Vehicle power door speed control

A door control method for a door controller for a vehicle door, the door controller including an electric drive means and a power source for supplying a pulse width modulated control voltage at a controlled duty cycle to the electric drive means for energizing the electric drive means to drive the vehicle door to a closed position, the electric drive means having a torque output varying in direct relationship to the controlled duty cycle, the method comprising the steps of:

• sensing door movement;
• sensing door speed;
• determining a distance of sensed door movement while the sensed door speed is continuously less than a desired speed since a last increase in the controlled duty cycle;
• determining a distance of sensed door movement while the sensed door speed is continuously greater than the desired speed since a last decrease in the controlled duty cycle;
• increasing the controlled duty cycle to increase the torque output of the electric drive means to increase door speed when the determined distance of sensed door movement while the sensed door speed is continuously less than the desired speed since a last increase in the controlled duty cycle exceeds a first predetermined distance;
• and
• decreasing the controlled duty cycle to decrease the torque output of the electric drive means to decrease door speed when the determined distance of sensed door movement while the sensed door speed is continuously greater than the desired speed since a last decrease in the controlled duty cycle exceeds a second predetermined distance, whereby the door speed is controlled to the desired speed.