Controlling a motor of a closure and/or blind in a vehicle body based on a disturbance observer signal

A method of controlling a motor of a closure and/or blind in a vehicle body, comprising:

• determining a reference state signal comprising measurements of at least one of a speed of a rotor of said motor and a current supplied to said rotor;
• repeatedly estimating motor model parameters of said motor;
• determining an estimated state signal based on an input signal comprising measurements or estimates of a voltage supplied to said rotor, said estimated motor model parameters, said reference state signal and an error signal, said error signal representing a difference between said reference state signal and said estimated state signal;
• determining a disturbance observer signal from said error signal;
• computing a first derivative of said disturbance observer signal at a present moment;
• detecting an undesired obstruction in the path of said closure and/or blind driven by said motor if said first derivative of said disturbance observer signal exceeds a threshold;
• and
• reversing said rotor of said motor upon detecting said obstruction.

A non-transitory, computer readable medium contains a computer program or suite of computer programs comprising at least one software code portion or a computer program product storing at least one software code portion, the software code portion, when run on a computer system, being configured for performing a method of controlling a motor of a closure and/or blind in a vehicle body, the method comprising:

• determining a reference state signal comprising measurements of at least one of a speed of a rotor of said motor and a current supplied to said rotor;
• repeatedly estimating motor model parameters of said motor;
• determining an estimated state signal based on an input signal comprising measurements or estimates of a voltage supplied to said rotor, said estimated motor model parameters, said reference state signal and an error signal, said error signal representing a difference between said reference state signal and said estimated state signal;
• determining a disturbance observer signal from said error signal;
• computing a first derivative of said disturbance observer signal at a present moment;
• detecting an undesired obstruction in the path of said closure and/or blind driven by said motor if said first derivative of said disturbance observer signal exceeds a threshold;
• and
• reversing said rotor of said motor upon detecting said obstruction.