DE102012023255A1 - Jam protection method for operating electromotive operated window lifter of motor car, involves generating release value from rotation speed difference value, and reversing or stopping electromotor when release value exceeds threshold value - Google Patents

Abstract

The method involves forming rotation speed difference from difference between current actual speed and prior actual speed of an electromotor (12). The difference is mapped to a rotation speed difference value using a constant rotation speed difference value function, where a second derivative of the function is larger than zero when the difference lies above a first threshold value. A release value is generated from the rotation speed difference value using a release value function. The electromotor is reversed or stopped when the release value exceeds a threshold value. Independent claims are also included for the following: (1) a window lifter arrangement (2) a control unit.

Description

The invention relates to a anti-trapping method for an electric motor operated window regulator of a motor vehicle and a window regulator.

Motor vehicles usually include side windows or sliding roofs, which can be opened or closed by means of an electric motor. If, during a closing movement of the window between the edge of the window pane and a frame-side seal, in which the disc rests in the closed state, an object are located, such as a person's hand, it could be trapped and damaged there. To avoid such Einklemmfälle have electric windows on a so-called anti-trap.

Conventional anti-jamming methods for electric windows provide that the speed of the electric motor is monitored and a deviation between a setpoint speed and an actual speed of the electric motor (speed difference) is formed. As soon as this speed difference exceeds a predetermined inertia threshold, the following speed differences are added to a trigger value. When this tripping value reaches a previously defined threshold, the electric motor is reversed or stopped. In this case, the inertial threshold and the threshold value must be adjusted in such a way that, on the one hand, a possible stiffness, which is caused, for example, due to contamination of a guide rail or an influence of weather conditions on the power window, is reliably overcome by the window. On the other hand, it must be ensured at the same time that the disc is reversed or stopped when an object is clamped. This is possibly only comparatively difficult, in particular by means of adaptation of the inertial threshold and the threshold value to current environmental conditions.

The invention has for its object to provide a special suitable anti-trapping method for an electric motor powered windows of a motor vehicle, in which a safe closing of the window is guaranteed in normal operation, and in which possible trapping in a pinching trapping forces are preferably reduced. Another object of the invention is to provide a particularly suitable window regulator.

According to the invention, the object is achieved by the features of claim 1 and independently thereof by the features of claim 12 and in terms of the power window assembly by the features of independent claim 13 with respect to the method. Advantageous developments and refinements are the subject of the dependent claims.

The anti-pinching method is used to operate a window regulator of a motor vehicle. In the following, an adjusting device of a motor vehicle with an adjustment part, such as a side window, a sunroof, a sliding door, a tailgate or the like, is understood by window lifters, the adjustment part being moved along an adjustment path. For this purpose, the adjusting member is driven directly or indirectly, for example via gear wheels, belts, rods or a combination thereof by means of an electric motor. During the adjustment of the adjustment, the rotational speed of the electric motor is determined and used as an actual speed. This is done in particular by means of Hall sensors, which suitably indicate every quarter turn of the electric motor. The actual speed is thus determined again every quarter turn of the electric motor, so that between the determination of the current actual speed and the previous actual speed is a quarter turn of the electric motor. Alternatively or in combination with this, the rotational speed of a gearbox operatively connected to the electric motor, for example a worm wheel of a worm gear, is used as the actual rotational speed for the method.

The current actual speed is compared with a previous actual speed of the electric motor and the speed difference between these two values (current and previous actual speed) calculated by means of a speed difference function. In particular, the speed difference is positive if the previous actual speed is greater than the current actual speed, so the electric motor is decelerated. For example, the difference between the previous actual speed and the current actual speed is used as the speed difference.

The speed difference is represented by means of a speed difference value function, also referred to as a speed value function, to a speed difference value. Thus, each speed difference is assigned a single speed difference value. The second derivative of the speed difference value function is greater than zero for speed differences greater than a first limit. In particular, the 2nd derivative for these speed differences is consistently greater than zero (0). It is not excluded that the second derivative is already positive before the first limit, ie for speed differences that are smaller than the first limit. Consequently, the speed difference value function is at least partially in particular convex.

The speed difference value is calculated, for example, either at each determined speed difference again on the basis of a speed difference value function representing calculation rule or the speed difference value function is stored in the form of a so-called look-up table in a memory of the power window. In this case, a speed difference value is stored in the memory for each possible speed difference occurring.

From the generated speed difference value, a trigger value is generated with the aid of a trigger value function. As soon as the trigger value generated in this way exceeds a threshold value, the electric motor of the power window is stopped and a closing movement of the adjusting part is interrupted. Suitably, following stopping, the electric motor is reversed so that a jammed object is released substantially instantaneously. The threshold value is, for example, constant at least in sections along the adjustment path. Alternatively or in combination, the threshold value is adapted to current requirements and environmental conditions.

Due to the positive second derivative of the speed difference value function for speed differences above the first limit, comparatively small speed differences, such as those caused by soiling, are given little consideration in both the calculation of the speed difference value and the trigger value. The electric motor is thus not reversed due to these influences. On the other hand, a comparatively large speed difference, that is, in particular a comparatively large braking of the adjustment part, leads to a large speed difference value which suitably increases the trigger value such that it exceeds the threshold value or at least comparatively reduces the distance between the two. In other words, a large difference in rotational speed compared to a small difference in rotational speed over the respective speed difference value is considered more in the calculation of the triggering value. Therefore, it is possible that a comparatively fast and abrupt deceleration of the adjustment leads to an early shutdown or reversing of the electric motor.

Suitably, a speed difference of zero, that is, if the current actual speed corresponds to the previous actual speed, is assigned a speed difference value of zero. In particular, the speed difference of zero is the only speed difference associated with the speed difference value of zero.

For example, the speed difference value is always greater than or equal to the speed difference that is assigned to the speed difference function. The first derivation of the speed difference value function is at least partially greater than one (1), for example. It is also conceivable that the speed difference value function maps the speed difference to a speed difference value which is smaller than the speed difference. In such a selection of the speed difference value function, the trigger value function and / or the threshold value must be adjusted such that the electric motor is switched off or reversed under the same conditions. In particular, for this purpose, the threshold value is multiplied by the reciprocal of the first derivative of the speed difference value function.

Conveniently, the speed difference value function is continuous. In this way, jumps between two consecutive speed difference values are avoided as the speed difference changes. Thus, it is possible to prevent jumps within the trip value and thus to control the behavior of the power window when the trigger value is close to the threshold value. The approximation of the trigger value is then suitably continuous and monotonous.

Suitably, the 1st derivative of the speed difference value function is always greater than or equal to zero (0). Alternatively or in combination with this, the second derivative of the speed difference value function is always positive or equal to zero (0), ie non-negative, even for speed differences that are smaller than the first limit value. In this case, the values of the 1st and 2nd derivative can assume all positive values including zero (0) for all possible speed differences. In this way, it is ensured that the larger the speed difference, the more it is taken into account in the calculation of the tripping value. For example, the 3rd derivative is also always greater than zero (0) to enhance the effect.

In a preferred variant of the invention, the speed difference value function is, at least in sections, a function formed by means of a conic section, ie in particular hyperbolic or parabolic. However, it would also be conceivable that instead of the parabola a function with a higher power is chosen. Hyperbolic and parabolic in sections means that the speed difference value function on the section contains a comparatively heavily weighted hyperbolic or parabolic function. However, the speed difference value function may also include additional other functions, such as straight lines or exponential functions. such a Speed difference value functions are comparatively easy and time-saving to calculate.

For example, the course of the speed difference value function is linear below the first limit value, wherein the slope is greater than or equal to one (1). In principle, a smaller pitch is also conceivable, however, the trigger value function and / or the threshold value must be adjusted. By means of such a speed difference value function small speed differences in the calculation of the trigger value compared to speed differences that are greater than the first limit, are considered low, the computational effort at a preferred choice of the slope of one (1) is relatively low. As a speed difference value, the speed difference is used in this case, if this is less than the first limit.

Particularly preferably, the curve of the speed difference value function is linear below the first limit value, above the first limit value and below a second limit value and above the second limit value hyperbolic. The second limit is greater than the first limit. In particular, the speed difference value function is continuous at the first or second threshold, preferably at both. With such a choice of the speed difference value function, speed differences are taken into account more in the calculation of the trigger value, the larger they are, with large speed differences occur when the adjustment meets a comparatively inelastic obstacle within the adjustment. Small speed differences, such as those caused by soiling, on the other hand, are taken into account little in both the calculation of the speed difference value and the tripping value.

When the adjustment member encounters a first elastic obstacle, such as a person's hand, the first low speed differences are relatively little weighted but contribute to the triggering value. If the adjusting part is now slowed down more due to an increasing deformation of the obstacle, the now prevailing speed differences are taken into greater consideration in the calculation of the triggering value. Suitably, all speed difference values are used in the calculation, which is why the tripping value exceeds the threshold earlier than if the comparatively low speed differences are not taken into account. Thus, the obstacle is practically not damaged or injured.

In this case, the second limit value is particularly constant and is set, for example, to the respective motor vehicle or its type during assembly or during manufacture. Alternatively, the second limit is suitably set depending on ambient conditions of the power window and current requirements. Conveniently, the second threshold is greater than 4 rpm and less than 6 rpm. Particularly preferably, the second limit is 5 rpm. In particular, the second threshold is twice the first threshold. By means of this definition of the second limit value, entrapment forces which arise in a trapping case are comparatively small, while nevertheless binding forces are reliably overcome when the adjusting part is moved.

Suitably, the first limit value depends on ambient conditions of the power window and current requirements, or the first limit value is constant and is set, for example, to the respective motor vehicle or its type during assembly or during manufacture. Conveniently, the first limit is greater than 2 rpm and less than 3 rpm. Most preferably, the first limit is 2.5 rpm. By virtue of this definition of the first limit value, sluggishness when moving the adjustment part is reliably overcome, with an impact of the adjustment part on an object nevertheless leading to a comparatively early reversing or switching off of the electric motor.

In one embodiment of the invention, the trip value is formed by summing a number of speed difference values. The speed difference values contributing to the triggering value are in this case, in particular, the speed difference values which are calculated by means of the temporally last realized rotational speed differences. Suitably, comparatively many speed difference values contribute to the trip value and, for example, the current trip value is calculated by adding the last determined speed difference value to the previous trip value. In this way, a comparatively simple calculation of the trigger value is made possible, wherein additionally an implementation in a microchip only has a comparatively small storage space requirement.

Alternatively, the current trip value is formed by adding the weighted square of the speed difference value to the previous trip value when the speed difference value is below a tracking threshold. If, therefore, the speed difference value is below the tracking threshold, this is multiplied by itself and a weighting factor. This result is added to the already existing trigger value and this sum is used as the current trigger value. In particular, at the beginning of the anti-pinch method, that is, for example, at a start of energizing the electric motor, the Trip value set to zero or to a value dependent on environmental conditions. The first trip value other than zero is thus the weighted square of the first detected speed difference value when it is below the tracking threshold. The tracking threshold is suitably between 0.35 rpm and 1.4 rpm, in particular equal to 0.7 rpm.

By means of such a trigger function small speed difference values are considered less than large speed difference values. Since small speed difference values occur predominantly in the case of window lift failures that are not caused by jamming of an object, but large speed difference values are caused in jamming cases, safe operation of the power window lift is made possible by means of this method. In this case, any objects located in the adjustment path of the adjustment part are not clamped or only comparatively slightly clamped. Also prevent small disturbances, such as pollution or weather conditions, a safe and proper movement of the adjustment not.

The Nachführschwelle can be selected, for example, greater than the threshold. In this way, substantially all speed difference values established during a closing movement contribute quadratically to the tripping value.

If the speed difference value is above the tracking threshold, it is suitably added to the previous trigger value and thus the current trigger value is created. The trip value function therefore includes a case distinction as to whether the speed difference value is below or above the tracking threshold. In other words, depending on whether the speed difference value is greater than or less than the tracking threshold, the speed difference value or the weighted square of the speed difference value is added to the previous trigger value. This sum is the current trigger value. Thus, the speed difference value contributes quadratically to the tripping value if the speed difference value is below the tracking threshold, otherwise it is linear. In this way, small speed difference values, which are caused in particular by contamination or other disturbances of the power window, taken into account in a different manner than speed difference values that are above the Nachführschwelle, and arise for example in a Einklemmfall.

In an advantageous embodiment of the invention, when the speed difference value is below the tracking threshold, the square of the speed difference value is weighted with a parameter. The parameter here is smaller or particularly preferably equal to the reciprocal of the tracking threshold. In this way, when the speed difference value is below the tracking threshold, the speed difference value contributes less in the calculation of the trip value than when the speed difference value itself is added to the previous trip value. The smaller the speed difference value, the lower is its contribution to the trigger value and its approximation to the threshold value.

Suitably, the parameter is equal to the reciprocal of the tracking threshold, and the speed differential value is added to the previous trigger value if it is above the tracking threshold. As a result, the treatment of the speed difference values in close proximity to the tracking threshold is substantially constant and jumps in the trigger value are avoided, which could otherwise be caused by speed difference values that are alternately slightly above and below the tracking threshold. The trigger value increases in this case, rather straight forward.

Preferably, the trigger value is reset, that is, in particular, overwritten with the starting value if the rotational speed difference value is below a retracking threshold. In particular, in this case the trigger value is set to zero (0). The retracking threshold is suitably constant or dependent on environmental conditions. Conveniently, the retracking threshold is less than or equal to zero (0) and is advantageously between -0 rpm and -0.7 rpm. If the adjustment is braked along the adjustment by, for example, contamination, the trigger value increases. Once the adjustment has overcome the pollution, eliminating the resistance that it exerted on the adjustment. Thus, the adjustment is accelerated due to the now no longer compensated by the resistance force. The speed of the electric motor therefore increases and the current actual speed is greater than the previous actual speed. The speed difference and, suitably, the speed difference value are preferably negative in this case. As soon as the retracking threshold is undershot by the speed difference value, the triggering value is reset, so that when the adjusting part strikes a further contamination, the adjusting part is not stopped or reversed comparatively soon or immediately, as is the case with further use of the already achieved value for the triggering value would. Rather, this pollution is treated in the same way as the first case of pollution.

Suitably, the speed difference value or its weighted square does not become that Trigger value added and this thus kept constant when the speed difference value is below an output threshold. The output threshold is expediently smaller than the tracking threshold and, for example, constant. In particular, the output threshold is less than the tracking threshold and greater than the retracking threshold. Preferably, the output threshold is zero and also corresponds to a speed difference of zero. If, therefore, the current actual speed is greater or at least slightly greater than the previous actual speed, the trip value is not changed. In other words, it has substantially no effect on the stopping or reversing of the electric motor when the adjustment moves faster than intended.

Alternatively or in combination with the selection or use of a function whose second derivation is at least partially greater than zero as a speed difference value function, the object is also achieved by means of a, in particular continuous, speed difference value function by which a speed difference is mapped to a speed difference value, wherein the speed difference value is smaller than the speed difference when it is below a third threshold, and the speed difference value is greater than the speed difference when it is above the third threshold. The advantageous refinements and embodiments described in connection with the positive second derivative should also be transferred analogously to the anti-pinch method.

In summary, this anti-pinching method also serves to operate the window regulator of a motor vehicle. During the adjustment of the adjustment, the speed of the electric motor is determined and used as the actual speed. The current actual speed is compared with the previous actual speed of the electric motor and the speed difference between these two values (current and previous actual speed) determined by means of a speed difference function. In particular, the speed difference is positive if the previous actual speed is greater than the current actual speed, so the electric motor is decelerated. For example, the difference between the previous actual speed and the current actual speed is used as the speed difference.

The speed difference is mapped to the speed difference value by means of the speed difference value function. If the speed difference is greater than the third limit, in this case the speed difference value associated with the speed difference is greater than the speed difference. If the speed difference is smaller than the third threshold, the speed difference value is smaller than the speed difference. By means of the speed difference value function, the speed difference is thus reduced to the speed difference value when the speed difference is smaller than the third threshold. On the other hand, if the speed difference is greater than the third threshold, it is increased to the speed difference value by the speed difference value function.

In other words, the speed difference value function in the speed difference-speed difference level is at values less than the third limit below the bisector and above at values greater than the third threshold. For example, the speed difference value function is at least partially a straight line with a negative ordinate section and with a slope that is greater than one (1). Suitably, a speed difference of zero, that is, if the current actual speed corresponds to the previous actual speed, is assigned a speed difference value of zero. In particular, the speed difference of zero is the only speed difference associated with the speed difference value of zero. In other words, only a vanishing speed difference leads to a vanishing speed difference value. In particular, the speed difference value corresponds to the speed difference when it is negative.

The tripping value is generated from the generated speed difference value and with the aid of the tripping value function. As soon as the trigger value generated in this way exceeds the threshold value, the electric motor of the power window is stopped and the closing movement of the adjusting part is interrupted. Suitably, following the stopping, the electric motor is reversed so that a jammed object is released substantially instantaneously. The threshold value is, for example, constant at least in sections along the adjustment path or is adapted to current requirements and environmental conditions.

Due to the different weighting of the speed difference, comparatively small speed differences, such as those caused by contaminants, are given little consideration in both the calculation of the speed difference value and the trigger value. The electric motor is thus not reversed due to these influences. On the other hand, a comparatively large speed difference, that is, in particular a comparatively large braking of the adjustment part, leads to a large speed difference value which suitably increases the trigger value such that it exceeds the threshold value or at least comparatively reduces the distance between the two.

Large speed differences occur when the adjustment to a comparatively inelastic Obstacle within the adjustment path meets. When the adjustment member encounters a first elastic obstacle, such as a person's hand, the first low speed differences are relatively little weighted but contribute to the triggering value. If the adjusting part is now slowed down more due to an increasing deformation of the obstacle, the now prevailing speed differences are taken into greater consideration in the calculation of the triggering value. Suitably, all speed difference values are used in the calculation. Conveniently, the speed difference value function is continuous. In this way, jumps between two consecutive speed difference values are avoided as the speed difference changes.

Advantageously, a convex function and / or a function limited upwards, in particular at between 5.6 rpm and 7 rpm, is selected as the speed difference value function.

In other words, the speed difference value function is convex, for example. Thus, a large speed difference compared with a small speed difference across the respective speed difference value is more considered in the calculation of the trip value. Therefore, it is possible that a comparatively fast and abrupt deceleration of the adjustment leads to an early shutdown or reversing of the electric motor.

Alternatively or in combination, the speed difference value function is limited to the top. This barrier is suitably between 5.6 rpm and 7 rpm and in particular at 6.3 rpm. In other words, the speed difference value is always less than or equal to the barrier. In this way, a one-time comparatively strong influencing of the adjusting part, for example caused by slamming of a vehicle door having the electric window, does not lead to faulty switching off or reversing of the electric motor. In particular, the speed difference value function is only limited upward if the motor vehicle is moved along a comparatively bad road, that is to say a disproportionately high load acts on the window lifter. This causes namely a non-uniform course of the adjustment of the adjustment and due to the operative connection with the electric motor a relatively troubled run and a substantially continuous change in the actual speed, without an object or a pollution would be in the adjustment. Due to the restriction of the electric motor is not or at least rarely reversed faulty or switched off.

In a preferred variant of the invention, a tangent function or a function formed by means of a conic section, in particular a hyperbolic function, is selected as the speed difference value function at least in sections.

In other words, the speed difference value function is preferably at least in sections a function formed by means of a conic, ie in particular hyperbolic or parabolic. However, it would also be conceivable that instead of the parabola a function with a higher power is chosen. Alternatively, the function is sectionally tangent. Hyperbolic, parabolic and tangent-shaped sections are understood to mean that the speed difference value function on the section contains a comparatively heavily weighted hyperbola, parabola or tangent function. However, the speed difference value function may also include additional other functions, such as straight lines or exponential functions.

Suitably, the third limit is dependent on ambient conditions of the power window and current requirements, or the third limit is constant and is set, for example, to the respective motor vehicle or its type during assembly or during manufacture. Conveniently, a speed difference between 1.4 u / min and 2.1 u / min and in particular 1.8 u / min is selected as the third limit. In other words, for example, the third threshold is greater than 1.4 rpm and less than 2.1 rpm. Particularly preferably, the third limit is 1.8 rpm. A speed differential less than 1.4 rpm thus results in a speed difference value that is less than the speed difference, whereas, for example, a speed differential of 2.8 rpm results in a speed differential greater than 2.8 μs / min. By means of this definition of the third limit, sluggishness when moving the adjusting part is reliably overcome, wherein an impact of the adjusting part on an object nevertheless leads to a comparatively early reversing or switching off of the electric motor.

In one embodiment of the invention, a number of rotational speed difference values are added up to the triggering value as the triggering value function. In other words, the trip value is formed by summing a number of speed difference values. The speed difference values contributing to the triggering value are in this case, in particular, the speed difference values calculated by means of the torque differences last implemented last. Suitably, comparatively many speed difference values contribute to the trip value and, for example, the current trip value is calculated by adding the last determined speed difference value to the previous trip value. In this way, a comparatively simple calculation of the trigger value is made possible, wherein additionally an implementation in a microchip only has a comparatively small storage space requirement.

Alternatively, the tripping value is generated from the speed difference value by means of the tripping value function, the sum of the previous tripping value and the weighted square of the speed difference value giving the current tripping value if the speed difference value is below a, in particular constant, tracking threshold.

The current trip value is thus the last trip value plus the weighted square of the speed difference value if it is below the tracking threshold. If, therefore, the speed difference value is below the tracking threshold, this is multiplied by itself and a weighting factor.

This result is added to the already existing trigger value and this sum is used as the current trigger value. In particular, at the beginning of the anti-pinch method, that is to say, for example, when the current of the electric motor starts, the tripping value is set to zero or to a value dependent on environmental conditions. The first trip value other than zero is thus the weighted square of the first detected speed difference value when it is below the tracking threshold. The tracking threshold is suitably between 0.35 rpm and 1.4 rpm, in particular equal to 0.7 rpm.

By means of this method, small speed difference values are considered less than large speed difference values. Since small speed difference values occur predominantly in the case of window lift failures that are not caused by jamming of an object, but large speed difference values are caused in jamming cases, safe operation of the power window lift is made possible by means of this method. In this case, any objects located in the adjustment path of the adjustment part are not clamped or only comparatively slightly clamped. Also prevent small disturbances, such as pollution or weather conditions, a safe and proper movement of the adjustment not.

For example, the tracking threshold is selected to be greater than the threshold. In this way, substantially all speed difference values established during a closing movement contribute quadratically to the tripping value.

The determination of the tripping value by means of the tripping value function, in which the sum of the previous tripping value and the weighted square of the speed difference value results in the current tripping value if the speed difference value is below a, in particular constant, tracking threshold, can also be independent of the design of the speed difference value function. Rather, the trigger value function of this type is regarded as an independent invention. In other words, an anti-pinch method for an electric motor powered window lifter of a motor vehicle, in which a speed difference value is generated by means of a speed difference value function from the speed difference formed between a current actual speed and a previous actual speed of the electric motor, and generates a trigger value by means of a trigger value function from the speed difference value is, wherein the sum of the previous trigger value and the weighted square of the speed difference value results in the current trigger value when the speed difference value is below a, in particular constant, Nachführschwelle, and in which the electric motor is reversed or stopped when the trigger value exceeds a threshold, a stand-alone Invention.

Consequently, a speed difference is formed during the movement of the adjustment of the power window from the deviation of the current actual speed of the electric motor from the previous actual speed. For example, in this case also the speed difference is positive if the previous actual speed is greater than the current actual speed, so the electric motor is decelerated. The actual speed is suitably determined again every quarter turn of the electric motor, so that between the determination of the current actual speed and the previous actual speed is a quarter turn of the electric motor. Alternatively, the current speed of a worm wheel operatively connected to the electric motor is used as the current actual speed. By means of a speed difference value function, the speed difference value is generated from the speed difference.

The trip value is formed by means of the generated speed difference value. The current trigger value here is the last trigger value plus the weighted square of the speed difference value, if this is below the tracking threshold. If, therefore, the speed difference value is below the tracking threshold, this is multiplied by itself and the weighting factor. This result is added to the already existing trigger value and this sum is used as the current trigger value. If the tripping value exceeds the threshold value, the electric motor is switched off or reversed. The threshold is advantageously constant or dependent on current requirements or environmental conditions.

Due to the comparatively low contribution of low speed differences to the tripping value, a safe closing of the adjusting part by means of the electric motor is provided. As soon as large speed differences occur, the closing movement of the electric motor is interrupted comparatively soon. In this way, damage to a possible jammed object is effectively prevented.

If neither one with an at least partially positive second derivative nor one that matches a different speed difference value and a larger speed difference value to each speed difference that is below the third limit value is used otherwise, an identical mapping and a speed difference value, for example, will be used as the speed difference value function the speed difference selected. In other words, the speed difference value is the deviation between the previous actual speed and the current actual speed of the electric motor, ie the speed difference. The speed difference value function is thus the identical map that assigns each argument to itself. In this way, an implementation of the anti-jamming method in an electric window lifter is comparatively simple and resource-saving, since a separate calculation of the speed difference value can be dispensed with. Instead, the determined speed difference is used as the speed difference value.

Appropriately, by means of the trip value function, the current trip value is formed by / from the sum of the previous trip value and the speed difference value when the speed difference value is above the tracking threshold. In other words, if the speed difference value is above the tracking threshold, this is added to the previous trigger value and thus created the current trigger value. The trip value function therefore includes a case distinction as to whether the speed difference value is below or above the tracking threshold. Consequently, depending on whether the speed difference value is greater or less than the Nachführschwelle the speed difference value or the weighted square of the speed difference value added to the previous trigger value. This sum is the current trigger value. Thus, the speed difference value contributes quadratically to the tripping value if the speed difference value is below the tracking threshold, otherwise it is linear. In this way, small speed difference values, which are caused in particular by contamination or other disturbances of the power window, taken into account in a different manner than speed difference values that are above the Nachführschwelle, and arise for example in a Einklemmfall.

In an advantageous embodiment of the invention, the weighting of the square of the speed difference value takes place with a parameter which is less than or equal to the reciprocal of the tracking threshold. In other words, when the speed difference value is below the tracking threshold, the square of the speed difference value is weighted with a parameter. The parameter here is smaller or particularly preferably equal to the reciprocal of the tracking threshold. In this way, when the speed difference value is below the tracking threshold, the speed difference value contributes less in the calculation of the trip value than when the speed difference value itself is added to the previous trip value. The smaller the speed difference value, the lower is its contribution to the trigger value and its approximation to the threshold value.

Suitably, the parameter is equal to the reciprocal of the tracking threshold, and the speed differential value is added to the previous trigger value if it is above the tracking threshold. As a result, the treatment of the speed difference values in close proximity to the tracking threshold is substantially constant and jumps in the trigger value are avoided, which could otherwise be caused by speed difference values, which are alternately slightly above and below the tracking threshold. The trigger value increases in this case, rather straight forward.

The tripping value is preferably reset by means of the tripping value function and, in particular, set to zero if the speed difference value lies below a retracking threshold. In other words, the trigger value is reset, that is, in particular, overwritten with the starting value if the rotational speed difference value is below a retracking threshold. In particular, in this case the trigger value is set to zero. The retracking threshold is suitably constant or dependent on environmental conditions. Conveniently, the retracking threshold is less than or equal to zero (0) and is advantageously between -0 rpm and -0.7 rpm. If the adjustment is braked along the adjustment by, for example, contamination, the trigger value increases. Once the adjustment has overcome the pollution, eliminating the resistance that it exerted on the adjustment. Thus, the adjustment is accelerated due to the now no longer compensated by the resistance force. The speed of the electric motor therefore increases and the current actual speed is greater than the previous actual speed. The speed difference and, suitably, the speed difference value will therefore be negative. As soon as the retracking threshold is undershot, the trigger value is reset, so that at a Impact of the adjustment on a further contamination the adjustment is not comparatively soon or stopped immediately or reversed, as would be the case with a re-use of the already achieved value for the action value. Rather, this pollution is treated in the same way as the first case of pollution.

Suitably, the trip value is kept constant by means of the trip value function if the speed difference value is below an output threshold, which is in particular at zero. In other words, the speed difference value or its weighted square is not added to the trigger value and thus kept constant when the speed difference value is below an output threshold. The output threshold is expediently smaller than the tracking threshold and, for example, constant. In particular, the output threshold is less than the tracking threshold and greater than the retracking threshold. Preferably, the output threshold is zero and also corresponds to a speed difference of zero. If, therefore, the current actual speed is greater or at least slightly greater than the previous actual speed, the trip value is not changed. In other words, it has substantially no effect on the stopping or reversing of the electric motor when the adjustment moves faster than intended.

Appropriately, after an interruption of the adjustment of the adjustment by means of the speed difference function, the sum added to the deviation between the previous actual speed and the current actual speed of the electric motor, a start-up function and used this sum as a speed difference. In particular, this type of determination speed difference in combination with the speed difference value function whose second derivative is greater than zero, if the speed difference is above the first limit. In this case, the respective speed difference value preferably contributes linearly and / or quadratically to the triggering value.

In other words, in a resumption of the original adjustment by means of the electric motor, the current actual speed is subtracted from the previous actual speed, both speeds after resumption of movement, ie after the interruption, are determined. The interruption is characterized in that meanwhile the actual speed is substantially zero (0). The period of interruption is comparatively variable and is for example between 1 s and 1 h or less. In particular, the resumed adjusting movement takes place in the same direction as the original adjusting movement. The renewed adjustment is thus made from the so-called rectification. The start-up function is added to the deviation, whereby a value of the start-up function is added to each determined deviation. This sum is used as a speed difference. In particular, the determination of the rotational speed difference is started as soon as the actual rotational speed of the resumed adjusting movement is determined a second time, and is carried out until the adjusting part is stopped again.

Expediently, furthermore, the electric motor is operated on the basis of the rotational speed or the rotational speed difference determined by means of the rotational speed difference function such that the starting speed and acceleration substantially follow a predetermined course. For example, the start-up function is calculated during the adjustment or is stored in a memory of the adjustment. In particular, the memory comprises a number of startup functions, of which a startup function is selected in dependence on current requirements.

Appropriately, an exponential and / or continuous function is used as a start-up function.

In other words, the startup function is continuous. In this way, jumps in the speed difference can be avoided, which could otherwise lead to a faulty triggering of the anti-trap. If, nevertheless, jumps occur in the course of the speed difference, these jumps can be used to identify certain situations of the adjustment, since they are caused by a strong, not compensated by the start-up function acceleration or deceleration of the electric motor.

Particularly preferably, the start-up function is an exponential function and in particular an exponential function, whereby exponential function is understood in particular to mean a function which comprises a comparatively strongly weighted exponential function. Thus, the fact is taken into account that these two are accelerated in a renewed start of the electric motor and in the renewed adjustment of the adjustment. The deviation of the current actual speed from the previous speed is comparatively large at the start of the adjustment and approaches zero (0), if no extraordinary influences on the adjustment act as they arise, for example, in a trapping case. This effect is compensated by the start-up function, so that the determined speed difference is comparatively low. If the speed difference differs relatively sharply from zero (0), the adjustment is moved with an acceleration that does not use the Start-up function is compensated. Such acceleration occurs, for example, in a trapping case.

Advantageously, a sinusoidal function is used as a start-up function. A function is said to be sinusoidal if it comprises a comparatively heavily squeezed sine or cosine function, which function may include other functions such as lines or power functions. During operation of the adjusting device, it is possible that the adjusting part and / or the electric motor performs a natural vibration in the manner of an oscillator. This circumstance is taken into account by means of the sinusoidal function, which depends in particular on the configuration of the adjusting device. In this way, the speed difference at a natural vibration is substantially zero. The self-oscillation is not mistakenly taken into account in an anti-trap.

In a particularly suitable embodiment of the invention, the sum of an exponential function and a sinusoidal function is used as start-up function. In other words, the startup function is the sum of an exponential and a sinusoidal function. In this way, both transient oscillations of the adjustment part as well as an acceleration of the adjustment part, ie an increasing rotational speed of the electric motor, are taken into account. By means of this embodiment of the function, the rotational speed difference of the electric motor during startup and operation of the electric motor is substantially equal to zero (0), if there is no trapping or sluggishness. If the speed difference assumes a value other than zero (0), this is an indication of a jammed object that is along the displacement path.

Suitably, the current function value of the startup function is calculated as a weighted finite sum of the last past function values, wherein in particular the number of summands is less than 10. In other words, the current function value of the startup function is the sum of a limited number of weighted previous function values. The current function value is therefore created iteratively. Advantageously, the number of summands is comparatively small, for example, less than 10 and in particular equal to 2. In this way, a comparatively fast and not computationally intensive determination of the current function value is possible.

For example, the current function value of the sinusoidal function is essentially calculated from the relationship Y2 = 2 * Y1-Y1 / Z-Y0, where Y2 is the current function value, Y1 is the previous function value, Y0 is the previous function value, and Z is a parameter. Consequently, Y2 is the current function value, that is, in particular, that value which is added to the deviation between the previous actual speed and the current actual speed of the electric motor in order to obtain the speed difference. Y1 is the previous function value. Y0 is the function value that precedes Y1 directly. The determination of the individual function values is carried out in particular every quarter revolutions of the electric motor, so that between Y2 and Y1 and between Y1 and Y0 each one quarter turn of the electric motor is located. The amplitude of the sinusoidal function is set by means of a suitable choice of the first two function values and the parameter Z, wherein Z also determines the period of the sinusoidal function.

By means of this calculation rule of the sinusoidal function, the memory requirement of a microchip calculating this function is comparatively small, and the determination of the function value can take place comparatively quickly and with little hardware damage. Furthermore, further elements can be added to Y2, their weighting being comparatively small in comparison to the relationship Y2 = 2 * Y1-Y1 / Z-Y0. For example, a constant or a previous function value weighted with a further parameter is added.

If an exponential function or a function has the at least partially exponential section, the current functional value of the exponential function is expediently essentially calculated on the basis of the relationship W2 = W1 + W1 / X, where W2 is the current function value, W1 is the previous function value , and X is a parameter. In other words, the current function value of the exponential function is iteratively obtained from the preceding function value and determined essentially on the basis of the relationship W2 = W1 + W1 / X, although the term may also contain further constituents. W2 corresponds to the current function value and W1 to the previous function value, which is specified in particular at the beginning of the determination. X is a parameter by which the slope of the exponential function is determined. Expediently, the parameter X is negative in this case, so that the exponential function approximates zero (0) as the number of determined function values increases. In other words, the absolute value of the exponential function decreases with the increase in the number of determined function values.

Advantageously, the startup function depends on the interrupted adjustment movement and / or on an environmental parameter. In particular, the derivative of the start-up function of one of these factors is dependent. For example, the startup function is an exponential function whose exponent of at least one of these parameters depends on the interrupted adjustment movement or the environmental parameter. If, for example, the adjustment movement took place comparatively quickly, then the start-up function is relatively large over a comparatively long period of time. The exponent is thus in particular indirectly proportional to the speed of the interrupted adjustment movement. In other words, a function dependent on an environmental parameter and / or on the interrupted adjustment movement is preferably selected as the derivation of the startup function.

It is likewise possible that the exponent depends on the force of the original adjustment movement and thus on the electrical energy supplied to the electric motor at this time. Furthermore, if in particular the ambient temperature is comparatively low, the renewed acceleration of the adjusting part takes place comparatively slowly due to the increased inertia, brittleness and / or rigidity of the individual components of the adjusting device. To compensate for this effect, in particular the exponent is indirectly proportional to the ambient temperature.

Suitably, in a look-up table of a memory of the adjusting device, the start-up function or its derivative as a function of the environmental parameters or one of the parameters, such as the speed, the interrupted displacement stored. However, at least an influencing parameter of the mentioned variables is expediently stored in the table by means of which the start-up function can be created.

Conveniently, a parameter dependent on at least one environmental parameter of the adjusting device and / or on the interrupted adjusting movement is calculated as the first value of the starting function or retrieved from a memory. In each case, the parameter is used in particular as the first value. Consequently, the first value of the start-up function, ie the first value added to the deviation between the first determined actual speed and the second determined actual speed, to obtain the first speed difference, the parameter stored in a memory or at each Verstellbewegung is recalculated. In this case, this first value of the starting function is particularly dependent on at least one environmental parameter, such as the ambient temperature or the position of a door, or their movement, within which the adjusting device is integrated.

Further, the parameter is influenced, for example, by the speed of the motor vehicle with which the motor vehicle is moved along a road or the road and its nature itself. Conveniently, in a comparatively bad road, which in particular has a relatively large number of bumps, the first Value of the startup function essentially zero (0). In this case, the speed difference essentially corresponds to the deviation between the current actual speed and the previous actual speed, and the startup function is zero (0). Advantageously, this is the only case where the start-up function is constantly zero (0).

Due to the essentially analytical determination of the first value of the startup function, the startup function is adapted to current conditions. If, for example, an object is already in the adjustment path at the beginning of the renewed adjustment movement, this is already taken into account when determining the speed difference. In particular, the anti-pinch protection takes account of this speed difference, so that no object is clamped even after the restart of the adjusting device after the interruption.

In an alternative embodiment, the deviation between the first determined actual rotational speed and the second determined actual rotational speed is preferably used as the first value of the starting function. In this case, the first value of the start-up function designates, in particular, the first time person after the resumption of the adjustment movement after the interruption. Consequently, the first value of the starting function is the deviation between the first determined actual speed and the second determined actual speed. Thus, the first determined speed difference is zero (0). In this way, a determination of the first value of the starting rotational speed is eliminated and the adjusting device is essentially ready for immediate use. If additional influencing variables are also present on the adjusting part, these are taken into account by means of this definition of the starting rotational speed, without these influencing variables or their combined effect on the adjusting device having to be already known during the production of the adjusting device.

In a further embodiment of the invention, the power window of a motor vehicle is monitored for sluggishness. The stiffness is detected, for example, if a current actual speed is less than a previous actual speed of an electric motor or a standing in operative connection with this element of the window regulator. As soon as the stiffness has been identified, the speed difference that has occurred between the previous actual speed and the current actual speed is monitored. As soon as this exceeds a limit function, the electric motor is reversed or at least stopped. The limit function is dependent on the angle of rotation of the electric motor since the beginning of the binding, so for example at what angle a Shaft of the electric motor has continued to rotate since the occurrence of stiffness. The limit function is essentially logarithmic. Here logarithmic is understood to mean that the limit function contains a comparatively strongly weighted logarithm function, wherein the limit function may contain additional additional functions, such as, for example, a constant function. In other words, the electric motor is reversed or turned off when the speed difference substantially corresponds to a multiple of the logarithm of the rotation angle plus the other function. In this case, in particular a constant is added to the rotation angle before the formation of the logarithm.

By means of this approach, the fact is taken into account that at a comparatively low adjustment speed, the speed difference can only be changed comparatively small if the direction in which the adjustment part is moved remains constant. Due to the concavity of the limit function, it is ensured that the speed difference does not increase to the same extent as the angle of rotation, which could otherwise lead to damage to the jammed object.

In other words, the invention also relates to an anti-trapping method for operating an electric window of a motor vehicle, with an electric motor in which the electric motor is reversed or turned off when occurring at a stiffness between a current actual speed and a previous actual speed of the electric motor speed difference is a limit function of Rotational angle of the electric motor since the beginning of the binding exceeds, as a limit function, a substantially logarithmic function of the rotation angle is selected.

In yet another embodiment of the invention, an electric window of a motor vehicle is part of a window regulator. In this case, the window pane of the window lifter between an A-pillar and a B-pillar is arranged, and is moved along it. In particular, guide rails for guiding the window pane are integrated in the columns, which run parallel to the adjustment direction of the window pane. The upper edge of the window pane is inclined in the region of the A pillar opposite the upper edge of the window pane in the area of the B pillar by a shear angle that is greater than 30 °. In this case, the upper edge of the window pane denotes that area of the window pane which in contact with the jammed object is in a pinching position. In particular, the upper edge of the window pane in the region of the B pillar is substantially perpendicular to the direction of movement of the window pane. In other words, the angle formed between the upper edge of the window pane in the region of the A pillar and a plane running perpendicular to the direction of movement of the window pane is greater than 30 °. The window assembly can also be used in a rear side window of the motor vehicle when the roof line is designed coupehaft. In this case, the so-called C-pillar of the motor vehicle corresponds to the A pillar of the Fensterhaberanordnung. In other words, the window regulator assembly can be realized anywhere in the motor vehicle where an adjustment part with a shear angle is.

The power window is monitored during a closing movement to a stiffness. If the binding is an entrapment, the electric motor is reversed or at least stopped to release the jammed object and avoid damaging the object. Here, the pinching force required to identify the pinch case is between 70 N and 90 N in the region of the B pillar when the spring rate, referred to below as the pinching spring rate, is 65 N / mm. In particular, the system spring rate, ie the spring rate of the complete window regulator assembly, is essentially formed from the sum of the reciprocal of the Einklemmfederrate, the reciprocal of the spring rate of the electric motor, reciprocating a window moving mechanism of the window regulator, such as the worm wheel, and the reciprocal a counter edge, against which the object is pressed by means of the disc. For example, with a pinching spring rate of 65 N / mm, the system spring rate is between 15 N / mm and 50 N / mm. Further, with the pinching spring rate of 65 N / mm, the pinching force in the area of the A-pillar necessary to identify the pinching case is substantially equal to the pinching force necessary in the area of the B-pillar. In this case, essentially the same applies in particular to a deviation of 10%, suitably 5% or less.

When the pinching spring rate is 20 N / mm, the necessary pinching force in the area of the A-pillar and in the area of the B-pillar is substantially the same. For example, the Einklemmkraft 70 N or less, such as 50 N or 40 N. In particular, however, the required pinching force is greater than 50 N. By means of such a choice of Einklemmkräfte a safe movement of the window along the direction of movement is ensured on the one hand and On the other hand, damage to any existing jammed object avoided.

The spring rate and trapping force are monitored by sensors, for example. The stiffness is detected in particular when a current actual speed is less than a previous actual speed of the electric motor or an element of the latter in operative connection with the latter Window lift is. As soon as the stiffness has been identified, the speed difference that has occurred between the previous actual speed and the current actual speed is monitored. As soon as this exceeds a limit function, the electric motor is reversed or at least stopped. The limit function is dependent on the angle of rotation of the electric motor since the beginning of the binding, so for example at what angle a shaft of the electric motor has continued to rotate since the occurrence of stiffness. For example, the profile of the limit function at angles of rotation of the electric motor above a first threshold is substantially constant at 10 rpm, which is between 40 ° and 50 °. In other words, with an occurring speed difference greater than 10 rpm, when the rotational angle of the electric motor is at least 50 ° or more since the occurrence of the sluggishness, the jamming case is identified. In particular, the profile of the limit function for angles of rotation of the electric motor between a second threshold, which is between 14 ° and 18 ° and in particular 16 °, and the first threshold is substantially linear with a gradient between 0.08 rpm / 0 and rotation angle , 13 rpm per rotation angle. For example, the limit function at a rotation angle of 16 ° equal to 7 u / min. It is also conceivable to use a limit function with higher powers in this area. For angles of rotation below the second threshold, the limit function is square. For example, the limit function at a rotation angle of 4.5 ° corresponds to a speed difference of 2.8 u / min, with a rotation angle of 7.2 ° a speed difference of 4 u / min, with a rotation angle of 13.5 ° a speed difference of 6 u / min.

In particular, the limit function is continuous in order to be able to reliably detect trapping cases under a wide range of conditions. By means of the use of the limit function, the fact is taken into account that at a comparatively low adjustment speed, the speed difference can only be changed comparatively small if the direction in which the adjustment part is moved remains constant. Due to the concavity of the limit function, it is ensured that the speed difference does not increase to the same extent as the angle of rotation, which could otherwise lead to damage to the jammed object.

In particular, the power window of the window regulator assembly according to the anti-trap method according to one of claims 1 to 11 or 12 is operated. For this purpose, the first limit value, the second limit value and / or the third limit value, if present in each case, are expediently selected and / or adjusted such that the required pinching forces are achieved at the predetermined spring rates.

In summary, the electric window of the motor vehicle on an adjustment part, such as a side window or a sunroof, which is spent by means of an electric motor or an electric motor drive including a transmission (worm gear) along a Verstellwegs. In this case, the adjusting part runs in particular into a seal, with any object located between the seal and the adjusting part being clamped there by the latter. To avoid damage to the object, which is for example a body part, the electric motor or the drive is operated at least during a closing movement of the adjusting part according to one of the above methods. For this purpose, for example, the electric motor is reversed and thus terminates a closing movement and causes an opening movement of the adjusting part when the speed difference occurring during the binding exceeds the limit function of the angle of rotation of the electric motor. Alternatively or in combination with the determination of the trapping case by means of the limit function, the electric motor is reversed when the tripping value exceeds the threshold value. At least, the electric motor is stopped, which limits the pinching forces that act on the object.

At least in each case, the electric motor is stopped, which limits the pinching forces that act on the object. It is thus an electric window of a motor vehicle, with an electric motor operated according to one of the above methods. The electric motor is, for example, 4-pole, thus, in particular, a ring magnet of the electric motor has four magnetic poles. Likewise, however, an electric motor with two or eight poles is possible, for example, a ring magnet is used with a larger number of magnetic poles.

Advantageously, the window regulator comprises a microcontroller for outputting a discrete, sinusoidal function whose current function value is calculated as a weighted finite sum of the preceding function values, in particular if a startup function is used to determine the pinching case. A discrete, sinusoidal function is output by means of the microcontroller, which is preferably used for the anti-trap method. A sinusoidal function is again referred to as a function which contains a comparatively strongly weighted sine or cosine function. Another component of the sinusoidal function can be exponential functions or straight lines or other functions whose contribution to the sinusoidal function is small compared to the sine or cosine function over the period of the output. The determination and output of the sinusoidal function is discrete. In other words, there is a difference between the individual function values determined, in particular constant, distance, which is advantageously temporally.

For example, the number of previous function values added to the current function value is less than 10. Thus, the current function value of the sinusoidal function is iteratively determined from the weighted sum of the previous function values. Conveniently, the number of summands is less than ten (10) and includes only the last determined function values. Due to the weighting, ie a multiplication, and the subsequent summation, the requirements for the hardware of the microchip are comparatively small, whereby nevertheless a rapid determination of the current function value is ensured. In particular, the microchip only includes ten (10) or fewer storage locations for storing the last functional values. Suitably, starting values are permanently stored in the microchip or the microchip includes an input possibility for the starting values. In this way it is possible for the sinusoidal function to output a function value adapted to the current conditions as the first function value. In particular, the amplitude and / or the phase of the sine or cosine function are set by means of the starting values.

The microcontroller serving to output the discrete sinusoidal function, the current function value of which is calculated as a weighted finite sum of the preceding function values, can also be used independently of the adjusting device. Rather, the microcontroller in this functionality is considered to be an independent invention.

In an expedient embodiment of the invention, the current function value of the sinusoidal function is calculated according to the relationship Y2 = 2 * Y1-Y1 / Z-Y0, where Y2 is the current function value, Y1 is the previous function value, Y0 is the previous function value, and Z is a parameter. In other words, Y2 represents the current function value and Y1 the previously determined function value. Y0, in turn, is the function value that was determined just before Y1. Expediently, only the currently valid values for Y0, Y1 are stored in the microchip. After Y2 is detected and output, the value of Y0 is overwritten with the value of Y1 and the value of Y1 is overwritten with the value of Y2. In this way, only two memory locations within the microchip are required to determine the respective current function value. Z is a parameter by means of which the period of the sine or cosine function is set. In particular, Z is positive and can be set via an input option of the microchip.

Embodiments of the invention will be explained in more detail with reference to a drawing. Show:

1 schematically an electric window according to the invention,

2 as a flow chart an anti-jamming method,

3a , b in each case a speed determination

4a . 4b each a speed difference value function,

5a , b a first course of a trigger value,

6a , b a second course of the trigger value,

7a . 7b each a limit function, and

8th schematically a control unit.

Corresponding parts are provided in all figures with the same reference numerals.

In 1 is schematically an electric window 2 with a windowpane 4 pictured in a doorway 6 a motor vehicle is integrated. The window glass 4 is between an A-pillar 8th and a B-pillar 10 the door 6 arranged, in which guide rails are not shown, and is by means of an electric motor 12 along an adjustment path 14 spent. The top edge 16 the windowpane 4 runs in the area of the B-pillar 10 perpendicular to the adjustment path 14 , In the area of the A-pillar 8th is the top edge 16 by a shear angle α with respect to the upper edge 16 in the area of the B-pillar 10 tilted. In other words, the top edge closes 16 in the area of the A-pillar 8th with the adjustment path 14 an angle of 90 ° minus the shear angle α. The shear angle α is 35 °.

To move the windowpane 4 is a worm wheel of a worm gear, not shown, with an electric motor 12 the shaft side associated worm in operative connection, wherein the worm wheel, the rotational movement of the electric motor 12 in a translational movement of the windowpane 4 transforms. The electric motor 12 is from a control unit 18 controlled, which supplies this with electrical energy and a push button 20 is activated by an occupant of the motor vehicle. The electric motor 12 preferably has two Hall sensors, by means of which a current actual speed n _i ^{t of} the electric motor 12 and thus its speed is measured.

2 shows a flow chart of a anti-trap, by means of which the electric window 2 during a closing movement of the windowpane 4 is operated, and that of the control unit 18 is performed. As soon as the button 20 pressed and the windowpane 4 in the closing direction along the adjustment 14 with the electric motor 12 is moved, or the windowpane 4 during a closing movement a certain position along the Verstellwegs 14 has reached is a start event 22 triggered. The start event 22 leads to the execution of a reset function 24 , which is a recent trigger value 26 overwrites with zero.

Further, after the start event 22 the current actual speed n _i ^t and a previous actual speed n _i ^{t-1 of} the electric motor 12 monitored and by means of a speed difference function 28 a speed difference Δn formed between these two ( 3a . 3b ). The determination of the current actual speed n _i ^t by means of the two Hall sensors, which are at an angle of 90 ° to each other and with respect to the axis of rotation of the electric motor 12 are arranged and the previous actual speed n _i ^t-1 corresponds to the current actual speed n _i ^{t of} the electric motor 12 about a quarter turn. In this way, every quarter turn of the electric motor 12 measured and it is possible, the current actual speed n _i ^t and the speed difference .DELTA.n at every quarter turn of the electric motor 12 to calculate.

By means of a speed difference value function 30 From the rotational speed difference Δn, a rotational speed difference value Δn * is formed. In this case, each speed difference Δn is mapped to one speed difference value Δn * ( 4a . 4b ). The speed difference value Δn * and the previous trigger value 26 become a trigger value function 32 supplied and a trigger value 34 educated ( 5a - 6b ). In a subsequent step, using an override function 36 the previous trigger value 26 with the generated trigger value 34 overwritten. A comparison function 38 compares the trigger value 34 with a threshold 40 on the window 2 matched vehicle is tuned. Is the trigger value 34 greater than the threshold 40 so is a trapping case 42 detected, and the electric motor 12 is reversed to release the jammed object. If the trigger value 34 less than the threshold 40 is the previous actual rotational speed n _i ^t with the current actual speed n _i ^t overwritten. Then, the current actual speed n _i ^{t is} determined again and with the aid of the speed difference function 28 compared with the previous actual speed n _i ^t-1 . The control unit 18 is constructed such that first the comparison function 38 with the trigger value 34 is executed before the current actual speed n _i ^{t is} determined again. In other words, the calculation of the trigger value formed by means of each current actual value n _i ^{t takes place} 34 and its comparison with the threshold 40 within a quarter turn of the electric motor 12 , At every quarter turn and thus at each current actual speed n _i ^t is thus known whether the Einklemmfall 42 occurred.

The means of the speed difference function 28 determined speed difference .DELTA.n is positive if the previous actual speed n _i ^{t-1 is} greater than the current actual speed n _i ^t , and less than zero, in the opposite case, if the movement of the adjustment directly preceding the movement 4 took place in an opening position. In this case, the difference between the previous actual speed n _i ^t-1 and a current actual speed n _i ^{t is} used as the speed difference Δn. If the shipment of the adjustment 4 after a break 44 takes place, the deviation becomes a start-up function 46 added, wherein the direction of movement of the adjustment 4 before and after the interruption 44 the same is. The interruption 44 is less than 1 minute, for example less than 10 or 5 seconds. In particular, the interruption 44 equal to 1 second or shorter. The speed difference function 28 Accordingly, a case distinction depending on the previous adjustment of the window pane 4 on.

In the 3a and 3b is in each case the time course of the current actual speed n _i ^t , the deviation between the previous actual speed n _i ^t-1 and the current actual speed n _i ^t , a number of start-up functions 46 and the speed difference Δn. The graphs are not true to scale, but rather qualitative.

According to the upper graphs, the windowpane becomes 4 by means of the electric motor 12 along the adjustment path 14 spent, and this adjustment is interrupted. After the comparatively short break 44 becomes the electric motor 12 energized again, and the sliding windows 4 is set in motion again, wherein both the direction and the desired speed is substantially the same as in the adjustment movement before the interruption 44 , In other words, the current actual rotational speed n _i ^t approximates the actual rotational speed n _i ^t, which prevailed over a comparatively long period (not shown) during the original adjustment movement.

In the graph below, the deviation between the previous actual speed n _i ^t-1 and the current actual speed n _i ^t , ie the difference n _i ^t-1 - n _i ^{t is} shown. At the beginning of the renewed adjustment movement, the amount of this difference is comparatively large and the difference negative. The current actual speed n _i ^t is thus increased. The deviation is essentially exponential. The current actual speed n _i ^t is essentially not more changed when the desired speed of the windowpane 4 is reached. During the accelerated movement, the windowpane becomes 4 oscillated in the manner of a harmonic oscillator. These lead due to the coupling of the window pane 4 to the electric motor 12 to the fact that the current actual speed n _i ^t oscillates comparatively easily. Therefore, the deviation between the previous actual speed n _i ^t-1 and the current actual speed n _i ^{t also shows} a sinusoidal behavior, which is superimposed on the exponential curve and decays with time, ie decreases.

Below that is the history of the startup functions 46 shown. For better clarity, however, is not the respective start-up function 46 itself, but rather the start-up function multiplied by the factor -1 46 , ie the respective negative start-up function 46 shown. Here is a startup function 46a an exponential function, which is a startup function 46a thus has a term of the form A1 · exp (P1 · t).

The startup function 46b is sinusoidal. In other words, this start-up feature 46b a comparatively heavily weighted term of the form A2 · sin (P2 · t). Furthermore, the sinusoidal start-up function decreases 46b exponentially. The term A2 · sin (P2 · t) is thus weighted with an exponential function, which, however, is essentially independent of the exponential start-up function 46a is. A1, A2 denote the respective amplitudes and P1 and P2 are parameters of the individual functions.

The startup function 46c is the weighted sum of the exponential start-up function 46a and the sinusoidal start-up function 46b , The parameters P1, P2 and the amplitudes A1, A2 are in a memory 48 ( 8th ) of the control unit 18 depending on an ambient temperature 50 of the window regulator 2 deposited. Furthermore, these are still dependent on the previous adjusting movement, namely the force and the speed with which the window pane 4 was moved. However, the amplitudes A1, A2 can also be selected such that the first value of the (multiplied by -1) start-up function 46 corresponds to the first determined difference n _i ^t-1 -n _i ^t .

The last graph shows the speed difference Δn. This is determined by adding the start-up function to the difference n _i ^t-1 -n _i ^t 46 is added, here only the sum of the difference n _i ^t-1 - n _i ^t and the exponential and sinusoidal start-up function 46c is shown. The speed difference Δn is positive when the amount of the startup function 46 is greater than the amount of difference n _i ^t-1 - n _i ^t .

In 3a the selection of the amplitudes A1, A2 and the parameters P1, P2 took place comparatively well, and in the adjustment path 14 the windowpane 4 there is no object. Also, the sliding window 4 not slowed down by other influences or otherwise impaired in their shipment. The difference n _i ^t-1 -n _i ^t corresponds essentially to the negative of the start-up function 46c and the determined speed difference Δn is zero (0). The window regulator 2 behaves accordingly as foreseen. Furthermore, the electric motor reaches 12 after a comparatively short period of time, the desired speed, which is essentially the one before the interruption 44 equivalent. This follows, for example, from a comparatively high outside temperature 50 of the window regulator 2 or even from a shipment of the window 4 with a comparatively large force.

In 3b the achievement of the desired speed by the electric motor 12 comparatively late. This is made clear by the fact that the difference n _i ^t-1 -n _i ^t only becomes small relatively late. Likewise, the start-up function is approaching 46c due to the choice of the amplitudes A1, A2 and the parameters P1, P2 only comparatively late to the zero (0), but this happens before the difference n _i ^t-1 - n _i ^t . The reason for the selection of the amplitudes A1, A2 and parameters P1, P2 and thus the comparatively late approach to zero (0) by the start-up function 46c and also by the exponential start-up function 46a is due to the fact that the outside temperature 50 is comparatively low and the window regulator 2 reacts relatively slowly. Furthermore, the period of the sinusoidal start-up function 46b smaller than the one in 3a shown. The window glass 4 leads in this case faster natural oscillations, which is, for example, construction-related.

In the case shown here, the amount of the startup function is correct 46c and the amount of the difference n _i ^t-1 -n _i ^t does not match. The electric motor 12 reaches the desired speed later than expected. Therefore, the detected rotational speed difference Δn is always different from zero (0). The reason for the slowed down acceleration of the windowpane 4 lies in particular in an object that is in the adjustment path 14 located and from the windowpane 4 is trapped during their startup.

In 4a is an embodiment of the speed difference value function 30 represented, by means of which each speed difference .DELTA.n is assigned a single speed difference value .DELTA.n *. The speed difference value function 30 is concave and between 0 rpm and a first limit 52 which is at 2.5 rpm, linear, with the slope of the speed difference value function 30 in this range is constant one (1). In other words, the 1st derivative of the speed difference value function 30 in this range constant one (1), and the second derivative zero (0).

Above the first limit 52 and below a second threshold 54 , which is twice the first limit 52 is, that is 5 rpm, is the speed difference value function 30 square. The 1st and 2nd derivative of the speed difference value function 30 in this second range is therefore greater than or equal to zero. Above the second limit 54 is the speed difference value function 30 hyperbolically. In this area, therefore, the 1st and 2nd derivative are also greater than or equal to the corresponding values in the second region. At the two limits 52 . 54 is the speed difference value function 30 both steadily and continuously differentiable. In other words, the 1st derivative does not indicate the first limit 52 still at the second limit 54 a jump on. To clarify the individual functions in the respective sections, these are in 4a dashed and / or dotted additionally shown.

In 4b is an embodiment of the speed difference value function 30 shown. The speed difference value function 30 is concave, with the first limit not shown 52 lies in the origin. Further, the speed difference value function is 30 limited to the top. In other words, the rotational speed difference value Δn * is not larger than a barrier 56 which is substantially at 6.4 rpm. The smallest speed difference Δn at which this barrier 56 is reached is 2.8 u / min. Thus, each speed difference Δn that is greater than 2.8 rpm is mapped to the speed difference value Δn *, which is 6.4 rpm.

Between 0 rpm and 2.8 rpm, the speed difference value function 28 hyperbolically. If the speed difference Δn is smaller than a third threshold 58 is, the assigned speed difference value Δn * is smaller than the speed difference Δn, and if the speed difference Δn is greater than the third threshold 58 is, the associated speed difference value Δn * is greater than the speed difference Δn. When the speed difference Δn equals the third threshold 58 is, the speed difference value Δn * is equal to the third threshold 58 , In other words, the speed difference value function is located 30 between 0 rpm and the third limit 58 below a straight line of origin 60 with the slope 1 and above the third threshold 58 above the line 60 , Straight 60 thus cuts the speed difference value function 30 at the third limit 58 , The speed difference value function shown 30 is used only when the motor vehicle is exposed to relatively strong shocks, as is the case when driving along a comparatively bad road. If these circumstances are removed, the restriction will be lifted. In other words, the barrier is eliminated 56 and the speed difference value function 30 is essentially hyperbolic for positive speed differences Δn.

5a and 5b each qualitatively show a course of the action value 34 if a binding 62 , while moving the windowpane 4 occurs. In 5a is the binding 62 caused by a jammed object. In 5b is the binding 62 only temporarily and from a vibration of the window regulator 2 conditionally. Below the course of the trigger value 34 in each case the associated course of the speed difference value Δn * is shown.

Once the binding 62 occurs, the current actual speed n _i ^{t of} the electric motor 12 from binding 62 continuously reduced. The current actual speed n _i ^t is therefore always smaller than the previous actual speed n _i ^t-1 . Thus, the rotational speed difference Δn and also the rotational speed difference value Δn * increase, cf. 3a . 3b and 4a . 4b , As long as the speed difference value Δn * is below a tracking threshold 64 is, becomes the previous trigger value 26 adds the weighted square of the speed difference value Δn *. When the speed difference value Δn * is above the tracking threshold 64 is, becomes the previous trigger value 26 the speed difference value Δn * is added. The tracking threshold 64 is 0.7 u / min. The trigger value function 32 thus has a case distinction depending on the speed difference value Δn *.

The course of the trigger value 34 is substantially linearly increasing when the speed difference value Δn * is constant and greater than the tracking threshold 64 is. The previous trigger value 26 and the trigger value 34 That is, they differ in each case only by the constant speed difference value Δn *. Before that is the course of the trigger value 34 essentially that of a power function. If the trigger value 34 the threshold 40 exceeds, the electric motor 12 switched off and the determination of the actual speed n _i ^t the speed difference .DELTA.n, the speed difference value .DELTA.n * and the trip value 34 completed.

In the 4b shown speed difference value Δn * remains during the sluggishness 62 below the tracking threshold 64 , The trigger value 34 is thus the previous trigger value 26 plus the weighted square of the speed difference value Δn *. If this is constant, the course of the trigger value 34 essentially linearly rising, since the previous trigger value 26 and the trigger value 34 each differ only by a constant factor, namely the weighted square of the speed difference value Δn *. The weight of the square of the speed difference value 34 takes place with the reciprocal of the Nachführschwelle 64 ,

If the speed difference value Δn * decreases, the gradient of the course of the action value becomes 34 flatter. When the speed difference value Δn * is an output threshold 66 falls below the previous trigger value 26 no further value added. The trigger value 34 thus corresponds to the previous trigger value 26 , The output threshold 66 is at 0 rpm. If, therefore, the speed difference Δn and thus the speed difference value Δn * fall below zero, the tripping value remains 34 constant. The speed difference Δn is negative in particular if the current actual speed n _i ^{t is} greater than the previous actual speed n _i ^t-1 , and the startup function 46 is sufficiently small, provided that it is used. This is especially the case when the windowpane 4 the binding 62 has overcome. Due to the elasticity of the window regulator 2 namely, the windowpane 4 accelerates when no more force the movement of the windowpane 4 along the adjustment path 14 counteracts. If the speed difference Δn and the speed difference value Δn * fall below a retracking threshold 68 , the trigger value 34 set to zero. The retracking threshold 68 is parameterizable and lies between 0 rpm and -3,7 rpm.

6a and 6b each qualitatively show a further course of the action value 34 if the binding 62 , while moving the windowpane 4 occurs. In 6a and 6b is compared to the in 5a respectively. 5b In addition, the speed difference .DELTA.n shown, wherein as the speed difference value function 30 in the 4b shown function is used as an example.

Once the binding 62 the speed difference Δn increases. As long as this is below the third limit 58 is, the rotational speed difference Δn is reduced to the rotational speed difference value Δn *. Once the speed difference Δn the third threshold 58 exceeds, the speed difference Δn is increased to the speed difference value Δn *, until this is the barrier 56 reached. A further increase in the speed difference Δn does not lead to any further increase in the speed difference value Δn *. This remains rather constant at the barrier 56 , Meanwhile, by means of the speed difference value Δn * the trigger value 34 educated.

In the 6b shown speed difference Δn remains during the sluggishness 62 below the limit 42 , The speed difference value Δn * is thus always smaller than or equal to the speed difference Δn.

In 7a is a limit function 70 as a function of a rotation angle 72 with the electric motor 12 operatively connected worm wheel and a rotation angle 74 of the electric motor 12 shown with respect to the speed difference .DELTA.n. One revolution of the worm wheel corresponds essentially 73 Revolutions of the electric motor 12 , which is why a rotation angle 74 of the electric motor 12 essentially 73 times the angle of rotation of the worm wheel 72 equivalent. Instead of the translation of 1:73, however, other translations are also conceivable. This is preferably between 1:50 and 1: 100.

The rotation angle 72 . 74 be since the beginning of the binding 62 measured, so as soon as a positive speed difference Δn is determined. If the measured speed difference Δn exceeds the limit function 70 while the binding 62 continues, the electric motor 12 stopped or reversed. The limit function 70 arises, for example, when the in 2 shown method executed and the in 4a shown speed difference value function 30 is used. Further, there are approximations 76 to the limit function 70 shown. For rotation angle values 72 which are less than 22 °, is the approach 76a a quadratic function. For all values 72 above that is the rapprochement 76b . 76c linear. In this case, the slope of the straight line changes from a rotation angle of 64 °. For rotation angle values 72 above that the slope is zero (0).

In 7b is another embodiment of the limit function 70 as a function of the angle of rotation 72 with the electric motor 12 operatively connected worm wheel or the angle of rotation 74 of the electric motor 12 shown with respect to the speed difference .DELTA.n. Further, another approach 76d represented, which is a logarithm function. To minimize the pinching forces, the limit function runs 70 shallower in the range of small angles of rotation than the one shown and parameterized by means of a logarithm 76 , Such a limit function 70 For example, by executing the in 2 achieved method, wherein the in 4b shown speed difference value function 30 is used.

8th shows schematically part of the part of the control unit 18 , By means of which the rotational speed difference Δn is determined, hereinafter referred only to the case of a resumption after the interruption 44 is received, so a start from rectification. If the start event 22 enters, the ambient temperature 50 of the window regulator 2 a selection unit 78 fed. The selection unit 78 calls the amplitudes A1, A2 and the parameters P1, P2 as a function of the ambient temperature 50 from the store 48 from. In the selection unit 78 These are converted to a function value Y1, to a function value Y0 and to a parameter Z as well as to a function value W1 and a parameter X.

The function values Y1 and Y0 and the parameter Z are stored in memory within a first microcontroller 80 and the function value W1 and the parameter X in a second microcontroller 82 saved. By means of the first microcontroller 80 becomes the sinusoidal start-up function 46b determined, wherein the exponential weighting is not shown here. By means of a first addition unit 84 a function value Y2 is determined from the function values Y1, Y0 and the parameter Z according to the relationship Y2 = 2 * Y1-Y1 / Z-Y0. This function value Y2 becomes a second addition unit 86 fed. In a subsequent step, the function value Y0 is overwritten with the function value Y1 and the function value Y1 with the function value Y2. Thereafter, the function value Y2 is determined again and the second addition unit 86 fed.

With the help of the second microcontroller 82 becomes the exponential startup function 46a determined. For this purpose adds a third addition unit 88 to the function value W1 the factor W1 / X and uses this sum as a function value W2. Both this function value W2 becomes the second addition unit 86 supplied as well as the function value W1 overwritten with this. The re-determination of the function value W2 also takes place according to the relationship W2 = W1 + W1 / X.

By means of a timer unit 90 in each case a signal is sent to the first addition unit 84 and to the third addition unit 88 which causes them to recalculate the function values Y2 and W2, respectively. In the second addition unit 86 For example, the respective function values Y2 and W2 calculated at substantially the same time are added together and the sum is stored in a memory location. At a suitable time, this value becomes the startup function 46c at a certain time, to a fourth addition unit 92 transmitted there and added to the difference n _i ^t-1 - n _i ^t . The resulting value is the speed difference Δn.

The difference n _i ^{t -1} - n _i ^t is in a difference unit 94 determined. For this purpose, the current actual speed n _i ^{t is} subtracted from the previous actual speed n _i ^t-1 . Subsequently, the previous actual speed n _i ^{t-1 is} overwritten with the current actual speed n _i ^t , while the difference to the fourth addition unit 92 is directed. As soon as the new current actual speed n _i ^{t has been} newly determined, the difference is calculated again. Advantageously, the timer unit 90 set such that the supply of the difference n _i ^t-1 - n _i ^t to the fourth addition unit 92 essentially simultaneously with the determination and transmission of the associated function value of the startup function 46c he follows. In this way, the memory requirement of the second addition unit 86 reduced.

The invention is not limited to the embodiments described above. Rather, other variants of the invention can be derived therefrom by the person skilled in the art without departing from the subject matter of the invention. In particular, all individual features described in connection with the exemplary embodiments are also combinable with one another in other ways, without leaving the subject matter of the invention.

LIST OF REFERENCE NUMBERS

2

power windows

4

windowpane

6

door

8th

A column

10

B-pillar

12

electric motor

14

adjustment

16

top edge

18

control unit

20

button

22

start event

24

reset function

26

previous tripping value

28

Speed differential function

30

Speed differential value function

32

Trigger value function

34

trigger value

36

Overwrite function

38

comparison function

40

threshold

42

of trapping

44

interruption

46

start function

46a

exponential startup function

46b

sinusoidal start-up function

46c

exponential and sinusoidal start-up function

48

Storage

50

ambient temperature

52

first limit

54

second limit

56

Cabinets

58

third limit

60

through origin

62

binding

64

Nachführschwelle

66

output threshold

68

Retrackingschwelle

70

limit function

72

Angle of rotation of the worm wheel

74

Angle of rotation of the electric motor

76a-d

approach

78

selector

80

first microcontroller

82

second microcontroller

84

first addition unit

86

second addition unit

88

third addition unit

90

Timer unit

92

fourth addition unit

94

difference unit

α

shear angle

n _i ^t

current actual speed

n _i ^t-1

previous actual speed

.DELTA.n

Speed difference

.DELTA.n *

Speed differential value

W1

function value

W2

function value

Y0

function value

Y2

function value

X, Z

parameter

Claims (14)

Anti-jamming method for an electric motor operated window regulator ( 2 ) of a motor vehicle, in which - from the deviation between a current actual rotational speed (n _i ^t ) and a previous actual rotational speed (n _i ^t-1 ) of the electric motor ( 12 ) a speed difference (Δn) is formed, - the speed difference (Δn) by means of a, in particular continuous, speed difference value function ( 30 ) is mapped to a speed difference value (Δn *), the second derivative of the speed difference value function ( 30 ) is greater than zero when the speed difference (Δn) is above a first threshold ( 52 ), - a trigger value ( 34 ) by means of a trigger value function ( 32 ) is generated from the speed difference value (Δn *), and - the electric motor ( 12 ) is reversed or stopped when the trigger value ( 34 ) a threshold ( 40 ) exceeds. An anti-jamming method according to claim 1, characterized in that as speed difference value function ( 30 ) a function with a non-negative 1st and / or 2nd derivative is selected. An anti-jamming method according to claim 1 or 2, characterized in that as speed difference value function ( 30 ) at least in sections, a quadratic and / or a hyperbolic function is selected. An anti-jamming method according to claim 1 to 3, characterized in that as a speed difference value function ( 30 ) a linear function is selected if the speed difference (Δn) is below the first limit value ( 52 ) lies. Crushing protection method according to one of the preceding claims, characterized in that as a speed difference value function ( 30 ) select a function that is below the first limit ( 52 ) linear, above the first limit ( 52 ) and below a second threshold ( 54 ) square and above the second limit ( 54 ) is hyperbolic, and / or that the speed difference value function ( 30 ) is selected such that the speed difference value (Δn *) is always greater than or equal to the speed difference (Δn). An anti-jamming method according to claim 5, characterized in that as the second limit value ( 54 ) a speed difference (Δn) between 4 rpm and 6 rpm and in particular 5 rpm is chosen. Anti-trap method according to one of Claims 1 to 6, characterized in that the first limit value ( 52 ) a speed difference (Δn) between 2 rpm and 3 rpm and in particular 2.5 rpm is selected. Crushing protection method according to one of claims 1 to 7, characterized in that as a trigger value function ( 32 ) a number of speed difference values (Δn *) to the trigger value ( 34 ) is added up. Anti-trap method according to one of Claims 1 to 7, characterized in that the sum of the previous trigger value ( 26 ) and the weighted square of the speed difference value (Δn *) the current trigger value ( 34 ), if the speed difference value (Δn *) is below a, in particular constant, tracking threshold ( 64 ) lies. Anti-trap method according to claim 9, characterized in that by means of the trigger value function ( 32 ) the current trigger value ( 34 ) of the sum of the previous action value ( 26 ) and the speed difference value (Δn *) is formed when the speed difference value (Δn *) is above the tracking threshold ( 64 ), or or that the weighting of the square of the speed difference value (Δn *) takes place with a parameter which is less than or equal to the reciprocal of the tracking threshold ( 64 ). An anti-jamming method according to one of claims 9 or 10, characterized in that by means of the trigger value function ( 32 ) the trigger value ( 34 ) and in particular set to zero if the speed difference value (Δn *) is below a retracking threshold ( 68 ), and or that by means of the trigger value function ( 32 ) the trigger value ( 34 ) is kept constant when the speed difference value (Δn *) is below an output threshold ( 66 ), which is in particular at zero. Anti-jamming method for an electric motor operated window regulator ( 2 ) of a motor vehicle, in which - from the deviation between a current actual rotational speed (n _i ^t ) and a previous actual rotational speed (n _i ^t-1 ) of the electric motor ( 12 ) a speed difference (Δn) is formed, - The speed difference (Δn) by means of a, in particular continuous, speed difference value function ( 30 ) is mapped to a speed difference value (Δn *), wherein - the speed difference value (Δn *) is smaller than the speed difference (Δn), if this is below a third limit value ( 58 ), and - the speed difference value (Δn *) is greater than the speed difference (Δn) if it is above the third limit value (Δn). 58 ), - a trigger value ( 34 ) by means of a trigger value function ( 32 ) is generated from the speed difference value (Δn *), and - the electric motor ( 12 ) is reversed or stopped when the trigger value ( 34 ) a threshold ( 40 ) exceeds. Window lift arrangement ( 2 ) of a motor vehicle, with one between an A-pillar ( 8th ) and a B-pillar ( 10 ) arranged electric motor operated window pane ( 4 ), whose upper edge ( 16 ) in the area of the A-pillar ( 8th ) by a shear angle (α) greater than 30 ° with respect to the upper edge ( 16 ) in the area of the B-pillar ( 10 ) and the direction of movement ( 14 ) of the window pane ( 4 ) at a spring rate of 65 N / mm as well as at a spring rate of 20 N / mm, which leads to an identification of a trapping event ( 42 ) required clamping force in the area of the B-pillar ( 10 ) and the A-pillar ( 8th ) is substantially the same, and in particular between 70 N and 90 N or between 50 N and 70 N. Control unit ( 18 ) of an electric motor operated window regulator ( 2 ) of a motor vehicle, which is provided and arranged to perform an anti-pinch method according to one of claims 1 to 12 and / or an entrapment case ( 42 ) according to claim 13.

Images