Abstract
In automotive wiper systems, nonlinear friction between the blade rubber and the windshield disturbs smooth motion, which causes tracking errors and increases operational noise. This paper proposes simple friction compensation based on linear feedback control with sign reversal of an integration. In simulation and experiment with a linkless wiper, the proposed method compensates for the nonlinear friction of the wiper motor and the blade rubber, and reduces the tracking error in particular for the slow motion after the wiper motion reverses.
