United States Patent [19J
`Boisvert et al.
`
`111111
`
`1111111111111111111111111111111111111111111111111111111111111
`US006064165A
`[11] Patent Number:
`[45] Date of Patent:
`
`6,064,165
`May 16,2000
`
`[54] POWER WINDOW OR PANEL
`CONTROLLER
`
`[75]
`
`Inventors: Mario P. Boisvert, Reed City; Stephen
`R. W. Cooper, Tustin; John
`Washeleski, Reed City, all of Mich.
`
`[73] Assignee: Nartron Corporation, Reed City,
`Mich.
`
`[21] Appl. No.: 08/736,786
`
`[22] Filed:
`
`Oct. 25, 1996
`
`Related U.S. Application Data
`
`[63] Continuation of application No. 08/275,107, Jul. 14, 1994,
`which is a continuation-in-part of application No. 07/872,
`190, Apr. 22, 1992, abandoned.
`Int. Cl? ....................................................... G05B 5/00
`[51]
`[52] U.S. Cl. .......................... 318/465; 318/466; 318/476;
`388/815; 388/833; 388/903
`[58] Field of Search ..................................... 318/264-266,
`318/280--286, 460-470, 565, 626, 434,
`139, 474-477; 388/815, 833, 903; 701!36,
`49
`
`[56]
`
`References Cited
`
`5,140,316
`5,162,711
`5,204,592
`5,218,282
`5,278,480
`5,334,876
`5,399,950
`5,432,413
`5,497,326
`5,525,876
`5,530,329
`5,539,290
`5,729,104
`5,734,245
`5,832,664
`
`8/1992 DeLand et a!. .................... 364/424.05
`11/1992 Heckler . ... .... ... ... ... ... .... ... ... ... .. 318/264
`4/1993 Huyer.
`6/1993 Duhame .
`1!1994 Murray .
`8/1994 Washeleski eta!. ................... 307/10.1
`3/1995 Lu et a!.
`................................. 318/565
`7/1995 Duke eta!. ............................. 318/139
`3/1996 Berland et a!. .
`6/1996 Filippi ..................................... 318/282
`6/1996 Shigematsu et a!. ................... 318/469
`7/1996 Lu eta!. ................................. 318/565
`3/1998 Kamishima eta!. .
`3/1998 Terashima et a!. .
`11/1998 Tajima eta!. ....................... 318/434 X
`
`FOREIGN PATENT DOCUMENTS
`
`581509A1
`2502679
`2189906A
`W092/20891
`
`2/1994
`10/1982
`11/1987
`11/1992
`
`European Pat. Off ..
`France .
`United Kingdom .
`WIPO.
`
`OTHER PUBLICATIONS
`
`NHTSA notice published Apr. 16, 1991 in the Federal
`Register Issuing a final rule Amending Standard No. 118.
`
`Primary Examiner-Brian Sirens
`Attorney, Agent, or Firm-Watts, Hoffmann, Fisher &
`Heinke, Co., L.P.A.
`
`U.S. PATENT DOCUMENTS
`
`[57]
`
`ABSTRACT
`
`4,514,670
`4,608,637
`4,641,067
`4,673,848
`4,686,598
`4,730,152
`4,746,845
`4,823,059
`4,870,333
`4,980,618
`5,038,087
`5,069,000
`5,081,586
`5,131,506
`
`4/1985
`8/1986
`2/1987
`6/1987
`8/1987
`3/1988
`5/1988
`4/1989
`9/1989
`12/1990
`8/1991
`12/1991
`1!1992
`7/1992
`
`Passel eta!. .
`.................. 318/466 X
`Okuyama et a!.
`Iizawa et a!. .. ... ... ... ... ... .... ... ... 318/287
`Hagiwara et a!. .
`Herr.
`Foust eta!..
`Mizuta eta!.
`Compeau.
`............................... 318/286
`Itoh et a!.
`Milnes eta!..
`Archer eta!. .
`Zuckerman.
`Barthel et a!. ..................... 364/424.05
`Mizuno eta!..
`
`318/286
`
`A controller for energizing a power-operable element, such
`as a sunroof, window, door, vehicle seat, a component of a
`major appliance or of a machine or of a conveyor system.
`The disclosed controller senses both hard and soft obstruc(cid:173)
`tions and de-activates or otherwise alters operation of a
`motor that drives the element when an obstruction is
`detected. The controller can also be used to actuate a brake.
`The controller senses obstructions during start-up of the
`motor and regulates the speed of the power-operable ele(cid:173)
`ment by pulse width modulating motor energization signals.
`
`32 Claims, 15 Drawing Sheets
`
`1
`
`Webasto Roof Systems, Inc.
`Exhibit 1016
`
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`Exhibit 1016
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`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`U.S. Patent
`
`May 16,2000
`
`Sheet 4 of 15
`
`6,064,165
`
`132
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`
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`
`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`U.S. Patent
`
`May 16,2000
`
`Sheet 5 of 15
`
`6,064,165
`
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`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`U.S. Patent
`
`May 16,2000
`
`Sheet 6 of 15
`
`6,064,165
`
`(0 .
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`ii
`
`7
`
`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`U.S. Patent
`
`May 16,2000
`
`Sheet 7 of 15
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`6,064,165
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`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`U.S. Patent
`
`May 16,2000
`
`Sheet 8 of 15
`
`6,064,165
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`
`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`U.S. Patent
`
`May 16,2000
`
`Sheet 9 of 15
`
`6,064,165
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`
`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`U.S. Patent
`
`May 16,2000
`
`Sheet 10 of 15
`
`6,064,165
`
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`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`U.S. Patent
`
`May 16,2000
`
`Sheet 11 of 15
`
`6,064,165
`
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`
`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`U.S. Patent
`
`May 16,2000
`
`Sheet 12 of 15
`
`6,064,165
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`
`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`U.S. Patent
`
`May 16,2000
`
`Sheet 13 of 15
`
`6,064,165
`
`2
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`
`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`U.S. Patent
`
`May 16,2000
`
`Sheet 14 of 15
`
`6,064,165
`
`32~--+---+---4---~--~---tr---+---+---4---4
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`
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`
`15
`
`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`U.S. Patent
`
`May 16,2000
`
`Sheet 15 of 15
`
`6,064,165
`
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`-0.21---------+-------+------+--------------------l
`
`-0.41---------+-------+-----4--------------------l
`
`-0.6~------~-----+-----4----------------~
`
`-0.8 ~------~-------+-----4----------------~
`
`-1
`I
`, I
`485 488 491 494 497 500 503 506 509 512 515
`Fig.22
`
`I
`
`I
`
`I
`
`I
`
`I
`
`I
`
`SAMPLES J
`
`16
`
`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`6,064,165
`
`1
`POWER WINDOW OR PANEL
`CONTROLLER
`
`CROSS-REFERENCE TO RELATED
`APPLICATION
`
`This application is a continuation of application(s) Ser.
`No. 08/275,107 filed on Jul. 14, 1994, which is a
`continuation-in-part of U.S. Ser. No. 07/872,190 filed Apr.
`22, 1992.
`
`5
`
`10
`
`FIELD OF THE INVENTION
`
`The present invention concerns a control system for use in
`activating a motor driven window or panel. One example of
`such a window or panel is a motor vehicle sunroof. More 15
`broadly, the present invention concerns a control system for
`use in activating a servo motor driving a device that would
`have the potential for entrapping objects such as human
`body parts, vehicles or animals. Examples would include
`automatic doors, powered seats, powered beds, powered 20
`windows, conveyor belts and powered safety restraint sys(cid:173)
`tems.
`
`BACKGROUND ART
`National Highway Traffic Safety Administration Standard 25
`118 contains regulations to assure safe operation of power
`operated windows. Standard 118 has been amended to apply
`to power operated roof panels. It establishes requirements
`for power window control systems located on the vehicle
`exterior and for remote control devices. The purpose of the 30
`standard is to minimize the risk of personal injury that could
`result if a limb is caught between a closing power operated
`window and the window frame. The changes to Standard
`118 become effective Sep. 1, 1992. Amended Standard 118
`states that the maximum force allowable during an auto 35
`closure is to be less than 22 pounds onto a solid cylinder
`having a diameter of between 4 and 200 millimeters.
`Certain problems have been identified with operation of
`existing power window controls. One problem is an unde(cid:173)
`sirable shutdown of the power window control. It is also
`desirable to detect a soft obstruction in the window travel
`path as well as a hard obstruction. The gasket area of the
`window which avoids water seepage into the vehicle can
`present a problem to the design of a power window control,
`since the window or panel encounters different resistance to
`movement in the gasket region. An additional problem is
`detection of an obstruction when the motor is first activated.
`Powered devices such as power windows, power seats
`and power doors have the potential for entrapment when
`operating. Entrapment, as noted above, is a safety issue that
`has been addressed by the National Highway Safety Admin(cid:173)
`istration (NHTSA Standard 118) and other agencies. For
`instance, sunroof panels on automobiles have been required
`to stop and re-open if they strike a hard cylindrical shaped
`object upon closure. Elevator doors are designed to re-open
`if an obstruction such as an arm is encountered upon closure.
`Domestic washing machines and dryers simply power-OFF
`when open in an attempt to prevent entrapment. Existing
`safety systems utilize contact sensors such as the movable 60
`obstruction detection panel in elevator door systems, moni(cid:173)
`toring of closure velocity (Milnes et al., U.S. Pat. No.
`4,980,618) and monitoring of absolute motor current draw
`(Compeau et al., U.S. Pat. No. 4,823,059) among others.
`Problems in the existing systems include:
`1. Difficulties in detecting both hard and soft obstructions as
`in motor current and speed sensing. A hard obstruction
`
`2
`such as a human head or wheel chair will cause an abrupt
`and easily detectable change in current draw or closure
`speed. A softer obstruction such as a human neck, human
`abdomen or a bundled child will not result in as rapid a
`change in current draw or closure speed. In such cases, the
`controller may deliver an injurious amount of closure
`force before the obstruction is detected, if it is detected at
`all. On the other hand, more sensitive controllers that
`sense soft obstructions can be fooled into detecting false
`obstructions by gradual changes in mechanical load due to
`wear or climate. They can also have difficulty when soft
`components such as flexible sealing gaskets are in the
`system
`2. Failure to hit pressure-sensing components such as the
`movable panel in an elevator door. A hand partially
`inserted into an elevator door that misses the movable
`elevator panel used for obstruction detection will be
`entrapped and can be injured if the closure force is high
`enough.
`3. Failure of passive systems such as the motor shut-off
`when a washing machine is in spin mode includes the fact
`that the tub is still spinning when opened and could still
`cause injury.
`4. Low-torque systems designed to deliver limited and safe
`closure force can still entrap or strangle at comparatively
`low-force levels or jam when closure force requirements
`increase due to wear.
`
`DISCLOSURE OF THE INVENTION
`
`The present invention provides method and apparatus for
`controlling operation of motor vehicle power window sys(cid:173)
`tems as well as power roof panels. The control system of the
`invention includes a sensor, which provides absolute
`position, speed and direction of movement, and a control
`circuit for controllably activating a motor to move a window
`or panel.
`In accordance with one embodiment of the invention, the
`control circuit activates the motor to move a window or
`40 panel along a travel path and deactivates the motor if an
`obstacle is encountered by the window or panel. Striking an
`obstruction causes the motor current to rise since the energy
`supplied by the battery is no longer dissipated in rotating the
`motor shaft. A motor sense circuit coupled to the control
`45 circuit senses the motor current as the motor moves the
`window or panel along its travel path.
`In accordance with one aspect of the invention, the control
`circuit monitors motor current from the motor sense circuit
`and times a start-up interval each time the motor is ener-
`50 gized. The control circuit compares sensed motor current
`after the start-up interval with a predetermined motor current
`and stops the motor if the sensed motor current exceeds the
`predetermined motor current. This will detect an attempt to
`start movement with an obstruction next to the window or
`55 panel.
`In accordance with an additional aspect of the invention,
`the control circuit monitors and saves an indication of motor
`current vs. position during a calibrating sequence. As the
`motor moves the window or panel subsequent to the cali(cid:173)
`bration sequence, the control circuit compares sensed motor
`current with motor currents sensed during the calibration
`sequence. If too large a deviation in motor current is sensed,
`the control circuit stops the motor. This technique enables a
`close enough comparison between measured and "typical"
`65 current profiles to detect small changes in current vs.
`position, such as are generated when a soft obstruction is
`present. Furthermore, the soft obstruction can often be
`
`17
`
`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`6,064,165
`
`3
`detected before full actuator force and possible injury or
`damage is applied to the soft obstruction.
`The control circuit updates the profile of current vs.
`position as the window or panel is opened and closed. This
`updating assures that as the window or panel drive mecha-
`nism changes with use, the control circuit maintains an
`up-to-date profile for detecting obstructions. Additionally,
`the controller applies a low-order "software" bandpass filter
`to the measured current vs. position profile to isolate high(cid:173)
`frequency current vs. time transients caused by hard obstruc- 10
`tions. The controller then separately tests (from the profile
`comparison) for high-frequency transients from the filtered
`profile to detect the presence of hard obstructions.
`Thus, the present invention overcomes the disadvantages
`of the prior art by utilizing both soft and hard obstruction
`detection and utilizing an "averaging" process to keep up
`with the changing operating force characteristics that can
`occur over time.
`These and other features of the invention are described
`below in the best mode for practicing the invention, which
`is described in conjunction with the accompanying draw-
`ings.
`
`4
`FIG. 15 is a graph of a fourier transform of a derivative
`algorithm (dotted) and algorithm (10) with 50 Hz sampling
`rated and "k=2" (solid);
`FIG. 16 is a graph of a fourier transform of a derivative
`algorithm (dotted), algorithm (10) with "k=2" (solid) and
`algorithm ( 6) with coefficients selected for a "bandpass
`characteristic (dashed) at a 50 hertz sampling rate;
`FIG. 17 is a graph of predicted load profile (dotted), load
`profile with a soft obstruction (dashed) and profile with hard
`obstruction (solid);
`FIG. 18 is a graph of lowpass and bandpass filter char(cid:173)
`acteristics used to produce the Lj,n and Dj,m respectively;
`FIG. 19 is a graph of preducted profile zj,n (dotted) for the
`15 Lj,n and predicted profile Vj,n (solid) for the Dj,n;
`FIG. 20 is a graph of Lj,n-zj,n (dotted), limit for zj,n
`(dashed), Dj,n-Vj,n (solid), and the Limit for Dj,n-Vj,n (dash(cid:173)
`dotted) for a hard obstruction case;
`FIG. 21 is a graph showing Lj,n-zj,n (dotted), limit for
`Lj,n-zj,n (dashed), Dj,n-Vj,n (solid), and the limit for Dj,n(cid:173)
`Vj,n (dash-dotted) for the soft obstruction case; and
`FIG. 22 is a graph ofLj,n-zj,n (dotted), limit for Lj,n-zj,n
`(dashed), Dj,n-Vj,n (solid) for the hard obstruction case.
`
`5
`
`20
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`25
`
`BEST MODE FOR PRACTICING THE
`INVENTION
`
`35
`
`FIGS. 1A and 1B are schematics of a power window or
`panel control circuit constructed in accordance with the
`present invention;
`FIG. 2 is a schematic of a position sensor circuit that
`utilizes a Hall Effect device to sense when a sunroof panel 30
`is in a park position;
`FIG. 3 is a power supply for providing regulated power to
`the FIGS. 1A and 1B circuit;
`FIG. 4 is an interface for coupling inputs to a micropro-
`cessor depicted in FIG. 1B;
`FIG. 5 is a schematic showing pulses produced by a motor
`shaft encoder that monitors position, speed, and direction of
`travel of said window or panel;
`FIGS. 6 and 7 are pictorial illustrations, partially broken 40
`away, showing several applications of the present invention;
`and
`FIG. 8 is a graph of a fraction of adaptation of Algorithms
`from equations (1) and (6) as a function of the number of
`cycles with "a" set to 3 (dotted line), "M" set to 9 and the
`"aj,/' set to 119 (solid) and with "a" set to 9 (dashed);
`FIG. 9 is a graph of actual current (solid), algorithm (6)
`predicted current (dashed) and algorithm (1) predicted cur(cid:173)
`rent (dotted) for a slowly changing load profile;
`FIG. 10 is a graph of actual current (solid), algorithm (6)
`predicted (dashed) and algorithm (1) predicted current
`(dotted) for a rapidly changeing load profile;
`FIG. 11 is a graph of fourier transform of algorithms (1)
`and (6) for "a"=3 (dotted), "M"=9 and the aj,;=119 (solid);
`FIG. 12 is a graph of a fraction of adaptation of algorithm
`( 6) as a function of the number of cycles with: 1) "M" set to
`9 and the "aj,/' set to 119 (solid) and 2) "M" set to 9 and the
`selected for a more rapid response (dotted);
`FIG. 13 is a graph of a fourier transform of algorithm (6)
`with: 1)"M" set to 9 and the "aj,i set to 119 (solid) and 2) "M"
`set to 9 and the "aj,/' selected for a more rapid response
`(dotted);
`FIG. 14 is a graph of actual current (solid), algorithm (6)
`with: 1) "M" set to 9 and the "aj,i set to 119 (dotted) and 2) 65
`"M" set to 9 and the "aj,/' selected for a more rapid response
`(dashed);
`
`Turning now to the drawings, FIGS. 1A and 1B depict a
`circuit 10 for activating a d.c. motor 12 having an output
`shaft coupled to a transmission that moves a window or
`panel in a motor vehicle. A pulse width modulation activa(cid:173)
`tion of the motor windings controls the speed of motor
`output shaft rotation as the motor opens or closes the
`window or panel. When used to operate a power sunroof the
`control circuit 10 can open the sunroof, close the sunroof,
`and also tilt open the sunroof to a vent position. The
`preferred embodiment of the invention concerns a power
`operated sunroof but other panels or windows could be
`actuated using the disclosed control circuit 10.
`While this disclosure deals primarily with control of
`operation of powered windows and panels in automotive
`applications, this invention has utility in controlling opera(cid:173)
`tion of other powered automotive components, such as
`doors, power seats and the like. The invention also has
`45 application in other, non-automotive technology wherever
`movable components are used in a way in which they could
`undesirably encounter obstacles or obstructions. Such appli(cid:173)
`cations include powered movable doors, such as in elevators
`and garages and industrial and retail commercial settings.
`50 Other applications include household appliances, such as
`washing machines, dryers and the like. Still other applica(cid:173)
`tions include various kinds of lifts, and motor-powered
`industrial machinery which drive one or more components
`which can undesirably encounter obstacles or obstructions,
`55 such as machine tools, conveyor systems, etc.
`In addition to merely de-actuating the motor powering the
`driven element, it is often desirable to provide for release
`procedures in response to the driven element encountering
`an obstacle or obstruction. Such a release procedure can, for
`60 example, comprise circuitry and apparatus for causing the
`motor driving the element to not only stop, but actually
`reverse operation, in response to the driven element encoun(cid:173)
`tering the obstacle or obstruction.
`Motor energization is accomplished by controlled actua(cid:173)
`tion of a solid state device (semiconductor) Field Effect
`Transistor (FET) 20 (FIG. lB) which could also be a
`transistor, triac, or SCR whose conductive state is controlled
`
`18
`
`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`5
`by a microprocessor controller 22. Although a microproces(cid:173)
`sor controller 22 is used in the preferred embodiment of the
`invention, hard-wired circuitry could be used to implement
`the disclosed controlled motor energization.
`Power is applied to the motor 12 from the motor vehicle 5
`battery. As seen in FIG. lA a battery input 24 is coupled
`through a resistor 26 to one of two single pole double throw
`relays 30,32. When one or the other of the contacts 30a,32a
`of the relays 30, 32 are closed, a current path from the
`battery input 24 through the motor windings to ground is 10
`controlled by the conductive state of the FET 20.
`
`Power Supply
`
`6,064,165
`
`6
`transition is from a 00 state to a 01 state, rotation is in an
`opposite sense. By monitoring the rate of change of the
`pulses, the controller 22 also determines motor speed.
`Finally, by counting pulses received as the sunroof moves
`from a park or closed position, the controller 22 can deter(cid:173)
`mine the position of the sunroof.
`
`Motor Direction
`
`In addition to controlling the pulse width modulation of
`the motor 12 the microprocessor controls the direction of
`motor actuation. Two microprocessor outputs 80,82 are used
`to activate Darlington switching transistors 84,86. When one
`transistor 84 is active an associated relay coil 30b is ener-
`15 gized and the battery input 24 is coupled through the contact
`30a to a motor terminal 12a. When the transistor 84 is not
`conducting, the coil30b is not energized and the contact 30a
`couples the motor terminal 12a to the FET 20.
`The Darling transistor 86, coil 32b and contact 32a are
`similarly configured to selectively connect the battery and
`FET connections to the motor terminal 12b. The outputs
`80,82 from the microprocessor 22 can also be pulse width
`modulated to decrease motor drive torque as well as regulate
`the motor speed. When both coils 30a,30b are energized the
`motor windings are shorted to produce a braking effect.
`A position encoder 84 produces the phase 1 and phase 2
`signals for monitoring the speed, direction of movement and
`position of the sunroof. As seen in FIG. lB the two phase
`inputs are coupled to four exclusive OR gates 90-93. These
`30 gates provide an interrupt signal to the controller 22 during
`a change of status of either of the two input phases 72,74.
`Two gates 91,92 are configured as one-shots which provide
`a pulse on both the leading and falling edges of their
`respective inputs. The output from these two one-shots are
`"ORED" together by the gate 93 and coupled to a non(cid:173)
`maskable interrupt of the microprocessor.
`
`A power supply 40 depicted in FIG. 3 supplies a regulated
`voltage for powering the circuit 10. The power supply also
`protects the circuit 10 from external transients which could
`cause failure of the circuit 10. A metal oxide varistor 42 is
`used as a transient suppressor and a diode 44 protects the
`control circuit 10 from inadvertent reverse battery connec- 20
`tion.
`An ignition input 46 is used to control the condition of the
`power supply 40. When the ignition input goes high in
`response to the motorist actuation of the ignition key to
`either run, start, or accessory position, the high signal is 25
`transmitted through a diode 48 to a gate input of a transistor
`50. This causes a second transistor 52 to conduct which
`applies the battery voltage to a voltage regulator 54. An
`output from the regulator 54 is a regulated voltage vee for
`powering the circuit 10.
`The power supply 40 is temporarily latched into operation
`for a time after the ignition signal has been removed when
`the user switches the ignition off. A diode 60 is connected to
`an output from the controller and latches the power supply
`40 in the on condition. Latching of the power supply allows 35
`the circuit 10 to automatically close the power sunroof after
`the ignition key is turned to an off position. An advantageous
`feature of activating the power supply 40 and hence the
`circuit 10 only when the ignition is switched on is to reduce
`quiescent current.
`
`External Interface
`
`FIG. 4 depicts an interface 62 that couples additional
`signals to the circuit 10 by means of a series of pull-up
`resistors 64a-64g. The input designations on the left of FIG.
`4 are active when they are pulled low. Corresponding labels
`are seen at the left of FIG. lB. The inputs are summarized
`here and referred to below in describing detailed operation
`of the circuit 10.
`An open input 66 is a momentary type input activated by
`the motorist and is used to open the sunroof. A close input
`68 is also a momentary type input and is used to close the
`sunroof. A vent input 70 is a momentary type input and is
`used to move the sunroof to a vent position. Two phase
`inputs 72,74 are inputs that are connected to a position
`encoder. The phase inputs are toggled in a quadrature
`fashion and are used to provide sunroof panel speed,
`direction, and position feedback to the microprocessor 22.
`FIG. 5 depicts representative phase 1 and phase 2 signals
`from a motor shaft encoder, however, other position sensors
`such as a potentiometer or linear encoder can be used. At a
`given sampling time, the status of the two phase inputs is
`either 00, 01, 10 or 11. The transition states of these inputs
`allow the controller 22 to determine motor rotation direc(cid:173)
`tion. If the phase signals change, for example, from a 00
`state to a 10 state, the motor is rotating in one sense. If the
`
`Control Operation
`
`50
`
`The following summarizes the different functions the
`40 controller provides in actuating the motor 12. So-called
`manual mode is achieved by the motorist actuating either an
`open, close, or vent key (not shown) for at least a predeter(cid:173)
`mined interval to pull one of the three inputs 66,68,70 low
`(FIG. 4). When in manual mode the microprocessor 22
`45 provides 100% power to the motor 12 to move the sunroof
`in a direction that is requested, unless the sunroof is found
`to already be in the selected position. The controller 22
`removes power to the motor 12 to prevent damage once the
`sunroof has reached its requested destination.
`In a so-called express mode of operation, the motorist
`may depress any one of the open, close, or vent keys for less
`than a preset time period. This causes the sunroof to begin
`moving until either the roof has reached its destination, an
`55 obstruction is encountered, or the user presses another key
`to interrupt the express mode selection. If the motorist
`chooses to stop the movement during the express mode, he
`or she presses any one of the open, close, or vent keys.
`As battery voltage increases, the amount of power pro-
`60 vided to the drive motor 12 also increases. If 100% power
`is applied to the motor, the motor speed will also increase,
`causing the window or panel to move at a faster rate. As the
`speed of the window or panel increases, the obstruction
`detection process (discussed below) of the controller 22 has
`65 less time to detect an obstruction and to stop the motor.
`To maintain a motor speed which is slow enough to allow
`the controller to detect and respond to an obstruction, battery
`
`19
`
`Webasto Roof Systems, Inc.
`Exhibit 1016
`
`

`

`6,064,165
`
`7
`voltage is monitored by the controller 22. The controller
`responds to changes in battery voltage and adjusts the
`amo