Controlling that can cause an animal to operate

Abstract

A method of controlling movement of a hatch of an energy supply portal of a motor vehicle between a first hatch position in which the portal is covered by the hatch and a second hatch position in which the portal is accessible to provide energy to the motor vehicle, the hatch being operatively connected to a rotor of a DC electric motor. The method includes applying a first voltage level to a winding of the motor, the first voltage level being below a threshold voltage level required for rotor movement, the application of the first voltage causing a first current at a first current level to flow through the winding, and monitoring one or more changes in the current at the first current level. When the change satisfies at least one or more predetermined criteria included in a predetermined set of criteria, a second voltage of a second voltage level is applied, the second voltage level being above the threshold voltage level.

Description

Technical Field

[0001] The various aspects and their implementation methods relate to the operation and control of the vehicle's hatch or another hatch that may cause animal bodies to enter. Background Technology

[0002] EP3554875 discloses the operation of a fuel tank door flap. When the motor is not operating, the power supply or terminal voltage of the motor driving the flap is monitored. If a voltage change is detected, it is assumed that this is due to an external force applied to the fuel tank door. This external force can push the flap to the closed position. Therefore, based on monitoring the voltage on the motor when the motor is not operating, it is assumed that this voltage is a signal to initiate flap closure. Therefore, in response, voltage is applied to the motor, causing the flap to move in the direction of the force. Summary of the Invention

[0003] Monitoring back electromotive force (electromagnetic force) typically requires additional hardware for the actuator. Furthermore, small or slow movements may result in a back electromotive force that is too low to be detected. Therefore, improved detection methods are preferred for detecting movements caused by external forces applied to hatches or other objects that can move.

[0004] Therefore, a first aspect provides a method for controlling the movement of a hatch of an energy supply inlet of a motor vehicle between a first hatch position and a second hatch position, wherein in the first hatch position the inlet is covered by a hatch, and in the second hatch position the inlet is accessible to supply energy to the motor vehicle, the hatch being operatively connected to a rotor of a DC motor. The method includes applying a first voltage of a first voltage level to windings of the motor, the first voltage level being lower than a threshold voltage level required for rotor movement; applying the first voltage such that a first current of a first current level flows through the windings; and monitoring one or more changes in the first current at the first current level. When one or more changes detected in the first current satisfy at least one or more predetermined criteria included in a predetermined set of criteria, a second voltage of a second voltage level, the second voltage level being higher than the threshold voltage level, is applied.

[0005] A hatch can be a hatch, flap, or cover that serves as an inlet for supplying power (such as gasoline, diesel, hydrogen, or electricity) to a vehicle. Alternatively, the causative agent can be the vehicle's engine hood. When the hatch is in the first position (open position), a backup voltage can be applied, preventing the object from moving. In this case, the backup voltage may result in a current too small to overcome any friction within the electric motor. Alternatively, the backup voltage is negative, causing the causative agent (in this example, the flap) to be pushed against the abutment in the open position. When a larger voltage (positive voltage) is applied, the hatch will move to the closed position. In this case, the polarity of the first voltage level is opposite to that of the second voltage level. When the first voltage level and the second voltage level are the same, the first voltage level is very low.

[0006] When the first voltage level is applied, current will flow through the motor windings. When the hatch is stationary, the current is generally constant. When the hatch is moved, for example by a person or an object, the movement will be transmitted to the motor rotor. This will in turn cause ripple in the power supply current because the commutator is short-circuited by the motor's brushed stationary contacts, resulting in a change in resistance connected to the constant power supply voltage of the first level.

[0007] These ripples or changes in the power supply current can be monitored using a current sensor connected to the control unit or processing unit. If the change satisfies at least one or more predetermined criteria included in a predetermined set of criteria, it is determined that the hatch has been moved by an external force. After this determination, a second voltage level is applied. In one example, the detected direction of movement is the same as the direction of movement caused by the application of the second voltage level. In another example, the movement caused by the application of the second voltage level is opposite to the detected movement. That is, although not usually required, the direction of movement can be detected.

[0008] An example of the first aspect also includes determining a predetermined amount of change, wherein the first predetermined criterion included in the predetermined set of criteria is the predetermined amount of change. The advantage of this example is that when the movement of the hatch is very small, such as vibration caused by a vehicle or other object connected to the hatch, resulting in very few ripples, such as 1 to 3 / 4 / 5, the power supply voltage is not directly converted to the second level. The second voltage level is only applied when the amount of change is sufficiently large, and the movement is truly caused by an external force.

[0009] Another example of the first aspect includes determining a specific amount of change, wherein a second predetermined criterion included in the predetermined set of criteria is a predetermined level of change, or a predetermined amount of change per unit time. Typically, the level of change is determined by the level of the winding's resistance value. However, other factors can also determine whether the hatch has been moved, and optionally, how fast or with what force the hatch can move. Therefore, this example can provide greater accuracy in determining the movement of the hatch.

[0010] Another example of the first aspect includes determining a specific amount of change, where the predetermined level of change is a relative level. In this example, the level of change, as part of the set of criteria, is set as a multiple or ratio of the average supply current at a first voltage level, or a multiple or ratio of the constant supply current, without detecting movement.

[0011] Another example of the first aspect includes determining a specific amount of change, where the predetermined level of change is an absolute level. By applying this criterion, any minor disturbances can be filtered out, increasing the robustness of the method.

[0012] In another example, the polarity of the first voltage level is opposite to that of the second voltage; applying the first voltage causes the hatch to move to the abutment. The advantage of this example is that it can be used with an electric motor that has very low friction, capable of moving even at voltage levels less than 1% of the standard power supply voltage available for the second power supply, even considering the friction of the hatch.

[0013] In yet another example, the absolute value of the first voltage level is lower than the absolute value of the second voltage level. One advantage of this example is its economic efficiency; the waiting state with the first voltage level applied can be significantly longer than the operating state with the second supply voltage applied during that period.

[0014] In another example, the polarity of the first voltage level is the same as the polarity of the second voltage level; the first current generates an electromagnetic force in the rotor, which is insufficient to overcome the mechanical friction between the rotor and the housing of the DC motor. The advantage is that no polarity reversal is required, allowing for a simplified technique.

[0015] In yet another example, the first voltage providing the first voltage level includes providing a supply voltage having a supply voltage level and a duty cycle of less than 1, and the average level of the supply voltage being substantially equal to the first voltage. Compared to, for example, resistive voltage division which would cause power dissipation in the resistor, pulse width modulation provides an efficient way to generate the first voltage.

[0016] Another example includes determining the direction of rotor movement, which causes a change in a first current level, wherein a second voltage level is set to move the rotor in the determined direction of movement. By obtaining information about the direction of movement by means of an external force, information about the expected direction in which the hatch will move can be obtained.

[0017] Another example includes determining the previous polarity of a second voltage, which is the last voltage applied to move the rotor; the second polarity of the second voltage is opposite to the previous polarity. This example can be practical if the hatch can move in both directions, particularly between the two ends. If the previous action was toward the first end, such as the open position of a cover (like an inlet flap or engine cowling), the next action will be toward the second end where the cover is in the closed position. The opening action requires applying the first polarity to the engine, while the closing action requires applying the opposite polarity to the motor.

[0018] A second aspect provides an actuator module configured to drive a hatch of a motor vehicle energy inlet, including a motor vehicle, between a first hatch position and a second hatch position. In the first hatch position, the inlet is covered by the hatch; in the second hatch position, the inlet is accessible to provide energy to the motor vehicle. The actuator module includes: a control circuit including a voltage source configured to provide a first voltage and a second voltage to a DC motor having a rotor, such that a first current and a second current flow through windings of the motor, respectively; a current sensor configured to monitor one or more changes in the first current at a first current level when the first voltage is applied; and an evaluation module configured to evaluate whether the one or more changes detected in the first current satisfy at least one or more predetermined criteria included in a predetermined set of criteria, and to cause the voltage source to apply the second voltage to the motor. In this control circuit, the first voltage level is below a threshold voltage level required for rotor movement; the second voltage level is above the threshold voltage level.

[0019] The actuator module also includes a DC motor with a rotor; and a transmission including a gearbox and a drive connector, the gearbox being connected to the rotor of the motor at a first end of the gearbox, the drive connector being configured to be coupled to the hatch at a second end of the gearbox, the gearbox being configured to convert movement of the hatch into movement of the rotor and vice versa.

[0020] An example of the second aspect is further configured to use pulse width modulation of the power supply voltage to generate a first level of the first voltage, wherein the duty cycle applied to the power supply voltage is less than 1, and wherein the duty cycle multiplied by the power supply voltage is substantially equal to the first voltage. One advantage of this example is its economic efficiency; the waiting state for applying the first voltage level can be significantly longer than the operating state during which a second power supply voltage is applied.

[0021] Another example includes a smoothing circuit configured to smooth the modulated supply voltage. This allows for a stable supply voltage at the first level. This, in turn, enables simpler and / or more accurate monitoring of the supply current generated by the applied first voltage. Such a smoothing circuit preferably includes reactive elements, such as capacitors or inductors. These components typically have very low losses.

[0022] The third aspect provides a motor vehicle including the module described in the second aspect, a hatch, and an energy supply inlet.

[0023] The fourth aspect relates to a control circuit. The control circuit includes a voltage source configured to provide a first voltage and a second voltage to a DC motor having a rotor, such that a first current and a second current flow through the motor windings, respectively; a current sensor configured to monitor one or more changes in the first current at a first current level when the first voltage is applied; an evaluation module configured to evaluate whether the one or more changes detected in the first current satisfy at least one or more predetermined criteria included in a predetermined set of criteria, and to cause the voltage source to apply the second voltage to the motor.

[0024] In this control circuit, a first voltage level is lower than a threshold voltage level required for rotor movement; a second voltage level is higher than the threshold voltage level. This control circuit can be used for the first aspect, and also for operating other potentially invasive objects included in the vehicle, such as hatches covering vehicle openings, like trunks, hoods, or external or internal storage compartments. The control circuit can also be used to operate folding systems for rearview mirrors or other external components of the vehicle. Attached Figure Description

[0025] The various aspects and their implementation methods will now be described in further detail with reference to the accompanying drawings. In the drawings: Figure 1 shows the vehicle; Figure 2 The power supply, motor, transmission system, and driveable hatch are shown. Figure 3 The flowchart is shown. Detailed Implementation

[0026] Figure 1 A car 100 as a motor vehicle is shown, which includes a battery 110 as an energy storage device. Alternatively or additionally, a fuel tank may be provided as an energy storage device. The car 100 also includes an onboard computer 120 and a hatch 160 for closing the electrical inlet port that supplies electrical power to the battery 110. If the car 100 includes a fuel tank, hatch 160, another hatch, or an additional hatch may be provided for closing the fuel inlet to supply fuel to the fuel tank.

[0027] Figure 2 The hatch control module is shown. The hatch control module includes a DC motor 200, which is connected to the hatch 160 via a drive system 270 included in the hatch control module. The motor 200 includes a housing 202, within which a rotor 210 is disposed. A first conductor 212 and a second conductor 214 are disposed on the rotor 210. Additionally, one or more additional conductors are disposed on the rotor 210.

[0028] Conductors are provided to supply current from brush terminal 216 to first electromagnet 222 and second electromagnet 226, which are configured as coils on rotor 210. In other examples, one or more additional electromagnets may be provided on rotor 210. First permanent magnet 224 and second permanent magnet 228 are also provided in housing 202. DC motor 200 is a commercially available electric motor. When the brush terminal moves from first conductor 212 to second conductor 214, the conductor is briefly short-circuited. This causes a change in the resistance of motor 200, which in turn causes ripple or other changes in the current through motor 200 when the same supply voltage is provided.

[0029] The transmission system 270 includes a sliding coupling 230 or clutch disposed between the rotor 210 and the worm gear 240. The transmission system 270 also includes a toothed gear or gear 250 preferably disposed on a shaft 258. The connection between the worm gear 240 and the gear 250 allows for a significant reduction in rotational speed, preferably on the order of 50 or a factor thereof. However, in this example, the transmission system 270 is configured such that movement of the hatch 160 causes movement of the rotor 210 via the transmission system 270, and vice versa.

[0030] A first abutment 162 is provided adjacent to hatch 160. The first abutment 162 is arranged to abut hatch 160 and, upon abutment, stops movement of hatch 160. A second abutment 164 is also provided. Hatch 160 is arranged to rotate between the first abutment 162 and the second abutment 164. In this example, the maximum rotation is approximately 25°. In other examples, the rotation between the abutments can be 90°, 180°, or any other angle. In another example, the movement of hatch 160 is linear movement between the abutments, or a combination of curvilinear and linear movement.

[0031] The first sliding coupling 230 includes a first sliding portion 232 connected to the rotor 200 and a second sliding portion 234 connected to the worm gear 240. In normal operation, the first sliding portion 232 and the second sliding portion 234 rotate together. If the torque between the worm gear 240 and the rotor 210 exceeds a predetermined torque threshold, the second sliding portion 234 stops, and the first sliding portion 232 continues to rotate. In this operating state, the sliding coupling 230 is in a sliding mode. If the sliding coupling 230 enters a sliding state, typically the entire transmission system 270 will stop first. Subsequently, the sliding coupling 230 will enter a sliding mode. Depending on the characteristics of the contact surfaces of the first sliding portion 232 and the second sliding portion 234, the sliding coupling 230 will remain in a sliding operation or alternate between sliding and stopping modes.

[0032] Additionally or alternatively, a second sliding coupling is disposed in gear 250. In this embodiment, gear 250 includes an outer ring 252 and an inner ring 254. A second sliding coupling 256 is disposed between the inner ring 252 and the outer ring 254. The operation of the second sliding coupling 256 is similar to that of the first sliding coupling 230. Hatch 160 is connected to the inner ring 256.

[0033] The hatch control module also includes a voltage supply module 280. The voltage supply module includes a switch 282, a pulse width modulator 284, and a current sensor 286. Switch 282 and pulse width modulator 284 are connected to an onboard computer 220, which receives control signals for operating switch 282 and pulse width modulator 284. Pulse width modulator 284 provides a voltage that is part of the power supply voltage, which is substantially equal to the duty cycle of pulse width modulator 284. Therefore, to provide one-third of the voltage supplied to pulse width modulator 284, a 33% duty cycle can be applied. Pulse width modulator 284 may be equipped with an equalizer circuit or a smoothing circuit to provide an output at a substantially continuous level rather than a switching level. This smoothing circuit can be implemented using capacitors.

[0034] The current sensor 286 is connected to the board computer 120 to provide information about the current level supplied by the voltage supply module 280 to the motor 200.

[0035] Switch 282 is preferably a switch capable of providing power voltage to the vehicle with two different polarities. For a standard automobile, this means that switch 282 is arranged to provide 12 volts or -12 volts to motor 200. The switch can also be in the idle position, where switch 282 does not provide power voltage to motor 200.

[0036] Although in this example the electric motor 200 is used to actuate hatch 160, in other embodiments, it may also actuate other actuable parts of the vehicle or other motor vehicles. Such actuable parts may be a complete rearview module including mirrors and mirror adjustment devices, rearview mirrors, grille louvers, actuable spoilers or other air-guided flaps, wipers, doors, others, or combinations thereof.

[0037] Combining Figure 3 The flowchart 300 shown further discusses the additional functions of the hatch control module. A brief summary of each part of the flowchart is provided in the following list.

[0038] 302 Start Process 304 Receive control signal 306 Directional signal? 308 Retrieve hatch location data 310 Setting Direction 312 Apply power supply voltage in the applicable direction 314 Monitor changes in supply current Does the change in 316 meet the first criterion? 318 Set location data 320 Apply backup voltage 322 Monitor backup voltage Does the 324 variation meet the second criterion? 326 Retrieve hatch location data 328 Apply power supply voltage based on location data 330 Monitor power supply current changes Does the change 332 meet the third criterion? 334 Apply backup voltage The process begins in terminator 302 and proceeds to step 304, where a control signal for moving hatch 160 is received. Step 306 checks whether the control signal includes data on the hatch movement direction. This direction can be the opening or closing direction of hatch 160, indicated by setting a specified bit of a digital message to 0 or 1. In another embodiment, the signal is an analog signal with a specific polarity, and the applicable polarity indicates the direction.

[0039] If the control signal contains direction information, the process jumps to step 312. If the control signal does not contain direction information, the process proceeds to step 308. In step 308, data indicating whether hatch 160 is closed or open is retrieved from the electronic memory. Such data can be a single bit or multiple bits. It can be generated by the onboard computer 120 or external electronic devices.

[0040] Step 310: Based on the retrieved position data, set the direction in which hatch 160 should move. If hatch 160 is in the closed position, it will be moved to the open position. If hatch 160 is in the open position, it will be moved to the closed position. By setting the position, the voltage level applied to motor 200 is set. In particular, the polarity of the applied voltage is set. For example, applying a positive voltage to motor 200 opens hatch 160, while applying a negative voltage closes hatch 160.

[0041] If the control signal is a direction signal, the polarity of the signal is determined based on the direction information in the direction signal, without retrieving data.

[0042] Step 312 involves applying a determined and set power supply voltage to the motor 200. The voltage level is sufficient to overcome any internal mechanical resistance within the motor 200. The applied level can be the same as the internal power supply voltage of other electronic components in the vehicle 100, such as 5 volts, 12 volts, or 24 volts. In this case, as described above, switch 282 is used to provide a power supply voltage with an applicable polarity to the motor 200.

[0043] Step 314: Monitor the power supply current of the motor using current sensor 286. Specifically, monitor any ripple in the power supply current at the current level. In this example, check for ripple when monitoring the power supply current ripple. If no more ripple appears, the first criterion is met. Typically, if the rotor 210 of the motor 200 is no longer rotating while power supply current is still being supplied, ripple will no longer occur. In this case, the power supply current will be continuous.

[0044] When there is no ripple while power is still supplied to the motor 200, the hatch 160 can be instructed to abut against the first abutment 162 or the second abutment. Therefore, if the first criterion is met, the hatch 160 is opened or closed. Step 316: Check whether the first criterion is met. Note that, alternatively or additionally, the first criterion may be that the transmission system 270 is in a skid-stop mode.

[0045] In another example, the first criterion is met if a specific, predetermined number of ripples has been counted. This specific number of ripples corresponds to a specific number of rotations of rotor 210, and therefore, a specific number of ripples corresponds to a specific position of hatch 160. The first criterion could be that counting this number of ripples represents the movement of hatch 160 from the first abutment 162 to the second abutment 164. Therefore, the definition of the first criterion depends on the specific implementation.

[0046] In another example, the ripple level is determined to be greater than a predetermined value, which could be the absolute value or a predetermined percentage of the voltage supplied to the motor 200. Typically, for a motor with three commutators on the rotor, the ohmic resistance of the windings is 75% of when the brush contacts short-circuit two commutators compared to when the brushes only contact one commutator. Therefore, under constant voltage, the current is one-third higher when both commutators are short-circuited compared to when they are not. In one example, if the ripple is between 20% and 50% of the average motor current, the ripple is counted only as ripple. This approach significantly reduces other effects that might cause current variations, even if not eliminated. This, in turn, allows for the measurement of current effects that are simply the effect of the brushes changing from one commutator to another.

[0047] If the first criterion is determined to be met in step 316, position data is set and stored in step 318. Position data, which indicates whether hatch 160 is open or closed, has already been discussed above. Subsequently, or in parallel, a backup voltage is provided to motor 120 in step 320. The backup voltage level is substantially lower than the power supply voltage provided to motor 120 for rotating hatch 160.

[0048] The standby voltage can be equal to or less than 20%, 10%, 5%, 4%, or 2% of the power supply voltage, or between any two of these voltage levels. Therefore, the voltage has a non-zero value to generate current according to Ohm's law. The purpose of applying the power supply voltage is to allow current to flow through the windings of the first electromagnet 222 and the second electromagnet 226, while the rotor 210 of the motor does not rotate.

[0049] This objective can be achieved in several ways. A first way is to apply a power supply voltage at a level at which any field excited by the first electromagnet 222 and the second electromagnet 226 causes the force applied to the first permanent magnet 224 and the second permanent magnet 228 to be less than the mechanical friction to be overcome, so that the rotor 120 rotates relative to the housing of the motor 120. A second way is to set the polarity of a standby voltage such that the force applied by the motor 120 to the hatch 160 causes the hatch 160 to be moved to either the first abutment 162 or the second abutment 164.

[0050] In the first case, the backup voltage should be very low, especially for modern low-friction motors. Furthermore, in the first case, the polarity of the backup voltage is irrelevant. In the second case, the polarity of the applied backup voltage is relevant; the polarity of the backup voltage should be opposite to the polarity of the power supply voltage, which is the voltage required for hatch 160 to move away from the abutment, which the hatch moves to using the backup voltage.

[0051] In either case, the power supply voltage is the voltage required for the hatch 160 to move away from the abutment, while the backup power supply is defined as having a positive terminal to move the hatch to the abutment. In this case, the backup voltage should be at a sufficiently low level to prevent the rotor 120 from rotating relative to the housing of the motor 120. This means that the backup voltage can be at a negative level or a low positive level, as described above. In this example, in the first case, the second case, or any other case falling within the scope of the claims, the backup current is provided by the pulse width modulator 284.

[0052] Step 322 involves monitoring the backup current, while step 324 checks whether a second criterion is met. In this embodiment, the second criterion is whether ripple appears in the backup current, or whether a specific, for example, predetermined number of ripples has been detected. When the backup voltage is provided at the level described above, the rotor 210 does not rotate, and no ripple occurs in the power supply current.

[0053] If ripple does occur in the backup current when the backup voltage is applied at the backup voltage level described above, the rotor 210 moves due to the external force applied to the hatch 160. For example, if the hatch is in the open position, against the first abutment 162 and moving towards the second abutment, i.e., towards the closed position, the rotor 210 moves by means of the reciprocal function of the transmission system 270. In other examples, other signals in the power supply current may also indicate that the hatch 160 moves by means of external force.

[0054] Therefore, if the second criterion is met, the position of hatch 160 is retrieved. As described above, information about the hatch position can be retrieved from an electronic memory that previously stored position data. In another example, position data can be retrieved from a backup current when the hatch is moved by an external force.

[0055] Step 328: Based on the position data, the power supply voltage level provided to the motor 200 enables the hatch 160 to move to a position opposite to the determined position. Alternatively, the power supply voltage level provided to the motor 200 enables the hatch 160 to move in one direction, which can be derived from the monitored backup current when the second criterion is met. In both cases, the power supply voltage level can be substantially the same.

[0056] When the power supply voltage is applied in step 328, the power supply current 330 is monitored. Simultaneously with monitoring the power supply current, step 332 checks whether a third criterion is met. For example, the third criterion could be that the power supply current no longer changes, or whether the transmission system 270 enters a stop-slip mode. This could be the result of the hatch 160 encountering the first abutment 162 or the second abutment 164, thus reaching the endpoint.

[0057] In another example, the third criterion is met if a specific, predetermined number of ripples has been counted. The specific number of ripples is responsible for a specific number of rotations of rotor 210, and therefore, the specific number of ripples is responsible for a specific position of hatch 160. The third criterion could be that the number of ripples represents the movement of hatch 160 from the first abutment 162 to the second abutment 164.

[0058] Upon meeting the third criterion, in step 334, the backup voltage is applied to the motor 200 at the backup voltage level described above. Next, the process loops back to step 304, where an input control signal is monitored. This control signal can be an external control signal, such as one generated by a user pressing a button. Alternatively or additionally, as described above, the control signal can be obtained by monitoring the backup current and detecting that the backup current meets a specific criterion during monitoring.

Claims

1. A method for controlling the movement of a hatch of an energy supply inlet of a motor vehicle between a first hatch position and a second hatch position, wherein in the first hatch position the inlet is covered by the hatch, and in the second hatch position the inlet is accessible for supplying energy to the motor vehicle, the hatch being operatively connected to the rotor of a DC motor, the method comprising: A first voltage of a first voltage level is applied to the windings of the motor, the first voltage level being lower than a threshold voltage level required for rotor movement, and the first voltage is applied such that a first current of a first current level flows through the windings; Monitor one or more changes in the first current at the first current level; When the one or more changes detected in the first current satisfy at least one or more predetermined criteria included in a predetermined set of criteria, a second voltage level higher than the threshold voltage level is applied.

2. The method according to claim 1, further comprising determining a predetermined amount of change, wherein the predetermined set of criteria includes a first predetermined criterion which is a predetermined amount of change.

3. The method according to claim 1 or 2, further comprising determining a determined amount of change, wherein the predetermined set of criteria includes a second predetermined criterion which is a predetermined level of the change.

4. The method of claim 3, further comprising determining a predetermined amount of change, wherein the predetermined level of the change is a relative level.

5. The method of claim 3, further comprising determining a predetermined amount of change, wherein the predetermined level of the change is an absolute level.

6. The method according to any one of the preceding claims, wherein: The polarity of the first voltage level is opposite to the polarity of the second voltage; as well as Applying the first voltage causes the hatch to move to the abutment.

7. The method according to claim 6, wherein, The absolute value of the first voltage level is lower than the absolute value of the second voltage level.

8. The method according to any one of the preceding claims, wherein: The polarity of the first voltage level is the same as the polarity of the second voltage; and The first current generates an electromagnetic force in the rotor, but this electromagnetic force is insufficient to overcome the mechanical friction between the rotor and the housing of the DC motor.

9. The method according to any one of the preceding claims, wherein, The first voltage providing the first voltage level includes providing a power supply voltage having a power supply voltage level and a duty cycle of less than 1, and the average level of the power supply voltage being substantially equal to the first voltage.

10. The method according to any one of the preceding claims, further comprising determining the direction of movement of the rotor, the movement causing a change in a first current level, wherein, A second voltage level is set for the second voltage to move the rotor in the determined direction of movement.

11. The method according to any one of claims 1 to 9, further comprising determining the previous polarity of a previous level of the second voltage, the second voltage being the last applied voltage used to move the rotor; The second polarity of the second voltage is opposite to the previous polarity.

12. An actuator module configured to drive a hatch of a motor vehicle energy inlet included in a motor vehicle between a first hatch position and a second hatch position, wherein the inlet is covered by the hatch at the first hatch position and the inlet is accessible for supplying energy to the motor vehicle at the second hatch position, the actuator module comprising: Control circuit, including: A voltage source is configured to provide a first voltage and a second voltage to a DC motor with a rotor, such that a first current and a second current flow through the windings of the motor, respectively. A current sensor is configured to monitor one or more changes in the first current at a first current level when the first voltage is applied; An evaluation module is configured to evaluate whether one or more changes detected in the first current satisfy at least one or more predetermined criteria included in a predetermined set of criteria, and to cause the voltage source to apply the second voltage to the motor; in: The first voltage level is lower than the threshold voltage level required for the rotor to move; The second voltage level is higher than the threshold voltage level; A DC motor with a rotor; A transmission includes a gearbox and a drive connector, the gearbox being connected at a first end to the rotor of the electric motor, the drive connector being configured to connect at a second end of the gearbox to the hatch, and the gearbox being configured to convert movement of the hatch into movement of the rotor, and to convert movement of the rotor into movement of the hatch.

13. The actuator module of claim 12 is further configured to generate a first level of the first voltage using pulse width modulation of the power supply voltage, wherein the duty cycle applied to the power supply voltage is less than 1, wherein the duty cycle multiplied by the power supply voltage is substantially equal to the first voltage.

14. The actuator module of claim 13 further includes a smoothing circuit configured to smooth the modulated power supply voltage.

15. A motor vehicle comprising a module according to any one of claims 12 to 14, a hatch, and an energy supply inlet.

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