Power moving panel system and method of operating the same

Abstract

A motorized mobile panel system includes a motor system, a motor phase comparator circuit, and a microcontroller. The motor system includes a brushless DC motor and a rotatable shaft configured to rotate in response to driving the brushless DC motor. The motor system is configured to adjust a position of the movable member in response to rotating the rotatable shaft. The motor phase comparator circuit is configured to determine a plurality of zero-crossing events of a first counter electromotive force, a second counter electromotive force, and a third counter electromotive force generated in response to driving the motor. The microcontroller is in signal communication with the motor phase comparator circuit and is configured to determine a rotational position of the rotatable shaft based on a count of each zero crossing event corresponding to each of the first, second, and third counter electromotive forces. Thus, the microcontroller determines the position of the movable member based on the rotational position of the rotatable shaft.

Description

Technical Field

[0001] Exemplary embodiments of the present disclosure relate to the field of vehicle systems, and more particularly, to an electric mobility panel system and a method of operating the electric mobility panel system. Background Art

[0002] The use of brushless technology for sunroof motors should bring many advantages to customers, such as noise comfort, low RF interference, low mass and small packaging. However, the use of brushless technology means higher costs for the electronic components, especially on the inverter side, compared to similar brushed motors. Summary of the invention

[0003] An electric mobile panel system is disclosed, which is configured to automatically operate a movable panel. The electric mobile panel system includes a motor system, a motor phase comparator circuit and a microcontroller. The motor system includes a brushless DC motor and a rotatable shaft, which is configured to rotate in response to driving the brushless DC motor. The motor system is configured to adjust the position of a movable component in response to rotating the rotatable shaft. The motor phase comparator circuit is configured to determine multiple zero-crossing events of a first back electromotive force (BEMF), a second back electromotive force, and a third back electromotive force generated in response to driving the motor. The microcontroller communicates signals with the motor phase comparator circuit and is configured to determine the rotational position of the rotatable shaft based on the count of each zero-crossing event corresponding to each of the first back electromotive force, the second back electromotive force, and the third back electromotive force. The microcontroller determines the position of the movable component based on the rotational position of the rotatable shaft without using a position sensor.

[0004] In addition to one or more of the above features, or as an alternative to any of the above embodiments, the microcontroller determines the position of a movable component with an anti-pinch function in accordance with Federal Motor Vehicle Safety Standard (FMVSS) No. 118 (FMVSS118) without using a position sensor.

[0005] In addition to one or more of the above features, or as an alternative to any of the above embodiments, the microcontroller allows for automatic closing and opening of the movable component based on the position of the movable component.

[0006] In addition to one or more of the above features, or as an alternative to any of the above embodiments, the microcontroller processes electrical back EMF signals representing the first back EMF, the second back EMF, and the third back EMF, filters parasitic voltages caused by one or a combination of vibrations of the motor system and vibrations of the brushless DC motor from the back EMF signals, and determines the rotational position of the rotatable shaft based on counted zero-crossing events without using a position sensor.

[0007] In addition to one or more of the above features, or as an alternative to any of the above embodiments, the motor phase comparator circuit includes a comparator comprising a first input configured to receive a first back electromotive force and a second back electromotive force, a second input configured to receive a third back electromotive force, and a logic signal configured to output a conversion between a logic "0" value and a logic "1" value or a logic "1" value and a logic "0" value, wherein any one of the conversions indicates a zero-crossing event of the first back electromotive force, the second back electromotive force, and the third back electromotive force, respectively.

[0008] In addition to one or more of the above features, or as an alternative to any of the above embodiments, the operations performed by the microcontroller include: determining when the motor is synchronized or unsynchronized; detecting a demagnetization pulse that appears in the current back electromotive force of one of the first back electromotive force, the second back electromotive force, or the third back electromotive force when the motor is unsynchronized; generating a virtual zero-crossing pulse in response to detecting the demagnetization pulse, the virtual zero-crossing pulse generating a logic signal output from the comparator; and counting the output of the logic signal generated by the virtual zero-crossing pulse as a zero-crossing event of the current back electromotive force.

[0009] In addition to one or more of the features described above, or as an alternative to any of the embodiments described above, the movable component is a movable panel.

[0010] In addition to one or more of the above features, or as an alternative to any of the above embodiments, the electric movable panel system also includes a gear system connected to the rotatable shaft; and a panel adjuster, which includes a first end connected to the gear system and a second end connected to the movable panel.

[0011] In addition to one or more of the above features, or as an alternative to any of the above embodiments, the panel adjuster moves the panel in a first direction in response to the rotatable shaft rotating in a first rotational direction, and moves the panel in a second direction in response to the rotatable shaft rotating in a second rotational direction opposite to the first rotational direction.

[0012] In addition to one or more of the above features, or as an alternative to any of the above embodiments, a brushless DC motor includes a first alternating current (AC) input terminal, a second AC input terminal, and an AC DC input terminal, the first AC input terminal is configured to receive a first AC voltage having a first phase, the second AC input terminal is configured to receive a second AC voltage having a second phase, and the AC DC input terminal is configured to receive a third AC voltage having a third phase, and the first AC voltage, the second AC voltage, and the third AC voltage are 120 degrees out of phase with each other.

[0013] In addition to one or more of the above features, or as an alternative to any of the above embodiments, the first AC voltage generates a first back EMF, the second AC voltage generates a second back EMF, and the third AC voltage generates a third back EMF.

[0014] A method for adjusting the position of a movable panel without using a position sensor is also disclosed. The method includes driving a brushless direct current (BLDC) motor and generating a first back electromotive force (BEMF), a second back electromotive force, and a third back electromotive force generated in response to the driving motor; rotating a rotatable shaft of the brushless direct current motor in response to the driving motor; and adjusting the position of the movable component by the motor system in response to the rotation of the rotatable shaft. The method also includes determining multiple zero-crossing events of at least one back electromotive force (BEMF) by a motor phase comparator circuit. The method also includes determining the rotational position of the rotatable shaft based on the count of each zero-crossing event corresponding to each of the first back electromotive force, the second back electromotive force, and the third back electromotive force by a microcontroller that communicates with the motor phase comparator circuit signal; and determining the position of the movable component by the microcontroller based on the rotational position of the rotatable shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The following description should not be considered limiting in any way. Referring to the accompanying drawings, the same reference numerals are used to represent the same elements:

[0016] Figure 1 is a diagram depicting a non-limiting embodiment of Figure 1 A diagram of three-phase voltages associated with back electromotive force (BEMF) of a motor included in an electric mobile panel system;

[0017] Figure 2 is a graph depicting zero crossings associated with back electromotive force according to a non-limiting embodiment;

[0018] Figure 3 is a block diagram of an electric mobile panel system that does not include a position sensor according to a non-limiting embodiment;

[0019] Figure 4 According to a non-limiting embodiment Figure 1 A block diagram of an electronic control unit included in an electric mobility panel system;

[0020] Figure 5 is a diagram depicting a demagnetization pulse occurring during commutation of a motor according to a non-limiting embodiment;

[0021] Figure 6 is a flow chart showing a method for generating a virtual zero-crossing pulse after a demagnetization pulse occurs in an asynchronous motor;

[0022] Figure 7The occurrence of false zero crossings caused by vibration of a brushless motor and a method of filtering these zero crossings are shown;

[0023] Figure 8 is a flow chart illustrating a method of filtering false zero-crossing pulses from the back electromotive force of a motor according to a non-limiting embodiment; and

[0024] Fig. 9 is a flow chart illustrating a method of starting a motor without using a position sensor according to a non-limiting embodiment. DETAILED DESCRIPTION

[0025] One or more embodiments of the disclosed apparatus and method are described herein in detail by way of example and not limitation, with reference to the accompanying drawings.

[0026] Sensorless control of brushless motors is often used in devices that do not require exact position information of the motor, such as fans and pumps. However, other applications require information about the rotational position of the motor to determine the position of the moving parts controlled by the motor's rotation. For example, automotive electrically movable panels such as power windows, sunroofs, and moonroofs use anti-pinch algorithms that require knowledge of the position of the glass panel. Traditionally, position sensors such as Hall effect sensors are used with power window systems to determine the position of the glass panel. The addition of Hall effect sensors increases the cost of the system. Therefore, removing the expensive position sensor is a solution that brings the cost closer to that of a brushed motor. In addition, the removal of the position sensor also simplifies the overall design of the motor.

[0027] Various non-limiting embodiments described herein provide an electric moving panel system that is capable of accurately tracking the position of the brushless motor rotor from start to stop and coasting without the use of a position sensor. In this way, the position of the panel (window, sunroof, moon roof, etc.) can be tracked without the use of a sensor, thereby providing various system functions, such as anti-pinch protection functions. According to a non-limiting embodiment, the anti-pinch protection function is automatically performed in accordance with Federal Motor Vehicle Safety Standard (FMVSS) No. 118 (FMVSS118). The anti-pinch protection function may include, for example, automatically stopping the movement of a movable part and / or automatically performing a reverse movement of a movable part.

[0028] When the motor rotates, the motor generates a voltage opposite to the applied voltage or current in the motor winding. This opposing voltage is called "back electromotive force". In a three-phase brushless DC motor, three back electromotive forces 10a, 10b and 10c are generated, where each phase 10a, 10b, 10c of the back electromotive force is offset from each other (for example, 120 degrees) (see Figure 1 ). When the back EMF voltage crosses or passes through zero volts (see Figure 2), the “zero crossing” 12 of each back EMF phase also occurs during motor rotation. This occurs when the magnetic field generated by the motor’s rotor, or armature, aligns with the stator windings, causing the induced voltage in the windings to drop to zero.

[0029] The back-EMF (BEMF) signal can be used in sensorless brushless motor control systems to determine whether the system is synchronous or asynchronous. In synchronization (e.g., sync), when the rotor is aligned with the stator magnetic field, the back-EMF signal is consistent and predictable. This consistency enables the control system to accurately discern the rotor position and produce precise commutation, resulting in efficient motor operation and the desired torque and speed. On the other hand, when the motor is not synchronous (e.g., asynchronous), the back-EMF signal becomes irregular and distorted, making it difficult for the control system to accurately determine the rotor position. In this state, the commutation is out of sync, resulting in poor motor performance, reduced torque, increased vibration, and the risk of the motor stalling or behaving erratically.

[0030] Achieving synchronization depends on the reliability and consistency of the back-EMF signal, which is the primary source of rotor position information for sensorless control systems. Maintaining a consistent relationship between the rotor and stator magnetic fields ensures accurate signal interpretation and proper motor function. However, rapid or significant deviations in rotor position can corrupt the back-EMF signal quality, making it more difficult for the control system to maintain synchronization.

[0031] In one or more non-limiting embodiments, the electric mobility panel system utilizes back electromotive force (BEMF) to determine and track the rotational position of the motor shaft without using a position sensor. The electric mobility panel system described herein is also capable of filtering parasitic pulses from the back electromotive force, which are referred to as "demagnetization pulses." In this way, a more accurate motor rotational position (e.g., rotor or motor shaft) can be obtained.

[0032] Now go to Figure 3 , shows an electric mobile panel system 100 according to a non-limiting embodiment of the present disclosure. The electric mobile panel system 100 includes a motor system 102 configured to move a movable part 110 and an electronic control unit (ECU) 120. According to a non-limiting embodiment, the movable part 110 includes an adjustable panel 112 supported in a frame 113. The adjustable panel 112 is configured to move in a first direction and a second direction opposite to the first direction, so that the adjustable panel 112 can move between a fully open position and a fully closed (end stop) position. The panel 112 may include, for example, a glass window, a sunroof, a moonroof, a movable cover, etc.

[0033] The motor system 102 includes a brushless DC (BLDC) motor 104, a rotatable shaft 106 configured to rotate in response to the drive of the motor 102, and a gear system 107 coupled to the rotatable shaft 104. The brushless DC motor 104 includes a first AC (AC) input terminal 105a, a second AC input terminal 105b, and a third AC input terminal 105c, the first AC input terminal 105a being configured to receive a first AC voltage having a first phase, and the second AC input terminal 105b being configured to receive a second AC voltage having a second phase. The first AC voltage, the second AC voltage, and the third AC voltage are phase-shifted relative to each other. For example, in at least one non-limiting embodiment, the first AC voltage, the second AC voltage, and the third AC voltage are 120 degrees out of phase with each other.

[0034] The gear system 107 is configured to translate the rotational movement of the motor shaft 106 to adjust the panel adjuster 114 (or armature). A portion of the panel adjuster 114 is coupled to the gear system 107, and a second portion of the panel adjuster 112 is coupled to the panel 112. Thus, the panel adjuster 114 moves the panel 112 in a first direction in response to the rotatable shaft 106 rotating in a first rotational direction, and moves the panel 112 in a second direction in response to the rotatable shaft 106 rotating in a second rotational direction opposite to the first rotational direction. In one or more non-limiting embodiments, the gear system 107 is implemented as a worm gear that includes a worm 109 coupled to a worm wheel 110. However, it should be understood that other gear systems may be implemented without departing from the scope of the present invention.

[0035] An electronic control unit (ECU) 120 is configured to control the motor system 102. The ECU 120 includes a first AC output terminal 121a configured to output a first AC voltage, a second AC output terminal 121b configured to output a second AC voltage, and a third AC output terminal 121c configured to output a third AC voltage. Figure 4120. The ECU 120 includes a power bridge inverter 124 and a microcontroller 122. The power bridge inverter 124 includes a power supply 125 and a plurality of switches 128a, 128b, 128c, 128d, 128e and 128f (collectively referred to as switches 128a-128f) for providing a DC voltage. The switches 128a-128f are used to convert the DC voltage into a first AC voltage, a second AC voltage and a third AC voltage. According to a non-limiting embodiment, a first pair of switches 128a and 128b are connected to a first AC output terminal 121a to output a first AC voltage, a second pair of switches 128c and 128d are connected to a second AC output terminal 121b to output a second AC voltage, and a third pair of switches 128e and 128f are connected to a third AC output terminal 121c to output a third AC voltage.

[0036] The microcontroller 122 includes a memory configured to store software instructions and a processor configured to execute the software instructions to perform various operations, including but not limited to motor position calculation, door drive commutation management, and anti-pinch management. The microcontroller 122 also includes an output terminal 125, which is configured to output a timing control signal that turns on and off multiple switches 128a-128f according to a timing sequence. According to a non-limiting embodiment, the timing sequence causes the first pair of switches 128a and 128b, the second pair of switches 128c and 128d, and the third pair of switches 128e and 128f to be 120 degrees out of phase with each other. In this way, the first pair of switches 128a and 128b generates a first AC voltage, the second pair of switches 128c and 128d generates a second AC voltage, and the third pair of switches 128e and 128f generates a third AC voltage.

[0037] As described herein, the ECU 120 determines the rotational position of the motor shaft 106 and whether the motor is synchronous (eg, synchronous) or asynchronous (eg, asynchronous) based on the back EMF generated by the motor 104. Figure 2 , the ECU 120 includes a motor phase comparator circuit 130, which is configured to determine a first back electromotive force associated with a first AC voltage, a second back electromotive force associated with a second AC voltage, and a third back electromotive force associated with a third AC voltage. The motor phase comparator circuit 130 includes a first phase input terminal 134a, a second phase input terminal 134b, a third phase input terminal 134c, and a comparator 132. The first phase input terminal 134a is connected to the first AC output terminal 121a and receives the first back electromotive force, the second phase input terminal 134b is connected to the second AC output terminal 121b and receives the second back electromotive force; the third phase input terminal 134c is connected to the third AC output terminal 121c and receives the third back electromotive force.

[0038] The comparator 132 includes a first input terminal 136a, a second input terminal 136b, and an output terminal 138. The first input terminal 136a is connected to the first phase input terminal 134a and the second phase input terminal 134b, while the second input terminal 136b is connected only to the third phase input terminal 134c.

[0039] Thus, if the sum of the first phase input 134a and the second phase input 134b is lower than the third phase input 134c, the output 138 outputs a logic "0" value, or if the sum of the first phase input 134a and the second phase input 134b is higher than the third phase input 134c, the output 138 outputs a logic "1" value. Changes in the logic output of the back EMF comparator will be interpreted by the microcontroller as a zero crossing event.

[0040] Although a single comparator 132 is shown, it should be understood that the motor phase comparator circuit 130 may include three separate comparators, each of which is associated with a corresponding phase of the back EMF (e.g., a first back EMF, a second back EMF, and a third back EMF). In one or more non-limiting embodiments, the comparator includes an internal or external hysteresis for noise sensitivity robustness. The back EMF comparator may also be appropriately configured to be both robust to noise and sensitive enough to detect the lowest motor speed. Therefore, the logic states (0 / 1) of the three comparators are used to count the zero-crossing events of the back EMF, and then determine the rotation of the motor shaft based on the counted zero-crossing events. In this way, the position of the moving part 110 (e.g., panel 112) is determined.

[0041] In some cases, the commutation of the motor 104 and the inverter 124 may generate parasitic pulses. These parasitic pulses are referred to herein as "demagnetization pulses" 14a, 14b, and 14c, and they may appear in the first back EMF, the second back EMF, and the third back EMF, such as Figure 5 Demagnetization pulses are generally undesirable because they can cause false detections in the comparator 132 , causing the position estimate of the motor shaft 106 to drift.

[0042] Reference Figure 6, shows a method for generating a virtual zero-crossing pulse according to a non-limiting embodiment to avoid inaccuracies caused by the occurrence of a demagnetization pulse. In step 600, the motor undergoes commutation (N), and in step 602, it is determined whether the commutation stops. When the commutation stops, the first AC voltage, the second AC voltage, and the third AC voltage associated with the three phases of the motor 104 are set to be off. In step 606, a blank time period occurs to filter the demagnetization pulse. When the blank time passes, the microcontroller (122) determines the current logic (a) state (Xstate(N)) of the next back electromotive force phase (e.g., phase U, phase V, phase W) expected to cross zero; and (b) the current logic state (Ystate(N)) of the back electromotive force phase (e.g., phase U, phase V, phase W) after the next zero-crossing stage. For example, when the commutation sequence order is UVW and the next phase expected to cross zero is phase U, step 610 is to compare the current back EMF logic state (Ustate(N)) of phase U with the previous back EMF logic state (Ustate(N-1)) recorded in phase U. When the back EMF logic state of back EMF phase U changes (for example, Ustate(N)≠Ustate(N-1)), a position pulse is generated, and the next step 614 is to compare the current back EMF logic state (Vstate(N)) of back EMF phase V with the previous back EMF logic state (Vstate(N-1)) of back EMF phase V.

[0043] At step 610, it is determined whether (Xstate(N)) is equal to (Xstate(N-1)). When the position of the rotor from the perspective of the back EMF has not changed (e.g., (Xstate(N)) is equal to (Xstate)(N-1)), the method proceeds to step 618 and continues to stop the motor. However, when the position of the rotor from the perspective of the back EMF has changed (e.g., (Xstate(N)) is not equal to (Xstate(N-1)), a position pulse is generated at step 612. At step 614, it is determined whether (Ystate(N)) is equal to (Ystate(N-1)).

[0044] Continue to refer Figure 6, the method determines whether the position of the rotor has increased by a first amount, such as one sixth of an electrical cycle (e.g., Xstate(N) is not equal to Xstate(N-1), but Ystate(N) is not equal to Ystate(N-1)), or whether the position of the rotor has increased by a second amount, such as one third of an electrical cycle (e.g., when Xstate(N) is not equal to Xstate(N-1), but Ystate(N) is equal to Ystate(N-1)). When Xstate(N) is not equal to Xstate(N-1), but Ystate(N) is not equal to Ystate(N-1), the position is compensated by 1 position pulse. However, when, for example, Xstate(N) is not equal to Xstate(N-1) and Ystate(N) is equal to Ystate(N-1), the position is compensated by 2 position pulses.

[0045] Referring to step 614, when (Ystate(N)) is equal to (Ystate(N-1), the method proceeds to step 618 and continues to stop the motor. However, when (Ystate(N)) is not equal to (Ystate(N-1)), a position pulse is generated at step 616 and the method continues to stop the motor at step 618.

[0046] When the commutation of the motor is not stopped at step 602, the voltage associated with the next phase (e.g., phase U, phase V, phase W) expected to experience a zero crossing is turned off at step 620. At step 622, a blank time passes before continuing to step 624 and setting the current logic state (Xstate(N)) of the next phase (e.g., phase U, phase V, phase W) expected to experience a zero crossing of the current logic state of the back EMF associated with the voltage turned off at step 620. At step 626, it is determined whether (Xstate(N)) is equal to (Xstate(N-1)). When (Xstate(N)) is equal to (Xstate(N-1)), the method returns to step 624 and sets the current logic state (Xstate(N)) of the next phase (e.g., phase U, phase V, phase W) expected to experience a zero crossing to the current logic state of the back EMF associated with the voltage turned off at step S620. However, when (Xstate(N)) is not equal to (Xsate(N-1)), a position pulse is generated in step 628 and the next commutation (N+1) is started, that is, "N" is set to "N+1".

[0047] In some cases, the shaft 106 may vibrate during motor stop due to cogging torque, shaft oscillations, and / or jitter occurring throughout the motor system 102. Figure 7As shown, for example, vibrations can produce undesired pulses 16 in the back EMF, which in turn can cause erroneous zero crossing detection by the comparator circuit 130. Figure 7 As further shown, these undesired vibration zero-crossing pulses are characterized by a very fast activation followed by a longer sequence of no activation.

[0048] According to a non-limiting embodiment, the electric mobile panel system 100 is configured to filter out undesirable vibration pulses by adopting a dedicated method, which can be used when the motor 104 is not driven. Figure 7 As shown, a valid zero crossing pulse 18 can be generated after a waiting period of time, which occurs after the original zero crossing 22, which is referred to herein as a "blank time" 20. The blank time 20 can initially be set as a percentage of the last commutation time of the motor 104, and the original zero crossing 22 can be the output generated by the comparator circuit 130. In at least one non-limiting embodiment, a valid zero crossing 18 is generated only if no other original zero crossing 22 is detected within a given blank time 20. When a zero crossing is detected during the blank time 20, the blank time 20 restarts from that point. According to a non-limiting embodiment, the duration of the blank time 20 is set to be proportional to the time between the first two valid zero crossings 18.

[0049] Reference Figure 8 , shows a method for filtering false zero-crossing pulses from the back electromotive force of the motor 104 using the above-mentioned blank time 20 according to a non-limiting embodiment. In step 800, it is determined whether a zero crossing of the back electromotive force has occurred (e.g., phase U, phase V, or phase W). When zero crossing does not occur, the method returns to step 800. However, when zero crossing occurs, the blank time period discussed in this article (e.g., blank time 20) is started. In step 804, it is determined whether the blank time has passed. When the blank time has passed, it is determined whether the oscillation flag 806 is set to true, and the oscillation flag 806 is true to indicate that the motor oscillation or vibration is detected. When the oscillation flag is not set to true, the oscillation flag is set to false in step 808 to indicate that no oscillation or vibration of the motor is detected, and the method returns to step 800 to continue monitoring zero crossing events.

[0050] When the blank time has not passed in step 804, it is determined in step 810 whether a zero crossing of the back EMF is detected. When a zero crossing of the back EMF is detected, the oscillation flag is set to true in step 812, which indicates that an oscillation or vibration of the motor is detected, and the method continues to start a blank time period (e.g., blank time 20) in step 802. However, when no zero crossing is detected in step 810, the method returns to step 804 and continues to monitor whether the blank time period has passed. Then, as described herein, the method can continue to use the blank time 20 to filter out erroneous zero crossing pulses of the back EMF from the motor 104. Then, the filtered back EMF signals (e.g., the first back EMF signal, the second back EMF signal, and the third back EMF signal) can be used to determine the position of the movable component 110 based on the rotational position of the rotatable shaft 106 without using a position sensor.

[0051] As described herein, the electric mobile panel system 100 described herein can determine the rotational position of the motor (e.g., the motor shaft 106) without using a position sensor. Because the position sensor is eliminated, the electric mobile panel system 100 performs as follows. Fig. 9 A method for starting the motor 104 without using a position sensor is shown. At step 900, it is determined whether the motor acceleration mode is activated. The purpose of the acceleration phase is to increase the speed of the motor high enough so that the back EMF pulse can be detected with confidence. Since the back EMF pulse is not observed when the motor speed is lower, the position management during the acceleration phase is actually open loop and different from the position management in closed loop. This strategy considers several use cases: the acceleration phase ends and the back EMF pulse is confirmed; the acceleration phase is completed, but the back EMF pulse is not confirmed.

[0052] When the acceleration mode is started, the method continues to step 902 to monitor the acceleration time. When the acceleration mode is not activated, the acceleration mode is started in step 901, and it is determined in step 902 whether the acceleration time has passed. The acceleration time is set to the time when the motor will rotate at a speed at which the comparator circuit (e.g., comparator circuit 130) can detect the back electromotive force pulse when the time passes. The acceleration time and frequency slope can be set according to the motor specifications. When the acceleration time passes, it is determined at step 904 whether a zero crossing of the back electromotive force has occurred. When zero crossing does not occur, the motor stops at step 906. However, when zero crossing occurs, the closed-loop mode is called at step 908. According to a non-limiting embodiment, the closed-loop mode refers to a commutation mode in which the motor 104 is commutated according to the feedback output by the back electromotive force comparator. The open-loop mode (e.g., acceleration) is different from the closed-loop mode because the commutation does not take into account the feedback output by the back electromotive force comparator.

[0053] However, when the acceleration time has not elapsed at step 902, it is determined whether a zero crossing of the back electromotive force has occurred at step 910. When zero crossing has not occurred, the rotational position of the motor is not updated. However, when zero crossing occurs, the rotational position of the motor is compensated according to the number of commutations performed before the last zero crossing.

[0054] As described herein, an electric mobile panel system 100 includes a motor system 102 having a brushless DC (BLDC) motor 104 and a rotatable shaft 106 configured to rotate in response to driving the BLDC motor 104, wherein the motor system 102 is configured to adjust the position of a movable component 110 in response to the rotation of the rotatable shaft 106. A motor phase comparator circuit 130 is in signal communication with the motor system 102. The motor phase comparator circuit 130 is configured to determine a plurality of zero-crossing events of a first back electromotive force (BEMF), a second back electromotive force, and a third back electromotive force generated in response to driving the motor 106. A microcontroller 122 is in signal communication with the motor phase comparator circuit 130. The microcontroller 122 is configured to determine the rotational position of the rotatable shaft 106 based on the count of each zero-crossing event corresponding to each of the first back electromotive force, the second back electromotive force, and the third back electromotive force. The microcontroller 122 determines the position of the movable component 110 based on the rotational position of the rotatable shaft 106 without using a position sensor. According to at least one non-limiting embodiment, the microcontroller 122 is configured to automatically close and open the movable component based on the position of the movable component 110 determined according to the rotational position of the motor shaft 106. The automatic vehicle adjustment operation includes an anti-pinch detection operation, which can automatically stop the movement of the movable component 110 and / or the reverse movement of the movable component 100.

[0055] The term "about" is intended to include the degree of error associated with measuring a particular quantity based on the equipment available at the time the application was filed. For example, "about" may include a range of ±8% or 5% or 2% of a given value.

[0056] The terms used herein are only used to describe specific embodiments and are not intended to limit the present disclosure. Unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" used herein also include plural forms. It should be further understood that when the terms "include" and / or "comprise" are used in this specification, the presence of the features, integers, steps, operations, elements and / or components is specified, but the presence or addition of one or more other features, integers, steps, operations, element components and / or groups thereof is not excluded.

[0057] Although the present disclosure has been described with reference to one or more exemplary embodiments, it will be appreciated by those skilled in the art that various changes may be made without departing from the scope of the present disclosure, and that equivalent replacements may be made to the elements of the present disclosure. In addition, many modifications may be made to adapt specific circumstances or materials to the teachings of the present disclosure without departing from the basic scope of the present disclosure. Therefore, the present disclosure is not limited to the specific embodiments disclosed as the best mode for implementing the present disclosure, but the present disclosure will include all embodiments falling within the scope of the claims.

Claims

1. An electric mobile panel system, comprising: a motor system including a brushless direct current (BLDC) motor and a rotatable shaft configured to rotate in response to driving the BLDC motor, the motor system configured to adjust a position of a movable member in response to rotation of the rotatable shaft; a motor phase comparator circuit in signal communication with the motor system, the motor phase comparator circuit configured to determine a plurality of zero-crossing events of a first back EMF, a second back EMF, and a third back EMF generated in response to driving the motor; as well as a microcontroller in signal communication with the motor phase comparator circuit, the microcontroller configured to determine a rotational position of the rotatable shaft based on a count of each zero-crossing event corresponding to each of the first back EMF, the second back EMF, and the third back EMF, Therein, the microcontroller determines the position of the movable component based on the rotational position of the rotatable shaft. 2 . The electric mobile panel system according to claim 1 , wherein the microcontroller is configured to automatically close and open the movable part based on the position of the movable part.

3. The electric moving panel system according to claim 2, wherein the automatic vehicle adjustment operation is an anti-pinch detection operation, the anti-pinch detection operation including at least one of automatically stopping the movement of the movable part and reversing the movement of the movable part.

4. The electric mobile panel system according to claim 1, wherein the microcontroller processes electric back-EMF signals representing the first back-EMF, the second back-EMF and the third back-EMF, filters out parasitic voltages caused by one or a combination of vibrations of the motor system and the vibration of the brushless DC motor from the back-EMF signals, and determines the rotational position of the rotatable shaft based on the counted zero-crossing events without using a position sensor.

5. The electric mobile panel system according to claim 4, wherein the motor phase comparator circuit comprises: A comparator comprising a first input configured to receive the first back EMF and the second back EMF, a second input configured to receive the third back EMF, and an output configured to output a logic signal, wherein the logic signal converts between a logic "0" value and a logic "1" value or a logic "1" value and a logic "0" value, wherein any of the conversions indicates the zero-crossing event of the first back EMF, the second back EMF, and the third back EMF, respectively.

6. The electric mobile panel system according to claim 5, wherein the microcontroller performs operations including the following operations: determining when the motor is synchronized or out of synchronization; detecting a demagnetization pulse occurring in a current back EMF of one of the first back EMF, the second back EMF, or the third back EMF when the motor is out of sync; generating a virtual zero-crossing pulse in response to detecting the demagnetization pulse, the virtual zero-crossing pulse generating the logic signal output from the comparator; and The output of the logic signal generated by the virtual zero-crossing pulse is counted as the zero-crossing event of the current back electromotive force.

7. The electric movable panel system according to claim 1, wherein the movable component is a movable panel.

8. The electric mobile panel system according to claim 1, further comprising: a gear system coupled to the rotatable shaft; and a panel adjuster including a first end coupled to the gear system and a second end coupled to the movable panel, The panel adjuster moves the panel in a first direction in response to the rotatable shaft rotating in a first rotation direction, and moves the panel in a second direction in response to the rotatable shaft rotating in a second rotation direction opposite to the first rotation direction.

9. The electric mobile panel system according to claim 8, wherein the brushless DC motor comprises a first alternating current (AC) input terminal, a second AC input terminal and an AC input terminal, wherein the first AC input terminal is configured to receive a first AC voltage having a first phase, the second AC input terminal is configured to receive a second AC voltage having a second phase, and the AC input terminal is configured to receive a third AC voltage having a third phase, wherein the first AC voltage, the second AC voltage and the third AC voltage are 120 degrees out of phase with each other.

10. The electric mobile panel system according to claim 9, wherein the first AC voltage generates the first back electromotive force, the second AC voltage generates the second back electromotive force, and the third AC voltage generates the third back electromotive force.

11. A method of operating an electric mobile panel system, the method comprising: driving a brushless direct current (BLDC) motor and generating a first back electromotive force (BEMF), a second back electromotive force, and a third back electromotive force generated in response to driving the motor; a rotatable shaft that rotates the brushless DC motor in response to driving the motor; adjusting the position of the movable member in response to rotation of the rotatable shaft by a motor system; determining a plurality of zero-crossing events of at least one back electromotive force (BEMF) by a motor phase comparator circuit; determining, by a microcontroller in signal communication with the motor phase comparator circuit, a rotational position of the rotatable shaft based on a count of each zero-crossing event corresponding to each of the first back EMF, the second back EMF, and the third back EMF; and The position of the movable member is determined by a microcontroller based on the rotational position of the rotatable shaft.

12. The method of claim 11, further comprising performing, by the microcontroller, automatic closing and opening of the movable member based on the position of the movable member.

13. The method of claim 12, wherein the automatic vehicle adjustment operation is an anti-pinch detection operation, the anti-pinch detection operation comprising at least one of automatically stopping movement of the movable member and reversing movement of the movable member.

14. The method according to claim 11, further comprising: processing, by the microcontroller, electrical back-EMF signals representing the first back-EMF, the second back-EMF, and the third back-EMF; filtering out parasitic voltage caused by one or a combination of vibration of the motor system and vibration of the brushless DC motor from the back electromotive force signal; as well as Each zero-crossing event corresponding to each of the first back EMF, the second back EMF, and the third back EMF is counted by the microcontroller to determine a count of zero crossings.

15. The method of claim 13, wherein counting each zero-crossing event comprises: transmitting the first back electromotive force and the second back electromotive force to a first input terminal of a comparator; transmitting the third back electromotive force to the second input terminal of the comparator; as well as A logic signal is output from the output terminal of the comparator, and the logic signal converts between a logic "0" value and a logic "1" value or a logic "1" value and a logic "0" value, wherein any one of the conversions indicates the zero-crossing event of the first back electromotive force, the second back electromotive force and the third back electromotive force, respectively.

16. The method according to claim 15, further comprising: determining, by the microcontroller, when the motor is synchronized or out of synchronization; When the motor is not synchronized, detecting, by the microcontroller, a demagnetization pulse occurring in a current back electromotive force of one of the first back electromotive force, the second back electromotive force, or the third back electromotive force; generating, by the microcontroller in response to detecting the demagnetization pulse, a virtual zero-crossing pulse, the virtual zero-crossing pulse generating the logic signal output from the comparator; as well as The output of the logic signal generated by the virtual zero-crossing pulse is counted by the microcontroller as the zero-crossing event of the current back electromotive force.

17. The method of claim 11, wherein the movable component is a movable panel.

18. The method according to claim 11, further comprising: coupling a gear system to the rotatable shaft; coupling a first end of a panel adjuster to a gear system and coupling a second end of the panel adjuster to the movable panel; as well as The panel adjuster is moved in a first direction in response to rotating the rotatable shaft in a first rotation direction to adjust the position of the panel in the first direction, and the panel adjuster is moved in a second direction in response to rotating the rotatable shaft in a second rotation direction opposite to the first rotation direction to adjust the position of the panel in a second direction.

19. The method of claim 18, wherein the brushless DC motor comprises a first alternating current (AC) input terminal, a second AC input terminal, and an AC input terminal, wherein the first AC input terminal is configured to receive a first AC voltage having a first phase, the second AC input terminal is configured to receive a second AC voltage having a second phase, and the AC input terminal is configured to receive a third AC voltage having a third phase, the first AC voltage, the second AC voltage, and the third AC voltage being 120 degrees out of phase with each other.

20. The method of claim 19, wherein the first AC voltage generates the first back EMF, the second AC voltage generates the second back EMF, and the third AC voltage generates the third back EMF.

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