swing.

In order to save volume, the first position detection device, the first servo controller and the first servo motor are integrated; the second position detection device, the second servo controller and the second servo motor are integrated.

According to requirements, the first servo motor and the second servo motor are preferably AC servo motors.

The servo controller in the above-mentioned automobile electric wiper includes a data processing unit, a motor drive unit and a current sensor, and the data processing unit receives the input command signal, the motor input current signal collected by the current sensor and the representative motor output from the position detection device. After data processing, the angle information outputs a control signal to the motor drive unit, and the motor drive unit outputs an appropriate voltage to the servo motor according to the control signal, thereby realizing precise control of the servo motor.

The data processing unit includes a mechanical loop control subunit, a current loop control subunit, a PWM control signal generation subunit, and a sensor signal processing subunit;

The sensor signal processing subunit receives the information representing the motor angle output by the position detection device, and transmits the motor angle to the mechanical ring control subunit; the sensor signal processing subunit also receives the information of the current sensor The detected current signal is output to the current loop control subunit after being sampled by A/D;

The mechanical loop control subunit obtains a current command through calculation according to the received command signal and the rotation angle of the motor shaft, and outputs it to the current loop control subunit;

The current loop control subunit obtains the duty ratio control signal of the three-phase voltage through calculation according to the current signal output by the current sensor of the received current command, and outputs it to the PWM control signal generation subunit;

The PWM control signal generating subunit generates six PWM signals with a certain sequence according to the received duty ratio control signals of the three-phase voltages, and acts on the motor drive unit respectively.

The motor drive unit includes six power switch tubes, two of which are connected in series to form a group, and three groups are connected in parallel between the DC power supply lines, and the control terminal of each switch tube is output by the sub-unit generated by the PWM control signal. Controlled by the PWM signal, the two switch tubes in each group are time-sharingly turned on.

The data processing unit is an MCU, and the motor drive unit is an IPM module.

The first position detection device and the second position detection device include a magnetic steel ring, a magnetic permeable ring and a magnetic induction element, wherein the magnetic permeable ring is composed of two or more arc segments with the same radius and the same center , there is a gap between two adjacent arc sections, the magnetic induction element is placed in the gap, when the magnetic steel ring and the magnetic permeation ring undergo relative rotational movement, the magnetic induction element converts the sensed magnetic signal into a voltage signal, And transmit the voltage signal to a corresponding signal processing device.

The magnetic conduction ring is composed of two arc segments with the same radius and the same center, which are 1/4 arc segment and 3/4 arc segment respectively, and there are 2 corresponding magnetic induction elements; or, the magnetic conduction ring is composed of Three arc segments with the same radius are composed of 1/3 arc segments, and the corresponding magnetic induction elements are 3; or, the magnetic permeable ring is composed of four arc segments with the same radius, which are 1/4 arc segments respectively , there are 4 corresponding magnetic induction elements; or, the magnetic permeable ring is composed of six arc segments with the same radius, which are 1/6 arc segments, and there are 6 corresponding magnetic induction elements.

The end of the arc section of the magnetic permeable ring is provided with a chamfer, which is a chamfer formed by cutting along the axial or radial direction or simultaneously along the axial and radial directions.

In order to facilitate fixing the magnetic conduction ring, the first position detection device and the second position detection device also include a skeleton, the magnetic conduction ring is arranged on the skeleton forming mold, and is fixed with the skeleton when the skeleton is integrally formed Together.

The sensor signal processing subunit or the position detection device includes a signal processing circuit of the position detection device, which is used to obtain the rotation angle of the motor shaft according to the voltage signal of the position detection device, specifically including:

The A/D conversion circuit performs A/D conversion on the voltage signal sent by the magnetic induction element in the position detection device, and converts the analog signal into a digital signal;

A synthesizing circuit for processing a plurality of A/D-converted voltage signals sent by the position detection device to obtain a reference signal D;

The angle acquisition circuit, according to the reference signal D, selects the angle corresponding to it in the standard angle table as the offset angle θ; and

The storage circuit is used for storing the standard angle table.

The first position detection device and the second position detection device include a rotor and a stator that covers the rotor inside, and the rotor includes a first magnetic steel ring and a second magnetic steel ring;

Wherein, the first magnetic steel ring and the second magnetic steel ring are respectively fixed on the motor shaft;

On the stator, corresponding to the second magnetic steel ring, there are n (n=1, 2...n) evenly distributed magnetic induction elements on the same circumference with the center of the second magnetic steel ring as the center, the second magnetic steel ring The magnetization sequence of the magnetic poles of the steel ring makes the output of n magnetic induction elements in Gray code format, and only one bit changes between two adjacent outputs;

On the stator, corresponding to the first magnetic steel ring, there are m (m is an integer multiple of 2 or 3) magnetic induction elements distributed at a certain angle on the same circumference with the center of the first magnetic steel ring as the center, so The total number of pairs of magnetic poles of the first magnetic steel ring is equal to the total number of magnetic poles of the second magnetic steel ring, and the polarities of adjacent two poles are opposite;

When the rotor rotates relative to the stator, the magnetic induction element converts the sensed magnetic signal into a voltage signal, and outputs the voltage signal to a signal processing device.

The included angle between two adjacent magnetic induction elements corresponding to the first magnetic steel ring on the stator, when m is 2 or 4, the included angle is 90°/g; when m is 3, the included angle is 120°/g; when m is 6, the included angle is 60°/g, wherein, g is the total number of magnetic poles of the second magnetic steel ring.

The first position detection device and the second position detection device include a rotor and a stator that covers the rotor inside, and the rotor includes a first magnetic steel ring and a second magnetic steel ring;

Wherein, the first magnetic steel ring and the second magnetic steel ring are respectively fixed on the rotating shaft, and the first magnetic steel ring is uniformly magnetized as N[N<=2 ⁿ (n=0, 1, 2...n )] pair of magnetic poles, and the polarities of adjacent two poles are opposite; the total number of magnetic poles of the second magnetic steel ring is N, and its magnetic sequence is determined according to a specific magnetic sequence algorithm;

On the stator, corresponding to the first magnetic steel ring, m (m is an integer multiple of 2 or 3) magnetic induction elements distributed at a certain angle are arranged on the same circumference with the center of the first magnetic steel ring as the center; corresponding to The second magnetic steel ring is provided with n (n=0, 1, 2...n) magnetic induction elements distributed at a certain angle on the same circumference with the center of the second magnetic steel ring as the center;

When the rotor rotates relative to the stator, the magnetic induction element converts the sensed magnetic signal into a voltage signal, and outputs the voltage signal to a signal processing device.

The included angle between two adjacent magnetic induction elements corresponding to the second magnetic steel ring on the stator is 360°/N.

Corresponding to the included angle between two adjacent magnetic induction elements of the first magnetic steel ring on the stator, when m is 2 or 4, the included angle between each adjacent two magnetic induction elements is 90°/N, when m When m is 3, the included angle between every two adjacent magnetic sensing elements is 120°/N; when m is 6, the included angle between every adjacent two magnetic sensing elements is 60°/N.

In order to simplify the structure, the magnetic induction element is directly surface-mounted on the inner surface of the stator.

For better magnetic concentration, the first position detection device and the second position detection device also include two magnetic conduction rings, each of which is composed of a plurality of arc segments with the same center and the same radius, There is a space between two adjacent arc sections, and the magnetic induction elements corresponding to the two magnetic steel rings are respectively arranged in the space.

The end of the arc section of the magnetic permeable ring is provided with a chamfer, which is a chamfer formed by cutting along the axial or radial direction or simultaneously along the axial and radial directions.

The magnetic induction element is a Hall induction element.

The sensor signal processing subunit or the position detection device includes a signal processing circuit of the position detection device, which is used to obtain the rotation angle of the motor shaft according to the voltage signal of the position detection device, specifically including:

The A/D conversion circuit performs A/D conversion on the voltage signal sent by the position detection device, and converts the analog signal into a digital signal;

The relative offset angle θ ₁ calculation circuit is used to calculate the relative offset θ ₁ of the first voltage signal sent by the magnetic induction element corresponding to the first magnetic steel ring in the position detection device in the signal period;

Absolute offset _θ2 calculation circuit, according to the second voltage signal sent by the magnetic induction element corresponding to the second magnetic steel ring in the position detection device, determines the absolute offset of the first position of the signal cycle where the first voltage signal is located by calculation displacement θ ₂ ;

The angle synthesis and output module is used to add the above-mentioned relative offset θ ₁ and absolute offset θ ₂ to synthesize the rotation angle θ represented by the first voltage signal at this moment;

The storage module is used for storing data.

Also includes:

The signal amplification circuit is used for amplifying the voltage signal from the magnetoelectric sensor before the A/D conversion circuit performs A/D conversion.

The relative offset angle _θ1 calculation circuit includes a first synthesis circuit and a first angle acquisition circuit, and the first synthesis circuit processes a plurality of A/D converted voltage signals sent from the position detection device to obtain a Reference signal D; the first angle acquisition circuit selects an angle corresponding to it in the first standard standard angle table as the offset angle θ ₁ according to the reference signal D.

The relative offset angle _θ1 calculation circuit also includes a temperature compensation circuit before the synthesis circuit, which is used to eliminate the influence of temperature on the voltage signal sent by the magnetoelectric sensor.

The output of the combining circuit or the first combining circuit also includes a signal R;

The temperature compensation unit includes a coefficient rectifier and a multiplier, and the coefficient rectifier compares the output signal R of the synthesis module with the signal _R in the standard state corresponding to the signal to obtain an output signal K; the multiplication There are multiple multipliers, and each multiplier multiplies a voltage signal sent from the position detection device and undergoes A/D conversion with the output signal K of the coefficient correction module, and outputs the multiplied result to first synthesis circuit.

The calculation circuit of the absolute offset _θ2 includes a second synthesis circuit and a second angle acquisition circuit, and the second synthesis circuit is used to perform a second voltage signal sent by the position detection device corresponding to the second magnetic steel ring Synthesize to obtain a signal E; the second angle acquisition circuit selects an angle relative to it in the second standard angle table according to the signal E as the absolute offset _θ2 of the first position of the signal cycle where the first voltage signal is located .

In summary, the utility model has a simple structure and low cost; the reversing of the wiper is related to the installation position of the magnetic induction element, as long as the installation position of the magnetic induction element is adjusted, any swing angle of the wiper between 0° and 180° can be realized; The AC servo system is adopted, and the AC servo controller can realize "blocking" protection for the AC servo motor, and will not burn out the motor due to the "blocking" of the wiper, and has the "blocking" protection function; Stepless speed regulation can realize stepless speed regulation for the wiper, and the speed regulation is very convenient; because the mechanical structure of the existing wiper is greatly simplified, and the AC servo motor is used, which has a longer service life than the DC motor, the reliability of the entire system is high.

The utility model is described in detail below in conjunction with accompanying drawings and specific embodiments.

Description of drawings

Fig. 1 is a schematic structural view of an automobile electric windshield wiper according to Embodiment 1 of the utility model;

Fig. 2 is a schematic structural view of an automobile electric windshield wiper according to Embodiment 2 of the utility model;

Fig. 3 is a schematic structural view of an automobile electric wiper according to a third embodiment of the utility model;

Fig. 4 is a schematic structural view of an automobile electric wiper according to Embodiment 4 of the utility model;

Fig. 5 is a schematic structural view of an automobile electric wiper according to Embodiment 5 of the utility model;

Fig. 6 is a schematic structural view of an automobile electric wiper according to Embodiment 6 of the present utility model;

Fig. 7 is a structural schematic diagram of an automobile electric wiper according to Embodiment 7 of the present utility model;

Fig. 8 is a schematic structural view of an electric wiper blade for an automobile according to an eighth embodiment of the utility model;

Fig. 9 is a schematic structural view of an automobile electric wiper according to Embodiment 9 of the present utility model;

Fig. 10 is a schematic structural diagram of an automobile electric wiper according to Embodiment 10 of the present utility model;

Fig. 11 is a schematic structural view of an automobile electric wiper according to Embodiment 11 of the present utility model;

Fig. 12 is a schematic structural diagram of a control system of an electric wiper for an automobile according to the above-mentioned embodiment;

Fig. 13 is a schematic diagram of the structure of the AC servo system;

Fig. 14 shows the synchronous control schematic diagram of dual-motor wiper;

Fig. 15 is a schematic diagram of the structure of the position detection device of the present invention installed on the shaft;

Fig. 16 is a three-dimensional exploded view of the position detection device of the present invention;

Fig. 17 is a perspective view of the position detection device of the present invention installed on the shaft;

Fig. 18 is another perspective view of the position detection device of the present invention installed on the shaft;

Fig. 19 is a perspective view of the magnetic steel ring installed on the shaft;

Fig. 20 is a perspective view of the magnetic conducting ring installed on the skeleton;

Fig. 21 is a perspective view after removing the magnetic conduction ring from the skeleton;

Fig. 22A-Fig. 22D are the chamfering design drawings of the magnetic permeable ring of the present utility model;

Fig. 23 is a schematic structural view of Embodiment 1 of the position detection device of the present invention;

Fig. 24 is a block diagram of the signal processing device of Embodiment 1 of the position detection device of the present invention;

Fig. 25 is a schematic structural diagram of Embodiment 2 of the position detection device;

Fig. 26 is a block diagram of the signal processing device of Embodiment 2 of the position detection device;

Fig. 27 is a schematic structural view of Embodiment 3 of the position detection device;

Fig. 28 is a block diagram of the signal processing device of Embodiment 3 of the position detection device;

Fig. 29 is a schematic structural view of Embodiment 4 of the position detection device;

Fig. 30 is a block diagram of a signal processing device of Embodiment 4 of the position detection device;

Fig. 31 is a three-dimensional exploded view of the position detection device of the fifth embodiment of the present invention;

Figure 32 is an installation diagram of the position detection device shown in Figure 31;

Fig. 33 is another installation diagram of the position detecting device shown in Fig. 31;

Figure 34 is one of the flow charts of the signal processing method of the position detection device described in the utility model;

Figure 35 is the second flow chart of the signal processing method of the position detection device described in the utility model;

Figure 36 is the second flow chart of the signal processing method of the position detection device described in the utility model;

Figure 37 is the fourth flowchart of the signal processing method of the position detection device described in the utility model;

Fig. 38 is the code obtained when the position detection device according to Embodiment 5 of the present invention is provided with three magnetic induction elements corresponding to the second magnetic steel ring;

Fig. 39 is the magnetization sequence of the second magnetic steel ring when the position detection device according to the fifth embodiment of the utility model is provided with three magnetic induction elements corresponding to the second magnetic steel ring;

Fig. 40 is a structural diagram of the second magnetic steel ring, the magnetic conduction ring and the magnetic induction element of the position detection device according to the fifth embodiment of the utility model;

Fig. 41 is a layout diagram corresponding to 2 magnetic induction elements when the first magnetic steel ring of the position detection device according to Embodiment 5 of the utility model is uniformly magnetized into 6 pairs of poles;

Fig. 42 is a structural diagram of the first magnetic steel ring, the magnetic conduction ring and the magnetic induction element of the position detection device according to the fifth embodiment of the present invention;

Fig. 43 is a circuit block diagram of the signal processing device of the position detection device according to the fifth embodiment of the present invention;

Fig. 44 is a structural diagram of the first magnetic steel ring, the magnetic conduction ring and the magnetic induction element of the sixth embodiment of the utility model;

Fig. 45 is a circuit block diagram of a signal processing device according to Embodiment 6 of the present invention;

Fig. 46 is a structural diagram of the first magnetic steel ring, the magnetic conduction ring and the magnetic induction element of the seventh embodiment of the present utility model;

Fig. 47 is a circuit block diagram of a signal processing device according to Embodiment 7 of the present utility model;

Fig. 48 is a structural diagram of the first magnetic steel ring, the magnetic conduction ring and the magnetic induction element of the eighth embodiment of the utility model;

Fig. 49 is a circuit block diagram of the signal processing device of the eighth embodiment of the utility model;

Fig. 50 is a three-dimensional exploded view of another structure of the position detection device according to Embodiment 5 to Embodiment 8 of the present invention;

51A, 51B and 51C are respectively a three-dimensional exploded view, a schematic diagram and a structural diagram of the structure of the position detection device provided with the magnetic permeable ring in the ninth embodiment.

Detailed ways

Embodiment one

Referring to the accompanying drawings, Fig. 1 is a structural schematic diagram of an electric wiper blade for an automobile according to Embodiment 1 of the utility model. As shown in Figure 1, the automobile electric wiper includes: a first servo motor 1a and a first wiper arm 2a, the output of the first servo motor 1a is connected with the first wiper shaft 4a through a first coupling 3a, the first A first wiper arm 2a is provided on the wiper shaft 4a, and the first wiper arm 2a swings with the rotation of the first wiper shaft 4a.

The motor shaft of the first servo motor 1a is provided with a first position detection device 5a; the first wiper arm 2a is provided with a magnetic steel 6, and a magnetic induction element is provided at the corresponding position of the automobile. In the utility model, the magnetic induction element 7 Using the Hall induction element, the first position detection device 5a and the magnetic induction element 7 output the detected position signal to the first servo controller 8a, and the first servo controller 8a controls the first servo motor 1a and drives the first wiper arm 2a swings. The magnetic induction element 7 is connected to the first servo controller 8a through the signal line 9a, the first position detection device 5a is connected to the first servo controller 8a through the signal line 9b, and the first servo motor 1a is connected to the first servo controller through the motor power line 10. Controller 8a.

In this embodiment, the method for controlling the electric wiper of an automobile includes the following steps:

Step 1: The first wiper arm 2a is driven by the servo motor 1a to swing in the direction of the magnetic induction element 7. At this time, the rotation direction of the servo motor is set as the forward rotation direction, and the swing direction of the wiper arm is forward swing;

Step 2: The first wiper arm 2a swings to the limit position, so that the magnetic steel 6 on the first wiper arm 2a corresponds to the position of the magnetic induction element 7, and the magnetic induction element 7 senses the position of the magnetic steel 6 and signals the position Passed to the first servo controller 8a, the first servo motor 1a performs position control, and controls the first servo motor 1a to reverse, so that the first wiper arm 2a swings in the opposite direction;

Step 3: Preset the rotation angle of the first servo motor 1a to control the position of the first servo motor 1a, calculate the angle of rotation of the first servo motor 1a, thereby calculate the angle of rotation of the first wiper arm 2a, when the first After the servo motor 1a rotates through the set angle, the first servo motor 1a is controlled to rotate forward, thereby driving the wiper arm to swing forward again.

Embodiment two

As shown in FIG. 2 , the difference from the first embodiment is that the electric wiper also includes a speed reducer. The first servo controller 8a controls the operation of the first servo motor 1a, the motor is connected with the worm 11 through the first coupling 3a, drives the worm 11 to rotate, the worm 11 drives the worm wheel 12 to rotate, and the worm shaft 13 is connected to the worm shaft 13 through the second coupling 3b. The first wiper shaft 4a is connected to drive the first wiper shaft 4a to rotate. The reducer used here is a worm gear reducer, and a cylindrical gear reducer, a bevel gear reducer, a planetary gear reducer, etc. can also be used. The electric wiper is a single-wiper structure wiper with a simple structure. The servo controller can control the wiper to achieve any swing angle from 0° to 180°, so it can not only replace the existing single-wiper structure wiper, but also replace the existing double wiper. Wiper wiper structure.

Embodiment three

As shown in Figure 3, the difference from Embodiment 1 is that the first wiper shaft 4a of the electric wiper is sleeved with a first crank 14a, the first crank 14a is connected with the second crank 14b through a synchronous rod 15, and the second crank 14b is provided with a second wiper shaft 4b, and the second wiper shaft 4b rotates and drives the second wiper arm 2b fixed thereon to swing. There is no speed reducer between the motor of the automobile wiper and the wiper shaft, and they are directly connected through a shaft coupling 3a. This can simplify the structure of the wiper, but requires the motor to provide greater torque.

In this embodiment, the control method of the automobile electric wiper comprises the following steps:

Step 1: The first wiper arm 2a is driven by the first servo motor 1a to swing in the direction of the magnetic induction element 7. At this time, the rotation direction of the first servo motor 1a is set as the forward rotation direction, and the swing of the first wiper arm 2a The direction is positive swing;

Step 2: The first wiper arm 2a swings to the limit position, so that the magnetic steel 6 on the first wiper arm 2a corresponds to the position of the magnetic induction element 7, and the magnetic induction element 7 senses the position of the magnetic steel 6 and signals the position Pass it to the first servo controller 8a to control the position of the first servo motor 1a, and control the reverse rotation of the first servo motor 1a, so that the first wiper arm 2a swings in the opposite direction;

The first wiper arm 2a and the second wiper arm 2b are connected by a synchronous rod 15; as the first wiper arm 2a swings, the magnetic steel 6 arranged on it moves to the position corresponding to the magnetic induction element 7 Position, the magnetic induction element 7 senses the position of the magnetic steel and transmits the position signal to the first servo controller 8a, the first servo motor 1a performs position control, and controls the first servo motor 1a to reverse, so that the first wiper arm 2a reversely swings; the synchronous lever 15 drives the second wiper arm 2b to swing reversely at the same time.

Step 3: Preset the rotation angle of the first servo motor 1a to control the position of the first servo motor 1a, calculate the angle of rotation of the first servo motor 1a, thereby calculate the angle of rotation of the first wiper arm 2a, when the first After the servo motor 1a rotates through the set angle, the first servo motor 1a is controlled to rotate forward, thereby driving the first wiper arm 2a to swing forward again. The synchronization lever 15 simultaneously drives the second wiper arm 2b to swing forward.

Embodiment four

As shown in FIG. 4 , the difference from the third embodiment is that a speed reducer, that is, a first gear 16a and a second gear 16b , is provided between the motor of the electric wiper and the wiper shaft. In addition, bevel gear reducers, planetary gear reducers, etc. can also be used.

Embodiment five

As shown in Figure 5, in the electric wiper, the first servo controller 8a controls the operation of the first servo motor 1a, the motor is connected to the worm 11 through the first coupling 3a, and drives the worm 11 to rotate, and the worm 11 drives the worm wheel 12 to rotate , the worm gear shaft 13 is connected with the first wiper shaft 4a through the second coupling 3b, and drives the first wiper shaft 4a to rotate. The first wiper shaft 4a drives the first wiper arm 2a and the first crank 14a to rotate, the first crank 14a is connected to the second crank 14b through the synchronous rod 15, drives the second crank 14b to rotate, and the second crank 14b drives the second wiper The rotation of the wiper shaft 4b further drives the rotation of the second wiper arm 2b.

A magnetic steel 6 is pasted on the first wiper arm 2a, and on one side of the first wiper arm 2a, a magnetic induction element 7 is installed at the position corresponding to the magnetic steel 6 (when the magnetic steel 6 is accompanied by the first wiper arm 2a When turning to one side, it just corresponds to the position of the magnetic induction element 7). When the first wiper arm 2a moves towards the direction of the magnetic induction element 7, the magnetic steel 6 approaches the magnetic induction element 7, the magnetic field increases, and the induced voltage of the magnetic induction element 7 increases. When the magnetic steel 6 is closest to the Hall, the magnetic induction element 7 The induced voltage is the largest, and the CPU detects the maximum voltage of the magnetic induction element 7 , thereby generating a steering signal, controlling the motor to run in reverse, and the first wiper arm 2 a moves away from the magnetic induction element 7 . When the first wiper arm 2a moves away from the magnetic induction element 7, the first servo controller 8a controls the position of the first servo motor 1a to control the number of turns of the motor. After the number of turns, the first servo motor 1a is controlled to rotate in the opposite direction, so that the first wiper arm 2a moves toward the direction close to the magnetic induction element 7 . When the first wiper arm 2a moves towards the direction close to the magnetic induction element 7, when the magnetic steel 6 moves to the closest distance to the magnetic induction element 7, the magnetic induction element 7 generates the maximum induced voltage signal, which is transmitted to the first servo controller 8a, the second A servo controller 8 a controls the first servo motor 1 a to reverse, and the first wiper arm 2 a moves away from the magnetic induction element 7 . The reciprocating motion of the first wiper arm 2 a is realized through the magnetic induction element 7 , the magnetic steel 6 and position control. The second wiper arm 2b keeps moving synchronously with the first wiper arm 2a through the first crank 14a, the synchronization lever 15, and the second crank 14b.

Embodiment six

As shown in FIG. 6 , the difference from the fifth embodiment is that the electric wiper is a wiper with a dual-motor structure, and each motor drives a wiper arm respectively. The first servo controller 8a and the servo controller 8b perform synchronous control on the two motors, and a signal line 9d is connected between them for communication to realize the synchronous control of the two motors. The reducer used is a worm gear reducer, and a cylindrical gear reducer, a bevel gear reducer, a planetary gear reducer, etc. can also be used.

Embodiment seven

As shown in Figure 7, the structure of the electric wiper is similar to the structure described in the first embodiment, and its characteristic is that no reducer is used, the motor shaft is directly connected to the wiper shaft 4a through the coupling 3a, and the servo system adopted is The integrated servo system is a single wiper with an integrated structure. The structure of the electric wiper is very simple, but since there is no reducer, the torque provided by the motor is required to be large.

Embodiment eight

As shown in Figure 8, the electric wiper is a double wiper with an integrated structure. Each motor drives a wiper arm respectively. The first servo controller 8a and the servo controller 8b perform synchronous control on the two motors, and a signal line 9b is connected between them for communication to realize the synchronous control of the two motors. Servo motors 1a and 1b are directly connected to wiper shafts 4a and 4b through couplings 3a and 3b, respectively, without a reducer in between.

Embodiment nine

As shown in FIG. 9 , the electric wiper is a wiper with a single wiper structure using an integrated servo system. Compared with the second embodiment, the servo system used is an integrated servo system, and the servo controller and the servo motor are integrally structured, which is simpler in structure than the wiper blade in the second embodiment. The reducer used is a worm gear reducer, and a cylindrical gear reducer, a bevel gear reducer, a planetary gear reducer, etc. can also be used.

Embodiment ten

As shown in FIG. 10 , the electric wiper is a wiper with a single wiper structure using an integrated servo system. Compared with the ninth embodiment, the difference is that the speed reducer adopted is a cylindrical gear speed reducer, that is, the first gear 16a and the second gear 16b. In addition, a bevel gear speed reducer, a planetary gear speed reducer, etc. can also be used.

Embodiment Eleven

As shown in FIG. 11 , the electric wiper is a wiper using two integrated servo systems, and each motor drives a wiper arm respectively. The servo controller 8a and the servo controller 8b perform synchronous control on the two motors, and a signal line 9b is connected between them for communication to realize the synchronous control of the two motors. The reducer used is a worm gear reducer, and a cylindrical gear reducer, a bevel gear reducer, a planetary gear reducer, etc. can also be used.

In the above embodiments, the motor is preferably an AC servo motor.

Based on the above-mentioned various embodiments, the control method of the utility model automobile electric wiper is summarized as the following steps:

Step 1: The wiper arm is driven by the servo motor to swing in the direction of the magnetic induction element. At this time, the rotation direction of the servo motor is set as the forward direction, and the swing direction of the wiper arm is forward swing;

Step 2: The wiper arm swings to the limit position, so that the magnetic steel on the wiper arm corresponds to the position of the magnetic induction element. The magnetic induction element senses the position of the magnetic steel and transmits the position signal to the servo controller, and the servo motor performs position adjustment. Control, control the reverse rotation of the servo motor, so that the wiper arm swings in the opposite direction;

Step 3: Preset the rotation angle of the servo motor to control the position of the servo motor, calculate the rotation angle of the servo motor, and then calculate the rotation angle of the wiper arm. When the servo motor rotates through the set angle, control the servo motor to Rotate, so as to drive the wiper arm to swing forward again.

Preferably, step 2 specifically includes: the wiper arm includes a first wiper arm and a second wiper arm, both of which are connected through a synchronous rod; as the first wiper arm swings, the magnetic steel provided on it moves to The position corresponding to the magnetic induction element, the magnetic induction element senses the position of the magnetic steel and transmits the position signal to the servo controller, the servo motor performs position control, controls the motor to reverse, so that the first wiper arm swings in the opposite direction; synchronous The lever simultaneously drives the second wiper arm to swing in reverse.

Preferably, step 2 specifically includes: the wiper arm includes a first wiper arm and a second wiper arm, both of which are respectively provided with their own position detection devices, servo controllers and servo motors, and the servo motors of the two are connected; The above-mentioned first wiper arm swings to the limit position, so that the magnetic steel on the first wiper arm corresponds to the position of the magnetic induction element, and the magnetic induction element senses the position of the magnetic steel and transmits the position signal to the first wiper arm The servo controller of the servo motor controls the position and controls the reverse rotation of the motor, so that the first wiper arm swings in the opposite direction; the servo controller of the first wiper arm simultaneously transmits the control signal to the servo control of the second wiper arm The servo motor performs position control and controls the reverse rotation of the motor, so that the second wiper arm and the first wiper arm swing in reverse synchronously.

Preferably, in step 3, the motor is controlled to rotate forward, so as to drive the wiper arm to swing forward again, which specifically includes: the wiper arm includes a first wiper arm and a second wiper arm, the two are connected through a synchronous rod, and the servo motor drives The first wiper arm swings forward; the synchronization lever simultaneously drives the second wiper arm to swing forward.

Preferably, step 3 specifically includes: the wiper arm includes a first wiper arm and a second wiper arm, both of which are respectively provided with their own position detection devices, servo controllers and servo motors, and the servo motors of the two are connected; Set the rotation angle of the servo motor to control the position of the servo motor, calculate the angle of the servo motor, and then calculate the angle of the wiper arm. When the servo motor rotates through the set angle, control the servo motor to rotate forward, thereby driving The first wiper arm swings forward again; the servo controller of the first wiper arm transmits the control signal to the servo controller of the second wiper arm at the same time, and controls the second wiper arm to synchronize with the first wiper arm to swing.

The control principle of the electric wiper blade of the automobile in the above-mentioned embodiment will be described below.

Fig. 12 is a schematic structural diagram of a control system of an electric wiper blade for an automobile according to the above-mentioned embodiment. As shown in Figure 12, the automobile wiper control system consists of a servo controller, an AC servo motor, a position detection device, a Hall and a magnetic steel. The servo controller is composed of single-chip microcomputer (MCU), IPM, current sensor and so on. The single-chip microcomputer receives the motor current signal of the current sensor, the voltage signal of the position detection device and the induced voltage signal of the Hall, solves the motor steering signal, the operation angle calculation algorithm and the control program, and generates a PWM signal to control the IPM. The IPM generates three-phase voltage to the AC servo motor according to the PWM signal. The whole system is a closed-loop control system with short control period (a control period is only tens of microseconds), fast response and high precision.

Specifically, as shown in Figure 13, there are CPU, A/D, synchronous communication port, and PWM signal generation module inside the MCU. The analog signal input from the current sensor to the MCU is sampled by the A/D and converted into a digital signal. So as to get the current feedback. The voltage signal input by the position detection device to the MCU is sampled by A/D and converted into a digital signal, and the CPU runs the angle solving algorithm to obtain angle feedback. The voltage signal input by the Hall to the MCU is converted into a digital signal through A/D sampling. The Hall senses the magnetic field of the magnet. When the magnet moves to the position corresponding to the Hall, the magnetic field is the strongest, thereby generating a steering signal. The CPU runs the control program according to the steering signal, current feedback and angle feedback. The control program mainly includes a mechanical loop and a current loop. The mechanical loop calculates the current command according to the setting command and angle feedback, and the current loop calculates the three-phase voltage duty cycle according to the current command and current feedback. The PWM signal generation module generates a PWM signal according to the duty cycle of the three-phase voltage and transmits it to the IPM. The IPM generates three-phase voltage to the AC servo motor according to the PWM signal.

The difference between the control and the traditional AC servo system is that there is no encoder, but the encoder is replaced by a position detection device, and the angle calculation algorithm and control program are all completed in one MCU. There is also an MCU in the traditional AC servo system encoder, which is used to process the angle-related A/D sampling and run the angle solving algorithm, and send the angle to the MCU in the controller through the synchronous port communication, and the MCU in the controller is used for Run the control program. This patent only uses one MCU to complete the work done by the original two MCUs, which saves one MCU, and at the same time saves the connection of the corresponding peripheral circuits, encoders and controllers, so compared with the traditional AC servo system, the cost is reduced .

When the first wiper arm moves towards the Hall, the magnetic steel approaches the Hall, the magnetic field increases, and the induced voltage of the Hall increases. When the magnetic steel is closest to the Hall, the induced voltage of the Hall is the largest, and the CPU detects The maximum voltage of the Hall, thereby generating a steering signal, controlling the motor to run in reverse, and the first wiper arm moves away from the Hall.

When the first wiper arm moves away from the Hall, the servo controller controls the position of the AC servo motor and controls the number of turns of the motor. When the motor turns the specified number of turns, it controls the motor to move in the opposite direction. Rotate so that the first wiper arm moves to the side where Hall is installed. The reciprocating motion of the first wiper arm is realized through Hall, magnet and position control. The second wiper arm keeps moving synchronously with the first wiper arm through the first crank, the synchronization lever and the second crank.

Among them, the mechanical ring calculates the current command according to the angle command and the angle feedback obtained by the angle solving algorithm through control calculation, and transmits it to the current loop. The mechanical loop of the electric valve control system includes two position loops and one speed loop. The position loop outputs a speed command, and the speed loop outputs a current command. The steering signal is also the input of the mechanical ring, which is used to control the direction of rotation of the motor. The function of the position loop is to calculate the number of turns of the motor when the first wiper arm moves away from the Hall, and control the motor to rotate in the opposite direction after the specified number of turns, so that the first A wiper arm moves toward the side where the Hall is installed.

The angle command is the command set by the control program or calculated according to the set command. The position detection device senses the angular position of the motor shaft and transmits the induced voltage signal to the MCU. After A/D sampling, a digital signal containing angle information is obtained and transmitted to the CPU in the MCU. The CPU runs the angle calculation algorithm to obtain angle feedback. The angle command is subtracted from the angle feedback to obtain the angle error, and the PID controller is used to control the angle to obtain the speed command. The PID control of the angle is called the position loop, and the output of the position loop is the speed command, which is passed to the speed loop. The angle feedback obtains the speed feedback through the differentiator, and the speed command is subtracted from the speed feedback to obtain the speed error. The PID control is performed on the speed through the PID controller to obtain the current commands I _{d_ref} and I _{q_ref} . The PID control of speed is called speed loop. The current command is the output of the speed loop and also the output of the mechanical loop. The mechanical loop outputs the current command I _{d_ref} and I _{q_ref} to the current loop.

Figure 14 shows a schematic diagram of the synchronous control of the dual-motor wiper. As shown in Fig. 14, the dual-motor wiper includes two AC servo systems, and the servo controllers of the two AC servo systems are connected through data lines for data communication. MCU1 receives the Hall-induced voltage signal, and obtains the steering signal through A/D sampling and solving for the steering signal. The MCU1 receives the setting command at the same time, and uses the setting command and the steering signal as the input of the MCU1 mechanical ring. The setting command and steering signal are calculated to calculate the angle command 2, which is transmitted to MCU2 through the data line as the input of the MCU2 mechanical ring. Then the servo controller 1 and the servo controller 2 control the positions of the AC servo motors 1 and 2 respectively, so as to ensure the synchronization of the two motors.

Next, the position detection device used in each of the above-described embodiments will be described in detail.

Fig. 15 is a structural principle diagram showing that the position detection device of the present invention is installed on the shaft. Fig. 16 is an exploded perspective view showing the position detection device of the present invention. As shown in Figure 15 and Figure 16, the position detection device of the present invention is composed of a magnetic induction element board 102, a magnetic steel ring 103, a magnetic permeable ring 104, and a skeleton 105; the magnetic induction element board 102 is composed of a PCB board and a magnetic induction element 106, and the magnetic induction A connector 108 is also mounted on the component board 102 .

The magnetic steel ring 103 is installed on the shaft 107. For the utility model, the shaft 107 is exactly the rotating shaft of the servo motor, and the magnetic ring 104 is fixed on the skeleton 105, and the skeleton 105 is fixed on a suitable position of the servo motor. When the shaft 107 rotates, the magnetic steel ring 103 rotates to generate a sinusoidal magnetic field, while the magnetic permeable ring 104 acts as a magnetic flux collector, and the magnetic flux generated by the magnetic steel ring 103 passes through the magnetic permeable ring 104 . The magnetic induction element 106 fixed on the PCB converts the magnetic field passing through the magnetic permeable ring 104 into a voltage signal and outputs it, and the voltage signal directly enters the chip of the main control board. The voltage signal is processed by the chip on the main control board, and finally the angular displacement is obtained.

Wherein, when manufacturing the position detection device, the magnetically permeable ring 104 is arranged on the framework forming mold, and is fixed together with the framework 105 when the framework is integrally formed.

Fig. 17 and Fig. 18 are overall perspective views of the position detection device of the present invention installed on the shaft. Fig. 19 is a perspective view of the magnetic steel ring installed on the shaft. Fig. 20 is a perspective view of the magnetic conducting ring installed on the skeleton. Fig. 21 is a perspective view after the magnetic conduction ring is removed from the skeleton. Components in the above figures that are the same as those in FIGS. 15 and 16 are indicated by the same reference numerals. The magnetic ring 104 is installed on the framework 105, the magnetic steel ring 103 is installed on the shaft 107, and the magnetic ring 104 and the magnetic steel ring 103 can rotate relatively. The utility model can reduce the size of the position detection device by rationally arranging the layout of each component.

Figures 22A to 22D illustrate the chamfering design of the magnetic conducting ring of the present invention by taking the magnetic conducting ring composed of 1/4 arc segment and 3/4 arc segment as an example. As shown in Figure 22A to Figure 22D, the magnetic conduction ring is composed of two or more arc segments with the same radius and the same center. The end is provided with a chamfer, which is a chamfer formed by cutting in the axial direction (Fig. 22B) or radial direction (Fig. 22C) or both axially and radially (Fig. 22D). The axial section 151, 154, radial sections 152, 153. There is a gap between two adjacent arc segments, and the magnetic induction element is placed in the gap. When the magnetic steel ring and the magnetic permeation ring rotate relative to each other, the magnetic induction element converts the sensed magnetic signal into a voltage signal, and This voltage signal is transmitted to the corresponding controller.

According to the magnetic density formula $B=\frac{\mathrm{\&Phi;}}{S}$ It can be known that when φ is constant, B can be increased by reducing S.

Because the magnetic flux generated by the permanent magnet is constant, S is relatively large in the magnetic permeable ring, so B is relatively small, so it can reduce the heat caused by the alternating magnetic field. And by reducing the area of the end of the magnetic permeable ring, the magnetic field intensity at the end can be increased, so that the output signal of the magnetic induction element can be enhanced. Such a signal pickup structure has a simple manufacturing process, the picked-up signal has low noise, low production cost, high reliability, and small size.

The signal processing device of the position detection device based on the above structure includes: an A/D conversion module, a synthesis module, an angle acquisition module and a storage module, wherein the A/D conversion module performs the voltage signal sent by the magnetic induction element in the position detection device A/D conversion, converting analog signals into digital signals, corresponding to the number of magnetic induction elements, there are multiple A/D converters in this module, which are used to perform A/D on the voltage signal sent by each magnetic induction element Conversion; the synthesis module processes a plurality of voltage signals converted by A/D to obtain a reference signal D; the angle acquisition module selects an angle relative to it in the angle storage table as an offset according to the reference signal D Angle θ; the storage module is used to store data.

Each of the above modules can constitute an MCU.

Embodiment 1 of the position detection device

This embodiment provides a position detection device provided with two magnetic induction elements.

Fig. 23 is a schematic structural diagram of Embodiment 1 of the position detection device. As shown in Figure 23, the magnetic permeable ring is composed of two arc segments with the same radius, which are respectively 1/4 arc segment 111 and 3/4 arc segment 112, the angle between positions A and B is 90°, and there is a slit , two magnetic induction elements 109 and 110 are respectively placed in the slits at A and B. Adopting this structure is beneficial to reduce the leakage of the magnetic field and increase the magnetic flux induced by the magnetic induction element, and since the magnetic flux induced by the magnetic surface is the integral of the magnetic field, therefore It is used to reduce signal noise and high-order harmonics in the signal. On the motor shaft, a magnetic permeable ring composed of two arc segments 111 and 112 with the same radius is installed concentrically with the magnetic steel ring 113 .

Fig. 24 is the block diagram of the signal processing device of the first embodiment of the position detection device, the output signals of the magnetic induction elements H _1a and H _2a are connected to the built-in A/D converter analog input port of the MCU, and the output signal is obtained after the analog-to-digital conversion and then multiplied 20a, 21a, the output signal K of the coefficient corrector 5a is connected to the input end of the multiplier 20a, 21a, the output signal of the multiplier 20a, 21a is connected to the input end of the synthesizer 3a, and the output signal D and R of the synthesizer 3a, the coefficient correction The device 5a receives the signals D and R output by the synthesizer 3a, obtains the signal K through calculation, and multiplies the signals of the magnetic induction elements H _1a and H _2a with the signal K to perform temperature compensation and eliminate the influence of temperature on the signal Influence. An angle storage table is stored in the memory 40a, and the MCU selects an angle corresponding to it in the angle storage table according to the signal D as the offset angle θ.

Wherein the processing to the signal, that is, the processing principle of the synthesizer 3a to the signal is: compare the magnitude of the numerical values of the two signals, and the smaller numerical value is used for the output signal D, and the structure of the signal D is {the matching bit of the first signal, Coincidence bit for the second signal, value bit for the signal with a smaller value}. Taking this embodiment as an example, the description is as follows:

agreement:

When the data X is a signed number, the 0th bit of the data X (the first bit from the left in the binary system) is the sign bit, X_0=1 means that the data X is negative, and X_0=0 means that the data X is positive.

X_D represents the value bit of the data X (the absolute value of the data), that is, the remaining data bit after removing the sign bit.

If A_D>=B D

D = {A_0; B_0; B_D}

$\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="A"\; filenames="Y2009201500390050H2.png,Y2009201500390061H1.png"\; state="\{\{state\}\}">A</figure-callout></span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="B"\; filenames="Y2009201500390050H2.png,Y2009201500390061H1.png"\; state="\{\{state\}\}">B</figure-callout></span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; ;</span>$

otherwise:

D = {A_0; B_0; A_D}

$\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="A"\; filenames="Y2009201500390050H2.png,Y2009201500390061H1.png"\; state="\{\{state\}\}">A</figure-callout></span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="B"\; filenames="Y2009201500390050H2.png,Y2009201500390061H1.png"\; state="\{\{state\}\}">B</figure-callout></span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; .</span>$

A standard angle table is stored in the storage module, in which a series of codes are stored, and each code corresponds to an angle. The table is obtained through calibration. The calibration method is to use the detection device of this embodiment and a high-precision position sensor to make a one-to-one correspondence between the signal output by the magnetic induction element in this embodiment and the angle output by the high-precision position sensor. , so as to establish a relationship table between the signal output by the magnetic induction element and the angle.

In addition, some data correction tables are also stored in the storage module, and these tables include a corresponding table of signal D and signal R ₀ , wherein signal R ₀ is the signal of signal R in the standard state, and is passed through the synthesis module, that is, the synthesizer The signal D obtained in 3a can be obtained as a signal R ₀ by looking up the table, and the signal K can be obtained by comparing the signal R ₀ with the signal R, such as division operation.

Embodiment 2 of the position detection device

This embodiment provides a position detection device provided with four magnetic induction elements.

Fig. 25 is a schematic structural diagram of Embodiment 2 of the position detection device. As shown in Figure 25, the magnetic permeable ring is composed of four 1/4 arc segments 118, 119, 120 and 121 with the same radius. seam. The four magnetic induction elements 114, 115, 116 and 117 are respectively placed at the slits A, B, C and D. Adopting this structure is conducive to reducing the leakage of the magnetic field and increasing the magnetic flux induced by the magnetic induction elements, and because the magnetic flux induced by the magnetic surface is The integration of the magnetic field is therefore useful to reduce signal noise and high harmonics in the signal. Four sections of 1/4 arc sections 118, 119, 120 and 121 with the same radius form the magnetic permeable ring and the magnetic steel ring 122 and are installed concentrically.

Fig. 26 is a block diagram of a signal processing device of a second embodiment of the position detection device.

This signal processing device is similar to Embodiment 1, and the difference is that, since there are 4 magnetic induction elements forming 90 degrees to each other in this embodiment, subtractors 20b, 21b, i.e. digital differential modules, are added to the signal processing device. The temperature and zero drift are suppressed by the subtractors 20b and 21b, so as to improve the data accuracy, and finally there are still two signals output to the synthesizer 4b.

Embodiment 3 of the position detection device

This embodiment provides a position detection device provided with three magnetic induction elements.

Fig. 27 is a schematic structural diagram of Embodiment 3 of the position detection device. As shown in Figure 27, the magnetic permeable ring is composed of three 1/3 arc segments 126, 127 and 128 with the same radius. The three positions of A, B and C are 120° apart in turn, and there is a slit, and three magnetic induction elements 123, 124 and 125 are respectively placed at the slits of A, B and C. This structure is beneficial to reduce the leakage of the magnetic field and increase the magnetic flux induced by the sensor, and because the magnetic flux induced on the surface of the sensor is the integral of the magnetic field, it is useful to reduce the signal Noise and higher harmonics in the signal. Three sections of 1/3 arc sections 126, 127 and 128 of the same radius form the magnetic permeable ring and the magnetic steel ring 129 and are installed concentrically.

Fig. 28 is a block diagram of a signal processing device in Embodiment 3 of the position detection device.

The difference from the first embodiment is that there are three magnetic induction elements, and three signals are output to the synthesizer 3c. The synthesizer 3c is different from the first embodiment when processing signals, and the rest is the same as the first embodiment. Here, only how the synthesizer 3c processes signals will be described.

In this embodiment, the signal processing, that is, the signal processing principle of the synthesizer 3c is: first judge the matching bits of the three signals, and compare the numerical values of the signals with the same matching bits, and the smaller ones are used for output. The signal D, the structure of the signal D is {the coincidence bit of the first signal, the coincidence bit of the second signal, the coincidence bit of the third signal, the value bit of the signal with a smaller value}. Take this example as an example:

agreement:

When the data X is a signed number, the 0th bit of the data X (the first bit from the left in the binary system) is the sign bit, X_0=1 means that the data X is negative, and X_0=0 means that the data X is positive.

X_D represents the value bit of the data X (the absolute value of the data), that is, the remaining data bit after removing the sign bit.

If {A_0; B_0; C_0} = 010 and A_D >= C_D

D = {A_0; B_0; C_0; C_D}

If {A_0; B_0; C_0}=010 and A_D<C_D

D = {A_0; B_0; C_0; A_D}

If {A_0; B_0; C_0}=101 and A_D>=C_D

D = {A_0; B_0; C_0; C_D}

If {A_0; B_0; C_0}=101 and A_D<C_D

D = {A_0; B_0; C_0; A_D}

If {A_0; B_0; C_0}=011 and B_D>=C_D

D = {A_0; B_0; C_0; C_D}

If {A_0; B_0; C_0}=011 and B_D<C_D

D = {A_0; B_0; C_0; B_D}

If {A_0; B_0; C_0}=100 and B_D>=C_D

D = {A_0; B_0; C_0; C_D}

If {A_0; B_0; C_0}=100 and B_D<C_D

D = {A_0; B_0; C_0; B_D}

If {A_0; B_0; C_0} = 001 and B_D >= A_D

D = {A_0; B_0; C_0; A_D}

If {A_0; B_0; C_0}=001 and B_D<A_D

D = {A_0; B_0; C_0; B_D}

If {A_0; B_0; C_0}=110 and B_D>=A_D

D = {A_0; B_0; C_0; A_D}

If {A_0; B_0; C_0}=110 and B_D<A_D

D = {A_0; B_0; C_0; B_D}

$\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}$

Embodiment 4 of the position detection device

This embodiment provides a position detection device provided with six magnetic induction elements.

Fig. 29 is a schematic structural diagram of Embodiment 4 of the position detection device. As shown in Figure 29, the magnetic permeable ring is composed of six 1/6 arc segments 136, 137, 138, 139, 140 and 141 with the same radius, and the six positions of A, B, C, D, E and F are 60 degrees apart in turn. °, and all have a slit, and the six magnetic induction elements 130, 131, 132, 133, 134, and 135 are respectively placed at the slits of A, B, C, D, E, and F. This structure is beneficial to reduce magnetic field leakage , Improve the magnetic flux induced by the sensor, and because the magnetic flux induced by the sensor surface is the integral of the magnetic field, it is useful to reduce signal noise and high-order harmonics in the signal. A permanent magnet ring is installed on the shaft of the non-load output end of the motor, and the magnetic ring and the magnetic steel ring 142 composed of six 1/6 arc segments 136, 137, 138, 139, 140 and 141 with the same radius are installed concentrically.

FIG. 30 is a block diagram of a signal processing device of Embodiment 4 of the position detection device. The difference from the third embodiment is that there are six magnetic induction elements, therefore, subtractors 20d, 21d, and 22d are added to the signal processing device, and the temperature and zero drift are suppressed by the subtractors 20d, 21d, and 22d, so as to improve For data accuracy, there are still 3 signals finally output to the synthesizer 4d, and the processing process is the same as that of the third embodiment.

As shown in Figures 31 to 33, the position detection device includes a rotor and a stator that covers the rotor inside. The magnetic ring 205b, the first magnetic steel ring 201a and the second magnetic steel ring 201b are respectively fixed on the motor shaft 200, wherein the stator is a bracket 203.

As shown in Figure 31 and Figure 33, the first magnetically permeable ring 205a and the second magnetically permeable ring 205b are respectively composed of a plurality of arc segments with the same center and the same radius, and there is a gap between two adjacent arc segments, corresponding to The magnetic induction elements 204 of the two magnetic steel rings are respectively arranged in the gap. The magnetically permeable ring here is the same as that described in the above embodiments.

Corresponding to the second magnetic steel ring 201b, on the same circle with the center of the second magnetic steel ring 201b as the center, there are n (n=1, 2...n) evenly distributed magnetic induction elements, and the magnetic poles of the second magnetic steel ring The magnetization sequence makes the output of n magnetic induction elements in Gray code form. The polarity of the magnetic pole is that the first digit of the Gray code is "0" corresponding to the "N/S" pole, and the first digit is "1" corresponding to the "S/N" pole.

The uniform magnetization of the first magnetic steel ring 201a is g (the value of g is equal to the total number of magnetic poles in the second magnetic steel ring) opposite poles (N poles and S poles are alternately arranged), when the total number of magnetic poles in the second magnetic steel ring is 6, the number of pole pairs of the first magnetic steel ring 201a is 6 pairs. On the same circle with the center of the first magnetic steel ring 201a as the center, m magnetic induction elements, such as 2, are arranged, and the angle between the two magnetic induction elements H ₁ and H ₂ is 90°/6. The arrangement of the magnetic induction elements when the first magnetic steel ring is uniformly magnetized into 6 pairs of poles is shown in FIG. 41 . When the rotor rotates relative to the stator, the magnetic induction element converts the sensed magnetic signal into a voltage signal, and outputs the voltage signal to a signal processing device.

Define a pair of adjacent "NS" in the first magnetic steel ring as a signal period, therefore, the mechanical angle corresponding to any "NS" is 360°/g (g is the number of "NS"), assuming that the rotor is at time t The rotation angle θ is located in the n ^th signal cycle, and the angular displacement θ at this moment can be considered to be composed of two parts: 1. The relative offset in the n ^th signal cycle, the magnetic induction elements H ₁ and H ₂ induce the first magnetic The magnetic field of the steel ring is used to determine the offset θ ₁ in this "NS" signal period (value greater than 0 and less than 360°/g); 2. The absolute offset θ ₂ of the first position of the ^nth signal period, using the sensor 1_3a, 1_4a, ... 1_na induced magnetic field to determine which "NS" the rotor is in at this time to obtain θ ₂ .

The signal processing device based on the position detection device and its principle includes: an A/D conversion module, a relative offset θ ₁ calculation module, an absolute offset θ ₂ calculation module and a storage module. Its signal processing flow is shown in Figure 34-37, A/D conversion is performed on the voltage signals sent by the first magnetic steel ring and the second magnetic steel ring in the position detection device, and the analog signal is converted into a digital signal; The displacement θ ₁ calculation module solves the angle θ ₁ for the first voltage signal corresponding to the first magnetic steel ring sent by the position detection device, and calculates the relative deviation of the signal corresponding to the first magnetic steel ring in the signal period. Displacement θ ₁ ; the absolute offset θ ₂ calculation module is used to solve the angle θ ₂ of the first voltage signal corresponding to the second magnetic steel ring sent by the position detection device to determine the signal period of the first voltage signal The absolute offset θ ₂ of the first position; through the angle synthesis and output module, such as an adder is used to add the above-mentioned relative offset θ ₁ and absolute offset θ ₂ to synthesize the first voltage signal represented by the The rotation angle θ at this moment. As for Fig. 35, it is a signal amplification module added on the basis of Fig. 34, specifically an amplifier, which is used to amplify the voltage signal from the position detection device before the A/D conversion module performs A/D conversion. Figure 36 is a flow chart of signal processing including temperature compensation. Before solving the angle _θ1 , it also includes the process of temperature compensation; Figure 37 is the specific process of temperature compensation based on Figure 36, that is, when performing temperature compensation, the coefficient Correction, and then the signal output by the A/D converter and the output of the coefficient correction are multiplied by a multiplier to perform temperature compensation. Of course, there are many other specific methods of temperature compensation, which will not be introduced one by one here.

The relative offset _θ1 calculation module includes a signal synthesis unit, a first angle acquisition unit and a temperature compensation unit. The signal synthesis unit processes the A/D converted voltage signals sent from different position detection devices to obtain a reference signal D ; According to the reference signal D, the first angle acquisition unit selects an angle corresponding to it in the first standard angle table as the offset angle θ ₁ ; wherein, before obtaining the reference signal D, first input to the signal synthesis unit The signal of is temperature compensated by the temperature compensation unit, and then the temperature compensated signal is processed to obtain signal D. The processing described here will be described in detail later. The absolute offset _θ2 calculation module includes a second synthesizer and the second angle acquisition unit, which is used to synthesize the second voltage signal sent by the position detection device corresponding to the second magnetic steel ring to obtain the shaft rotation The number of signal cycles, so as to determine the absolute offset θ ₂ of the first position of the signal cycle where the first voltage signal is located. The specific implementation method is that the second synthesizer sends the position detection device corresponding to the second magnetic steel ring The second voltage signal is synthesized to obtain a signal E; the second angle acquisition unit selects an angle corresponding to it in the second standard angle table according to the signal E as the absolute value of the first position of the signal cycle where the first voltage signal is located. Offset θ ₂ .

Embodiment 5 of the position detection device

In this embodiment, 3 magnetic induction elements are provided corresponding to the second magnetic steel ring, and 2 magnetic induction elements are provided corresponding to the first magnetic steel ring.

Due to the magnetization sequence of the magnetic poles of the second magnetic steel ring, the outputs of the n magnetic induction elements are in the form of Gray codes. The polarity of the magnetic pole is that the first digit of the Gray code is "0" corresponding to the "N/S" pole, and the first digit is "1" corresponding to the "S/N" pole. Therefore, in this embodiment, since n is 3, the code shown in Figure 38 is obtained, and 6 codes are obtained, that is, 6 poles are obtained, and the magnetization sequence is shown in Figure 39, and the magnetic induction elements are evenly distributed around reading. The positional relationship among the second magnetically conductive ring 205b, the bracket 203 and the magnetic induction element 204 is shown in FIG. 40 .

Since the total number of magnetic poles of the second magnetic steel ring is 6, the first magnetic steel ring is uniformly magnetized into 6 pairs of poles, and its layout and magnetic sequence with the two magnetic induction elements are shown in Figure 41. The positional relationship among the ring 205a, the bracket 203 and the magnetic induction element 204 is shown in FIG. 42 .

Fig. 43 shows the circuit block diagram of the signal processing device when the first magnetic steel ring is provided with 2 magnetic induction elements and the second magnetic steel ring is provided with 3 magnetic induction elements in this embodiment. The output signals of the sensors 1_1a and 1_2a are connected to the amplifiers 2_1a and 2_2a for amplification, and then connected to the A/D converters 3_1a and 3_2a. After the analog-to-digital conversion, the output signals are connected to the multipliers 4_1a and 5_1a, and the output signals of the coefficient corrector 10_1a are connected to the multipliers The input terminals of 4_1a and 5_1a, the output signals A and B of the multipliers 4_1a and 5_1a are connected to the input terminals of the first synthesizer 6_1a, and the first synthesizer 6_1a processes the signals A and B to obtain the signals D and R, according to the signal D Select an angle corresponding to it from the standard angle table stored in the memory 8_1a as the offset angle θ ₁ . Wherein, the output signal R of the first synthesizer 6_1a is sent to the coefficient corrector 10_1a, and the coefficient corrector 10_1a obtains the signal K according to the signal R and the signal _R0 obtained from the look-up table in the memory 9_1a, and the signal K is used as the signal K of the multipliers 4_1a, 5_1a The other input terminal is multiplied by the signals C1 and C2 output from the amplifiers 2_1a and 2_2a to obtain the signals A and B as the input of the first synthesizer 6_1a.

The output signals of sensors 1_3a, 1_4a, ... 1_na are respectively connected to amplifiers 2_3a, 2_4a, ... 2_na for amplification, then connected to A/D converters 3_3a, 3_4a, ... 3_na for analog-to-digital conversion, and then synthesized by the second synthesizer 7_1a to obtain A signal E; select an angle relative to it in the second standard angle table in the memory 11_1a according to the signal E as the absolute offset θ ₂ of the signal period first position where the first voltage signal is located, θ ₁ and θ ₂ The measured absolute angular displacement output θ is obtained by the adder 12_1a.

Wherein, the function of the second synthesizer 7_1a is to obtain which "N-S" signal cycle the rotor is in at this moment by synthesizing the signals of the sensors 1_3a, 1_4a, ... 1_na.

The processing of the second synthesizer 7_1a is: when the data X is a signed number, the 0th bit (the first bit from the left of the binary system) of the data X is a sign bit, and X_0=1 represents that the data X is negative, and X_0=0 represents the data X is positive. That is, when the induced magnetic field is N, the output is X_0=0, otherwise X_0=1.

Then for this embodiment, E={C3_0; C4_0; Cn_0}.

Wherein, the processing of the signal by the first synthesizer 6_1a is: compare the magnitude of the numerical values of the two signals, and the signal D with the smaller numerical value is used for output, and the structure of the signal D is {the matching bit of the first signal, the second signal The coincidence bit, the value bit of the signal with a smaller value}. details as follows:

It is agreed here (all synthesizers in the following text use this agreement), when the data X is a signed number, the 0th bit of the data X (the first bit from the left of the binary system) is the sign bit, X_0=1 means that the data X is negative, X_0=0 indicates that the data X is positive. X_D represents the value bits of the data X (the absolute value of the data), that is, the remaining data bits after removing the sign bit.

If A_D>=B_D

D = {A_0; B_0; B_D}

$\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="A"\; filenames="Y2009201500390050H2.png,Y2009201500390061H1.png"\; state="\{\{state\}\}">A</figure-callout></span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="B"\; filenames="Y2009201500390050H2.png,Y2009201500390061H1.png"\; state="\{\{state\}\}">B</figure-callout></span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; ;</span>$

otherwise:

D = {A_0; B_0; A_D}

$\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="A"\; filenames="Y2009201500390050H2.png,Y2009201500390061H1.png"\; state="\{\{state\}\}">A</figure-callout></span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="B"\; filenames="Y2009201500390050H2.png,Y2009201500390061H1.png"\; state="\{\{state\}\}">B</figure-callout></span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; ;</span>$

The signal K is generally obtained by dividing the signals _R0 and R.

For the first and second standard angle tables, two tables are stored in the memory, each table corresponds to a series of codes, and each code corresponds to an angle. The table is obtained through calibration. The calibration method is to use the detection device of this embodiment and a high-precision position sensor to make a one-to-one correspondence between the signal output by the magnetic induction element in this embodiment and the angle output by the high-precision position sensor. , so as to establish a relationship table between the signal output by the magnetic induction element and the angle. That is, a first standard angle table is stored corresponding to the signals D each representing a relative offset θ ₁ . Corresponding to the signals E, a second standard angle table is stored, each signal E representing an absolute offset θ ₂ .

Embodiment 6 of the position detection device

Different from the fifth embodiment, in this embodiment, four magnetic induction elements are provided corresponding to the first magnetic steel ring, and the angle between the four magnetic induction elements H ₁ , H ₂ , H ₃ , and H ₄ is 90° /6, the structural relationship among the first magnetically permeable ring 205a, the bracket 203 and the magnetic induction element 204 is shown in FIG. 44 .

Fig. 45 shows a circuit block diagram of the signal processing device when four magnetic induction elements are provided corresponding to the first magnetic steel ring. The output signals of the sensors 1_1c and 1_2c are connected to the amplifier circuit 2_1c for differential amplification, the output signals of the sensors 1_3c and 1_4c are connected to the amplifier circuit 2_2c for differential amplification, and then connected to the A/D converters 3_1c and 3_2c. The subsequent processing is similar to that provided with 2 The case of a magnetic induction element.

Wherein, the function of the second synthesizer 7_1c is to obtain which "N-S" signal cycle the rotor is in at this moment by synthesizing the signals of the sensors 1_5c, 1_6c, ... 1_nc.

Embodiment 7 of the position detection device

The difference between this embodiment and the fifth and sixth embodiments is that three magnetic induction elements 204 are provided corresponding to the first magnetic steel ring, and the angle between the three magnetic induction elements H ₁ , H ₂ , and H ₃ is 120°/6, As shown in Figure 46.

Fig. 47 shows a circuit block diagram of the signal processing device when three magnetic induction elements are provided corresponding to the first magnetic steel ring. The processing process is basically the same as the previous two embodiments, except that since the first synthesizer 7_1b has three input signals, the processing of signals D and R is slightly different from the previous two embodiments. In this embodiment, the signal processing principle of the first synthesizer 7_1b is: first judge the matching bits of the three signals, and compare the magnitude of the values of the signals with the same matching bits, and the smaller value is used for the output signal D, the signal The structure of D is {the coincidence bit of the first signal, the coincidence bit of the second signal, the coincidence bit of the third signal, and the value bit of the signal with a smaller value}. Take this example as an example:

agreement:

When the data X is a signed number, the 0th bit of the data X (the first bit from the left in the binary system) is the sign bit, X_0=1 means that the data X is negative, and X_0=0 means that the data X is positive.

X_D represents the value bit of the data X (the absolute value of the data), that is, the remaining data bit after removing the sign bit.

If {A_0;B 0;C_0}=010 and A_D＞=C_D

D = {A_0; B_0; C_0; C_D}

If {A_0; B_0; C_0}=010 and A_D<C_D

D = {A_0; B_0; C_0; A_D};

If {A_0; B_0; C_0}=101 and A_D>=C_D

D = {A_0; B_0; C_0; C_D};

If {A_0; B_0; C_0}=101 and A_D<C_D

D = {A_0; B_0; C_0; A_D};

If {A_0; B_0; C_0}=011 and B_D>=C_D

D = {A_0; B_0; C_0; C_D};

If {A_0; B_0; C_0}=011 and B_D<C_D

D = {A_0; B_0; C_0; B_D};

If {A_0; B_0; C_0}=100 and B_D>=C_D

D = {A_0; B_0; C_0; C_D};

If {A_0; B_0; C_0}=100 and B_D<C_D

D = {A_0; B_0; C_0; B_D};

If {A_0; B_0; C_0} = 001 and B_D >= A_D

D = {A_0; B_0; C_0; A_D};

If {A_0; B_0; C_0}=001 and B_D<A_D

D = {A_0; B_0; C_0; B_D};

If {A_0; B_0; C_0}=110 and B_D>=A_D

D = {A_0; B_0; C_0; A_D};

If {A_0; B_0; C_0} = 110 and B D < A_D

D = {A_0; B_0; C_0; B_D};

$\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; A</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; C</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}$

$\mathrm{<span\; class="notranslate">\; K</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}}{\mathrm{<span\; class="notranslate">\; R</span>}}$

Embodiment 8 of the position detection device

This embodiment is different from Embodiment 7, corresponding to the first magnetic steel ring is provided with 6 magnetic induction elements, the angle between the six magnetic induction elements 204 is 60°/6, the first magnetic conduction ring 205a, the bracket 203 and The structural relationship of the magnetic induction element 204 is shown in FIG. 48 .

Fig. 49 shows a circuit block diagram of the signal processing device when six magnetic induction elements are provided corresponding to the first magnetic steel ring. The specific process has been described in the first three embodiments, and will not be repeated here.

Fig. 50 is an exploded perspective view of another structure of the fifth to eighth embodiments of the position detection device. The position detection device includes a rotor and a stator that covers the rotor inside, the rotor includes a first magnetic steel ring 201a and a second magnetic steel ring 201b, and the first magnetic steel ring 201a and the second magnetic steel ring 201b are respectively fixed on the motor shaft 200 , wherein the stator is the bracket 203. The magnetic sensing element 204 is directly surface-mounted on the inner surface of the bracket 203 .

Similar to the fifth to eighth embodiments, the first magnetic steel ring in the position detection device in FIG. 50 can be provided with 2, 4, 3, or 6 magnetic induction elements. The signal processing devices of the position detection devices based on different numbers of magnetic induction elements are the same as the fifth to eighth embodiments respectively.

Embodiment 9 of the position detection device

51A, 51B and 51C are respectively a three-dimensional exploded view, a schematic view and a structural view of the structure of a position detection device provided with a magnetic permeable ring. As shown in Figures 51A, 51B and 51C, the position detection device consists of a magnetic steel ring 302, a magnetic steel ring 303, a magnetic permeable ring 304, a magnetic permeable ring 305, a bracket 306 and a plurality of magnetic induction elements. Specifically, the diameters of the magnetic steel rings 302, 303 are smaller than the diameters of the magnetic steel rings 304, 305, so the magnetic steel rings 304, 305 are respectively sleeved outside the magnetic steel rings 302, 303, and the magnetic steel rings 302, 303 are fixed on the rotating shaft 301 , and the magnetic permeable rings 304, 305 and the magnetic steel rings 302, 303 can rotate relative to each other, so that the plurality of sensor elements 307 arranged on the inner surface of the bracket 306 are located in the gaps of the magnetic steel rings.

Fig. 51C is a plan view of the components of the position detection device provided with a magnetic ring. It can be seen from Fig. 51C that the magnetic steel ring 302 and the magnetic steel ring 303 are arranged in parallel on the shaft 301, corresponding to the magnetic The steel ring 302 and the magnetic steel ring 303 are respectively provided with two columns of magnetic induction elements 308 and 309 . Here, for the convenience of the following description, the first column of magnetic induction elements, that is, a plurality of magnetic induction elements corresponding to the magnetic steel ring 302 and the magnetic permeation ring 304, are represented by the magnetic induction element 308, and the second column of magnetic induction elements, that is, the corresponding magnetic steel ring 303 and the magnetic conduction ring 304, are represented by the magnetic induction element 308. A plurality of magnetic induction elements of the magnetic ring 305 are represented by magnetic induction elements 309 . For convenience of description, the magnetic steel ring 302 is defined as the first magnetic steel ring here, the magnetic steel ring 303 is defined as the second magnetic steel ring, the magnetic permeable ring 304 is defined as corresponding to the first magnetic steel ring, and the magnetic permeable ring 305 is defined as corresponding to the second magnetic steel ring, but the present invention is not limited to the above definition.

The magnetically permeable ring here is the same as that described in the above embodiments.

The first magnetic steel ring 302 is uniformly magnetized into N (N<=2 ⁿ (n=0, 1, 2...n)) pairs of magnetic poles, and the polarities of adjacent two poles are opposite, the total number of magnetic poles of the second magnetic steel ring It is N, and its magnetic sequence is determined according to the magnetic sequence algorithm; on the support 306, corresponding to the first magnetic steel ring 302, m (m is 2 or 3 Integer multiples of) magnetic induction elements 308 distributed at a certain angle; corresponding to the second magnetic steel ring 303, n (n=0, 1, 2... n) magnetic induction elements 309 distributed at an angle of 360°/N. Other aspects of this embodiment are similar to Embodiment 5 to Embodiment 8, and will not be repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model rather than to limit them. Although the utility model has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that the technical solution of the utility model can still be modified and equivalently replaced without departing from the spirit and scope of the technical solution. It falls within the scope of the claims of the present utility model.

Claims (42)

1. An electric wiper for automobiles, including a first servo motor and a first wiper arm, the output of the first servo motor is connected to the first wiper shaft through a first coupling, and the first wiper shaft is provided with a first Wiper arm, and the first wiper arm swings with the rotation of the first wiper shaft, characterized in that, the motor shaft of the servo motor is provided with a first position detection device; the first wiper arm There is a magnetic steel on the top, and a magnetic induction element is installed at the corresponding position of the car. The first position detection device and the magnetic induction element output the detected position signal to the first servo controller, and the first servo controller controls the first servo The motor also drives the first wiper arm to swing. 2. The automobile electric wiper according to claim 1, characterized in that a reducer and a second coupling are sequentially connected between the first coupling and the first wiper shaft, and the first coupling The reducer is connected with the driving part of the reducer, and the driven part of the reducer is connected with the first wiper shaft through the second coupling. 3. The automobile electric wiper according to any one of claims 1 or 2, characterized in that a first crank is sleeved on the first wiper shaft, and the first crank is connected with the second crank through a synchronous rod. The second crank is provided with a second wiper shaft, and the second wiper shaft rotates and drives the second wiper arm fixed thereon to swing. 4. The electric wiper blade for automobiles according to claim 3, wherein the reducer is a worm gear reducer, a cylindrical gear reducer, a bevel gear reducer, a planetary gear reducer or a combination thereof. 5. The automobile electric wiper according to claim 2, further comprising a second servo motor and a second wiper arm, the motor shaft of the second servo motor is provided with a second position detection device, the second The second position detection device outputs the detected position signal to the second servo controller, and the second servo controller is connected with the first servo controller; the position detected by the first position detection device and the magnetic induction element The signal is output to the first servo controller, and the first servo controller outputs the position signal to the second servo controller to control the second servo motor and drive the second wiper arm to swing. 6. The automobile electric wiper according to any one of claims 1 or 2 or 4 or 5, characterized in that, the first position detection device, the first servo controller and the first servo motor are integrated; The second position detecting device, the second servo controller and the second servo motor are integrally arranged. 7. The electric wiper blade for automobiles according to claim 6, characterized in that the first servo motor and the second servo motor are preferably AC servo motors. 8. The automobile electric wiper according to any one of claims 1, 2, 4, 5 or 7, wherein the servo controller includes a data processing unit, a motor drive unit and a current sensor, and the data processing unit receives The input command signal, the motor input current signal collected by the current sensor, and the information representing the motor angle output by the position detection device, after data processing, output a control signal to the motor drive unit, and the motor drive unit according to the control The signal outputs the appropriate voltage to the servo motor, so as to realize the precise control of the servo motor. 9. The automobile electric wiper according to claim 3, characterized in that, the servo controller includes a data processing unit, a motor drive unit and a current sensor, and the data processing unit receives the input command signal and the motor output collected by the current sensor. The input current signal and the information representing the motor angle output by the position detection device, after data processing, output a control signal to the motor drive unit, and the motor drive unit outputs a suitable voltage to the servo motor according to the control signal, thereby Realize the precise control of the servo motor. 10. The automobile electric wiper according to claim 6, characterized in that, the servo controller includes a data processing unit, a motor drive unit and a current sensor, and the data processing unit receives an input instruction signal, and the motor output collected by the current sensor The input current signal and the information representing the motor angle output by the position detection device, after data processing, output a control signal to the motor drive unit, and the motor drive unit outputs a suitable voltage to the servo motor according to the control signal, thereby Realize the precise control of the servo motor. 11. The automobile electric wiper according to claim 8, wherein the data processing unit includes a mechanical loop control subunit, a current loop control subunit, a PWM control signal generation subunit, and a sensor signal processing subunit; The sensor signal processing subunit receives the information representing the motor angle output by the position detection device, and transmits the motor angle to the mechanical ring control subunit; the sensor signal processing subunit also receives the information of the current sensor The detected current signal is output to the current loop control subunit after being sampled by A/D; The mechanical loop control subunit obtains a current command through calculation according to the received command signal and the rotation angle of the motor shaft, and outputs it to the current loop control subunit; The current loop control subunit obtains the duty ratio control signal of the three-phase voltage through calculation according to the current signal output by the current sensor of the received current command, and outputs it to the PWM control signal generation subunit; The PWM control signal generating subunit generates six PWM signals with a certain sequence according to the received duty ratio control signals of the three-phase voltages, and acts on the motor drive unit respectively. 12. The automobile electric wiper according to claim 9, wherein the data processing unit includes a mechanical loop control subunit, a current loop control subunit, a PWM control signal generation subunit, and a sensor signal processing subunit; The sensor signal processing subunit receives the information representing the motor angle output by the position detection device, and transmits the motor angle to the mechanical ring control subunit; the sensor signal processing subunit also receives the information of the current sensor The detected current signal is output to the current loop control subunit after being sampled by A/D; The mechanical loop control subunit obtains a current command through calculation according to the received command signal and the rotation angle of the motor shaft, and outputs it to the current loop control subunit; The current loop control subunit obtains the duty ratio control signal of the three-phase voltage through calculation according to the current signal output by the current sensor of the received current command, and outputs it to the PWM control signal generation subunit; The PWM control signal generating subunit generates six PWM signals with a certain sequence according to the received duty ratio control signals of the three-phase voltages, and acts on the motor drive unit respectively. 13. The automobile electric wiper according to claim 10, wherein the data processing unit includes a mechanical loop control subunit, a current loop control subunit, a PWM control signal generation subunit, and a sensor signal processing subunit; The sensor signal processing subunit receives the information representing the motor angle output by the position detection device, and transmits the motor angle to the mechanical ring control subunit; the sensor signal processing subunit also receives the information of the current sensor The detected current signal is output to the current loop control subunit after being sampled by A/D; The mechanical loop control subunit obtains a current command through calculation according to the received command signal and the rotation angle of the motor shaft, and outputs it to the current loop control subunit; The current loop control subunit obtains the duty ratio control signal of the three-phase voltage through calculation according to the current signal output by the current sensor of the received current command, and outputs it to the PWM control signal generation subunit; The PWM control signal generating subunit generates six PWM signals with a certain sequence according to the received duty ratio control signals of the three-phase voltages, and acts on the motor drive unit respectively. 14. The automobile electric wiper according to claim 8, wherein the motor drive unit includes six power switch tubes, two of which are connected in series to form a group, and three groups are connected in parallel between the DC power supply lines , the control terminal of each switch tube is controlled by the PWM signal output by the PWM control signal generating subunit, and the two switch tubes in each group are turned on in time-sharing. 15. The automobile electric wiper according to any one of claims 9 or 10, characterized in that the motor drive unit includes six power switch tubes, two of which are connected in series to form a group, and the three groups are connected in parallel Between the DC power supply lines, the control terminal of each switch tube is controlled by the PWM signal output by the PWM control signal generation sub-unit, and the two switch tubes in each group are turned on in time-sharing. 16. The automobile electric wiper according to claim 8, wherein the data processing unit is an MCU, and the motor driving unit is an IPM module. 17. The automobile electric wiper according to any one of claims 9 or 10, wherein the data processing unit is an MCU, and the motor drive unit is an IPM module. 18. The automobile electric wiper according to any one of claims 11, 12 or 13, characterized in that, the first position detection device and the second position detection device include a magnetic steel ring, a magnetic permeable ring and a magnetic induction element , it is characterized in that, the magnetic conduction ring is composed of two or more arc segments with the same radius and the same center, and there is a gap between two adjacent arc segments, and the magnetic induction element is placed in the gap, when the magnetic steel ring and the guide When the magnetic ring rotates relative to each other, the magnetic induction element converts the sensed magnetic signal into a voltage signal, and transmits the voltage signal to a corresponding signal processing device. 19. The automobile electric windshield wiper according to claim 18, characterized in that, the magnetically permeable ring is composed of two arc segments with the same radius and the same center, which are respectively 1/4 arc segment and 3/4 arc segment, There are 2 corresponding magnetic induction elements; or, the magnetic conduction ring is composed of three arc segments with the same radius, which are respectively 1/3 arc segments, and there are 3 corresponding magnetic induction elements; or, the magnetic conduction ring It is composed of four arc segments with the same radius, which are respectively 1/4 arc segments, and the corresponding magnetic induction elements are 4; or, the magnetic permeable ring is composed of six arc segments with the same radius, which are respectively 1/6 arc segments There are 6 corresponding magnetic induction elements. 20. The automobile electric wiper according to claim 19, characterized in that, the end of the arc segment of the magnetic permeable ring is provided with a chamfer, which is cut along the axial or radial direction or simultaneously along the axial and radial directions. formed chamfer. 21. The electric windshield wiper for automobiles according to claim 18, further comprising a frame for fixing the magnetically conductive ring; the magnetically conductive ring is arranged on the frame forming mold, and is integrated with the frame when the frame is integrally formed. The skeleton is held together. 22. The automobile electric wiper according to claim 18, characterized in that, the sensor signal processing subunit or the position detection device includes a signal processing circuit of the position detection device, which is used to obtain The rotation angle of the motor shaft, including: The A/D conversion circuit performs A/D conversion on the voltage signal sent by the magnetic induction element in the position detection device, and converts the analog signal into a digital signal; A synthesizing circuit for processing a plurality of A/D-converted voltage signals sent by the position detection device to obtain a reference signal D; The angle acquisition circuit, according to the reference signal D, selects the angle corresponding to it in the standard angle table as the offset angle θ; and The storage circuit is used for storing the standard angle table. 23. The automobile electric wiper according to any one of claims 11, 12 or 13, characterized in that, the first position detection device and the second position detection device include a rotor and a stator that covers the rotor inside, The rotor includes a first magnetic steel ring and a second magnetic steel ring; Wherein, the first magnetic steel ring and the second magnetic steel ring are respectively fixed on the motor shaft; On the stator, corresponding to the second magnetic steel ring, there are n (n=1, 2...n) evenly distributed magnetic induction elements on the same circumference with the center of the second magnetic steel ring as the center, the second magnetic steel ring The magnetization sequence of the magnetic poles of the steel ring makes the output of n magnetic induction elements in Gray code format, and only one bit changes between two adjacent outputs; On the stator, corresponding to the first magnetic steel ring, there are m (m is an integer multiple of 2 or 3) magnetic induction elements distributed at a certain angle on the same circumference with the center of the first magnetic steel ring as the center, so The total number of pairs of magnetic poles of the first magnetic steel ring is equal to the total number of magnetic poles of the second magnetic steel ring, and the polarities of adjacent two poles are opposite; When the rotor rotates relative to the stator, the magnetic induction element converts the sensed magnetic signal into a voltage signal, and outputs the voltage signal to a signal processing device. 24. The automobile electric wiper according to claim 23, characterized in that, on the stator, the angle between two adjacent magnetic induction elements corresponding to the first magnetic steel ring, when m is 2 or 4, the angle between the The angle is 90°/g; when m is 3, the included angle is 120°/g; when m is 6, the included angle is 60°/g, where g is the total number of magnetic poles of the second magnetic steel ring. 25. The automobile electric wiper according to any one of claims 11, 12 or 13, characterized in that, the first position detection device and the second position detection device include a rotor and a stator that covers the rotor inside, The rotor includes a first magnetic steel ring and a second magnetic steel ring; Wherein, the first magnetic steel ring and the second magnetic steel ring are respectively fixed on the rotating shaft, and the first magnetic steel ring is uniformly magnetized as N[N<=2 ⁿ (n=0, 1, 2...n )] pair of magnetic poles, and the polarities of adjacent two poles are opposite; the total number of magnetic poles of the second magnetic steel ring is N, and its magnetic sequence is determined according to a specific magnetic sequence algorithm; On the stator, corresponding to the first magnetic steel ring, m (m is an integer multiple of 2 or 3) magnetic induction elements distributed at a certain angle are arranged on the same circumference with the center of the first magnetic steel ring as the center; corresponding to The second magnetic steel ring is provided with n (n=0, 1, 2...n) magnetic induction elements distributed at a certain angle on the same circumference with the center of the second magnetic steel ring as the center; When the rotor rotates relative to the stator, the magnetic induction element converts the sensed magnetic signal into a voltage signal, and outputs the voltage signal to a signal processing device. 26. The electric windshield wiper according to claim 25, characterized in that the angle between two adjacent magnetic induction elements on the stator corresponding to the second magnetic steel ring is 360°/N. 27. The automobile electric wiper according to claim 25, characterized in that, on the stator, corresponding to the angle between two adjacent magnetic induction elements of the first magnetic steel ring, when m is 2 or 4, each adjacent The angle between two magnetic sensing elements is 90°/N, when m is 3, the angle between every two adjacent magnetic sensing elements is 120°/N; when m is 6, every adjacent two The included angle between the magnetic induction elements is 60°/N. 28. The electric wiper blade for automobiles according to claim 23, wherein the magnetic induction element is directly surface-attached to the inner surface of the stator. 29. The electric wiper blade for automobiles according to claim 25, wherein the magnetic induction element is directly surface-attached to the inner surface of the stator. 30. The automobile electric wiper according to claim 23, further comprising two magnetically conductive rings, each of which is composed of a plurality of arc segments with the same center and radius, and two adjacent arcs There is a gap in the segment, and the magnetic induction elements corresponding to the two magnetic steel rings are respectively arranged in the gap. 31. The automobile electric wiper according to claim 25, further comprising two magnetically conductive rings, each of which is composed of a plurality of arc segments with the same center and radius, and two adjacent arcs There is a gap in the segment, and the magnetic induction elements corresponding to the two magnetic steel rings are respectively arranged in the gap. 32. The automobile electric wiper according to claim 30, characterized in that, the end of the arc section of the magnetic permeable ring is provided with a chamfer, which is cut along the axial or radial direction or simultaneously along the axial and radial directions. formed chamfer. 33. The electric windshield wiper according to claim 18, characterized in that said magnetic induction element is a Hall induction element. 34. The electric windshield wiper for automobiles according to claim 23, wherein said magnetic induction element is a Hall induction element. 35. The electric windshield wiper for automobiles according to claim 25, wherein said magnetic induction element is a Hall induction element. 36. The automobile electric wiper according to claim 23, characterized in that, the sensor signal processing subunit or the position detection device includes a signal processing circuit of the position detection device, which is used to obtain The rotation angle of the motor shaft, including: The A/D conversion circuit performs A/D conversion on the voltage signal sent by the position detection device, and converts the analog signal into a digital signal; The relative offset angle θ ₁ calculation circuit is used to calculate the relative offset θ ₁ of the first voltage signal sent by the magnetic induction element corresponding to the first magnetic steel ring in the position detection device in the signal period; Absolute offset _θ2 calculation circuit, according to the second voltage signal sent by the magnetic induction element corresponding to the second magnetic steel ring in the position detection device, determines the absolute offset of the first position of the signal cycle where the first voltage signal is located by calculation displacement θ ₂ ; The angle synthesis and output module is used to add the above-mentioned relative offset θ ₁ and absolute offset θ ₂ to synthesize the rotation angle θ represented by the first voltage signal at this moment; The storage module is used for storing data. 37. The automobile electric wiper according to claim 25, characterized in that, the sensor signal processing subunit or the position detection device includes a signal processing circuit of the position detection device, which is used to obtain The rotation angle of the motor shaft, including: The A/D conversion circuit performs A/D conversion on the voltage signal sent by the position detection device, and converts the analog signal into a digital signal; The relative offset angle θ ₁ calculation circuit is used to calculate the relative offset θ ₁ of the first voltage signal sent by the magnetic induction element corresponding to the first magnetic steel ring in the position detection device in the signal period; Absolute offset _θ2 calculation circuit, according to the second voltage signal sent by the magnetic induction element corresponding to the second magnetic steel ring in the position detection device, determines the absolute offset of the first position of the signal cycle where the first voltage signal is located by calculation displacement θ ₂ ; The angle synthesis and output module is used to add the above-mentioned relative offset θ ₁ and absolute offset θ ₂ to synthesize the rotation angle θ represented by the first voltage signal at this moment; The storage module is used for storing data. 38. The automobile electric wiper according to any one of claims 36 or 37, further comprising: The signal amplification circuit is used for amplifying the voltage signal from the magnetoelectric sensor before the A/D conversion circuit performs A/D conversion. 39. The automobile electric wiper according to any one of claims 36 or 37, characterized in that the calculation circuit for the relative offset angle _θ1 includes a first synthesis circuit and a first angle acquisition circuit, and the first synthesis circuit Process a plurality of A/D-converted voltage signals sent from the position detection device to obtain a reference signal D; the first angle acquisition circuit selects one and the other from the first standard standard angle table according to the reference signal D The opposite angle is taken as the offset angle θ ₁ . 40. The automobile electric wiper according to any one of claims 36 or 37, characterized in that, the relative offset angle _θ1 calculation circuit or before the synthesis circuit also includes a temperature compensation circuit for eliminating the influence of temperature on the magnetic field. The influence of the voltage signal sent by the electrical sensor. 41. The electric wiper blade for automobiles according to claim 39, characterized in that, the output of the synthesizing circuit or the first synthesizing circuit further includes a signal R; The temperature compensation unit includes a coefficient rectifier and a multiplier, and the coefficient rectifier compares the output signal R of the synthesis module with the signal _R in the standard state corresponding to the signal to obtain an output signal K; the multiplication There are multiple multipliers, and each multiplier multiplies a voltage signal sent from the position detection device and undergoes A/D conversion with the output signal K of the coefficient correction module, and outputs the multiplied result to first synthesis circuit. 42. The automobile electric wiper according to any one of claims 36 or 37, characterized in that the absolute offset _θ2 calculation circuit includes a second synthesis circuit and a second angle acquisition circuit, and the second synthesis circuit It is used to synthesize the second voltage signal sent by the position detection device corresponding to the second magnetic steel ring to obtain a signal E; the second angle acquisition circuit selects one and the other in the second standard angle table according to the signal E. The relative angle is used as the absolute offset θ ₂ of the first position of the signal cycle where the first voltage signal is located.

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