Electric closing system and operation method thereof

Abstract

A motorized closure system and a method of operating the same are provided. A motorized closure system for a vehicle includes a plurality of closure panels, each of which is driven by one of a plurality of motorized actuators. The motorized closure system also includes at least one controller configured to control each of the plurality of motorized actuators to provide an assist force to a user moving each of the plurality of closure panels with the user force input. The at least one controller is configured to adjust an assist force provided by each of the plurality of electric actuators for a closure panel associated with the electric actuator of the plurality of closure panels, the plurality of closure panels are arranged such that a user force input required by a user when moving each of the plurality of closure panels is substantially the same for all of the plurality of closure panels.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 686,980, filed August 26, 2024. The entire disclosure of the above application is incorporated herein by reference. Technical Field

[0003] This disclosure generally relates to closure systems for closing members of motor vehicles, and more specifically, to electrically operated closure systems for automatically opening and closing doors of motor vehicles. Background Technology

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

[0005] A typical motor vehicle is equipped with at least one pair of doors to provide access to the passenger compartment. Specifically, most vehicles include a driver-side swing door and a passenger-side swing door, both pivotally supported from the vehicle body to move between a closed position and an open position. Each of these doors is equipped with a latch assembly having a latching mechanism that operates in a latched mode to hold the door in its closed position and in an unlocked mode to allow the door to move to its open position. The latch assembly is also equipped with a latch release mechanism that is selectively actuated (manually via a handle-actuated release system and / or via an electrically operated release system) to switch the latch mechanism to its unlocked mode.

[0006] Many vehicles are equipped with multiple side doors (i.e., front and rear doors) for access to the passenger compartment. Most commonly, when viewed from the front of vehicle 10, the front side door 12 and the rear side door 14 are hinged near their front edges to be movable relative to the body 15, as... Figure 1 As best shown in the diagram. The front door 12 is hinged to a front structural post (i.e., A-post 16), while the rear door 14 is hinged to an intermediate structural post (i.e., B-post 18) located between the front door 12 and the rear door 14. The latch assembly 20 associated with the front door 12 is arranged to latch using a front striker (not shown) fixed to the B-post 18. Similarly, the latch assembly 22 associated with the rear door 14 is arranged to latch using a rear striker 24 fixed to a rearwardly extending vertical closing surface 25 of the opening 26.

[0007] As a further advancement, electric doors or electric closing systems have been developed. For passenger doors, as described above, an electric closing system can function to automatically swing the door between open and closed positions about its pivot, assist a user in moving the door, and / or eject or present the door to the user. Typically, an electric closing system includes an electric operating device, such as an electric motor, and a rotary-to-linear conversion device operable to convert the rotary output of the electric motor into translational motion of an extendable member. In many arrangements, the electric motor and conversion device are mounted on the door, and the distal end of the extendable member is fixedly attached to the vehicle body. An example of an electric closing system for a passenger door is shown in International Publication No. WO2013 / 013313, co-owned by Schuering et al., which discloses the use of a rotary-to-linear conversion device or electric actuator having an externally threaded screw driven by rotation of an electric motor and an internally threaded drive nut engaging the screw, to which the extendable member is attached. Therefore, controlling the rotational speed and direction of the lead screw leads to controlling the speed and direction of the translational motion of the drive nut and extendable member to control the swinging motion of the passenger door between its open and closed positions. However, while the electric closing system provides force assistance, the user moving the door or other closing panel must apply varying amounts of force to the door or other closing panel, which may degrade the overall user experience.

[0008] Given the above, there is still a need to develop alternative electrically operated closing systems to address and overcome the limitations and shortcomings associated with known systems, and to provide improved convenience and enhanced operational functionality. Summary of the Invention

[0009] This section provides a general overview of the contents of this disclosure and is not a full disclosure of its entire scope or all its features, aspects and objectives.

[0010] One aspect of this disclosure is to provide an electrically operated closing system for a vehicle, the electrically operated closing system comprising a plurality of closing panels, each closing panel being driven by one of a plurality of electrically driven actuators, wherein the plurality of electrically driven actuators are driven such that the user force input required for a user to move each of the plurality of closing panels is substantially the same for all the plurality of closing panels.

[0011] One aspect of this disclosure is to provide an electrically operated closing system for a vehicle, the system comprising a plurality of closing panels, each of which is driven by one of a plurality of electrically driven actuators. The electrically operated closing system also includes at least one controller configured to control each of the plurality of electrically driven actuators to provide an assistive force to a user moving each of the plurality of closing panels using user force input. The at least one controller is configured to adjust the assistive force provided by each of the plurality of electrically driven actuators for one of the closing panels associated with that actuator, such that the user force input required by the user to move each of the plurality of closing panels is substantially the same for all the plurality of closing panels.

[0012] In another aspect of this disclosure, the user input torque force calculation for each of the plurality of closed panels is configured such that the user provides the same force input when moving each of the plurality of closed panels.

[0013] Another aspect of this disclosure is a method for operating an electrically operated closing system of a vehicle. The method includes the step of driving one of a plurality of closing panels using each of a plurality of electrically operated actuators. The method also includes the step of driving the plurality of electrically operated actuators such that the user force input required for a user to move each of the plurality of closing panels is substantially the same for all the plurality of closing panels.

[0014] In another aspect of this disclosure, the method further includes the step of configuring a user-input torque force calculation for each of the plurality of closed panels, such that the user provides the same force input when moving each of the plurality of closed panels.

[0015] Other areas of application 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

[0016] 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.

[0017] Figure 1 A motor vehicle according to the prior art is shown, which is equipped with a separate latch assembly for each door;

[0018] Figure 2Another motor vehicle according to various aspects of this disclosure is shown, which is equipped with a separate latch assembly and an electric actuator for each door, the electric actuator being operated by a passive entry feature used in conjunction with an electronic key fob.

[0019] Figure 3 This is a block diagram of an example electrically operated closing system based on various aspects of this disclosure; and

[0020] Figure 4 This is a schematic diagram of the control block and sensors of at least one controller of an example electrically operated closing system according to various aspects of this disclosure; and

[0021] Figure 5 The steps of an example method for operating an electric closing system of a vehicle according to various aspects of this disclosure are shown. Detailed Implementation

[0022] 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.

[0023] In general, at least one exemplary embodiment of an electrically operated closing system constructed in accordance with the teachings of this disclosure and a corresponding method of operation will now be disclosed. The exemplary embodiments are provided to make this disclosure exhaustive and to fully convey the scope to those skilled in the art. Numerous specific details, such as examples of particular 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 the exemplary embodiments may be implemented in many different forms, and should not 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.

[0024] Reference Figure 2 For a vehicle 30 with passive entry characteristics, a person 31 can approach the vehicle 30 and actuate (i.e. pull) the outer door handle 27. Figure 1Alternatively, the door can be unlocked and opened electronically using the electronic key 32. For example, a single closing member opening command from the key fob 32 can be used to unlock the closing panel (e.g., the driver's side front door 36, i.e., the driver's door) and / or control the electric actuator 35, which is configured to move the driver's side front door 36 between an open and closed position. Consequently, the latch assembly 38 associated with the driver's side front door 36 actuates an electric release function to release the latch mechanism of the latch assembly 38 and unlock the driver's side front door 36 to be opened using the electric actuator 35. A second or subsequent command from key fob 32 can be used to unlock the remaining doors of passenger 33 (e.g., driver's side rear door 40, passenger's side front door 42 opposite driver's side front door 36, and passenger's side rear door 44 opposite driver's side rear door 40) and control electric actuator 35, which is configured to move driver's side rear door 40, passenger's side front door 42, and passenger's side rear door 44 between open and closed positions, as shown. Therefore, even if person 31 only wants to unlock driver's side rear door 40, all doors 36, 40, 42, and 44 can be unlocked and commanded to open via a second closing member opening command from key fob 32. Similarly, doors 36, 40, 42, and 44 can also be automatically closed using electric actuator 35. However, doors 36, 40, 42, and 44 can move and / or stop at different times and at different speeds (e.g., in the open or closed position).

[0025] Therefore, based on one aspect, and referring to Figure 3An electrically operated closing system 86 for vehicles 10, 30 is shown. The electrically operated closing system 86 includes a plurality of doors 36, 40, 42, 44, each door driven by one of a plurality of electrically operated actuators 35. At least one controller 154, 182 is adapted to control each of the plurality of electrically operated actuators 35 to move each of the plurality of doors 36, 40, 42, 44 at a target speed. The electrically operated closing system 86 also includes a sensor system 46 for monitoring the actual speed of each of the plurality of doors 36, 40, 42, 44. At least one of the plurality of electrically operated actuators 35 is adapted to adjust the target speed of one of the plurality of doors 36, 40, 42, 44 associated with that actuator to move at the actual speed of another of the plurality of doors 36, 40, 42, 44. In other words, at least one controller 154, 182 is adapted to control at least one of the plurality of electric actuators 35 to cause one of the plurality of doors 36, 40, 42, 44 associated with that electric actuator to move at a target speed synchronized with the actual speed of at least another door among the plurality of doors 36, 40, 42, 44. Specifically, at least one controller 154, 182 is configured to monitor the actual speed of each of the plurality of doors 36, 40, 42, 44 using a sensor system 46. At least one controller 154, 182 selects a reference speed for the plurality of doors based on the actual speed of each of the plurality of doors 36, 40, 42, 44. At least one controller 154, 182 is also configured to adjust the speed of each of the plurality of doors 36, 40, 42, 44 to move at the reference speed.

[0026] Still refer to Figure 3In the exemplary electrically operated closing system 86, each of the driver's side front door 36, driver's side rear door 40, passenger's side front door 42, and passenger's side rear door 44 may further include one or more of a plurality of obstacle detection sensors 172. The plurality of obstacle detection sensors 172 are configured to detect objects or gestures adjacent to the driver's side front door 36 and driver's side rear door 40, and passenger's side front door 42 and passenger's side rear door 44. According to one aspect, at least one controller 154, 182 includes a plurality of door control units 182 (PSD ECUs), each door control unit disposed in one of the plurality of doors 36, 40, 42, 44, and configured to control the actual speed of each of the plurality of doors 36, 40, 42, 44. According to another aspect, the sensor system 46 includes a plurality of position sensors 48 (PSD position sensors, such as Hall effect sensors), each position sensor 48 being disposed on one of the doors 36, 40, 42, 44 and configured to detect the position and actual speed of the door associated with that position sensor. The actual speed can be calculated by measuring the change in position per unit time. Therefore, each of the doors 36, 40, 42, 44 includes one of a plurality of door control units 182, which is coupled to one or more of a plurality of obstacle detection sensors 172 and one of the plurality of position sensors 48. The door control unit 182 in each of the doors 36, 40, 42, 44 communicates via bus 156 with a main electronic control unit 154 (e.g., body control module 154) powered by power supply 176. The main electronic control unit 154 is also connected to a user interface 178 (e.g., a liquid crystal display (LCD)) and communicates with the key fob 32 via a wireless interface 180. Each door 36, 40, 42, 44 also includes a motor 181, which, together with each electric actuator 35, is included for the electric movement of the doors 36, 40, 42, 44 and is controlled by a door control unit 182.

[0027] According to one aspect, the electrically operated closing system 86 includes latching assemblies 88, 90, one on each side of the motor vehicles 10, 30. A first side of the vehicles 10, 30 may include a first-side latching assembly 88 for independently latching the driver's side front door 36 and the driver's side rear door 40. A second-side latching assembly 90 independently latches the passenger side front door 42 and the passenger side rear door 44. Each latching assembly 88, 90 includes a controller unit 136, 138, respectively, configured to receive an opening command from an input source selected from an actuation mechanism, also referred to as an input source, such as a handle switch 158a (e.g., in response to an outer door handle 27). Figure 1(Actuated by the actuation of the key fob 32), main electronic control unit 154, or key fob 32. More specifically, controller units 136, 138 are configured to respond to an opening command from at least one closing member from an input source only when the person 31 carrying the key fob 32 is on the same side of the vehicle 10, 30 (or when the person 31 pulls the outer door handle 27 of the door 36, 40, 42, 44 to activate the handle switch 158a). Further details about this dual pillarless door or closing system 86 can be found in U.S. Publication No. 2023 / 0016866A1 entitled “Dual function latch assembly for dual door pillar-less door system and control system for controlling the latch assembly,” the entire contents of which are incorporated herein by reference. However, it should be understood that instead of an electrically operated closing system 86 that includes only one latch assembly 88, 90 on each side of the vehicles 10, 30, the door system 86 may alternatively have a latch assembly for each closing panel (e.g., doors 36, 40, 42, 44) individually controlled, for example, by the respective door control unit 182 in each of the doors 36, 40, 42, 44.

[0028] Now, let's refer to further... Figure 4This is a schematic diagram of the control block of at least one controller 154, 182 and sensor of the electric closed-loop system 86. At least one controller 154, 182 may include a closed-loop current feedback motor control system 301, a haptic controller 302, and a motor controller 308 including a drive unit 304. The closed-loop current feedback motor control system 301 can be distributed in various ways. The separation of the haptic control algorithm 302 from the motor controller 308 and the closed-loop current feedback motor control system 301 provides separation of control components between dynamic components, such as those requiring more frequent updates, maintenance, and adjustments, and static components, such as those not requiring updates or maintenance. For example, the haptic controller or haptic control algorithm 302 can be periodically updated with new functions, modules, and control features depending on the vehicle application, subsequent system adjustments, further algorithm improvements, and after the system is installed in the vehicles 10, 30. For example, the haptic control algorithm 302 can be updated via the update function of the main electronic control unit 154. The closed-loop current control system 301 may have associated units or modules represented by computer-executable instructions stored in a memory system associated with at least one controller 154, 182 and having previously written memory that cannot be overwritten (e.g., such memory may be write-protected, encrypted, or encoded, or inaccessible to the original equipment manufacturer). Similarly, the haptic controller 302 may have associated units or modules represented by computer-executable instructions stored in a memory system having previously written memory that can be overwritten, for example, by the original equipment manufacturer via a dedicated interface port or via a software interface port of the body control module or main electronic control unit 154. Likewise, the drive unit 304 may have associated units or modules represented by computer-executable instructions stored in a memory system having previously written memory that cannot or can be overwritten. In one possible implementation, only the memory associated with the haptic control algorithm 302 can be overwritten, allowing the haptic control algorithm 302 to be customized after it has been installed in the specific vehicle to which the system is being installed. The memory associated with the closed-loop current control system 301 and / or the drive unit 304 cannot be overwritten because the control of the electric actuator 35 using the closed-loop current control system 301 and the drive unit 304 can be independent of the actual installation environment of the electric actuator 35 and adjusted before the system is installed in the vehicle. Therefore, the haptic control algorithm 302 can be provided as part of a centralized vehicle controller, such as the main electronic control unit 154, configured for easy upgrades, for example, via flash memory or upload as part of a regular system update, or as part of a dedicated update for the haptic control algorithm 302.Therefore, the haptic control algorithm 302 can be provided as part of a centralized vehicle controller (e.g., the main electronic control unit 154) instead of being located in the closing panel or doors 36, 40, 42, 44, while the closed-loop current control system 301 can be located within the doors 36, 40, 42, 44. Furthermore, the haptic control algorithm 302 may involve computationally intensive calculations requiring access to a powerful processor; therefore, the haptic control algorithm 302 can be distributed to different memories in a separate main vehicle controller, which includes such a powerful processor and is also used to control other systems, such as ADAS systems. However, the low-level feedback motor control system 301 and the motor controller 308 can be static, requiring no periodic updates or any updates, and can be located in inaccessible parts of the vehicle 10. For example, if the motor controller 308 is located in the electric side door actuator unit 35, the update communication port can be removed compared to a scenario where the haptic control algorithm 302 is also located with the electric side door unit 35. In addition, the closed-loop current control system 301 may include memory cells that cannot be overwritten or updated, while the haptic control algorithm 302 includes memory that can be overwritten.

[0029] Continue to refer to Figure 4 Accelerometer 697 provides acceleration signal a to at least one of closed-loop current control system 301 and haptic control algorithm 302. x,y,z The haptic control algorithm 302 includes an adder 314 that sums multiple forces from multiple force calculations 316, 318, 320, 322, 324, 326, and 328. The adder 314 sums the target torque T. target Output to drive unit 304. Multiple force calculations include the velocities v of receiving gates 36, 40, 42, and 44. door Input and output frictional force F friction Friction calculation 316; Receiving door positions 36, 40, 42, 44 x door Input and output stopping force F detent Calculation of stopping force 318; Receiving acceleration signal a x,y,z Input and output tilting force F incline Calculation of tilt force 320; Receiving acceleration signal a x,y,z Input and output inertial force F inertia Inertial force calculation 322; Positions x of receiving gates 36, 40, 42, and 44 door The speeds v of the gates at 36, 40, 42, and 44. door Input and output drive mode force F drivemode The driving mode force is 324; the positions of the receiving gates are 36, 40, 42, and 44. door The speeds v of the gates at 36, 40, 42, and 44. doorInput and output impact protection force F slamprotect Impact protection force calculation 326; and user input torque force calculation 328, which receives sensed current I from current sensor 306. sensed Input and output the user-input torque force F userinput Therefore, according to one aspect, the same accelerometer 697 can be used to determine vehicle tilt and also door inertia. In another possible configuration, the friction calculation module 316 calculates and adjusts the compensation friction target (friction force F). friction This ensures that the user force input required to move each of the multiple closed panels 36, 40, 42, 44 is substantially the same for all multiple closed panels 36, 40, 42, 44.

[0030] Door position sensor 48 is coupled to motion block 330, which is configured to receive the positions x of doors 36, 40, 42, and 44. door And outputs a first force input 332 to the drive unit 304. As an example of a compensation block or unit for factors generated inside the electric actuator assembly 122, the motion block 330 may be adapted to provide the drive unit 304 with a signal generated by a calculated motion compensation force value (e.g., a torque value) to change the target current I. target This compensates for any changes in actuator characteristics that tend to cause the actual motor torque output T to differ from the target torque T. target The motion block 330 is adapted to compensate for the deviation of the electric actuator 35. An example kinematics of the electric actuator 35 is the lever arm in the electric actuator 35. The motion unit 330 can be configured to calculate the motion compensation force to be provided to the drive unit 304. The signal from the door position sensor 48 is transmitted to the haptic control algorithm 302 and the drive unit 304. Without such door position information, the drive unit 304 may not be able to correctly track the movement of doors 36, 40, 42, 44, and the compensation algorithm may not be able to determine the data being received. The motion block 330 is also coupled to a first differentiator 334, which is configured to adjust the position x of doors 36, 40, 42, 44. door Perform mathematical differentiation and output the velocities v of gates 36, 40, 42, and 44. door Then, the first differentiator 334 is coupled to the second differentiator 336, which is configured to mathematically differentiate the velocities of gates 36, 40, 42, and 44, and output the acceleration α of gates 36, 40, 42, and 44. door The speeds v of the doors at speeds of 36, 40, 42, and 44. door Received by reverse drive block 338, which is configured to receive the speeds v of gates 36, 40, 42, and 44. doorAnd outputs a second force input 340 to the drive unit 304. As an example of a compensation block or unit for internal generating factors of the electric actuator assembly 122, the reverse drive block 338 may be adapted to provide a signal generated by the calculated drive / reverse drive compensation force value, which may be, for example, a torque value, to the drive unit 304, thereby changing the target current I. target This is to compensate for any changes in actuator characteristics that tend to cause the motor torque output T to deviate from the target torque T. target The reverse drive block 338 can be implemented as a system model stored in memory. The system model of the reverse drive block 338 can be based on a pre-calibration of the gear train components stored in memory. An example characteristic of the electric actuator 35 for which the motion block 330 is adapted to compensate is the reverse drive characteristic of the electric actuator 35 due to gear transmission, for example, a reduction gear train. The motion block 330 can be implemented as a system model stored in memory. The motion block 330 may include a lookup table for adjusting the output force value based on, for example, the position of a door. The drive unit 304 receives first and second force inputs 332, 340 and outputs a target current I. target Therefore, the drive unit 304 receives torque F from the haptic control algorithm 302. haptic Input or target torque T target It is a separate function that collects parameters, processes all variables, and determines the operation of motor 181.

[0031] The motor controller 308 is exemplarily shown as being adapted to compensate for internal influences that can affect the movement of doors 36, 40, 42, and 44. These internal influences may include effects on door movement attributable to or related to irregularities in the electric actuator 35. These irregularities may include, but are not limited to, gear train factors such as gearbox (backlash, hysteresis, tilt, slack, operational differences between the reverse and forward drive directions of the electric actuator 35, efficiency losses, as examples, but not limited to), internal friction factors due to gear or bushing type, torque variations due to the connection / mounting point of the electric actuator 35 with the vehicle body and / or doors, the use of flexible couplings or other types of damping couplings, the use of clutches or brakes, spindle / nut interfaces, or other relevant characteristics. Such influences may result in a difference in door movement between the expected and actual door movement because the electric actuator 35 does not output a predetermined target force value, for example, received from the output of the haptic control algorithm 302; for example, the electric actuator 35 does not make T... targetThe motor torque output T is applied to the door. Therefore, the motor controller 308 is configured to generate a control signal provided to the motor 181, which is modified or adjusted to counteract any internal influences or effects attributable to the electric side door actuator 35. Thus, a system 300 for controlling the movement of doors 36, 40, 42, 44 is provided, exemplarily including an electric side door actuator 35 and a motor controller. The electric side door actuator 35 includes a motor 181 for generating an output force for moving doors 36, 40, 42, 44, and the motor controller is used to control the motor 181 at a target output force (T). target The motor controller is adapted to compensate for the difference between the force output (T) of the motor 181 and the target output force (T). target Compared to the changes in the effects related to the electric side door actuator 35, the actual forces applied to doors 36, 40, 42, and 44 differ from the calculated target output force (T). target The same. For example, if you intend to use T equal to 10 Newton-meters. target The motor 181 is controlled such that a force of 10 N·m is expected to be applied to doors 36, 40, 42, and 44. The electric side door actuator 35 has an effect that tends to produce a difference between the commanded force value and the actual force output. For example, as described above, the actual force applied to the extendable member 134 acting on the vehicle body to move the door is actually 9.5 N·m, which is 0.5 N·m less than the calculated target force. This difference may be due to, for example, internal friction causing a 0.5 N·m reduction in the actual motor output T. The controller is adapted to adjust T... target The force is adjusted from 10 N·m to 10.5 N·m, so that the output motor force applied to doors 36, 40, 42, and 44 is equal to the expected output force acting on the door, 10 N·m (10.5 N·m minus 0.5 N·m). As another example, due to the difference between reverse and forward drive operations (e.g., due to gear train), the electric side door actuator 35 operates inefficiently / irregularly, requiring the motor 181 to operate differently when controlled in the reverse or forward drive direction as determined by block 338. The controller (e.g., drive unit 304) is adapted to adjust T. target To overcome the efficiency loss when the electric side door actuator 35 operates in the reverse drive direction, so that the actual motor output T is equal to T targetMatching. Compensation for internal irregularities in the electric side door actuator 35 allows the system to appropriately respond to the touches of users 31, 33 on doors 36, 40, 42, 44 by providing appropriate tactile force sensations / responses to users 31, 33. Because human touch has high tactile sensitivity, compensation for irregularities in the electric side door actuator 35—even if small and not visually perceptible—provides an enhanced experience for users 31, 33 in moving doors 36, 40, 42, 44 through continuous tactile interaction (e.g., touching). Internal irregularities in the electric side door actuator 35 cause the actual output of the electric side door actuator 35 used to move the door with a target force to deviate from the expected or anticipated output of the electric side door actuator 35 as determined by the control system of the electric side door actuator 35. The difference between the expected force acting on the door to move the door and the actual force acting on the door may be due to single or multiple cumulative irregularities in the electric side door actuator 35. These irregularities may include irregularities caused by internal friction or inertia, irregularities caused by gear characteristics (e.g., differences in reverse and forward drive responses of the gear train, tilting or slack in the gear train), irregularities caused by the lever arm of the electric side door actuator 35 due to the installation configuration (which causes the force output acting on the door to vary depending on, for example, the position of the door), irregularities of the actuator 35 over time due to the deterioration of internal components, and irregularities in response caused by actuator temperature, as examples, but not limited to. Such irregularities may result in delays or lags in the response time of triggering haptic motor control in response to applying force to the door to move the door, as well as differences in the target force actually acting on the door by the electric side door actuator 35, and differences in door movement depending on the direction of door movement, such as toward the closed or open position. By mitigating, reducing, or eliminating this irregularity, the quality of door interaction for users 31 and 33 can be improved. Since users 31 and 33 may maintain continuous tactile interaction with the door during door operation, compensating for this irregularity of the electric side door actuator 35 can improve the user's tactile experience by reducing the perceptible sensations caused by force assistance during door operation. This includes the perceived door bumps or closing during the initial activation of the electric side door actuator 35 or changes in door orientation; differences in the magnitude of force assistance during opening and closing directions; differences in the magnitude of force assistance during a single opening direction; differences in the magnitude of force assistance during the transition between opening and closing directions; differences in the magnitude of force assistance depending on the environmental operating conditions of the electric side door actuator 35; and degradation of force assistance depending on the age of the electric side door actuator 35, as examples only. Inherent irregularities may exist in the components and configuration of the electric side door actuator 35; these irregularities may be static and do not change over time, or dynamic and change over time. Other irregularities may vary depending on external factors affecting the actuator, such as ambient temperature and door position.

[0032] The closed-loop current control system 301 includes a motor block 1300 connected to an H-bridge block 1302. A subtractor 1304 receives the target current I... target Subtract the sensed current I from the current sensor 306 sensed To correct the current I corr The output is sent to motor block 1300. Motor block 1300 and H-bridge block 1302 are configured to output the corrected current I. corr This is converted into a drive current I sensed by current sensor 306. For example, motor block 1300 exemplarily implements a PID control function with three control terms having proportional, integral, and derivative effects.

[0033] Therefore, the electric closing system 86 for vehicles 10, 30 includes a plurality of closing panels 36, 40, 42, 44, each of which is driven by one of a plurality of electric actuators 35. The electric closing system also includes at least one controller 154, 182 configured to control each of the plurality of electric actuators 35 to provide auxiliary force to users 31, 33 who move each of the plurality of closing panels 36, 40, 42, 44 using user force input (i.e., the amount of force provided by users 31, 33 for moving each of the plurality of closing panels 36, 40, 42, 44). According to one aspect, at least one controller 154, 182 is configured to adjust the auxiliary force provided by each of the plurality of electric actuators 35 to one of the plurality of closed panels 36, 40, 42, 44 associated with that electric actuator, such that the user force input required by the user 31, 33 when moving each of the plurality of closed panels 36, 40, 42, 44 is substantially the same for all the plurality of closed panels 36, 40, 42, 44. Therefore, the vehicle original equipment manufacturer (OEM) can generate a vehicle or "brand identity" to describe the operator human-machine interface (HMI) having the electric closing component system 86.

[0034] Similarly, the electrically closed system 86 may include a current sensor 306 coupled to at least one controller 154, 182 and configured to detect a sensed current I flowing in the motor 181 of one of the plurality of electric actuators 35. sensedThe electrically operated closing system 86 may also include an accelerometer 697 coupled to at least one controller 154, 182 and configured to sense the acceleration of one of the plurality of closing panels 36, 40, 42, 44 and the tilt of the vehicle 10, 30. Furthermore, the electrically operated closing system 86 includes a door position sensor 48 coupled to at least one controller 154, 182 and configured to detect the position of one of the plurality of closing panels 36, 40, 42, 44. Therefore, at least one controller 154, 182 may include a closed-loop current control system 301 that controls the drive current I supplied to the motor 181 of one of the plurality of electric actuators 35 to cause the motor 181 to output an auxiliary force. As described above, at least one controller 154, 182 may also include a haptic controller 302 configured to determine the target force to be provided to the closed-loop current control system 301. The closed-loop current control system 301 controls the drive current I based on the target force. The tactile controller 302 is configured to execute a tactile control algorithm, which includes an adder 314 summing multiple force values ​​from multiple force calculations 316, 318, 320, 322, 324, 326, and 328. The adder 314 uses the target force as the target torque T. target The output is sent to the closed-loop current control system 301. As described above, the closed-loop current control system 301 outputs the target torque T. target Converted to target current I target This is used to generate a drive current I in the closed-loop current control system 301. Multiple force calculations 316, 318, 320, 322, 324, 326, and 328 may include a user-input torque force calculation 328, which is configured to receive a sensed current I from the current sensor 306. sensed It outputs the result used to calculate the target torque T. target User input torque force F userinputAccording to another aspect, the user input torque force calculation 328 for each of the multiple closed panels 36, 40, 42, 44 is configured such that users 31, 33 provide the same force input when moving each of the multiple closed panels 36, 40, 42, 44. Therefore, each user input torque force calculation 328 for each door 36, 40, 42, 44 will be configured such that users 31, 33 experience the same resistance (e.g., 30 Newtons) when moving any door 36, 40, 42, 44, even though the kinematics of each door 36, 40, 42, 44 are different. For example, if a force gauge sensor is used to push or pull the door, the force gauge sensor will record a substantially similar force for each door. For example, the user input force for each door may be less than 30 N for each door. For example, the user input force for each door may be less than 10 N. For example, the user input forces for each door may be less than + / - 10 Newtons relative to each other. For example, the user input forces for each door may be less than + / - 5 Newtons relative to each other. In another possible configuration, the user might not notice the changes in force sensed between each door, thus experiencing the same force input. Therefore, in another possible configuration, the user inputs torque force calculation 328, which outputs a compensating force to adjust the sum of multiple force calculations 316, 318, 320, 322, 324, and 326, thereby changing the force required for the user 31 and 33 to move doors 36, 40, 42, and 44.

[0035] As discussed, the electrically operated closing system 86 may also include a user interface 178 in communication with at least one controller 154, 182. The user interface 178 may be configured to receive desired user force experience input. In other words, the user interface 178 may be used by users 31, 33 to select the tactile force resistance user experience for all closing panels (e.g., hinges, lift doors, side doors 36, 40, 42, 44). Therefore, at least one controller 154, 182 is configured to adjust the auxiliary force provided by each of the plurality of electrically operated actuators 35 based on the desired user force experience input received by the user interface 178 or at least one of a plurality of force calculations 316, 318, 320, 322, 324, 326, 328 other than the user input torque force calculation 328. Therefore, the user force experience is expected to be received based on the selection input by users 31, 33 through user interface 178, or determined based on other force calculations among multiple force calculations 316, 318, 320, 322, 324, 326, 328 (e.g., selected from minimum user resistance, maximum value, average value, etc.). Thus, the user input torque force calculation 328 may include user input torque force calculations 328 from other gates 36, 40, 42, 44, or input 342 from the main controller 154.

[0036] While the closing panels 36, 40, 42, and 44, moved by users 31 and 33, are primarily discussed as doors 36, 40, 42, and 44, it should be understood that other closing panels, such as hinges or liftgates, can also be considered. Using the techniques described herein, each door 36, 40, 42, 44, liftgate, tailgate, folding door, roof system, etc., can be adjusted to feel the same. This gives OEMs the opportunity to create a vehicle “brand feel” across all the movement systems 86 applied to vehicles 10 and 30. As discussed, the electric closing systems 86 for each closing panel 36, 40, 42, and 44 can have the same or equal electric assistance targets. This means that each system 86 can respond with the same force. Each system 86 can be individually calibrated for its inherent kinematics / gravity exposure. Then, each system 86 can have the same functionality (gravity compensation, infinite check, impact protection, etc.) and respond to user input in the same way. The same motion control logic of controllers 154 and 182 can control multiple electric closing systems 86. This can reduce the cost of System 86 by combining sensors, wiring, Controller Area Network (CAN) licenses, etc.

[0037] Figure 5 The steps of an example method for operating an electrically operated closing system 86 of vehicle 10 are shown. The method includes step 500: driving one of a plurality of closing panels 36, 40, 42, 44 using each of a plurality of electrically operated actuators 35. The method also includes step 502: driving the plurality of electrically operated actuators 35 such that the user force input required by users 31, 33 to move each of the plurality of closing panels 36, 40, 42, 44 is substantially the same for all the plurality of closing panels 36, 40, 42, 44.

[0038] More specifically, according to a further aspect, the method may include the step of controlling each of a plurality of electric actuators 35 to provide an auxiliary force to a user 31, 33 who moves each of a plurality of closed panels 36, 40, 42, 44 using user force input. The method includes the step of adjusting the auxiliary force provided by each of the plurality of electric actuators 35 for one closed panel of the plurality of closed panels 36, 40, 42, 44 associated with that electric actuator, such that the user force input required by the user 31, 33 when moving each of the plurality of closed panels 36, 40, 42, 44 is substantially the same for all of the plurality of closed panels 36, 40, 42, 44.

[0039] According to other aspects, the method includes the following steps: using a current sensor 306 to detect a sensed current I flowing in a motor 181 of one of a plurality of electric actuators 35. sensedThe method further includes the following steps: using an accelerometer 697 to sense the acceleration of one of the multiple closed panels 36, 40, 42, 44 and the tilt of the vehicles 10, 30. The method also includes the following step: using a door position sensor 48 to detect the position of one of the multiple closed panels 36, 40, 42, 44.

[0040] More specifically, according to another aspect, the method may include the following steps: using a closed-loop current control system 301 of at least one controller 154, 182 to control a drive current I supplied to a motor 181 of one of a plurality of electric actuators 35, so that the motor 181 outputs an auxiliary force. Furthermore, the method includes the following step: using a tactile controller 302 of at least one controller 154, 182 to determine a target force to be supplied to the closed-loop current control system 301. The method continues with the following steps: using the closed-loop current control system 301 to control the drive current I based on the target force, the tactile controller 302 executes a tactile control algorithm, which includes an adder 314 summing multiple force values ​​from multiple force calculations 316, 318, 320, 322, 324, 326, 328, and the adder 314 using the target force as a target torque T. target The output is sent to the closed-loop current control system 301. Furthermore, the method includes the following steps: using the closed-loop current control system 301 to output the target torque T. target Converted to target current I target This provides a drive current I for the closed-loop current control system 301. The method further includes the following steps: using multiple force calculations 316, 318, 320, 322, 324, 326, and 328, the user-input torque force calculation 328 receives the sensed current I from the current sensor 306. sensed It outputs the result used to calculate the target torque T. target User input torque force F userinput .

[0041] According to other aspects of this disclosure, the method further includes the steps of: receiving a desired user force experience input using user interface 178; the method further includes the steps of: adjusting the auxiliary force provided by each of the plurality of electric actuators 35 based on the desired user force experience input received by user interface 178 or at least one of a plurality of force calculations 316, 318, 320, 322, 324, 326, 328 other than user input torque force calculation 328. The method may also include the step of: configuring user input torque force calculation 328 for each of the plurality of closed panels 36, 40, 42, 44 such that users 31, 33 provide the same force input when moving each of the plurality of closed panels 36, 40, 42, 44.

[0042] Obviously, changes can be made to the content described and shown herein without departing from the scope defined in the appended claims. The above description of embodiments is provided for illustrative and descriptive purposes. It is not intended to be exhaustive or limiting of this disclosure. Various elements or features of a particular embodiment are generally not limited to that particular embodiment, but are interchangeable where applicable and may be used in selected embodiments even if not specifically shown or described. Similarly, differences may occur in many respects. These changes should not be considered a departure from this disclosure, and all such modifications are intended to be included within the scope of this disclosure.

[0043] The terminology used herein is for describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” used herein may also be intended to include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive, thus specifying the presence of the stated feature, integer, step, operation, element, and / or component, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein should not be construed as having to be performed in a particular order discussed or described, unless specifically specified as such. It should also be understood that additional or alternative steps may be employed.

[0044] When an element or layer is referred to as "on another element or layer," "joined to," "connected to," or "coupled to" another element or layer, it may be directly on, joined to, connected to, or coupled to another element or layer, or there may be intermediate elements or layers. In contrast, when an element is referred to as "directly on another element or layer," "directly joined to," "directly connected to," or "directly coupled to" another element or layer, there may be no intermediate elements or layers. 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 related listed items.

[0045] 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 only be used to distinguish one element, component, region, layer, or portion from another region, layer, or portion. Unless the context clearly indicates otherwise, terms such as “first,” “second,” and other numerical terms used herein do not imply sequence or order. Therefore, the first element, component, region, layer, or portion discussed below may be referred to as the second element, component, region, layer, or portion without departing from the teachings of the exemplary embodiments.

[0046] For ease of description, this document uses spatial relative terms such as “inside,” “outside,” “below,” “lower,” “below,” “above,” “upper,” “top,” “bottom,” etc., to describe the relationship of one element or feature to another element or feature shown in the figure. In addition to the orientations shown in the figure, spatial relative terms may be intended to cover different orientations of the device in use or operation. For example, if the device in the figure is flipped, an element described as “below other elements or features” or “below other elements or features” would be oriented “above other elements or features.” 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 spatial relative descriptions used herein may be interpreted accordingly.

[0047] Components of the exemplary devices, systems, and methods employed according to the illustrated embodiments can be implemented at least in part as digital electronic circuits, analog electronic circuits, or computer hardware, firmware, software, or combinations 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 embodied in an information carrier or machine-readable storage device, for execution by or control of the operation of a data processing device (such as a programmable processor, microprocessor, computer, or multiple computers). The term "controller" as used herein encompasses any such computer, processor, microchip processor, integrated circuit, or any other element, whether single or multiple, capable of carrying programming 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, it can be located remotely from other component systems described herein. For example, but without limitation, at least one controller can take the form of being programmed in a vehicle's onboard computer, located within a door, latch, or other location within the vehicle. A controller can also be located in multiple locations or comprise multiple components.

[0048] The instruction list, such as a computer program, can be written in any 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 a computing environment. The computer program can be deployed to execute on a single computer or multiple computers at a single site, or it can be distributed across multiple sites and interconnected via a communication network. Furthermore, the functional programs, code, and code segments used to implement the exemplary embodiments can be readily interpreted by those skilled in the art to which the exemplary embodiments pertain as being within the scope of the claims executored by the exemplary embodiments. The method steps associated with the exemplary embodiments can be executed by one or more programmable processors that execute the computer program, code, or instructions to perform functions (e.g., by manipulating input data and / or generating output). The method steps can also be executed by dedicated logic circuitry, and the apparatus of the exemplary embodiments can be implemented as dedicated logic circuitry, such as an FPGA (Field-Programmable Gate Array) or an ASIC (Application-Specific Integrated Circuit).

[0049] The various illustrative logic blocks, modules, algorithms, steps, and circuits described in conjunction with the embodiments disclosed herein can be implemented or executed using a general-purpose processor, digital signal processor (DSP), ASIC, FPGA, or other programmable logic device designed to perform the functions described herein, discrete gate or transistor logic, discrete hardware components, or any combination thereof. The general-purpose processor may be a microprocessor, but alternatively, the processor may be, for example, 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, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration.

[0050] For example, processors suitable for executing computer programs include general-purpose and special-purpose microprocessors, as well as any one or more processors in any type of digital computer. Typically, the 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 storage devices for storing instructions and data. Typically, a computer will also include, or be operatively coupled to, receiving data from or transferring data to, or both from, one or more mass storage devices (e.g., magnetic disks, magneto-optical disks, or optical disks) for storing data. Information carriers suitable for embodying computer program instructions and data include all forms of non-volatile memory, such as semiconductor storage 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 integrated into special-purpose logic circuitry.

[0051] Those skilled in the art will understand that information and signals can be represented using any of a variety of different technologies and processes. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the foregoing description can be represented by voltage, current, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.

[0052] Those skilled in the art will further understand that the various illustrative logic blocks, modules, circuits, algorithms, and steps described in conjunction 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, the various illustrative components, blocks, modules, circuits, and steps have been generally described above according to 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 can 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 exemplary 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 integrated into the processor. In other words, the processor and storage medium may reside in an integrated circuit or be implemented as discrete components.

[0053] Computer-readable non-transient media include 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 obtaining software through physical media or distribution systems, such as from a server owned by the software creator or from a server used by the software creator. For example, the software could be stored on a server for distribution over the Internet.

Claims

1. An electrically operated closing system (86) for a vehicle (10, 30), comprising: Multiple closed panels (36, 40, 42, 44), each closed panel being driven by one of multiple electric actuators (35); The plurality of electric actuators (35) are driven such that the user force input required by the user (31, 33) to move each of the plurality of closed panels (36, 40, 42, 44) is substantially the same for all of the plurality of closed panels (36, 40, 42, 44).

2. The electrically operated closing system (86) of claim 1 further includes at least one controller (154, 182) configured to control each of the plurality of electrically operated actuators (35) to provide an auxiliary force to a user (31, 33) who moves each of the plurality of closing panels (36, 40, 42, 44) using the user force input, wherein the at least one controller (154, 182) is configured to adjust the auxiliary force provided by each of the plurality of electrically operated actuators (35) for one of the closing panels (36, 40, 42, 44) associated with that electrically operated actuator, such that the user force input required by the user (31, 33) to move each of the plurality of closing panels is substantially the same for all the closing panels (36, 40, 42, 44).

3. The electrically operated closing system (86) according to claim 2 further includes a current sensor (306), an accelerometer (697), and a door position sensor (48), said current sensor (306) being coupled to the at least one controller (154, 182) and configured to detect a sensed current (I0) flowing in the motor (181) of one of the plurality of electrically operated actuators (35). sensed The accelerometer (697) is coupled to the at least one controller (154, 182) and configured to sense the acceleration of one of the plurality of closed panels (36, 40, 42, 44) and the tilt of the vehicle (10, 30), and the door position sensor (48) is coupled to the at least one controller (154, 182) and configured to detect the position of one of the plurality of closed panels (36, 40, 42, 44).

4. The electrically operated closing system (86) according to claim 3, wherein, The at least one controller (154, 182) includes: A closed-loop current control system (301) controls the drive current I provided to the motor (181) of one of the plurality of electric actuators (35) so that the motor (181) outputs the auxiliary force; A tactile controller (302) is configured to determine a target force to be provided to the closed-loop current control system (301), wherein the closed-loop current control system (301) controls the drive current I based on the target force, and the tactile controller (302) is configured to execute a tactile control algorithm comprising summing multiple force values ​​(316, 318, 320, 322, 324, 326, 328) from multiple force calculations by an adder (314), the adder (314) treating the target force as a target torque (T). target The output is sent to the closed-loop current control system (301), wherein the closed-loop current control system (301) outputs the target torque (T) to the closed-loop current control system (301). target ) converted to target current (I target ), so that the closed-loop current control system (301) can generate the drive current I; and The plurality of force calculations (316, 318, 320, 322, 324, 326, 328) include a user-input torque force calculation (328), which is configured to receive the sensed current (I) from the current sensor (306). sensed ), and outputs the result for calculating the target torque (T) target User input torque force (F) userinput ).

5. The electrically operated closing system (86) according to claim 4, further comprising a user interface (178) communicating with the at least one controller (154, 182), the user interface (178) being configured to receive a desired user force experience input, and the at least one controller (154, 182) being configured to adjust the auxiliary force provided by each of the plurality of electric actuators (35) based on the desired user force experience input received by the user interface (178) or at least one of the plurality of force calculations (316, 318, 320, 322, 324, 326, 328) other than the user input torque force calculation (328).

6. A method of operating an electrically operated closing system (86) of a vehicle (10, 30), comprising: Each of the multiple electric actuators (35) is used to drive one of the multiple closed panels (36, 40, 42, 44); as well as The plurality of electric actuators (35) are driven such that the user force input required by the user (31, 33) to move each of the plurality of closed panels (36, 40, 42, 44) is substantially the same for all of the plurality of closed panels (36, 40, 42, 44).

7. The method according to claim 6, further comprising the following step: Control each of the plurality of electric actuators (35) to provide auxiliary force to a user (31, 33) who moves each of the plurality of closed panels (36, 40, 42, 44) using the user force input; as well as The auxiliary force provided by each of the plurality of electric actuators (35) to one of the plurality of closed panels (36, 40, 42, 44) associated with that electric actuator is adjusted such that the user force input required by the user (31, 33) to move each of the plurality of closed panels (36, 40, 42, 44) is substantially the same for all the closed panels (36, 40, 42, 44).

8. The method according to claim 7, further comprising the following step: A current sensor (306) is used to detect the sensed current (I) flowing in the motor (181) of one of the plurality of electric actuators (35). sensed ); An accelerometer (697) is used to sense the acceleration of one of the closed panels (36, 40, 42, 44) and the tilt of the vehicle (10, 30); as well as The position of one of the plurality of closed panels (36, 40, 42, 44) is detected using a door position sensor (48).

9. The method according to claim 8, further comprising the following step: A closed-loop current control system (301) using at least one controller (154, 182) controls the drive current I supplied to the motor (181) of one of the plurality of electric actuators (35) so that the motor (181) outputs the auxiliary force; The tactile controller (302) using the at least one controller (154, 182) determines the target force to be provided to the closed-loop current control system (301); The closed-loop current control system (301) controls the drive current I based on the target force, and the tactile controller (302) executes a tactile control algorithm, which includes summing multiple force values ​​from multiple force calculations (316, 318, 320, 322, 324, 326, 328) by an adder (314), the adder (314) treating the target force as a target torque (T). target The output is sent to the closed-loop current control system (301); The closed-loop current control system (301) is used to control the target torque (T) target ) converted to target current (I target ), so that the closed-loop current control system (301) can generate the drive current I; as well as The user-input torque force calculation (328) among the plurality of force calculations (316, 318, 320, 322, 324, 326, 328) receives the sensed current (I) from the current sensor (306). sensed ), and outputs the result for calculating the target torque (T) target User input torque force (F) userinput ).

10. The method of claim 9, further comprising the step of: Use the user interface (178) to receive the expected user experience input; as well as The auxiliary force provided by each of the plurality of electric actuators (35) is adjusted based on the desired user force experience input received by the user interface (178) or at least one of the plurality of force calculations (316, 318, 320, 322, 324, 326, 328) other than the user input torque force calculation (328).

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