Distributed control system for servo controlled powered door actuator

A servo actuation system (20, 520, 620, 720, 820, 920, 1020, 1120) for a closure member (12) of a vehicle (10) comprising:

• an actuator assembly (622) including an actuator housing (141, 148, 184, 188, 206, 408, 422, 684);
• the actuator assembly including an electric motor (36) disposed in the actuator housing and configured to rotate a driven shaft (166);
• an actuator controller (50) coupled to the electric motor and disposed within the actuator housing;
• and
• an accelerometer (697) disposed remotely from the actuator assembly and configured to detect movement of the closure member by a user manually moving the closure member and inclination of the closure member while the electric motor (36) is moving the closure member (12);
• wherein the actuator controller is configured to determine whether to open or close the closure member (12) using the detected movement of the closure member (12) by the user and control the electric motor to move the closure member based on one of the movement and an inclination of the closure member (12) of the closure member (12) sensed using the accelerometer (697).

A method of controlling an electric motor coupled to a closure member for opening or closing of the closure member (3000), the method comprising:

• receiving, from an accelerometer positioned on the closure member substantially at a center of gravity of the closure member, a signal indicative of a movement of the closure member (3002) by a user manually moving the closure member (3002) while the electric motor is moving the closure member (3002);
• determining whether to open or close the closure member using the signal;
• calculating, using at least one of the signal and an inclination of the closure member (3002) sensed using the accelerometer, a force command for controlling an output force (3004) of the electric motor;
• and
• supplying the force command to the electric motor for the opening or closing of the closure member (3006).