Power door for a motor vehicle with keep-open and sleep control system and method

Abstract

This disclosure relates to a powered door of a motor vehicle having a control system and method for maintaining an open position and a sleep position. A system and method for controlling the movement of a door are provided. The door is movable between an open position and a closed position and has a balance position in which the door does not move towards the open position or towards the closed position under the influence of gravity. The system includes a power actuator for moving the door to a partially open position between the open and closed positions. The power actuator is adapted to allow the door to move to the balance position after the power actuator has moved the door to the partially open position.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 240,002, filed September 2, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure generally relates to closing member systems for motor vehicles, and more specifically to power closing member actuation systems for moving closing members, such as doors, relative to the vehicle body between an open position and a closed position. Background Technology

[0004] This section provides background information relating to this disclosure, which is not necessarily prior art.

[0005] Closing components of a motor vehicle can be mounted to the vehicle body via one or more hinges. For example, a passenger door can be oriented and attached to the vehicle body via one or more hinges to swing about a generally vertical pivot axis. In this arrangement, each door hinge typically includes a door hinge band connected to the passenger door, a body hinge band connected to the vehicle body, and a pivot pin arranged to pivotally connect the door hinge band to the body hinge band and define the pivot axis. Such swinging passenger doors (“swing doors”) have been recognized to have problems such as opening too far or swinging closed, for example, when the vehicle is on an inclined surface and the door opens too far or swings closed due to the unbalanced weight of the door. To address this problem, most passenger doors have some type of stop or inspection mechanism integrated into at least one of the door hinges to suppress uncontrolled swinging movement of the door by deterministically positioning and holding the door in one or more intermediate travel positions other than the fully open position. In some high-end vehicles, the door hinge may include an unlimited door inspection mechanism, which allows the door to be opened and held for inspection at any desired open position. One advantage of passenger doors equipped with door hinges featuring an unlimited door inspection mechanism is that the door can be positioned and held in any location that avoids contact with adjacent vehicles or structures.

[0006] As a further advancement, powered closing member actuation systems have been developed. Similar to the passenger doors described above, powered closing member systems can be used to automatically swing the passenger door between an open and closed position about its pivot axis to assist a user in moving the passenger door and / or to eject or present the passenger door to the user. Typically, a powered closing member actuation system includes a powered operating device such as, for example, an electric motor and a rotary-linear conversion device operable to convert the rotary output of the electric motor into translational movement of the extendable member. In many installations, the electric motor and conversion device are mounted to the passenger door, and the distal end of the extendable member is fixedly fastened to the vehicle body. International Publication No. WO2013 / 013313, jointly owned by Schuering et al., discloses an example of a power-closing member actuation system for a passenger door. This international disclosure discloses the use of a rotary-linear conversion device or power actuator having an externally threaded lead screw rotaryly driven by an electric motor and an internally threaded drive nut meshing with the lead screw, and an extendable member attached to the internally threaded drive nut. Therefore, control of the rotational speed and direction of the lead screw results in control of the speed and direction of translational movement of the drive nut and the extendable member, thereby controlling the swinging movement of the passenger door between its open and closed positions.

[0007] Power actuators can also be used to provide door inspection functionality, where a door is held in a partially open position by the power actuator. Using a power actuator to provide this door inspection function eliminates the need for a mechanical brake to provide this function (e.g., reducing costs). However, a drawback is the constant power draw required to use a power actuator as a braking mechanism. If the door remains in the partially open position for an extended period, the vehicle's battery powering the power actuator may be completely depleted, causing the door to drift uncontrollably and collide with an object or obstacle.

[0008] In view of the above, there is still a need to develop alternative power closure member actuation systems that address and overcome the limitations and disadvantages associated with known power closure member actuation systems and provide increased convenience and enhanced operational capabilities. Summary of the Invention

[0009] This section provides a general overview of the contents of this disclosure, rather than a full disclosure of its entire scope or all its features, aspects and purposes.

[0010] One aspect of this disclosure is to provide a system for controlling the movement of a door. The door is movable between an open position and a closed position and has a equilibrium position in which the door does not move towards the open position or the closed position under the influence of gravity. The system includes a power actuator for moving the door to a partially open position between the open and closed positions. The power actuator is adapted to allow the door to move to the equilibrium position after the power actuator has moved the door to the partially open position.

[0011] Another aspect of this disclosure is to provide a method for controlling the movement of a door. The door is movable between an open position and a closed position and has a balance position in which the door does not move towards either the open or closed position under the influence of gravity. The method includes the steps of: controlling a power actuator to move the door to a partially open position between the open and closed positions in a normal power operation mode. The method continues with the step of: holding the door in the partially open position. The method also includes the step of allowing the door to move to the balance position after holding the door in the partially open position.

[0012] In another aspect of this disclosure, the method further includes the step of determining the equilibrium position while allowing the door to move to the equilibrium position.

[0013] In another aspect of this disclosure, the method further includes the step of determining that the speed of the door reaches or approaches zero during the door's movement to the equilibrium position.

[0014] In another aspect of this disclosure, a power actuator for controlling the movement of a door, the door being movable between an open position and a closed position, and having a balance position in which the door does not move toward either the open or closed position under the influence of gravity, the power actuator includes: a drive mechanism operatively coupled to one of a door and a vehicle body to apply door movement; a gear train assembly operatively coupled to the drive mechanism; and an electric motor operatively coupled to the gear train assembly, wherein the electric motor is adapted to control the movement of the door in a normal power operation mode to move the door to a stop position between the open and closed positions, adapted to hold the door in the stop position in a hold-open mode, and adapted to control the movement of the door in a balance mode so that the door moves to the balance position.

[0015] In related aspects, the electric motor may not operate during the balancing mode.

[0016] In this regard, electric motors are not suitable for responding to obstacle detection systems during balance mode.

[0017] Other applicable fields will become apparent from the description provided herein. The descriptions and specific examples in this invention are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0018] The accompanying drawings described herein are for illustrative purposes only, and not for all possible implementations, and are not intended to limit the scope of this disclosure.

[0019] Figure 1 It is a perspective view of an example motor vehicle equipped with a power-operated closing member actuation system located between the front passenger swing door and the vehicle body according to aspects of this disclosure;

[0020] Figure 2 yes Figure 1 The diagram shows a perspective inner view of the closure member, in which various components relative to a portion of the vehicle body have been removed only for clarity purposes, and the closure member is equipped with a power closure member actuation system according to aspects of this disclosure.

[0021] Figure 3 A block diagram of a power-operated closure member actuation system according to an aspect of this disclosure is shown;

[0022] Figure 4 Another block diagram of a power closing member actuation system for moving a closing member in automatic mode, according to aspects of this disclosure, is shown.

[0023] Figure 5 The range of movement of the closing member according to an aspect of this disclosure between the open and closed positions is shown;

[0024] Figure 6 A state diagram of a power-closing member actuation system according to aspects of this disclosure is shown;

[0025] Figure 7 This is a selection table for the snooze behavior of the dynamic closing member actuation system based on aspects of this disclosure;

[0026] Figure 8 This is an electrical schematic diagram of the braking circuit of a power-closing member actuation system according to aspects of this disclosure;

[0027] Figure 9 The steps of a method for moving a power-controlled gate to a balance position according to aspects of this disclosure are shown; and

[0028] Figure 10 The steps of a method for moving a non-powered motion control gate to an equilibrium position, according to an aspect of this disclosure, are shown. Detailed Implementation

[0029] In the following description, details will be set forth to provide an understanding of this disclosure. In some instances, certain circuits, structures, and techniques have not been described or shown in detail so as not to obscure the contents of this disclosure.

[0030] In summary, at least one exemplary embodiment of a power-operated closure member actuation system or user-modifiable system constructed in accordance with the teachings of this disclosure will now be disclosed. Exemplary embodiments are provided so that this disclosure will be thorough and will fully convey the scope to those skilled in the art. Numerous specific details, such as examples of specific components, devices, and methods, are set forth to provide a thorough understanding of embodiments of this disclosure. It will be apparent to those skilled in the art that specific details are not required, that exemplary embodiments may be implemented in many different forms, and none should be construed as limiting the scope of this disclosure. In some exemplary embodiments, well-known processes, well-known device structures, and well-known techniques are described in detail.

[0031] First refer to Figure 1 Example vehicle 10 is shown as including a first passenger door 12, or also referred to as exemplary closure member 12, which is pivotally mounted to vehicle body 14 via an upper door hinge 16 and a lower door hinge 18 shown in dashed lines. According to this disclosure, a powered closure member actuation system 20 is integrated into the pivotal connection between the first passenger door 12 and vehicle body 14. According to a preferred configuration, the powered closure member actuation system 20 typically includes a powered actuator mechanism or actuator 22 and a rotary drive mechanism. The powered actuator mechanism or actuator 22 is fixed within the cavity of the passenger door 12, and the rotary drive mechanism is driven by the powered actuator mechanism 22 and operatively coupled to a hinge component associated with the lower door hinge 18. Driven rotation of the rotary drive mechanism causes controlled pivotal movement of the passenger door 12 relative to vehicle body 14. Many types of drive mechanisms can be employed, such as spindle-type extendable mechanisms, linear rack and pinion mechanisms, rotatable linkage mechanisms, cable and drum mechanisms, but these are not limiting examples. According to this preferred configuration, the power-operated actuator mechanism 22 is rigidly coupled in close proximity to the door-mounted hinge component of the upper door hinge 16, while the rotary drive mechanism is coupled to the vehicle-mounted hinge component of the lower door hinge 18. However, those skilled in the art will recognize that alternative packaging configurations for the power-operated closing member actuation system 20 can be used to accommodate available packaging space. One such alternative packaging configuration may include mounting the power-operated actuator mechanism to the vehicle body 14 and operatively interconnecting the rotary drive mechanism to the door-mounted hinge component associated with one of the upper door hinge 16 and the lower door hinge 18. An example of an actuator is described in International Patent Application No. WO2021081664A1, the entire contents of which are incorporated herein by reference.

[0032] Each of the upper door hinge 16 and the lower door hinge 18 includes a door-mounted hinge component and a body-mounted hinge component that are pivotally interconnected by a hinge pin or post. The door-mounted hinge component is referred to hereinafter as the door hinge band, while the body-mounted hinge component is referred to hereinafter as the body hinge band. Although the powered closing member actuation system 20 is shown only as associated with the front passenger door 12, those skilled in the art will recognize that, for example, the powered closing member actuation system may also be associated with any other closing member of the vehicle 10 (e.g., a door or liftgate) such as the rear passenger door 17 and the trunk lid 19.

[0033] The dynamic closing component actuation system 20 is generally in Figure 2 As shown and mentioned, the powered closing member actuation system 20 is operable to pivot the door 12 relative to the vehicle body 14 in a controllable manner between an open position and a closed position. The lower hinge 18 of the powered closing member actuation system 20 includes a door hinge band connected to the door 12 and a body hinge band connected to the vehicle body 14. The door hinge band and body hinge band of the lower door hinge 18 are interconnected via hinge pins along generally vertically aligned pivot axes to establish a pivotable interconnection between the door hinge band and the body hinge band. However, any other mechanism or device may be used to establish a pivotable interconnection between the door hinge band and the body hinge band without departing from the scope of this disclosure.

[0034] like Figure 2 As best shown, the power-operated closing member actuation system 20 includes a power-operated actuator mechanism 22 having a motor and gear train assembly 34 rigidly connected to the door 12. The motor and gear train assembly 34 is configured to generate rotational force. In a preferred embodiment, the motor and gear train assembly 34 includes an electric motor 36 operatively coupled to a reduction / torque multiplier assembly, such as a high-ratio planetary gearbox 38. The high-ratio planetary gearbox 38 may include multiple stages, thereby allowing the motor and gear train assembly 34 to generate a rotational force with high torque output at very low speeds of the electric motor 36. However, any other arrangement of the motor and gear train assembly 34 may be used to establish the desired rotational force without departing from the scope of this disclosure.

[0035] The motor and gear assembly 34 includes a mounting bracket 40 for establishing a connectable relationship with the door 12. The mounting bracket 40 is configured to connect to the door 12 adjacent to a door-mounted hinge strip associated with the upper door hinge 16. Also... Figure 2As shown, this mounting of the motor and gear assembly 34 adjacent to the upper door hinge 16 of the door 12 positions the power-operated actuator mechanism 22 of the power-closing member actuation system 20 close to the pivot axis A. This mounting of the motor and gear assembly 34 adjacent to the upper door hinge 16 of the door 12 minimizes the potential influence of the power-closing member actuation system 20 on the mass moment of inertia of the door 12 (i.e., the pivot axis A), thereby improving or facilitating movement of the door 12 between its open and closed positions. Additionally, as... Figure 2 As shown, the mounting of the motor and gear assembly 34 adjacent to the upper door hinge 16 of the door 12 allows the powered closing member actuation system 20 to be enclosed in front of the A-pillar glass travel passage 35 associated with the door 12, thus avoiding any interference with the glass window function of the door 12. In other words, the powered closing member actuation system 20 can be enclosed in an unused portion 37 of the interior cavity 39 within the door 12, thus reducing or eliminating impact on existing hardware / mechanisms within the door 12. Although the powered closing member actuation system 20 is illustrated as being mounted adjacent to the upper door hinge 16 of the door 12, alternatively, without departing from the scope of this disclosure, the powered closing member actuation system 20 may also be mounted in other locations within the door 12 or even on the body 14.

[0036] The power-operated closure member actuation system 20 also includes a rotary drive mechanism that is rotatably driven by the power-operated actuator mechanism 22. For example... Figure 2As shown, the rotary drive mechanism includes a drive shaft 42 interconnected to the output member of the gearbox 38 of the motor and gear assembly 34, and extending from a first end 44 adjacent to the gearbox 38 to a second end 46. The rotary output member of the motor and gear assembly 34 may include a first adapter 47, such as a square recessed socket, for operatively interconnecting the first end 44 of the drive shaft 42 directly to the rotary output of the gearbox 38. Additionally, although not explicitly shown, a disconnectable clutch may be provided between the rotary output of the gearbox 38 and the first end 44 of the drive shaft 42. In one configuration, the clutch is typically engaged without power (i.e., de-energized engagement) and can be selectively energized (i.e., energized disengagement) to disengage. In other words, an optional clutch will operatively connect the drive shaft 42 to the motor and gear assembly 34 without applied power, while a clutch will require applied power to disconnect the drive shaft 42 from the drive connection with the gearbox 38. Alternatively, the clutch may be configured in an energized engagement and de-energized disengagement arrangement. The clutch can be engaged and disengaged using any suitable type of clutch mechanism, such as a set of sprags, balls, coil springs, friction plates, or any other suitable mechanism. The clutch is configured to allow the user to manually move the door 12 relative to the vehicle body 14 between an open position and a closed position. This disengageable clutch can, for example, be located between the output of the electric motor 36 and the input of the gearbox 38. The location of this optional clutch can be based, in particular, on whether the gearbox 38 includes a "reversible" gear. In one possible configuration, the power-operated actuator mechanism 22 is not provided with a clutch mechanism, thus providing a direct, permanent connection between the motor and the output of the power-operated actuator mechanism 22 (e.g., connected to, for example, the vehicle body 14). In this configuration, the motor and gear train assembly 34 may be a reversible gear train.

[0037] The second end 46 of the drive shaft 42 is connected to the body hinge band of the lower door hinge 18 for transmitting rotational force directly from the motor and gear assembly 34 to the door 12 via the body hinge band portion of the lower door hinge 18. To accommodate angular motion caused by the swinging movement of the door 12 relative to the body 14, the rotary drive mechanism further includes a first universal joint or U-shaped joint 45 disposed between the first adapter 47 and the first end 44 of the drive shaft 42, and a second universal joint or U-shaped joint 48 disposed between the second adapter 49 and the second end 46 of the drive shaft 42. Alternatively, a constant velocity joint can be used instead of the U-shaped joints 45 and 48. The second adapter 49 may also be a square recessed socket, etc., configured to be rigidly attached to the body hinge band of the lower door hinge 18. However, other methods of establishing drive attachment may be used without departing from the scope of this disclosure. Rotation of the drive shaft 42 via the operation of the motor and gear assembly 34 actuates the lower door hinge 18 by rotating the body hinge band about its pivot axis to which the drive shaft 42 is attached and relative to the door hinge band of the lower hinge 18. Therefore, the power closure actuation system 20 enables movement of the door 12 between its open and closed positions by directly transmitting rotational force to the body hinge band of the lower door hinge 18. The second end 46 of the drive shaft 42 is attached to the body hinge band of the lower door hinge 18, adjacent to the motor and gear assembly 34 connected to the door 12 via the upper door hinge 16. Based on the available space within the door cavity 39, the motor and gear assembly 34 can be mounted adjacent to the door mounting hinge component of the lower door hinge 18, and the second end 46 of the drive shaft 42 can be directly connected to the vehicle mounting hinge component of the upper door hinge 16. In an alternative, if the motor and gear assembly 34 is connected to the body 14, the second end 46 of the drive shaft 42 will be attached to the door hinge belt.

[0038] Figure 3 A block diagram of a powered door system 21 for moving a closing member (e.g., door 12) of a vehicle 10 relative to the vehicle body 14 between an open position and a closed position is shown. As discussed above, the powered door actuation system 20 includes an actuator 22 coupled to the closing member (e.g., door 12) and the vehicle body 14. The actuator 22 is configured to move the closing member 12 relative to the vehicle body 14. The powered door actuation system 20 also includes a controller 50 coupled to the actuator 22 and communicating with other vehicle systems (e.g., a body control module) and also receiving vehicle power from the vehicle 10 (e.g., from the vehicle battery 53). Return to Reference Figure 2The controller 50 communicates with an auxiliary actuator or door presenter 61 for controlling the movement of the door, and the controller 50 is configured to switch control between the actuator 22 and the auxiliary actuator 61. The controller 50 also communicates with the latch 83 of the door 12 for selectively securing the door 12 to the vehicle body 14.

[0039] The controller 50 can operate in at least one of an automatic mode (in response to automatic mode initiation input 54) and a power-assisted mode (in response to motion input 56). In automatic mode, the controller 50 commands the closing member to move through a predetermined motion profile (e.g., open the closing member). The power-assisted mode differs from the automatic mode in that the motion input 56 from the user can be continuous to move the closing member, rather than a single input from the user in automatic mode. Commands 51 from the vehicle system can include, for example, instructions from the controller 50 to open the closing member, close the closing member, or stop the movement of the closing member. Such control inputs, such as inputs 54 and 56, can also include other types of inputs 55, such as inputs from a body control module that can receive wireless commands to control door opening based on signals received, for example, from a key fob 60 or other wireless device (e.g., a cellular smartphone) or from wireless signals received from sensor components on the vehicle, such as radar or light sensor components, which detect the user's approach as they approach the vehicle, for example, through gestures or gait, such as walking. Other components that may affect the operation of the power-assisted closing member actuation system 20, such as the door seal 57 of the door 12, are also shown. Furthermore, environmental conditions 59 (rain, cold, heat, etc.) can be monitored by vehicle 10 (e.g., by body control module) and / or controller 50. An example of a controller is described in International Patent Application No. WO2020252601A1, the entire contents of which are incorporated herein by reference. Thus, controller 50 can be programmed to control the movement of door 12 in automatic mode and / or power-assisted or servo mode.

[0040] Now refer to Figure 4 The controller 50 is configured to receive an automatic mode activation input 54 and, in response to receiving the automatic mode activation input 54, enter automatic mode to output a motion command 62 or receive the input motion command 62. The automatic mode activation input 54 can be a manual input on the closing member itself (e.g., the front passenger door 12) or an indirect input to the vehicle (e.g., a closing member switch 58 on the closing member, a switch on the key fob 60, etc.). Therefore, for example, the automatic mode activation input 54 can be, for example, the result of a user or operator operating a switch (e.g., closing member switch 58), making a gesture near the vehicle 10, or possessing the key fob 60 near the vehicle 10. It should also be understood that other automatic mode activation inputs 54 are conceivable, such as, but not limited to, the proximity of a user detected by a proximity sensor.

[0041] Furthermore, the power closure member actuation system 20 includes at least one closure member feedback sensor 64 for determining at least one of the position, velocity, and attitude of the closure member. Thus, the at least one closure member feedback sensor 64 detects signals from the actuator 22 by counting the revolutions of the electric motor 36, the absolute position of the extendable member (not shown), or signals from the door 12 (e.g., as an example, an absolute position sensor for door inspection) that can provide position information to the controller 50. The feedback sensor 64 communicating with the controller 50 is part of a feedback system or motion sensing system for directly or indirectly detecting door movement, for example, by detecting changes in the velocity and position of the closure member or its associated components. For example, the motion sensing system can be hardware-based (e.g., a Hall sensor unit, associated circuitry) for detecting movement of a target, for example, on the closure member (e.g., on a hinge) or on the actuator 22 (e.g., on a motor shaft), and / or the motion sensing system can be software-based (e.g., using code and logic to execute a pulse counting algorithm), for example, executed by the controller 50. Other types of position, velocity, and / or orientation detectors, such as accelerometers and induction-based sensors, can be used without restriction.

[0042] The powered closure member actuation system 20 further includes at least one non-contact obstacle detection sensor 66, which can form part of a non-contact obstacle detection system coupled, for example, electrically coupled to the controller 50. The controller 50 is configured to determine whether an obstacle is detected using at least one non-contact obstacle detection sensor 66 (e.g., using a non-contact obstacle detection algorithm 69), and can, for example, stop the movement of the closure member in response to determining that an obstacle has been detected. The non-contact obstacle detection system can also be configured to calculate the distance from the closure member to an object or obstacle, or to a user who is an object or obstacle, or to the door 12. For example, the non-contact obstacle detection system can be configured to perform time-of-flight calculations using a radar-based sensor (non-contact obstacle detection sensor 66) to determine the distance, or, for example, to characterize an object as a user or human based on the reflectivity of the object determined by the radar-based sensor (non-contact obstacle detection sensor 66) and the system, compared to a non-human object. The non-contact obstacle detection system can also be configured to determine when an obstacle is detected, for example, by detecting reflected waves from radar emitted from the obstacle detection sensor 66 that represent the object, obstacle, or user. The non-contact obstacle detection system can also be configured to determine, for example, when an obstacle is not detected by the absence of a radar reflection emitted from the obstacle detection sensor 66, indicating an object, obstacle, or user. Operation and examples of at least one non-contact obstacle detection sensor 66 and system are discussed in U.S. Patent Application No. 2018 / 0238099, which is incorporated herein by reference.

[0043] In automatic mode, controller 50 may include one or more closed member motion profiles 68, which controller 50 utilizes when generating motion commands 62 in consideration of obstacle detection by at least one non-contact obstacle detection sensor 66 (e.g., using motion command generator 70 of controller 50). Therefore, in automatic mode, motion command 62 has a specified motion profile 68 (e.g., acceleration curve, velocity curve, deceleration curve, and ultimately stops at the open position) and is continuously optimized based on user feedback (e.g., automatic mode initiation input 54).

[0044] Figure 5 The range of movement of a closing member (e.g., door 12) between an open position and a closed position is shown. Although the open and closed positions are shown as being 90 degrees apart from each other, it should be understood that other configurations and movements of the closing member 12 are contemplated (e.g., the open and closed positions may be greater than or less than 90 degrees apart from each other). Based on the position and / or velocity of the closing member 12 detected by at least one closing member feedback sensor 64, the controller 50 can control the actuator 22. Figure 5 The angles X and Y shown are example control conditions in the opening and closing directions, respectively, and the full travel angle is indicated by 72.

[0045] Therefore, using the power-operated closing mechanism actuation system 20, door 12 can be moved in a power mode to a partially open position where door 12 can remain open, possibly using power from the power actuator 22 to provide a hold-open function in hold-open mode or to maintain door 12 in the partially open position. If a user leaves vehicle 10, for example, by parking vehicle 10 in a garage with door 12 half-open, the power actuator 22 can be powered to ensure that door 12 does not leave this infinite door check position. Powering the door check function with the power actuator 22 eliminates the need for a mechanical brake to provide this door check function (e.g., reducing costs). However, a disadvantage is the constant power draw required to use the power actuator 22 as a braking mechanism. After a period of time, the battery powering the power actuator 22 to maintain door 12 in the hold-open or infinite door check position may be depleted, and the power actuator 22 will no longer be powered. Therefore, door 12 may drift uncontrollably and collide with an object. Therefore, the battery will be depleted when the user returns, and the door 12 may be damaged because the door may swing open uncontrollably depending on the hinges and / or the tilt of the door 12.

[0046] One solution, detailed herein and described in more detail below, is to allow the door 12 to move to a neutral or balanced position 74 after using the power actuator 22 for a period of time. Furthermore, the power actuator 22 moves the door 12 to a partially open position between the open and closed positions. Thus, according to one aspect, the power actuator 22 is adapted to allow the door 12 to move to the balanced position 74 after the power actuator 22 has moved the door 12 to the partially open position.

[0047] Return to reference Figure 5 The diagram illustrates an equilibrium position 74 where the door 12 moves neither toward the open nor the closed position under the influence of gravity. In other words, the equilibrium position 74 can be the position where the door 12 naturally moves under force or gravity. The equilibrium position 74 can also be the position where the door 12 naturally moves under gravity—with additional force assistance from the provided power actuator 22—to assist the door in moving toward the equilibrium position in addition to the gravity that acts to move the door 12. Thus, an increase in the rate of motion can be provided compared to motion exerted solely by gravity, or a resistance to gravity that moves the door toward the equilibrium position can be provided to reduce the rate of motion compared to motion exerted solely by gravity. In possible configurations, the motor 36 of the power actuator 22 (which may include a motor circuit system, such as a braking circuit system) can be configured to resist motion when electrically activated, and / or the motor and gear assembly 34 can be configured to resist motion, for example, due to the forward and / or reverse drive characteristics of the motor and gear assembly 34. Although Figure 5 An example of the balance position 74 is shown, but it should be understood that the balance position 74 can be any position between the open position (i.e., fully open position) and the closed position (i.e., fully closed position) depending on the angle of the hinges 16, 18 and / or the door 12. The balance position 74 can be closer to the fully open position where the door 12 abuts against the end stop. In other cases, the balance position 74 can be closer to the closed position where the door abuts against the door seal. The balance position 74 can be in the partially open position or in the door check stop position (if provided). Therefore, in the balance position 74, the door 12 will naturally maintain its position due to gravity, and no power actuator 22 is required to keep the door 12 open.

[0048] Return to reference Figure 4To prevent damage from collisions during the door's movement to the equilibrium position 74, the door 12 may have controlled movement (e.g., at a slower speed) such that if an obstacle is present and the door 12 collides with it, such an impact will be mitigated at a slower speed to prevent damage. Therefore, according to one aspect, the controller 50 is adapted to control the power actuator 22 to move the door 12 to the equilibrium position 74 at an operating rate lower than the normal operating rate of the power actuator 22. Furthermore, the power actuator 22 is adapted to allow the door 12 to move to the equilibrium position 74 after a period of time (e.g., a predetermined pause period or pause time) has elapsed. In other words, the timer 76 is triggered once the door 12 stops in the partially open position. It should be understood that the stopping position can be a position between a fully open position and a fully closed position, and can include both fully open and fully closed positions. It should be understood that the stopping position can be predetermined based on a pre-programmed position of the system, or it can be an undetermined position, for example, achieved by a user moving the door during normal power mode upon detecting an interruption (e.g., button press or physical interaction with the door 12). Furthermore, the operating rate can be allowed to increase as the door 12 moves away from the partially open position, and the operating rate can also be kept below a predetermined threshold speed 78 as the door 12 approaches the equilibrium position 74. The memory unit of the controller 50 stores the predetermined threshold speed 78. During the equilibrium position homing operation, either the maximum door movement speed variable or the predetermined threshold speed 78 is used (i.e., to find the equilibrium position 74, discussed in more detail below). Therefore, the predetermined threshold speed 78 to the equilibrium position 74 can be predetermined. For example, the predetermined threshold speed 78 can be set to a lower value, such as 40% of the normal door movement speed. The predetermined threshold speed 78 can be based on the weight of the door 12 (e.g., the door speed to the neutral position can be set lower based on a heavier door).

[0049] While many obstacle detection systems are typically designed to prevent collisions, since door 12 moves slowly upon impact with an obstacle, it is highly likely that door 12 will not be damaged and will be allowed to stop against the obstacle. Therefore, such a position (i.e., against an obstacle) is the equilibrium position 74. If no obstacle is present, door 12 will be controlled by controller 50 to move to a position where the power actuator 22 will not be powered, as door 12 will naturally remain in this equilibrium position 74. When door 12 is moved to stop against an obstacle due to gravity or by controlled activation of actuator 22, any obstacle detection system can be deactivated, or any signals from the obstacle detection system can be ignored by controller 50, because the lower rate of movement of door 12 during equilibrium mode will not cause damage. Therefore, during the normal power mode in which the door 12 moves under the power of the actuator 22, which may cause the door 12 to move at a higher speed and inertia (during which the impact of the door 12 with an obstacle may cause damage), the obstacle detection system may be activated, or any signal from the obstacle detection system may be taken into account by the controller 50, thus allowing contact to be avoided.

[0050] The controller 50 can know or store the equilibrium position 74, and therefore, the memory unit of the controller 50 can store such a predetermined equilibrium position 80 (e.g., together with one or more closed member motion profiles 68 used by the controller 50), such as Figure 4 As best shown in the diagram. Therefore, the controller 50 knows which direction / position to move the door 12 and is configured to move the door 12 at a reduced speed in the event of an obstacle being hit, so that the door 12 will not be damaged and the door 12 can be stopped quickly.

[0051] Alternatively, since the equilibrium position 74 may shift according to the slope of the surface on which the vehicle 10 is parked (i.e., equilibrium position repositioning operation), the controller 50 can adaptively find the equilibrium position 74. For example, the equilibrium position 74 can be sensed by using an accelerometer to detect the speed of the door 12 during its movement to the equilibrium position 74. Specifically, when no movement of the door 12 is sensed, this indicates that the equilibrium position 74 has been found. Therefore, according to one aspect, the controller 50 is adapted to determine the equilibrium position 74. Therefore, the controller 50 also includes an equilibrium position determination unit 82, such as Figure 4As shown. Furthermore, the controller 50 is connected to at least one closing member feedback sensor 64. Therefore, the controller 50 can determine when the movement of the door 12 is zero or close to zero to determine the balance position 74 of the door 12. Thus, the balance position determination unit 82 can be used to sense when the door 12 is about to stop at the balance position 74, which may change depending on the tilt angle of the vehicle 10. The balance position determination unit 82 can additionally or alternatively sense when the current draw to the motor 36 is minimum, indicating the balance position 74. Other sensors / determinations can be used. This dynamic determination of the balance position 74 is useful for partially open balance positions that may be affected by the tilt of the vehicle 10.

[0052] Reference Figure 6 and Figure 7 As part of the aforementioned operations (including allowing door 12 to move to equilibrium position 74 after a predetermined pause period), the power-operated closing member actuation system 20 (e.g., controller 50) can operate in one of the following modes: door ready / active mode or normal power operation mode, door pause mode or door check mode, door sleep mode, or error mode. Specifically, Figure 6 A state diagram of the powered closing member actuation system 20 is shown. As indicated, the door ready / active mode is indicated by reference numeral 84. In the ready / active mode, all door functions are enabled. Possible entries for entering the ready / active mode include an enabled wake-up signal or the door 12 being moved. Furthermore, to remain in the ready / active mode, there must be no errors. If the door 12 does not move within a predetermined pause period or during the pause period, the powered closing member actuation system 20 switches to [a different mode]. Figure 6 The door pause mode is shown as reference numeral 86 in the attached figure. In the door pause mode (also known as the balance mode), the desired pause behaviors discussed herein are activated (e.g., slow drift to balance position 74, slow power closure, slow power opening). Furthermore, a balance position reset operation can occur during the door pause mode (e.g., if a predetermined balance position 80 is not used). Similar to the ready / active mode, there must be no errors to remain in the pause mode. If a wake-up signal is removed and the door 12 remains inactive for a predetermined sleep period or during the sleep period, the power closure member actuation system 20 switches to the door sleep mode, as shown as reference numeral 88. In the door sleep mode, the door 12 (power actuator 22) is fully closed. Additionally, an error mode is indicated by reference numeral 90. Any error causes the power closure member actuation system 20 to switch to an error mode, and in the error mode, no power is supplied to the motor 36 of the power actuator 22.

[0053] Figure 7This is a selection table of pause behavior for the power-operated closing member actuation system 20. For powered movement of the door 12 during the door pause mode, the door 12 is driven slowly and has a defined end position. For powered movement during the door pause mode, if the door hits an object (i.e., as described above, the door 12 is allowed to rest against an object or obstacle), the controller 50 will continue to keep the power actuator 22 running. Furthermore, for powered movement during the door pause mode, additional power is required to drive the door 12. In contrast, for drift movement of the door 12 during the door pause mode, the door 12 is only allowed to move at a very low speed and there is no defined end position. For drift movement during the door pause mode, the door 12 will attempt to resist any external interaction. Furthermore, for drift movement during the door pause mode, almost no power is required.

[0054] Therefore, during the door pause mode, the controller 50 will control the speed 12 after a predetermined pause period (e.g., determined using timer 76) and move the door 12 to a predetermined equilibrium position 80 or equilibrium position 74 determined by the controller 50 at a speed lower than the normal door speed (e.g., below a predetermined threshold speed 78) (i.e., during the equilibrium position return operation). The controller 50 can also be configured to reduce any braking force initially applied to the door 12 as the door 12 drifts to the equilibrium position 74 (e.g., by motor 36 or brake, discussed in more detail below).

[0055] Figure 8 This is an electrical schematic diagram of the braking circuit 100 of the power-operated closing member actuation system 20. The braking circuit 100 is used to regulate the speed of the actuator 22 when it is not actively powered by the electric motor 36 (e.g., when the door 12 has moved to its equilibrium position 74). For example, the braking circuit 100 can be configured to short-circuit the electric motor 36 of the power actuator 22 to produce a braking effect. It is illustrated that the braking circuit 100 can be separately provided and controlled by the controller 50, or integrated with the controller 50.

[0056] like Figure 8 As shown, the braking circuit 100 is controlled by the controller 50 to actively drive the electric motor 36 by supplying power to the electric motor 36 via the first conductor 104 and the second conductor 106 (which may be referred to as the "common" or "neutral" conductors), so that the electric motor 36 rotates in a first direction or a second direction. The first direction and the second direction of the electric motor 36 may correspond to the opening and closing of the door 12, respectively.

[0057] The electric motor 36 generates an induced voltage Vind in response to an external force applied to the actuator 22. This external force can be, for example, the result of gravity acting on the door 12.

[0058] The braking circuit 100 also includes a first switch 108, which can operate in soft braking mode to conduct current from the electric motor 36 through a load, thereby applying a first braking force to the electric motor 36 opposite to the external force. The load may include a first braking resistor 112. Figure 8 As shown, the first switch 108 may be in the form of a single-pole single-throw (SPST) switch. In other embodiments, the first switch 108 may be in the form of one or more different devices in the circuit that work together to conduct current through a load or prevent current from being conducted through a load. The load may include other devices such as rectifier 124 to provide power to one or more devices, such as controller 50, within the power closure member actuation system 20.

[0059] In some embodiments, the first switch 108 may be configured to conduct current from the electric motor 36 through a load, wherein the power closure member actuation system 20 is in a door-suspended mode where the electric motor 36 is not actively driven by the controller 50. The first switch 108 may also operate in a non-braking state to suppress current flow from the electric motor 36 through the load, wherein the power closure member actuation system 20 is in a door-ready / active mode where the electric motor 36 can be actively driven by the controller 50. The first switch 108 provides electrical continuity to allow current to flow between the first conductor 104 and the third conductor 110, thereby conducting current from the electric motor 36 to the load in a soft-braking mode. In other words, the first switch 108 is in a conducting state in the soft-braking mode and is configured to suppress current flow from the electric motor 36 to the load when the first switch 108 is not in the soft-braking mode.

[0060] A first braking resistor 112 is connected between the third conductor 110 and the second conductor 106 to provide a path for a current generated by the electric motor 36 as a result of the induced voltage Vind produced by the rotation of the electric motor 36 due to the external force applied to the actuator 22. The first braking resistor 112 can dissipate electrical power in the form of heat to cause the electric motor 36 to apply a first braking force opposite to the external force applied to the actuator 22. In other words, the first switch 108 is used to bridge the first braking resistor 112 across the electric motor 36 to provide a first braking force. The first braking force can be minimal and can be merely a byproduct of the primary purpose of bridging the first braking resistor 112 across the electric motor 36 to generate power (allowing the brake controller 114 to operate). Alternatively or additionally, the first braking force can be non-minimum and can be used to reduce the speed of the electric motor 36 and the gate 12.

[0061] According to one aspect, when the power closure actuator actuation system 20 is in door pause mode, the first switch 108 can default to soft braking mode. As determined by the controller 50, the first switch 108 can also be placed in soft braking mode at any time when the electric motor 36 is not actively moving. For example, after the controller 50 determines that the door 12 has reached a commanded position such as a fully open or fully closed position, or as another example, when the controller 50 determines that an object is present in the path of the door 12, the controller 50 commands the motor 36 to stop to halt the movement of the door 12. Alternatively, the first switch 108 can be manually operated in soft braking mode in response to the power closure actuator actuation system 20 being in door sleep mode with the actuator 22 fully closed. In other words, when the electric motor 36 is actively driven, the first braking resistor 112 can be electrically isolated from the electric motor 36 by the first switch 108 to ensure that power to the electric motor 36 is not transmitted to the first braking resistor 112. When the electric motor 36 is not actively driven, the first braking resistor 112 can be reconnected by closing the first switch 108. Even after the electric motor 36 has started moving, this allows the first braking resistor 112 to provide braking.

[0062] For example Figure 8 As shown, controller 50 includes brake controller 114, which is configured to monitor the speed of the garage door and selectively command a second switch 118 (which may be referred to as a "hard brake switch") to conduct current from electric motor 36 through second braking resistor 120, causing electric motor 36 to apply a second braking force opposite to the external force. Illustratively, the second switch 118 can be selectively controlled using a second control line 119 connected to brake controller 114. Similarly, illustratively, the first switch 108 can be selectively controlled using a first control line 116 connected to brake controller 114. In some embodiments, the second braking resistor 120 may have a resistance significantly lower than that of the first braking resistor 112, and thus the second braking force can be significantly greater than the first braking force. It should be understood that the second braking resistor 120 may have a higher or lower value or a value that varies depending on the amount of braking required for a particular situation. In some embodiments, the second braking force may be much larger than the first braking force.

[0063] The brake controller 114 may include any combination of hardware and / or software. In some embodiments, the controller 50 may include the brake controller 114. For example, the brake controller 114 may be as follows: Figure 8The brake controller 114, as a part of the controller 50 shown in the schematic diagram, may be a separate unit, such as a separate microchip mounted on a common printed circuit board, or it may be integrated into the controller 50, for example. In some embodiments, the brake controller 114 may be a software module running on the processor of the controller 50. Alternatively, the brake controller 114 may be separate and independent of the controller 50.

[0064] The second switch 118 can be a single-pole single-throw (SPST) switch, such as... Figure 8 As shown. In other embodiments, the second switch 118 may take the form of one or more different devices in the circuit that work together to conduct current through the second braking resistor 120 or prevent current from being conducted through the second braking resistor 120.

[0065] Switches 108 and 118 can be operated manually or automatically, and can be relays or include one or more transistors such as FETs or BJTs. Switches 108 and 118 can be similar to or different from each other.

[0066] In addition, such as Figure 8 As shown, the braking circuit 100 includes a rectifier 124. Input conductors 126 connected to each side of the first braking resistor 112 are charged with an induced voltage Vind and conduct alternating current to transfer power to the rectifier 124. The rectifier 124 is used to generate a direct current output voltage Vout on the output conductor 128, thereby supplying power to the controller 50. In other words, the rectifier 124 can convert positive or negative alternating current and / or direct current from the input conductors 126 into the form required by the controller 50 and / or, for example, the braking controller 114, the direct current output voltage Vout on the output conductor 128. The rectifier 124 may include one or more diodes to provide a direct current output voltage Vout that meets the requirements of the controller 50, such as voltage, tolerable ripple, etc. The rectifier 124 may also include one or more other components, such as, for example, resistors, capacitors, inductors, or voltage regulators.

[0067] According to another aspect, the application of the resistive load can also vary based on the position of the door 12. This can be achieved by having two or more second braking resistors 120, each of which can be independently switched by a corresponding second switch 118. Alternatively or additionally, the brake controller 114 can change the application of the second braking resistors 120, for example, by rapidly switching the second switch 118. This can be achieved, for example, by pulse width modulation (PWM). Thus, the second switch 118 can be PWM to increase / decrease the braking effect (e.g., decrease the braking effect as the speed of the door 12 approaches zero). At some locations, the speed of the door 12 may be critical to the function of protecting the door 12, the electric motor 36, and / or other components of the power closure member actuation system 20. As shown, at least one closure member feedback sensor 64 communicates with the controller 50 and is used to sense the movement, speed, and position of the door 12 used in controlling the brake circuit 100.

[0068] Reference Figure 9 and Figure 10 The invention also provides a method for controlling the movement of the door 12. As discussed, the door 12 is movable between an open position and a closed position and has a balance position 74 in which the door 12 does not move toward the open position or toward the closed position under the influence of gravity.

[0069] Figure 9 The steps of a method for controlling the movement of a door 12 to an equilibrium position 74 using powered motion are shown. The method includes step 1000: controlling a powered actuator 22 to move the door 12 to a partially open position between an open position and a closed position in a normal powered operation mode. The method continues with step 1002 of holding the door 12 in the partially open position. The method also includes step 1004: allowing the door 12 to move to the equilibrium position 74 after holding the door 12 in the partially open position. Step 1004 of allowing the door 12 to move to the equilibrium position 74 may be performed after a predetermined pause period has expired. Therefore, the method also includes step 1006 of determining whether the predetermined pause period has expired.

[0070] The method also includes step 1008 of entering a door pause mode, in which normal operation of the power actuator 22 ceases in response to the expiration of a predetermined pause period. According to one aspect, step 1004 of allowing the door 12 to move to the equilibrium position 74 includes controlling the door 12 at a speed lower than the normal operating speed. Therefore, the method includes step 1010 of initiating the movement of the door 12 to the equilibrium position 74 in a low-power deceleration mode. The method may also include step 1012: gradually reducing the braking effect on the door 12 as it moves away from the partially open position. The method continues with step 1014 of determining whether an obstacle is detected. The next step of the method is 1016: stopping the power actuator 22 and abutting the door 12 against the obstacle in response to determining that an obstacle has been detected.

[0071] The method further includes a step 1018 of continuing to move the door 12 in response to determining that no obstacle has been detected. According to one aspect, step 1018 of continuing to move the door 12 in response to determining that no obstacle has been detected includes 1020: continuing to move the door 12 to an equilibrium position 74, the equilibrium position 74 being based on either a predetermined equilibrium position 80 or a detected zero velocity of the door 12. According to another aspect, step 1018 of continuing to move the door 12 in response to determining that no obstacle has been detected includes 1022: continuing to move the door 12 to the predetermined equilibrium position 80. The method then proceeds to step 1024: de-energizing the power actuator 22 in a door sleep mode.

[0072] Figure 10 The steps of a method for controlling the movement of a door 12 to an equilibrium position 74 using non-powered motion are shown. The method includes step 1000: controlling a power actuator 22 to move the door 12 to a partially open position between an open position and a closed position in a normal powered operation mode. The method continues with step 1002 of holding the door 12 in the partially open position. The method also includes step 1004: allowing the door 12 to move to the equilibrium position 74 after holding the door 12 in the partially open position. Step 1004 of allowing the door 12 to move to the equilibrium position 74 may be performed after a predetermined pause period has expired. Therefore, the method also includes step 1006 of determining whether the predetermined pause period has expired.

[0073] The method also includes step 1008 of entering a door pause mode, in which normal operation of the power actuator 22 ceases in response to the expiration of a predetermined pause period. According to one aspect, step 1004 of allowing the door 12 to move to the equilibrium position 74 includes allowing the door 12 to drift. Therefore, the method includes step 1026: initiating allowing the door 12 to drift to the equilibrium position 74 under gravity while not supplying power to the power actuator 22. The method continues with step 1028 of determining whether the door 12 is traveling faster than a predetermined threshold speed 78; and step 1030 of supplying power to the power actuator 22 to slow down the door 12 in response to determining that the door 12 is traveling faster than the predetermined threshold speed 78. The method may include step 1032: gradually reducing the braking effect on the door 12 as it moves away from the partially open position. The method also includes step 1034 of determining whether an obstacle is detected. The method continues with step 1036: stopping the power actuator 22 and abutting the door 12 against the obstacle in response to determining that an obstacle is detected.

[0074] The method further includes a step 1038 of allowing the door 12 to continue drifting in response to determining that no obstacle is detected. According to one aspect, step 1038 of allowing the door 12 to continue drifting in response to determining that no obstacle is detected includes 1040: continuing to allow the door 12 to drift to an equilibrium position 74, the equilibrium position 74 being based on either a predetermined equilibrium position 80 or a detected zero velocity of the door 12. More specifically, the method may further include a step 1042 of determining the equilibrium position 74 during the process of allowing the door 12 to move to the equilibrium position 74. Specifically, the method may further include a step 1044 of determining that the velocity of the door 12 reaches or approaches zero during the process of the door 12 moving to the equilibrium position 74. According to another aspect, step 1038 of allowing the door 12 to continue drifting in response to determining that no obstacle is detected includes a step 1046 of continuing to allow the door 12 to drift to a predetermined equilibrium position 80. The method also includes step 1048: de-energizing the power actuator 22 in a door sleep mode.

[0075] However, it will be apparent that changes may be made to the description and illustration herein without departing from the scope defined in the appended claims. The foregoing description of embodiments has been provided for illustrative and descriptive purposes. It is not intended to be exhaustive or limiting of this disclosure. Elements or features of a particular embodiment are generally not limited to that particular embodiment, but are interchangeable where applicable and can be used in chosen embodiments, even if not specifically shown or described. Elements or features of a particular embodiment may also vary in many respects. Such variations are not considered to depart from this disclosure, and all such modifications are intended to be included within the scope of this disclosure.

[0076] The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. As used herein, the singular forms “a,” “an,” and “the” may also be intended to include the plural forms unless the context clearly indicates otherwise. The terms “comprising,” “including,” “containing,” and “having” are inclusive and thus specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof. Unless the method steps, processes, and operations described herein are specifically identified as having a specific order of execution, they should not be construed as requiring them to be performed in the particular order discussed or shown. It should also be understood that additional or alternative steps may be employed.

[0077] When an element or layer is referred to as “on another element or layer,” “joined to,” “connected to,” or “attached to” another element or layer, it may be directly on, joined to, connected to, or attached to the other element or layer, or there may be intermediate elements or layers present. In contrast, when an element is referred to as “directly on another element or layer,” or “directly joined to,” “directly connected to,” or “directly attached to” another element or layer, there may be no intermediate elements or layers present. Other terms used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” vs. “directly between,” “adjacent” vs. “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items.

[0078] Although the terms first, second, third, etc., may be used herein to describe various elements, components, regions, layers, and / or portions, these elements, components, regions, layers, and / or portions should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or portion from another region, layer, or portion. When terms such as “first,” “second,” and other numerical terms are used herein, they do not imply order or sequence unless clearly indicated by the context. Therefore, without departing from the teachings of the exemplary embodiments, the first element, first component, first region, first layer, or first portion discussed below may be referred to as a second element, second component, second region, second layer, or second portion.

[0079] For ease of description, spatially related terms such as “inside,” “outside,” “below,” “below,” “lower,” “above,” “upper,” “top,” “bottom,” etc., are used herein to describe the relationship between one element or feature and another element or feature as shown in the figures. Spatially related terms can mean different orientations of a device in use or operation, other than those depicted in the figures. For example, if the device in the figures is flipped, the element described as “below” or “below” to another element or feature will be oriented as “above” to that other element or feature. Thus, the example term “below” can include both above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially related descriptions used herein will be interpreted accordingly.

[0080] The components of the illustrative devices, systems, and methods employed according to the illustrated embodiments can be implemented at least in part as digital electronic circuit systems, analog electronic circuit systems, or as computer hardware, firmware, software, or a combination thereof. These components can be implemented as a set of instructions executable by a processing device, for example, as a computer program product, such as a computer program, program code, or computer instructions tangibly implemented in an information carrier or machine-readable storage device to be executed by or control the operation of a data processing device, such as a programmable processor, microprocessor, or one or more computers. As used herein, the term "controller" refers to any combination of such computers, processors, microchip processors, integrated circuits, or any other elements, whether single or multiple, capable of carrying a program for performing the functions, methods, and flowcharts provided herein. A controller can be a single such element residing on a printed circuit board along with other electronic components. Alternatively, a controller can reside as a system of other elements remote from those described herein. For example, but not limited to, at least one controller can be exemplified by being programmed in a vehicle's onboard computer located within a door, latch, or other location within the vehicle. A controller can also reside in multiple locations or comprise multiple components.

[0081] The instruction list, such as a computer program, can be written in any form of programming language, including compiled or interpreted languages, and can be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. The computer program can be deployed to execute on one computer or on multiple computers located at a single station or distributed across multiple stations and interconnected via a communication network. Furthermore, the functional programs, code, and code segments used to implement the illustrative embodiments can be readily interpreted by a skilled programmer in the art to which the illustrative embodiments pertain as being within the scope of the claims executed in the illustrative embodiments. The method steps associated with the illustrative embodiments can be performed by one or more programmable processors executing the computer program, code, or instructions to perform functions (e.g., by manipulating input data and / or generating output). For example, the method steps can also be executed by a dedicated logic circuit system such as a FPGA (Field-Programmable Gate Array) or ASIC (Application-Specific Integrated Circuit), and the apparatus of the illustrative embodiments can be implemented as said dedicated logic circuit system.

[0082] The various illustrative logic blocks, modules, algorithms, steps, and circuits described in conjunction with the embodiments disclosed herein can be implemented or performed by a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but alternatively, as an example, the processor may be any conventional processor, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors with a DSP core, or any other such configuration.

[0083] By way of example, processors suitable for executing computer programs include both general-purpose microprocessors and special-purpose microprocessors, as well as any type of digital computer and one or more processors. Typically, a processor receives instructions and data from read-only memory or random access memory, or both. The basic components of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include or be operatively coupled to one or more mass storage devices, such as magnetic disks, magneto-optical disks, or optical disks, for receiving data from or transferring data to them, or both. Information carriers suitable for implementing computer program instructions and data include all forms of non-volatile memory, including, as examples, semiconductor memory devices such as electrically programmable read-only memory or ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory devices, and data storage disks (e.g., magnetic disks, internal hard disks or removable disks, magneto-optical disks, and CD-ROM and DVD-ROM disks). The processor and memory may be supplemented by or incorporated into a special-purpose logic circuit system.

[0084] Those skilled in the art will understand that information and signals can be represented using any of a variety of different processes and techniques. For example, the data, instructions, commands, information, signals, bits, symbols, and chips that may be mentioned throughout the above description can be represented by voltage, current, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.

[0085] Those skilled in the art will also understand that the various illustrative logic blocks, modules, circuits, algorithms, and steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above in terms of their functionality. Whether this functionality is implemented as hardware or software depends on the specific application and design constraints imposed on the system as a whole. Those skilled in the art may implement the described functionality in different ways for each specific application, but such implementation decisions should not be construed as causing a departure from the scope of the claims exemplified by the illustrative embodiments. Software modules may reside in random access memory (RAM), flash memory, ROM, EPROM, EEPROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor such that the processor can read information from and write information to the storage medium. Alternatively, the storage medium may be an integral part of the processor. In other words, the processor and storage medium may reside in an integrated circuit or be implemented as discrete components.

[0086] Computer-readable non-transitory media includes all types of computer-readable media, including magnetic storage media, optical storage media, flash memory media, and solid-state storage media. It should be understood that software can be installed in and sold with a central processing unit (CPU) device. Alternatively, software can be obtained and loaded into a CPU device, including through physical media or distribution systems, such as from a server owned by the software creator or from a server not owned by the software creator but used by the software creator. For example, software can be stored on a server for distribution via the Internet.

Claims

1. A system (20) for controlling the movement of a door (12), the door (12) being movable between an open position and a closed position and having a balance position (74), at which the door (12) does not move toward the open position or toward the closed position under the influence of gravity, the system (20) comprising: A power actuator (22) for moving the door (12) to a partially open position between the open position and the closed position, wherein the power actuator (22) is adapted to allow the door (12) to move to the equilibrium position (74) after the power actuator (22) has moved the door (12) to the partially open position. The system (20) further includes a controller (50) for controlling the power actuator (22). The controller (50) is adapted to control the power actuator (22) to move the door (12) to the equilibrium position (74) at an operating rate lower than the normal operating rate of the power actuator (22).

2. The system (20) according to claim 1, wherein, The operating rate is allowed to increase as the door (12) moves away from the partially open position.

3. The system (20) according to claim 2, wherein, As the gate (12) approaches the equilibrium position (74), the operating rate is maintained at a rate below a predetermined threshold (78).

4. The system (20) according to claim 1, wherein, The controller (50) is adapted to determine the equilibrium position (74).

5. The system (20) according to claim 4, wherein, The controller (50) is connected to at least one closing member feedback sensor (64) to determine when the movement of the door (12) is zero or close to zero, thereby determining the equilibrium position (74) of the door (12).

6. The system (20) according to any one of claims 1 to 5, wherein, The power actuator (22) is adapted to allow the door (12) to move to the equilibrium position (74) after a predetermined pause period has expired.

7. The system (20) according to any one of claims 1 to 5 further includes a braking circuit (100) configured to short-circuit the electric motor (36) of the power actuator (22) to produce a braking effect.

8. A method for controlling the movement of a door (12), the door (12) being movable between an open position and a closed position and having a balance position (74), at which the door (12) does not move toward the open position or toward the closed position under the influence of gravity, the method comprising the steps of: Control the power actuator (22) to move the door (12) to a partially open position between the open position and the closed position in normal power operation mode; hold the door (12) in the partially open position; and allow the door (12) to move to the equilibrium position (74) after holding the door (12) in the partially open position. The power actuator (22) is controlled by a controller (50). The controller (50) is adapted to control the power actuator (22) to move the door (12) to the equilibrium position (74) at an operating rate lower than the normal operating rate of the power actuator (22).

Images