• embedded
• automotive
• controllo
• control
• identificazione
• simulation
• simulazione
• verification
• verifica
• system
• codice
• code
• anti-pinch
• identification
• sistema

In this document we describe the model and the dynamics of an electric window system. The mathematical model is translated into a simulator, implemented in the Matlab/Simulink environment. The simulator is calibrated and tested with several experiments.
In order to study the system observability, a linearized version of the model and a non-linear approximation of it are introduced.
The observability of these systems is then studied in several cases: with or without the measure of the vertical acceleration, and with the measure of the motor revolutions or with the measure of the internal current.
According to the results of this study an Extended Kalman Filter is built in order to estimate the force applied on the window (even during strong vertical accelerations of the car).
The proposed filter is able to estimate the external force applied on the glass in real-time during its rise and could be an option for the implementation of an anti-pinch system.
Subsequently is examined the parameter sensitivity of the system and then is introduced a model with two degrees of freedom and a preliminary model of the double-rail actuation system.
The Magna Closures PL7 anti-pinch code is examined and tested and a simplified simulation is proposed. The anti-pinch system sensitivity is analyzed.
Finally, alternative anti-pinch algorithms are proposed and compared.