Electrical panel movement system

Abstract

An electric panel movement system comprises a motor system, a motor phase comparator circuit, and a microcontroller. The motor system includes a BLDC motor and a rotating shaft configured to rotate in response to the BLDC motor drive. The motor system is configured to adjust the position of a moving part in response to the rotation of the rotating shaft. The motor phase comparator circuit is configured to determine a plurality of first, second, and third BEMF zero-crossing events produced in response to the motor drive. The microcontroller communicates with the motor phase comparator circuit and is configured to determine the rotational position of the rotating shaft based on counting each zero-crossing event corresponding to each of the first, second, and third BEMFs.Consequently, the microcontroller determines the position of the moving part based on the rotational position of the rotating shaft. Figure 3.

Description

Title of the invention: Electrical panel movement system

[0001] The embodiments of this disclosure relate to the field of vehicle systems, and in particular an electrical panel movement system.

[0002] The use of brushless technology for the glass roof motor should offer the customer numerous advantages such as reduced noise, low radio frequency interference, lower mass, and a small packaging size. However, the use of brushless technology means higher costs for electronic components compared to a similar brushed motor, particularly on the inverter side.

[0003] BRIEF DESCRIPTION

[0004] This disclosure relates to an electrical panel movement system configured to automatically operate a movable panel. The electrical panel movement system includes a motor system, a motor phase comparator circuit, and a microcontroller. The motor system includes a BLDC motor and a rotating shaft configured to rotate in response to the BLDC motor drive. The motor system is configured to adjust the position of a moving part in response to the rotation of the rotating shaft. The motor phase comparator circuit is configured to determine a plurality of zero-crossing events of a first back electromotive force (BEMF), a second BEMF, and a third BEMF produced in response to the motor drive.The microcontroller communicates via signal with the motor's phase comparator circuit and is configured to determine the rotational position of the rotating shaft based on counting each zero-crossing event corresponding to each of the first, second, and third BEMFs. The microcontroller determines the position of the moving part based on the rotational position of the rotating shaft without using position sensors.

[0005] In addition to one or more of the features described above, or as a variant of one of the preceding embodiments, the microcontroller determines the position of the moving part with an anti-pinch function in accordance with the Federal Motor Vehicle Safety Standard (FMVSS) No. 118 (FMVSS118) without using position sensors.

[0006] In addition to one or more of the features described above, or as a variant of one of the preceding embodiments, the microcontroller allows automatic closing and opening of the moving part based on the position of the moving part.

[0007] In addition to one or more of the features described above, or alternatively to one of the preceding embodiments, the microcontroller processes BEMF electrical signals representing the first, second and third BEMFs, filters BEMF signals from spurious voltages caused by one or a combination of vibration of the motor system and the BLDC motor, and determines the rotational position of the rotating shaft based on the counted number of zero crossings without using a position sensor.

[0008] In addition to one or more of the features described above, or alternatively to one of the preceding embodiments, the motor phase comparator circuit includes a comparator comprising a first input configured to receive the first BEMF and the second BEMF, a second input configured to receive the third BEMF, and an output configured to output a logic signal that performs transitions between a logic value "0" and a logic value "1" or between a logic value "1" and a logic value "0", either of the transitions indicating the zero-crossing event of the first BEMF, the second BEMF, and the third BEMF, respectively.

[0009] In addition to one or more of the features described above, or alternatively to one of the preceding embodiments, the microcontroller performs operations including determining when the motor is in sync or out of sync; detecting a demagnetizing pulse occurring in a current BEMF among the first BEMF, the second BEMF, or the third BEMF when the motor is out of sync; generating a virtual zero-crossing pulse in response to the detection of the demagnetizing pulse, the virtual zero-crossing pulse producing the logic signal output of the comparator; and counting the logic signal output resulting from the virtual zero-crossing pulse as the zero-crossing event of the current BEMF.

[0010] In addition to one or more of the features described above, or as a variant of one of the preceding embodiments, the movable part is a movable panel.

[0011] In addition to one or more of the features described above, or alternatively to one of the preceding embodiments, the electrical panel movement system further comprises a gear system coupled to the rotating shaft; and a panel regulator comprising a first end coupled to the gear system and a second end coupled to the moving panel.

[0012] In addition to one or more of the features described above, or alternatively to one of the preceding embodiments, the panel regulator moves the panel in a first direction in response to the rotation of the rotating shaft in a first direction of rotation and moves the panel in a second direction in response to the rotation of the rotating shaft along a second direction of rotation opposite to the first direction of rotation.

[0013] In addition to one or more of the features described above, or as a variant of any of the preceding embodiments, the BLDC motor includes a first AC input configured to receive a first AC voltage having a first phase, a second AC input configured to receive a second AC voltage having a second phase, and an AC DC input configured to receive a third AC voltage having a third phase, the first, second, and third AC voltages being phase-shifted by one hundred and twenty (120) degrees relative to each other.

[0014] In addition to one or more of the features described above, or alternatively to one of the preceding embodiments, the first AC voltage produces the first BEMF, the second AC voltage produces the second BEMF, and the third AC voltage produces the third BEMF.

[0015] The invention also relates to a method for adjusting the position of a movable panel without using position sensors. The method comprises driving a brushless direct current (BLDC) motor and generating a first back electromotive force (BEMF), a second back electromotive force, and a third back electromotive force in response to the motor drive; rotating a rotating shaft of the BLDC motor in response to the motor drive; and adjusting, by the motor system, the position of a movable part in response to the rotation of the rotating shaft. The method further comprises determining, by a motor phase comparator circuit, a plurality of zero-crossing events of at least one back electromotive force (BEMF).The method further comprises determining, by a microcontroller communicating via a signal with the motor's phase comparator circuit, a rotational position of the rotating shaft based on counting each zero-crossing event corresponding to each of the first, second, and third BEMFs; and determining, by the microcontroller, the position of the moving part based on the rotational position of the rotating shaft. Brief description of the drawings.

[0016] The following descriptions should in no way be considered limiting. With reference to the accompanying drawings, similar elements are numbered in the same way:

[0017] [Fig.1] represents a diagram illustrating the three-phase voltages associated with the back electromotive force (BEMF) of a motor included in the electrical system for moving the panel of [Fig.1] according to a non-limiting embodiment;

[0018] [Fig.2] represents a diagram illustrating the zero-crossing points associated with the BEMF according to a non-limiting embodiment;

[0019] [Fig.3] represents a functional diagram of an electrical panel movement system excluding position sensors according to a non-limiting embodiment;

[0020] [Fig.4] represents a functional diagram of an electronic control unit included in the electrical system for moving the panel of [Fig.1] according to a non-limiting embodiment;

[0021] [Fig.5] represents a diagram illustrating the demagnetization pulses occurring during motor commutation according to a non-limiting embodiment;

[0022] [Fig.6] represents a flowchart illustrating a method for generating virtual zero-crossing pulses following the demagnetization pulse event in an unsynchronized motor;

[0023] [Fig.7] represents the event of erroneous zero crossings caused by vibrations of a brushless motor and the method for filtering them;

[0024] [Fig.8] represents a flowchart illustrating a method for filtering erroneous zero-crossing pulses from the BEMF of a motor according to a non-limiting embodiment; and

[0025] [Fig. 9] shows a flowchart illustrating a method for starting a motor without using a position sensor, according to a non-limiting embodiment. DETAILED DESCRIPTION

[0026] A detailed description of one or more embodiments of the disclosed apparatus and method is presented here by way of example and not limitation, with reference to the Figures.

[0027] Sensorless control of brushless motors is commonly used with devices that do not require information about the exact position of the motor, such as fans and pumps. Other applications, however, require information about the motor's rotational position in order to determine the position of a moving part that is controlled by the motor's rotation. For example, electrically operated automotive panels, such as power windows, glass roofs, sunroofs, etc., use anti-pinch algorithms that require knowledge of the glass panel's position. Traditionally, position sensors such as Hall effect sensors are used with the power window system to determine the glass panel's position. The inclusion of Hall effect sensors increases the system's cost. Therefore, eliminating the expensive position sensors is a solution that This brings the cost closer to that of a brushed motor. Furthermore, eliminating position sensors simplifies the overall motor design.

[0028] The various non-limiting embodiments described herein provide an electrical panel movement system capable of accurately tracking the position of the rotor of a brushless motor at all times, from start-up until coasting by inertia after stopping, without using position sensors. In this way, the position of a panel (window, glass roof, sunroof, etc.) can be tracked without using a sensor to provide various system features such as, for example, an anti-pinch protection feature. According to one non-limiting embodiment, the anti-pinch protection feature is executed automatically in accordance with the Federal Motor Vehicle Safety Standard (FMVSS) No. 118 (FMVSS118). The anti-pinch protection feature may include, for example, the automatic stopping of the movement of the moving part and / or the automatic reversal of the movement of the moving part..

[0029] When a motor rotates, it generates a voltage that opposes the applied voltage or the direction of current flow in the motor windings. The opposing voltage is called the "BEMF". In a three-phase brushless DC motor, a three-phase BEMF 10a, 10b, and 10c is produced, in which each phase 10a, 10b, and 10c of the BEMF is out of phase (e.g., by 120 degrees) with the other (see [Fig. 1]). A "zero crossing" 12 of each phase BEMF also occurs during motor rotation when the BEMF voltage crosses or passes through zero volts (see [Fig. 2]). This zero crossing 12 occurs when the magnetic field generated by the motor rotor or armature aligns with the stator windings so that the induced voltage in the windings drops to zero.

[0030] Back electromotive force (BEMF) signals can be used in sensorless brushless motor control systems to determine whether the system is in synchronization or out of synchronization. When the motor is in synchronization (e.g., in sync), the BEMF signals are consistent and predictable as the rotor aligns with the stator's magnetic fields. This consistency allows the control system to accurately discern the rotor position and generate precise commutation, resulting in efficient motor operation and the achievement of the desired torque and speed. Conversely, when the motor is out of synchronization (e.g., out of sync), the BEMF signals become irregular and distorted, making it difficult for the control system to accurately determine the rotor position.In this state, the switching is out of sync, resulting in inefficient motor performance, reduced torque, increased vibration, and the risk of erratic behavior or motor stalling.

[0031] Achieving synchronization depends on the reliability and consistency of the BEMF signals, which are the primary source of rotor position information for sensorless control systems. Maintaining a consistent relationship between the rotor and stator magnetic fields ensures accurate signal interpretation and proper drive function. However, rapid or large deviations in rotor position can disrupt the quality of the BEMF signal, making it more difficult for the control system to maintain synchronization.

[0032] In one or more non-limiting embodiments, the electrical panel movement system uses the back electromotive force (BEMF) to determine and track the rotational position of the motor shaft without using position sensors. The electrical panel movement system described herein is also capable of filtering out spurious pulses known as "demagnetization pulses" from the BEMF. In this way, it is possible to obtain a more precise rotational position of the motor (e.g., the rotor or the motor shaft).

[0033] With regard to [Fig. 3], an electrical panel movement system 100 is illustrated in a non-limiting embodiment of this disclosure. The electrical panel movement system 100 comprises a motor system 102 configured to move a movable part 110, and an electronic control unit (ECU) 120. In a non-limiting embodiment, the movable part 110 comprises an adjustable panel 112 supported in a frame 113. The adjustable panel 112 is configured to move in a first direction and a second direction opposite to the first direction so that it can be moved between a fully open position and a fully closed position (end stop). The panel 112 may include, for example, a window, a glass roof, a sunroof, a movable cover, etc.

[0034] The motor system 102 comprises a brushless direct current (BLDC) motor 104, a rotating shaft 106 configured to rotate in response to the drive of the motor 102, and a gear system 107 coupled to the rotating shaft 106. The BLDC motor 104 comprises a first alternating current (AC) input 105a configured to receive a first AC voltage having a first phase, a second alternating current input 105b configured to receive a second AC voltage having a second phase, and a third alternating current input 105c configured to receive a third AC voltage having a third phase. The first, second, and third AC voltages are out of phase with each other. In at least one non-limiting embodiment, for example, the first, second, and third AC voltages are out of phase by one hundred and twenty (120) degrees with each other.

[0035] The gear system 107 is configured to transmit the rotational motion of the motor shaft 106 in order to adjust a panel regulator 114 (or armature). A Part of the panel regulator 114 is coupled to the gear system 107, while a second part of the panel regulator 114 is coupled to the panel 112. Consequently, the panel regulator 114 moves the panel 112 in the first direction in response to the rotation of the rotating shaft 106 in a first direction of rotation, and moves the panel 112 in the second direction in response to the rotation of the rotating shaft 106 in a second direction of rotation opposite to the first direction of rotation. In one or more non-limiting embodiments, the gear system 107 is implemented as a worm gear drive comprising a worm 109 coupled to a worm gear 110. It should be noted, however, that other gear systems can be implemented without departing from the scope of the present invention.

[0036] The electronic control unit (ECU) 120 is configured to control the motor system 102. The ECU 120 includes a first AC output 121a configured to deliver the first AC voltage, a second AC output 121b configured to deliver the second AC voltage, and a third AC output 121c configured to deliver the third AC voltage. A non-limiting embodiment of the ECU 120 is illustrated in [Fig. 4]. The ECU 120 includes a power bridge inverter 124 and a microcontroller 122. The power bridge inverter 124 includes a power supply 125 for providing a DC voltage and a plurality of switches 128a, 128b, 128c, 128d, 128e, and 128f (collectively referred to as switches 128a to 128f). Switches 128a to 128f work to convert the DC voltage into the first AC voltage, the second AC voltage, and the third AC voltage.According to a non-limiting embodiment, a first pair of switches 128a and 128b is connected to the first AC output 121a to deliver the first AC voltage, a second pair of switches 128c and 128d is connected to the second AC output 121b to deliver the second AC voltage, and a third pair of switches 128e and 128f is connected to the third AC output 121c to deliver the third AC voltage.

[0037] The microcontroller 122 includes a memory configured to store software instructions and a processor configured to execute the software instructions to perform various operations, including, but not limited to, motor position calculation, gate driver switching management, and anti-pinch management. The microcontroller 122 further includes an output 125 configured to output a synchronization control signal that turns the plurality of switches 128a to 128f on and off according to a synchronization sequence. In a non-limiting embodiment, the synchronization sequence turns on and off the first pair of switches 128a and 128b, the second pair of switches 128c and 128d, and the third pair of switches 128e and 128f, which are phase-shifted by one hundred twenty (120) degrees to each other. In this way, the first pair of switches 128a and 128b generates the first AC voltage, the second pair of switches 128c and 128d generates the second AC voltage, and the third pair of switches 128e and 128f generates the third AC voltage.

[0038] As described herein, the ECU 120 determines the rotational position of the motor shaft 106 and whether the motor is in synchronization (e.g., in sync) or out of synchronization (e.g., out of sync) based on the BEMF produced by the motor 104. Referring again to [Fig. 2], the ECU 120 includes a motor phase comparator circuit 130 configured to determine a first BEMF associated with the first AC voltage, a second BEMF associated with the second AC voltage, and a third BEMF associated with the third AC voltage. The motor phase comparator circuit 130 includes a first phase input 134a, a second phase input 134b, a third phase input 134c, and a comparator 132.The first phase input 134a is connected to the first AC output 121a and receives the first BEMF, the second phase input 134b is connected to the second AC output 121b and receives the second BEMF, and the third phase input 134c is connected to the third AC output 121c and receives the third BEMF.

[0039] The comparator 132 includes a first input 136a, a second input 136b and an output 138. The first input 136a is connected to both the first phase input 134a and the second phase input 134b, while the second input 136b is connected only to the third phase input 134c.

[0040] Consequently, output 138 delivers a logic value of "0" if the sum of 134a and 134b is less than 134c, or delivers a logic value of "1" if the sum of 134a and 134b is greater than 134c. The change in the logic output of the BEMF comparator will be interpreted by the microcontroller as a zero-crossing event.

[0041] Although only one comparator 132 is shown, it should be understood that the motor phase comparator circuit 130 can include three individual comparators, each comparator being associated with a corresponding phase of the BEMF, for example, the first BEMF, the second BEMF, and the third BEMF. In one or more non-limiting embodiments, the comparators include internal or external hysteresis for robustness against noise sensitivity. The BEMF comparators can also be properly tuned to be both robust against noise and sufficiently sensitive to detect rotations at the lowest motor speeds. Accordingly, the logic states (0 / 1) of the three comparators are used to count a number of BEMF zero-crossing events and then to determine the motor shaft rotations based on the number of zero-crossing events counted.In this way, the position of the moving part 110, for example panel 112. .

[0042] In some cases, the commutation of the motor 104 in conjunction with the inverter 124 can produce spurious pulses. These spurious pulses are referred to herein as "demagnetization pulses," 14a, 14b, and 14c, which can appear in the first BEMF, the second BEMF, and the third BEMF, as shown, for example, in [Fig. 5]. Demagnetization pulses are generally undesirable because they can cause erroneous detection in the comparator 132, thus leading to drift in the position estimation of the motor shaft 106.

[0043] With reference to [Fig. 6], a method for generating virtual zero-crossing pulses to avoid inaccuracies caused by the demagnetization pulse event is illustrated in a non-limiting embodiment. During operation 600, the motor is switched (N), and a determination is made during operation 602 to ascertain whether the switching stops. When the switching stops, the first, second, and third AC voltages associated with the three phases of the motor 104 are turned off. During operation 606, a dead time period occurs to filter the demagnetization pulse. Once the dead time has elapsed, the microcontroller (122) determines the current logic state (a) (Xstate(N)) of the next BEMF phase (e.g., U, V, W) that should undergo a zero crossing; and (b) the current logic state (Ystate(N)) of the BEMF phase (e.g., U, V, W) that follows the next zero-crossing phase.For example, when the switching sequence order is UVW and the next phase for which a zero crossing is expected is phase U, operation 610 is a comparison of the current BEMF logic state of phase U (Ustate(N)) with the previous BEMF logic state recorded for phase U (Ustate(Nl)). When the BEMF logic state of phase U of BEMF has changed (for example, Ustate(N) → Ustate(Nl)), then a position pulse is generated, and the next operation 614 is the comparison of the current BEMF logic state of phase V of BEMF (Vstate(N)) with the previous BEMF logic state recorded for phase V of BEMF (Vstate(Nl)).

[0044] During operation 610, a determination is made to see if (Xstate(N)) is equal to (Xstate(Nl)). When the rotor position has not changed from the perspective of the BEMF (for example, (Xstate(N)) is equal to (Xstate(Nl))), the process proceeds to operation 618 and continues to stop the motor. However, when the rotor position has changed from the perspective of the BEMF (for example, (Xstate(N)) is not equal to (Xstate(Nl)), a position pulse is generated during operation 612. During operation 614, a determination is made to see if (Ystate(N)) is equal to (Ystate(Nl)).

[0045] With continued reference to [Fig. 6], the method determines whether the rotor position has increased by a first amount, for example one-sixth of an electrical cycle (for example, Xstate(N) is not equal to Xstate(N1) but Ystate(N) is not equal to to Ystate(Nl)), or if the rotor position has increased by a second amount, for example, one-third of an electrical cycle (e.g., Xstate(N) is not equal to Xstate(Nl) and Ystate(N) is equal to Ystate(Nl)). When Xstate(N) is not equal to Xstate(Nl) but Ystate(N) is not equal to Ystate(Nl)), the position is compensated by 1 position pulse. When, for example, Xstate(N) is not equal to Xstate(Nl) and Ystate(N) is equal to Ystate(Nl)), the position is compensated by 2 position pulses.

[0046] With reference to operation 614, when (Ystate(N)) is equal to (Ystate(Nl)), the process proceeds to operation 618 and continues to stop the motor. However, when (Ystate(N)) is not equal to (Ystate(Nl)), a position pulse is generated at operation 616, and the process continues to stop the motor during operation 618.

[0047] When the motor commutation is not stopped during operation 602, the voltage associated with the next phase (for example, U, V, W) which should undergo a zero crossing is turned off during operation 620. During operation 622, a dead time period elapses before proceeding to operation 624 and setting the current logic state (Xstate(N)) of the next phase (for example, U, V, W) which should undergo a zero crossing to the current logic state of the BEMF associated with the voltage turned off during operation 620. During operation 626, a determination is made to see if (Xstate(N)) is equal to (Xstate(N1)). When (Xstate(N)) is equal to (Xstate(Nl)), the process returns to operation 624 and sets the current logic state (Xstate(N)) of the next phase (e.g., U, V, W) which should undergo a zero crossing on the current logic state of the BEMF associated with the voltage turned off during operation 620.However, when (Xstate(N)) is not equal to (Xstate(Nl)), a position pulse is generated at operation 628 and the next switching (N+l) is initiated, i.e., "N" is set to "N+l".

[0048] In some cases, the shaft 106 may vibrate during motor shutdown due to the toothing torque, shaft oscillation and / or chatter that occurs in the entire motor system 102. As shown in [Fig. 7], for example, the vibrations can create unwanted pulses 16 in the BEMF, which in turn contribute to false zero-crossing detections by the comparator circuit 130. As also shown in [Fig. 7], these unwanted vibration zero-crossing pulses are characterized by very rapid activations followed by a longer sequence without activation.

[0049] According to a non-limiting embodiment, the mobile power supply panel system 100 is configured to filter unwanted vibration pulses using a dedicated method that can be used when the motor 104 is not driven. As shown in [Fig. 7], a valid zero-crossing pulse 18 can be generated after waiting for a period of time referred to herein as "dead time" 20 which occurs after a raw zero crossing 22. The dead time 20 can initially be defined as a percentage of the last switching time of the motor 104, and the raw zero crossing 22 can be the output generated by the comparator circuit 130. In at least one non-limiting embodiment, the valid zero crossing 18 is generated only if no other raw zero crossing 22 has been detected during a given dead time 20. When a zero crossing is detected during the dead time 20, the dead time 20 restarts from that point. According to one non-limiting embodiment, the duration of the dead time 20 is set to be proportional to the time between two previous valid zero crossings 18.

[0050] With reference to [Fig. 8], a method for filtering erroneous zero-crossing pulses from the BEMF of motor 104 using dead times 20, as described above, is illustrated in a non-limiting embodiment. During operation 800, a determination is made as to whether a zero-crossing of the BEMF (e.g., phase U, phase V, or phase W) has occurred. If no zero-crossing has occurred, the method returns to operation 800. However, if a zero-crossing has occurred, a dead time period (e.g., dead time 20) discussed here is initiated. During operation 804, a determination is made as to whether the dead time has elapsed. When the dead time has elapsed, a determination is made as to whether an oscillation indicator 806 is set to true, which indicates a detected oscillation or vibration of the motor.When the oscillation indicator is not set to true, the oscillation indicator is set to false during operation 808, indicating that motor oscillation or vibration was not detected, and the process returns to operation 800 to continue monitoring for a zero-crossing event.

[0051] When the dead time has not elapsed during operation 804, a determination is made to see if a zero-crossing of the BEMF is detected during operation 810. When a zero-crossing of the BEMF is detected, the oscillation indicator is set to true during operation 812, indicating that an oscillation or vibration of the motor is detected, and the process proceeds to the initiation of the dead time period (e.g., dead time 20) during operation 802. However, when a zero-crossing is not detected during operation 810, the process returns to operation 804 and continues to monitor whether the dead time period has elapsed. The process can then proceed as described herein to filter erroneous zero-crossing pulses from the BEMF of motor 104 using the dead times 20.The filtered BEMF signals (e.g., first, second and third BEMF signals) can then be used to determine the position of the moving part 110 based on the rotational position of the rotating shaft 106 without using a position sensor.

[0052] As described herein, the moving panel feed system 100 described herein can determine the rotational position of the motor (e.g., the motor shaft 106) without using position sensors. Since position sensors are excluded, the moving panel feed system 100 performs a motor 104 starting procedure without using a position sensor, as illustrated in [Fig. 9]. During operation 900, a determination is made as to whether a motor acceleration mode is activated. The objective of the acceleration sequence is to increase the motor speed sufficiently so that BEMF pulses can be reliably detected. Since no BEMF pulses are observed when the motor speed is low, the position management during the acceleration sequence is effectively open-loop and differs from closed-loop position management.The strategy takes into account several use cases: the acceleration phase ends and the BEMF pulses are confirmed, the acceleration ends and the BEMF pulses are not confirmed, the acceleration is stopped but the BEMF pulses are confirmed, the acceleration is stopped but the BEMF pulses are not confirmed.

[0053] When the acceleration mode is activated, the process proceeds to step 902 to monitor the acceleration time. When the acceleration mode is not activated, the acceleration mode is initiated during step 901, and a determination is made during step 902 to determine whether an acceleration time has elapsed. The acceleration time is set to a time at which, when the time has elapsed, the motor is rotating at a speed at which the BEMF pulses can be detected by the comparator circuit (for example, comparator circuit 130). The acceleration time and frequency slope can be set according to the motor specifications. When the acceleration time has elapsed, a determination is made during step 904 to determine whether a BEMF zero crossing has occurred. When a zero crossing has not occurred, the motor is stopped during step 906.However, when a zero crossing occurs, a closed-loop mode is invoked during operation 908. According to a non-limiting embodiment, the closed-loop mode refers to a switching mode in which the switching of the motor 104 is performed based on feedback from the BEMF comparator outputs. The open-loop mode (e.g., acceleration) differs from the closed-loop mode because the switching does not take into account feedback from the BEMF comparator outputs.

[0054] However, when the acceleration time has not elapsed during operation 902, a determination is made to ascertain whether a zero crossing of the BEMF occurred during operation 910. When a zero crossing has not occurred, the engine rotation position is not updated. However, when a zero crossing has produced, a motor rotation position is compensated based on the number of commutations performed before and including the last zero crossing that occurred.

[0055] As described herein, a mobile power panel system 100 comprises a motor system 102 with a brushless direct current (BLDC) motor 104 and a rotating shaft 106 configured to rotate in response to the drive of the BLDC motor 104, wherein the motor system 102 is configured to adjust the position of a moving part 110 in response to the rotation of the rotating shaft 106. A motor phase comparator circuit 130 is in signal communication with the motor system 102. The motor phase comparator circuit 130 is configured to determine a plurality of zero-crossing events of a first back electromotive force (BEMF), a second BEMF, and a third BEMF produced in response to the drive of the motor 106. A microcontroller 122 is in signal communication with the motor phase comparator circuit 130.The microcontroller 122 is configured to determine the rotational position of the rotating shaft 106 based on counting each zero-crossing event corresponding to each of the first, second, and third BEMFs. The microcontroller 122 determines the position of the moving part 110 based on the rotational position of the rotating shaft 106 without using a position sensor. According to at least one non-limiting embodiment, the microcontroller 122 is configured to automatically open and close the moving part 110 based on the position of the moving part 110 determined according to the rotational position of the motor shaft 106. The automatic motor control operation includes an anti-pinch detection operation, which can automatically stop the movement of the moving part 110 and / or reverse the movement of the moving part 110.

[0056] The term "approximately" is intended to include the degree of error associated with measuring the particular quantity based on the equipment available at the time of filing the application. For example, "approximately" may include a range of ±8%, 5%, or 2% of a given value.

[0057] The terminology used herein is solely for the purpose of describing particular embodiments and is not intended to limit this disclosure. As used herein, the singular forms "a," "an," and "Ic / la" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It is further understood that the terms "includes" and / or "comprising," when used in this specification, indicate the presence of given features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups of these. characteristics, integers, steps, operations, components of elements and / or groups thereof.

[0058] Although this disclosure has been described with reference to one or more exemplary embodiments, those skilled in the art will understand that various modifications can be made and that equivalents can be substituted for elements thereof without departing from the scope of this disclosure. Furthermore, numerous modifications can be made to adapt a particular situation or material to the teachings of this disclosure without departing from its essential scope. Therefore, it is intended that this disclosure will not be limited to the particular embodiment disclosed as the best envisaged embodiment for carrying out this disclosure, but that this disclosure will include all embodiments within the scope of the claims.

Claims

1. Demands Electrical panel displacement system (100) comprising: a motor system (102) comprising a brushless direct current (BLDC) motor and a rotating shaft (106) configured to rotate in response to the drive of the BLDC motor which produces a first back electromotive force (BEMF) corresponding to a first phase of the BLDC motor, a second BEMF corresponding to a second phase of the BLDC motor and a third BEMF corresponding to a third phase of the BLDC motor, the motor system being configured to adjust a position of a moving part (110) in response to the rotation of the rotating shaft; a motor phase comparator circuit in signal communication with the motor system, the motor phase comparator circuit being configured to determine a plurality of zero-crossing events of the first back electromotive force (BEMF), the second BEMF and the third BEMF produced in response to the drive of the motor;and a microcontroller (125) in signal communication with the motor phase comparator circuit, the microcontroller being configured to determine a rotational position of the rotating shaft based on counting each zero-crossing event corresponding to each of the first BEMF, second BEMF, and third BEMF, wherein the microcontroller (125) determines the position of the moving part (110) based on the rotational position of the rotating shaft, wherein the microcontroller (125) is configured to perform operations including: determining the time at which the motor is in synchronization or out of synchronization; the detection of a demagnetizing pulse occurring in a current BEMF among the first BEMF, the second BEMF or the third BEMF when the motor is out of synchronization; the generation of a virtual zero-crossing pulse in response to the detection of the demagnetization pulse, the virtual zero-crossing pulse producing the logic signal output of the comparator; and counting the logic signal output resulting from the virtual zero-crossing pulse as the zero-crossing event of the current BEMF.

2. Electrical panel movement system of claim 1, wherein the microcontroller is configured to automatically close and open the moving part based on the position of the moving part.

3. Electrical panel movement system of claim 2, wherein the automatic opening and closing operation of the moving part is an anti-pinch detection operation, the anti-pinch detection operation comprising at least one of the automatic stopping of the movement of the moving part and the reversal of the movement of the moving part.

4. Electrical panel displacement system of claim 1, wherein the microcontroller processes BEMF electrical signals representing the first, second and third BEMFs, filters BEMF signals from spurious voltages caused by one or a combination of vibration of the motor system and the BLDC motor, and counts the number of zero crossings to determine the rotational position of the rotating shaft without using a position sensor.

5. Electrical panel movement system of claim 4, wherein the motor phase comparator circuit comprises: a comparator comprising a first input configured to receive the first BEMF and the second BEMF, a second input configured to receive the third BEMF, and an output configured to output a logic signal which performs transitions between a logic value "0" and a logic value "1" indicating the occurrence of a zero crossing of the first BEMF, second BEMF, and third BEMF, or between a logic value "1" and a logic value "0" indicating the occurrence of a zero crossing of the first BEMF, second BEMF, and third BEMF.

6. Electrical panel movement system of claim 1, wherein the moving part is a moving panel.

7. An electrical panel movement system of claim 1, further comprising: a gear system coupled to the rotating shaft; and a panel regulator comprising a first end coupled to the gear system and a second end coupled to the movable panel, wherein the panel regulator moves the panel in a first direction in response to the rotation of the rotating shaft in a first direction of rotation and moves the panel in a second direction in response to the rotation of the rotating shaft in a second direction of rotation opposite to the first direction of rotation

8. Electrical panel movement system of claim 8, wherein the BLDC motor comprises a first alternating current (AC) input configured to receive a first AC voltage having a first phase, a second alternating current input configured to receive a second AC voltage having a second phase, and an AC input configured to receive a third AC voltage having a third phase, the first, second, and third AC voltages being phase-shifted by one hundred and twenty (120) degrees relative to each other.

9. Electrical panel movement system of claim 9, wherein the first AC voltage produces the first BEMF, the second AC voltage produces the second BEMF, and the third AC voltage produces the third BEMF.

10. Method of operating an electrical panel movement system, the method comprising: driving a brushless direct current (BLDC) motor and producing a first back electromotive force (BEMF) corresponding to a first phase of the BLDC motor, a second BEMF corresponding to a second phase of the BLDC motor and a third BEMF corresponding to a third phase of the BLDC motor produced in response to the motor drive; the rotation of a rotating shaft of the BLDC motor in response to the motor drive; the adjustment, by the motor system, of a position of a moving part in response to the rotation of the rotating shaft; the determination, by a motor phase comparator circuit, of a plurality of zero-crossing events of at least one back electromotive force (BEMF); the determination, by a microcontroller in signal communication with the motor phase comparator circuit, of a rotational position of the rotating shaft based on the counting of each zero-crossing event corresponding to each of the first BEMF, the second BEMF, and the third BEMF; and the determination, by the microcontroller, of the position of the moving part based on the rotational position of the rotating shaft, in which the microcontroller (125) performs operations including: determining the time at which the motor is in synchronization or out of synchronization; detecting a demagnetizing pulse occurring in a current BEMF among the first BEMF, the second BEMF, or the third BEMF when the motor is out of synchronization;the generation of a virtual zero-crossing pulse in response to the detection of the demagnetization pulse, the virtual zero-crossing pulse producing the logic signal output of the comparator; and counting the logic signal output resulting from the virtual zero-crossing pulse as the zero-crossing event of the current BEMF.

11. The method of claim 10, further comprising the implementation, by the microcontroller, of an automatic closing and opening of the moving part based on the position of the moving part.

12. The method of claim 11, wherein the automatic automotive regulation operation is an anti-pinch detection operation, the anti-pinch detection operation comprising at least one of the automatic stopping of the movement of the moving part and the reversal of the movement of the moving part.

13. The method of claim 10, further comprising: the processing, by the microcontroller, of BEMF electrical signals representing the first, second, and third BEMFs; the filtering of BEMF signals of spurious voltages caused by one or a combination of a vibration of the motor system and the BLDC motor; and the counting, by the microcontroller, of each zero-crossing event corresponding to each of the first BEMFs. from the second BEMF and the third BEMF to determine a counted number of crossings through zero.

14. The method of claim 13, wherein the counting of each zero-crossing event comprises: supplying, to a first input of a comparator, the first BEMF and the second BEMF; supplying, to a second input of the comparator, the third BEMF; and emitting, from an output of the comparator, a logic signal that makes transitions between a logic value "0" and a logic value "1" or between a logic value "1" and a logic value "0", either of the transitions indicating the zero-crossing event of the first BEMF, the second BEMF, and the third BEMF, respectively.

15. The method of claim 14, further comprising: the determination, by the microcontroller, of the time at which the motor is in synchronization or out of synchronization; the detection, by the microcontroller, of a demagnetizing pulse occurring in a current BEMF among the first BEMF, the second BEMF or the third BEMF when the motor is out of synchronization; the generation, by the microcontroller, of a virtual zero-crossing pulse in response to the detection of the demagnetizing pulse, the virtual zero-crossing pulse producing the logic signal output of the comparator; and the counting, by the microcontroller, of the logic signal output resulting from the virtual zero-crossing pulse as the zero-crossing event of the current BEMF.

16. The method of claim 10, wherein the moving part is a movable panel.

17. The method of claim 10, further comprising: coupling a gear system to the rotating shaft; coupling a first end of a panel regulator to the gear system and coupling a second end of the panel regulator to the movable panel; and moving the panel regulator in a first direction to adjust the position of the panel in a first direction in response to the rotation of the rotating shaft in a first direction of rotation and displacement of the panel regulator to adjust the position of the panel in a second direction in response to the rotation of the rotating shaft in a second direction of rotation opposite to the first direction of rotation.

18. The method of claim 17, wherein the BLDC motor comprises a first AC input configured to receive a first AC voltage having a first phase, a second AC input configured to receive a second AC voltage having a second phase, and an AC DC input configured to receive a third AC voltage having a third phase, the first, second, and third AC voltages being phase-shifted by one hundred and twenty (120) degrees relative to each other.

19. The method of claim 18, wherein the first AC voltage produces the first BEMF, the second AC voltage produces the second BEMF, and the third AC voltage produces the third BEMF.