Controller design for double motors wiper system based on differential flatness

摘要

Windscreen wiper is important components of automobile, and it must clear the dirt, rain and snow effectively. The state trajectory of the system and nominal trajectory of controlled quantity can be obtained based on differential flatness method, which is the two-degree feedforword control of controller. Feedback can be designed by PID controller with integral separation and it regulate the trajectory error of system, which caused by disturbance and uncertain factor. To solve the synchronous problem of double motors, the style of master-slave synchronization and clock control can be used in the system and the simulation result is given. From the simulation result, we can know that this proposed method in this paper avoid the collision because of the disturbance effectively, and the distance between the two windscreen wipers is greater than safety distance.