Method and apparatus for regulating the opening speed and torque of a door having a door operator

Abstract

A door coupled to a door operator assembly including a motor operable in a first operating mode to open the door at a predefined speed. The first operating mode is overridden in response to an output of the motor reaching a minimum threshold value due to a force applied to the door. In a second operating mode, the output of the motor is regulated to assist in manual opening of the door.

Description

Technical Field

[0001] This disclosure generally relates to doors and door operators, and more specifically to door operators configured to open doors in a controlled manner. Background Technology

[0002] Door operators are configured to move a door from an open position to a closed position under the control of a spring mechanism, motor, valve, or other actuator. Some door operators include an electrically powered motor to automatically open the door from a closed state to a fully open state based on signals from sensors or when the user begins to push the door. In this mode, the door will open at a predefined speed, which can be configured to be relatively slow for safety purposes in the presence of children or the elderly, and conforms to BHMA 156.19 standards. Other door operators include features to assist the user when the user manually opens the door. This feature will make the door feel lighter.

[0003] If a user seeks to open the door at a speed faster than a predefined speed set by the motor, the user will push the door to manually exceed that predefined speed. As the door's speed increases due to the user's manual force, the user experiences more force required to open the door. If the user applies sufficient force to open the door at the desired speed, it can cause the motor to reverse, creating additional braking and resistance to the door's opening. Variable and / or surprising resistance to opening the door can lead to an unpleasant user experience. Therefore, further improvements are needed in the operation and control of automatic door operators. Summary of the Invention

[0004] As described herein, a system and method for a door are provided, the door having a motor-driven door operator that assists in opening the door. During door opening, the motor is actively controlled. For example, during door opening, the motor output is controlled in a first mode to open the door at a predefined speed unless the motor force output decreases below a minimum threshold required to maintain the predefined speed. The motor output is then controlled in a second mode to maintain a constant or predefined force distribution, thereby assisting the user in manually opening the door until the door decelerates back to the predefined speed.

[0005] In one embodiment, a method is provided for adjusting the opening speed of a door coupled to a door operator assembly having a motor that assists in opening the door. The method includes: initiating a movement of the door from a closed position toward an open position; in response to initiating the movement, operating the motor to open the door at a predefined speed; simultaneously with opening the door, determining that the output of the motor has reached a minimum threshold output force associated with the predefined speed; and in response to the determination, adjusting the output of the motor to assist a manual force applied to the door during opening, the manual force opening the door at a speed greater than the predefined speed.

[0006] In another embodiment, a system is provided for regulating the opening of a door coupled to a door operator assembly having a motor and a controller configured to control the motor during movement of the door from a closed position to an open position. The controller is configured to control the motor to open the door from the closed position to the open position at a predefined speed. In response to the motor output decreasing to or below a minimum threshold output force during opening, the motor output is controlled to assist in applying a manual force to open the door at a speed greater than the predefined speed.

[0007] Further embodiments, forms, features, and aspects of this disclosure will become apparent from the description and drawings provided herein. Attached Figure Description

[0008] Figure 1 This is a schematic front view of a door operator assembly that is connected to the door and door frame.

[0009] Figure 2 It is shown Figure 1 A diagram showing the door opening from the closed position to the open position.

[0010] Figure 3 yes Figure 1 The diagram shows a schematic block diagram of the door operator assembly and selected parts of the door.

[0011] Figure 4 This is a block diagram illustrating the process of opening a door using a door operator component. Detailed Implementation

[0012] While the concepts of this disclosure are susceptible to various modifications and alternatives, specific embodiments have been shown by way of example in the accompanying drawings and will be described in detail herein. However, it should be understood that the concepts of this disclosure are not intended to be limited to the specific forms disclosed, but rather are intended to cover all modifications, equivalents, and alternatives consistent with this disclosure and the appended claims.

[0013] References to "one embodiment," "an embodiment," "illustrative embodiment," etc., in the specification indicate that the described embodiment may include a particular feature, structure, or characteristic; however, each embodiment may or may not include that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. It should be further understood that although references to "preferred" components or features may indicate the desirability of a particular component or feature with respect to an embodiment, this disclosure is not so limited with respect to other embodiments in which such components or features may be omitted. Moreover, when a particular feature, structure, or characteristic is described in connection with an embodiment, it should be considered that implementing such a feature, structure, or characteristic in conjunction with other embodiments is within the knowledge of those skilled in the art, whether explicitly described or not.

[0014] Furthermore, it should be understood that items included in the list in the form of "at least one of A, B, and C" can mean: (A); (B); (C); (A and B); (B and C); (A and C); or (A, B, and C). Similarly, items listed in the form of "at least one of A, B, or C" can mean: (A); (B); (C); (A and B); (B and C); (A and C); or (A, B, and C). Items listed in the form of "at least one of A, B, and / or C" can also mean: (A); (B); (C); (A and B); (B and C); (A and C); or (A, B, and C). Furthermore, in relation to the claims, unless expressly stated to the contrary, the use of phrases or words such as “a (an),” “at least one” and / or “at least a portion” should not be construed as being limited to a single such element, and unless expressly stated to the contrary, the use of phrases such as “at least a portion” and / or “a portion” should be construed as covering embodiments that include only a portion of such elements and embodiments that include the entirety of such elements.

[0015] In the accompanying drawings, some structural or methodological features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not necessarily be required. Rather, in some embodiments, unless otherwise indicated, such features may be arranged in a different manner and / or order than shown in the illustrative drawings. Furthermore, the inclusion of structural or methodological features in a particular drawing does not imply that such features are required in all embodiments, and in some embodiments, they may be omitted or combined with other features.

[0016] Figure 1System 10 is shown, comprising a door 12, a frame 14, and a door operator assembly 30 operable to mechanically move the door 12 from a closed position to an open position. In one embodiment, the door 12 is pivotally mounted to the frame 14 via one or more hinges 16. In one embodiment, the door 12 includes an on-door actuator 18 operable to open the door 12. The on-door actuator 18 may be a lever, knob, push rod, push pad, button, sensor, or any other suitable device. However, embodiments without an on-door actuator 18 are also conceivable. Additionally, embodiments with an off-door actuator 20, located away from the door 12, are also conceivable, for example, in devices for people with disabilities or disabled access. The off-door actuator 20 may be a push button, plate, sensor, or other device that is manually moved or senses the approach of a user to initiate automatic door opening.

[0017] The door operator assembly 30 includes an operator housing 32 and an arm assembly 34 connected between the operator housing 32 and a frame 14. The housing 32 is mounted on the door 12, and the arm assembly 34 is connected between the body 32 and the door frame 14. In other embodiments, the housing 32 may be mounted on the frame 14, and the arm assembly 34 may be connected between the housing 32 and the door 12.

[0018] The door actuator assembly 30 further includes a motor 40 located within the housing 32. The motor 40 is operatively connected to the arm assembly 34. In one embodiment, the motor 40 is an electric motor, and its operation is controlled by a controller 50 located within the housing 32. Further reference Figure 2 The motor 40 can be operated in response to one or more inputs to move the door 12 from a closed position 12a to an open position 12b about the hinge 16 along direction A. One or more inputs can be received from, for example, the door actuator 18, the off-door actuator 20, and / or by the user manually pushing the door 12 along direction A.

[0019] The actuator housing 32 may include an internal space configured to accommodate all or part of the various internal components of the door actuator assembly 30, such as the motor 40, drive mechanism 42, biasing member 44, and / or controller 50. The drive mechanism 42 may connect the motor 40 to the arm assembly 34. For example, the drive mechanism 42 may include a rotatable pinion and a rack that drivesly engages with the pinion. Other embodiments envision any suitable mechanism for using the motor 40 to drive the door 12 to the open position.

[0020] The biasing member 44 may be a spring or other biasing element engaged with the drive mechanism 42 to bias the door 12 to the closed position. In one embodiment, the biasing member 44 provides resistance to opening the door 12, which is overcome by the motor 40 and / or manual force. In one embodiment, the resistance provided by the biasing member increases as the door 12 moves in direction A.

[0021] The arm assembly 34 typically includes at least one arm coupled to the drive mechanism 42 and a second arm coupled between the first arm and the door 12 or frame 14. In one embodiment, the arm assembly 34 is configured as a scissor-type arm assembly. It is also contemplated that the arm assembly may include a single arm with one end coupled to the motor 40 and a second end slidably mounted in a track mounted on the door 12 or door frame 14. Other embodiments contemplate any suitable arm assembly, actuator, opener, or other arrangement coupled between the door 12 and the frame 14 and configured to open the door 12 about the hinge 16.

[0022] refer to Figure 3 The controller 50 communicates with the motor 40 and may further communicate with input mechanisms, such as the door actuator 18 or the off-door actuator 20. As shown, the controller 50 includes a processor 52, an actuation unit 54, and a memory 56. As described in further detail below, the actuation unit 54 is configured to activate the motor 40 and / or receive input from the motor 40, the drive mechanism 42, and / or sensors (not shown) to evaluate one or more parameters associated with opening the door 12.

[0023] Memory 56 is a non-transitory computer-readable medium on which data is stored and communicates with processor 52. The data stored in memory 56 may include, for example, one or more sets of instructions, one or more lookup tables, and / or additional data. Instructions may be executed by processor 52 to cause processor 52 to perform one or more functions, such as, for example, the function of opening door 12 via actuation unit 54. While controller 50 may be housed within actuator housing 32, it is also contemplated that controller 50 may be located elsewhere on door actuator assembly 30 or external to door actuator assembly 30.

[0024] In various embodiments, processor 52 is a programmable, dedicated, hardwired state machine, or a combination thereof, and may further include multiple processors, arithmetic logic units (ALUs), central processing units (CPUs), digital signal processors (DSPs), etc. Other forms of processor 52 include multiple processing units that are distributed, pipelined, and / or parallel. Processor 52 may be dedicated to performing the operations described herein or may be used in one or more additional applications. In the depicted form, processor 52 is programmable, executing algorithms and processing data according to programming instructions (such as software or firmware) stored in memory 56. Alternatively or additionally, the operating logic for processor 52 is at least partially defined by hardwired logic or other hardware. In various embodiments, processor 52 comprises one or more components of any type suitable for processing signals received from input / output devices and providing desired output signals. Such components may include digital circuitry, analog circuitry, or a combination of both.

[0025] Memory 56 includes one or more types, such as solid-state, electromagnetic, optical, or combinations thereof. Furthermore, in various embodiments, memory 56 includes volatile, non-volatile, or combinations thereof, as well as portable types, such as disks, magnetic tapes, memory sticks, cassette tapes, etc. Additionally, memory 56 is configured to store data manipulated by the operating logic of processor 52, such as data representing signals received from and / or sent to the door operator in addition to or in place of stored program instructions.

[0026] Actuation unit 54 is configured to operate in a first operating mode and a second operating mode in response to one or more commands from processor 52. In the first operating mode, the output of motor 40 is regulated by actuation unit 54 to control the angular velocity of door 12 at a predefined speed during an opening event. In the second operating mode, actuation unit 54 is configured to regulate the output of motor 40 to control the amount of assistance provided by motor 40 when opening door 12. The amount of assistance provided may vary in response to the actual manual force applied to door 12 by the user when opening the door along direction A.

[0027] As can be understood from the description herein, the techniques related to door opening control described herein can be implemented in controller 50, which may include one or more controllers for different aspects of the system 10. In one form, controller 50 includes one or more electronic control units or electronic control modules. Additionally, any other suitable sensors and their associated parameters may be covered by the systems and methods disclosed herein. Therefore, sensors may include any suitable means for sensing any relevant physical parameters, including electrical and mechanical parameters of system 10. As used herein, the term sensor may include any suitable hardware and / or software for directly or indirectly sensing or estimating any door system parameters and / or various combinations of such parameters.

[0028] like Figure 2 As shown, door 12 moves along direction A from a closed position 12a to one or more intermediate positions 12c, and then to an open position 12b. Door 12 has a range of positions between the closed position 12a, intermediate positions 12c, and open position 12b. As will be understood, arm assembly 34 has multiple arm positions, each corresponding to one of the door positions. The force required by motor 40 to open the door can vary along the path of travel, depending on the angular position of door 12 between the closed and open positions, the weight of door 12, the kinematics of arm assembly 34 in these positions, the resistance provided by biasing member 44, and other factors such as friction and wind.

[0029] To control the opening of door 12, controller 50 can be configured to learn the force required by motor 40 along a range of door 12 positions to maintain a predefined speed along the range of positions from closed position 12a to open position 12b. In another embodiment, controller 50 is pre-programmed based on the design of door 12 such that motor 40 applies a desired opening force based on the angular position of door 12 between closed position 12a and open position 12b. For example, controller 50 can be programmed to apply a fixed force at all door angles or a force based on changes in door angle to compensate for increased resistance of the door spring.

[0030] The force (or torque) applied to open door 12 can be measured by monitoring the current flowing through motor 40 during opening, since the current is proportional to the motor force. When the user begins to push door 12 or actuate door actuator 18 or door actuator 20, this initiates opening in a first operating mode, in which motor 40 begins to open door 12 at a predefined speed.

[0031] If the user then begins to push the door 12 slightly faster than the predefined speed, the controller 50 will automatically reduce the motor force (and therefore the motor current) output in an attempt to keep the door 12 at the predefined speed. As the user continues to push the door 12 at increasingly faster speeds, the user assumes a larger amount of the total opening force required to open the door 12, while the motor 40 assumes less opening force.

[0032] Once the motor force or current from motor 40 reaches a predefined minimum or low threshold during the opening of door 12, controller 50 temporarily disables the first operating mode with speed control and switches to a second operating mode in which motor 40 assists the user in opening door 12 instead of attempting to maintain a predefined speed. Motor 40 is controlled to assist the user in opening door 12 when the user pushes door 12 with a force sufficient to move the door faster than the predefined speed.

[0033] As the user pushes the door 12 further, the controller 50 monitors the current of the motor 40 and continues to dynamically adjust the motor force of the motor 40 to keep the user's overall effort or force relatively constant when opening the door 12. This dynamic adjustment includes adjusting the counterforce of the bias member 44 as it resists the opening of the door 12 (e.g., by compression). Additionally, the dynamic adjustment takes into account the kinematics and leverage of the arm assembly 34 during opening. Furthermore, as the door speed increases further, the counter-electromagnetic field of the motor 40 increases, and the dynamic adjustment of the motor 40 during the opening of the door 12 requires applying an increased voltage to the motor 40 to maintain the target force or motor current, thereby continuing to assist the user in opening the door 12.

[0034] The controller 50 of the door operator assembly 30 controls the motor 40 so that the force applied by the user to the door 12 is constant or matches a predetermined force distribution. As the user reduces the force applied to the door 12, the door 12 will slow down. Once the door 12 reaches the predefined speed it used during the first operating mode, control of the door 12 returns to the first operating mode, causing the motor 40 to continue opening the door 12 at the predefined speed over the remaining distance until the door 12 is fully open.

[0035] refer to Figure 4 A flowchart is shown for a process 200 for controlling the opening of door 12 via controller 50. Process 200 may be implemented in and executed by one or more components of an electronic control system (such as one or more electronic control units (e.g., controller 50 and / or other electronic control units)), and / or executed by other electronic control system components.

[0036] Process 200 begins with initial operation 202 and proceeds to condition 204, which determines whether the opening of door 12 is initiated by a drive-activated opening trigger (e.g., actuator 18, sensor 20, and / or manual pushing of door 12). If condition 204 is negative, the process returns to operation 202. If condition 204 is positive, the process continues in a first operating mode 206 to drive door 12 toward the open position at a predefined speed via motor 40. In one embodiment, the output of motor 40 is controlled by controller 50 to open door 12 at a predefined speed based on learned or programmed motor output, which maintains the predefined speed regardless of the angular position of door 12.

[0037] During operation 206, process 200 continues to condition 208. Condition 208 determines whether the output from motor 40 is equal to or less than a predefined minimum threshold force associated with a predefined speed. For example, if the motor force or motor current is compared with a learned or programmed minimum threshold force for opening door 12 at a predefined speed. If condition 208 is not true, process 200 returns to operation 206 to continue opening door 12 at a predefined speed until the open position 12b is reached.

[0038] If condition 208 is true, process 200 continues with operation 210, because the affirmative response to condition 208 instructs the user to push door 12 at a speed faster than a predefined speed to open it. Operation 210 is a second operating mode that dynamically adjusts the motor force or output from motor 40 to assist the user in manually opening door 12 at a faster speed, so that the user does not bear the full weight and resistance of door 12. In one embodiment, the output of motor 40 is controlled such that the force applied by the user to open the door is a constant or substantially constant force. In another embodiment, the output of motor 40 is controlled such that the force applied by the user to open door 12 follows a predetermined force distribution that varies based on the angular position of door 12. For example, the force may increase toward the open position to prevent or reduce door speed as the door approaches open position 12b.

[0039] During operation 210, process 200 continues to condition 212. Condition 212 determines whether the door speed is equal to or less than the predefined speed used in the first operation mode 204. If condition 212 is not true, process 200 returns to operation 210 to continue opening door 12, thereby providing assistance to the user via motor 40 until the door reaches open position 12b. If condition 212 is true, process 200 returns to the first operation mode 204 to open door 12 at a predefined speed until open position 12b is reached.

[0040] In one embodiment, controller 50 is configured to execute process 200. In one embodiment, controller 50 is configured to: control motor 40 to open door 12 from a closed position to an open position at a predefined speed; determine the output of motor 40 during opening door 12; and, in response to the output of motor 40 dropping to or below a minimum threshold during opening, control the output of motor 40 to assist in applying a manual force to open door 12 at a speed greater than the predefined speed.

[0041] Various aspects of this disclosure are conceivable. According to one aspect, a method for opening a door coupled to a door operator assembly having a motor is provided. The method includes: initiating movement of the door from a closed position toward an open position; in response to initiating the movement, operating the motor to open the door at a predefined speed; simultaneously with opening the door, determining that the output of the motor has reached a minimum threshold output associated with the predefined speed; and in response to the determination, adjusting the output of the motor to assist a manual force applied to the door during opening, the manual force opening the door at a speed greater than the predefined speed.

[0042] In one embodiment, the motor's output is the force applied by the motor to the door actuator. In another embodiment, the force applied by the motor is determined by the motor current.

[0043] In one embodiment, the door opens at a speed greater than a predefined speed after the motor output reaches a minimum threshold output.

[0044] In one embodiment, in response to the determination, the output of the motor is adjusted so that the manual force required by the user to open the door during opening is a constant force.

[0045] In one embodiment, in response to the determination, the output of the motor is adjusted such that the manual force required by the user to open the door during opening follows a predetermined force distribution.

[0046] In one embodiment, the method includes resuming operation of the motor in response to the door speed dropping to or below a predefined speed, thereby opening the door at the predefined speed.

[0047] In one embodiment, the motor operates in a first mode to open the door at a predefined speed, and in a second mode to open the door in response to a manual force applied to it. In another embodiment, the first mode moves the door from a closed position to an open position at a predefined speed unless the motor output reaches a minimum threshold output.

[0048] According to another aspect of this disclosure, a system for opening a door mounted to a frame is provided. The system includes a door operator connectable between the door and the frame, and a motor operable to drive the door operator to move the door from a closed position to an open position. The system also includes a controller connected to the motor. The controller is configured to: control the motor to open the door from the closed position to the open position at a predefined speed; determine the motor output during door opening; and, in response to the motor output decreasing to or below a minimum threshold during opening, control the motor output to assist in applying a manual force to open the door at a speed greater than the predefined speed.

[0049] In one embodiment, the controller is configured to control the motor to open the door in response to a trigger from at least one of a sensor, an actuator, and a user pushing the door.

[0050] In one embodiment, the door operator includes an arm assembly that can be connected to at least one of a door and a frame, and a drive mechanism that connects a motor to the arm assembly.

[0051] In one embodiment, the motor's output is the force applied by the motor to the door actuator. In another embodiment, the force applied by the motor is determined by the motor's current.

[0052] In one embodiment, the controller is configured to control the output of the motor such that the manual force applied to open the door at a speed greater than a predefined speed is constant.

[0053] In one embodiment, the controller is configured to control the output of the motor such that the manual force applied to open the door at a speed greater than a predefined speed follows a predetermined distribution.

[0054] In one embodiment, the controller is configured to operate a motor to open the door at a predefined speed in response to the door speed decreasing to or below a predefined speed.

[0055] In one embodiment, the controller is configured to learn the required motor output at various door angles between the closed and open positions while opening the door at a predefined speed. In another embodiment, the controller is pre-programmed to provide a fixed force or a variable force depending on the door angle.

[0056] In one embodiment, the controller is configured to operate the motor in a first mode to open the door at a predefined speed, and to operate the motor in a second mode to open the door only in response to the hand force applied to the door if the motor output drops to or below a minimum threshold during opening. In another embodiment, in the first mode, the door moves from the closed position to the open position at a predefined speed unless the motor output reaches the minimum threshold output.

[0057] It should be understood that terms such as “non-transitory memory,” “non-transitory storage medium,” and “non-transitory memory device” refer to various types of devices and storage media that can be configured to store information (such as data or instructions) that can be read or executed by the processor or other components of a computer system, and such terms include and cover a single device or medium for storing such information, multiple devices or media for storing a corresponding portion of such information, and multiple devices or media for storing multiple copies of such information.

[0058] It should be understood that terms such as “determine,” “determined,” and “determining,” when used in conjunction with control methods or processes, electronic control systems or controllers, electronic control components, or the aforementioned components or operations, inclusively refer to a wide range of actions, configurations, devices, operations, and techniques, including but not limited to the calculation or operation of parameters or values, obtaining parameters or values ​​from lookup tables or using lookup operations, receiving parameters or values ​​from data links or network communications, receiving electronic signals indicating parameters or values ​​(e.g., voltage, frequency, current, or pulse width modulation (PWM) signals), receiving outputs indicating parameters or values ​​from sensors, receiving other outputs or inputs indicating parameters or values, reading parameters or values ​​from memory locations on computer-readable media, receiving parameters or values ​​as parameters during operation, and / or by receiving parameters or values ​​that can be interpreted as parameters, and / or by referencing default values ​​interpreted as parameter values.

[0059] Although the invention has been shown and described in detail in the accompanying drawings and the foregoing description, it should be considered illustrative rather than restrictive. It should be understood that only preferred embodiments have been shown and described, and all variations and modifications falling within the spirit of the invention are intended to be protected.

[0060] It should be understood that while the use of terms such as preferred, preferred, or more preferred in the above description indicates that the described feature may be more desirable, it may not be necessary, and embodiments lacking such features may be contemplated as being within the scope of the invention, as defined by the appended claims. When reading the claims, it is intended that the use of terms such as “a (an),” “at least one,” or “at least a portion” is not intended to limit the claims to a single term unless specifically stated otherwise in the claims. When using the language “at least a portion” and / or “a portion,” the term may include both a portion and / or the entire term unless specifically stated otherwise.

Claims

1. A method for opening a door coupled to a door operator assembly, the door operator assembly having a motor, the method comprising: Initiate the movement of the door from the closed position to the open position; In response to initiating the movement, the motor is operated to open the door at a predefined speed; While opening the door, it is determined that the motor output has reached the minimum threshold output force associated with the predefined speed; as well as In response to the determination, the output of the motor is adjusted to assist the manual force applied to the door during opening, the manual force opening the door at a speed greater than the predefined speed.

2. The method according to claim 1, wherein, The output of the motor is the force applied by the motor to the door actuator.

3. The method according to claim 2, wherein, The force applied by the motor is determined by the motor current.

4. The method according to claim 1, wherein, After the motor reaches the minimum threshold output force, the door opens at a speed greater than the predefined speed.

5. The method according to claim 1, wherein, In response to the determination, the output of the motor is adjusted so that the manual force required by the user to open the door during opening is a constant force.

6. The method according to claim 1, wherein, In response to the determination, the output of the motor is adjusted so that the manual force required by the user to open the door during opening follows a predetermined force distribution.

7. The method of claim 1, further comprising resuming operation of the motor in response to the door speed decreasing to or below the predefined speed, thereby opening the door at the predefined speed.

8. The method according to claim 1, wherein: The motor operates in a first mode, thereby opening the door at the predefined speed; and The motor operates in a second mode to open the door in response to manual force applied to the door.

9. The method according to claim 8, wherein, The first mode moves the door from the closed position to the open position at the predefined speed unless the motor output reaches the minimum threshold output force.

10. A system for opening a door mounted to a frame, the system comprising: A door operator that can be connected between the door and the frame; A motor operable to drive the door actuator, thereby moving the door from a closed position to an open position; and A controller, connected to the motor, wherein the controller is configured to: Control the motor to open the door from the closed position to the open position at a predefined speed; The output of the motor is determined during the opening of the door; as well as In response to the motor output dropping to or below a minimum threshold output force during opening, the output of the motor is controlled to assist the applied manual force to open the door at a speed greater than the predefined speed.

11. The system according to claim 10, wherein, The controller is configured to control the motor to open the door in response to a trigger from at least one of a sensor, an actuator, or a user pushing the door.

12. The system according to claim 10, wherein, The door operator includes: An arm assembly capable of connecting to at least one of the door and the frame; and A drive mechanism that connects the motor to the arm assembly.

13. The system according to claim 10, wherein, The output of the motor is the force applied by the motor to the door actuator.

14. The system according to claim 13, wherein, The force applied by the motor is determined by the current in the motor.

15. The system according to claim 10, wherein, The controller is configured to control the output of the motor such that the manual force applied to open the door at a speed greater than the predefined speed is constant.

16. The system according to claim 10, wherein, The controller is configured to control the output of the motor such that the applied manual force, which opens the door at a speed greater than the predefined speed, follows a predetermined distribution.

17. The system according to claim 10, wherein, The controller is configured to operate the motor in response to the door speed decreasing to or below the predefined speed, thereby opening the door at the predefined speed.

18. The system according to claim 10, wherein, The controller is configured to learn the required output of the motor at various door angles between the closed position and the open position while opening the door at the predefined speed.

19. The system according to claim 10, wherein, The controller is configured to: The motor is operated in a first mode to open the door at the predefined speed; and The motor is operated in a second mode only if the motor output drops to or below the minimum threshold output force during opening, in response to the manual force applied to the door to open the door.

20. The system according to claim 19, wherein, In the first mode, the door moves from the closed position to the open position at the predefined speed unless the motor output reaches the minimum threshold output force.

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