Abstract: In a control system (10) having a learning mode (20) such that performance limits can be automatically determined for subsequent use during normal operating modes (40), one or more user manipulable controls (18) are provided to allow a user to selectively adjust the previously automatically determined performance limits. In one embodiment the range of adjustment can be limited. The user control (18) can be located in various positions with respect to the control unit (15). In an exemplary embodiment, the control system (10) comprises a movable barrier operating system such as a garage door opener.

Abstract: Disclosed is a speed regulator for an automatically closing slide door for regulating a closing speed of an automatically closing slide door which is closed automatically, comprising; a generator associated with said slide door; an one-way clutch means for converting a linear movement caused during a closing motion of said slide door into a rotational movement and for transmitting said rotational movement to said generator; a resistor connected to an output of said generator; and a speed change means for changing said closing speed of said slide door, at a predetermined position before the closed position of said slide door, from a first predetermined speed to a second predetermined speed slower than said first predetermined speed by changing a resistance value of said resistor.

Abstract: The method of electronically monitoring and controlling a process for moving and/or positioning at least one window and/or sunroof of a motor vehicle to provide protection from pinching includes supplying an input variable, for example drive voltage, and an output variable, for example window position, to a detection device; storing a model in the form of a differential equation describing the process for moving and/or positioning the window and/or sunroof in terms of process parameters in the detection device; optimizing the process parameters of the model according to the input and output variables and storing values of the optimized process parameters in the detection device for the purpose of monitoring; continually evaluating current values of the process parameters obtained by the optimizing by comparing the current values with the stored values; calculating a process correcting quantity in the detection device for adjusting the window and/or sunroof according to the comparing and influencing the proces

Abstract: A wiper control device in which an abnormal condition of a FET is detected by distinguishing an action of an overheat-cutting protective function normally difficult to be detected with measuring the drain voltage of the FET and by which the control of the pertinent FET is restrained upon the detection of abnormality so as to prevent a short circuit in the wiper control device from occurring. When an FETB (Qb) is set on, whether or not a drain voltage Vd is lower than Vpe ({fraction (l/2)}VG) is judged (step S5), and if lower, it is judged that the drain and ground is short-circuited, that is, an overheat-cutting protective function is acted, and “1” is added to the number of times of short circuit detection Perror (step S7). It is judged whether or not the added value of the number of times of short circuit detection Perror reaches a reference value (step S11).

Abstract: A method and a device for incrementally determining the actual reversal of a rotary drive that rotates on slightly even after a preceding signal switching the rotational direction is applied. A sequence of pulse signals (N; S; SL) that are proportional to the rotational speed, with an intermittent reference signal (SL) that is different from said pulse signals, is output by an asymmetric transmitter wheel (1) and received by a single sensor (3) located on the stator. A pulse signal correction value for determining the pulse signal count value corresponding to the actual reversal (U) of the rotary drive is defined, based on the number of pulse signals that are measured between two reference signals following a switch of direction.

Abstract: An electrically moving apparatus for moving a movable body includes a security mechanism for detecting an abnormal increase of a load applied to the movable body during the movable body being moved by an operation of an electric motor. The electrically moving apparatus does not require an increase of a threshold value for judging the increase of the load applied to the movable body. The security mechanism is not operated when an increase of a load for lifting down an operative member being movable in response to the movement of the movable body.

Abstract: The wiper control device comprises a wiper motor 52 for moving a wiper, a switch 53 for outputting a signal which inverts at each single sweep of the wiper, a wiper switch circuit 51 of a combination switch which instructs movement of the wiper, a first solid state switching element FET-b which drives the wiper motor, a controller 55 which turns the first solid state switching element on and off intermittently on the basis of the signal from the switch in a case in which intermittent wiper movement is instructed by the combination switch, a second solid state switching element FET-a2 which is connected in series to the first solid state switching element and is turned on by power source voltage, and a third solid state switching element FET-a1 which is connected in series to the second solid state switching element and is for braking the wiper motor.

Abstract: A motor control apparatus and a motor control method according to a first aspect of the invention are configured to instruct deenergization of a motor a predetermined period of time later than arrival of a subject to be driven by the motor at a speed measuring position. The predetermined period of time corresponds to a current speed of the motor upon arrival of the subject to be driven at the speed measuring position, and the speed measuring position is at a predetermined distance before a target stop position of the subject to be driven.

Abstract: The invention relates to a process for adjusting a motor vehicle part between at least two positions and a drive device for executing this process. The motor vehicle part is driven by an electric motor, and a pulse signal is generated according to the rotary motion of the electric motor which is supplied to a control unit for controlling the electric motor, in which at certain instants the value for the current force acting on the motor vehicle part is determined from the pulse signal. This value of the force is used as the criteria in the decision whether the electric motor is to be turned off or reversed [or not]. Before connection of the electric motor to the motor vehicle part measurements are taken on the electric motor for determining the individual motor characteristics, the measured values determined in this way are used in the determination of the value of the action of force.

Abstract: An automatic opening/closing device of a vehicular opening/closing body, which gradually increases a duty until a rotary pulse cycle is definitely decided at a stage before a jamming determining time comes, thus making it possible to move a backdoor even if a resistance due to self-weight of the backdoor is generated and to prevent a malfunction in which the backdoor is halted or an operation thereof is inverted even under a state where the backdoor does not jam any foreign object.

Abstract: A door speed is detected at every predetermined detecting time, and a door position is calculated at a timing detected the door speed. A target speed according to the door position is obtained by a map. A microcomputer calculates a speed difference &Dgr;VD between the target speed and the actual or present speed, and an acceleration/deceleration value &Dgr;VC such as the speed difference between the door speed at the last detecting time and the present detecting time. A duty increasing value and the decreasing value of a PWM duty command value for adjusting a torque of the motor are set based on the speed difference &Dgr;VD and the acceleration/deceleration value &Dgr;VC, the motor is driven by the PWM duty command value based on the duty increasing value and the decreasing value.

Abstract: In a power window device an MCU detects motor torque values one by one when a window is opened and closed, compares the detected motor torque values with base values set to the travel regions and stops or reverses a motor determining that an object is pinched in the window when the former values exceed the latter values.

Abstract: An entrapment detection device of an opening/closing member which efficiently performs an entrapment determination and restrains an entrapment load even when a motor rotational signal is not inputted. The entrapment detection device includes a controller for performing the entrapment detection based on detected motor rotational signal cycle changes outputted from a motor rotation sensor which is synchronized with the movement of a motor for actuating an opening/closing member. The controller stores the cycle changes of a predetermined number of output pulses from the sensor, predetermines a standard cycle time Tb from the stored pulse output, and calculates a cycle coefficient of the entrapment. When the motor rotational speed is reduced, an entrapment detection operation is performed by comparing a value of time from a previous cycle change to a current cycle change multiplied by the calculated cycle coefficient with the standard cycle Tb.

Abstract: A movable barrier operator includes a wall control switch module having a learn switch thereon. The switch module is connectable to a control unit positioned in a head of a garage movable barrier operator. The head unit also contains an electric motor which is connected to a transmission for opening and closing a movable barrier such as a garage door. The switch module includes a plurality of switches coupled to capacitors which, when closed, have varying charge and discharge times to enable which switch has been closed. The control unit includes an automatic force incrementing system for adjusting the maximal opening and closing force to be placed upon the movable barrier during a learn operation. Likewise, end of travel limits can also be set during a learn operation upon installation of the unit.

Abstract: An automated garage door closing device for a remote controlled overhead garage door wherein the device is mounted on one of a pair of parallel tracks receiving rollers suitably mounted on the outer edges of the door panels, the device including a switch housing containing a switch for the leading edge of the door, and a circuit located in a second housing adjacent the garage floor and including an interval timer acting to close the door after a predetermined period of time, an audible alarm which is activated upon the garage door reaching the fully open position, a switch deactivating the entire unit when the garage door is deliberately to be left in the fully open position, and a flexible switch arm extending through the switch housing to a position to engage the upper edge of the garage door panel and acts to activate the automated closing device.

Abstract: The present invention provides a power window system, by which it is possible to reliably detect that a foreign object is caught in a car window even during the period from the time of starting of a motor to the time when stable operation of the window is reached, and also, it is possible to minimize erroneous detection. The power window system of the present invention includes a pulse generator for generating repeated pulses in response to rotation of a motor, and a control unit for judging that a foreign object is caught in the window. The control unit divides the period of operation into three periods to match the characteristics during the starting of the power window system, i.e. a first period from the starting of the motor to the initiation of upward or downward movement of the window, a second period to the time point when the window reaches and maintains stable operation, and a third period after the second period.

Abstract: An electrical circuit arrangement for controlling a unit, such as an adjustment system for windows or a sliding sunroof, that is driven by a motor and is situated in a motor vehicle. The arrangement guarantees that, in the case of a short-circuit of circuit components, especially a control device operation of a motor is still possible, especially in a preferred direction of motor rotation, whereby the direction of rotation results in an opening of the unit and the short-circuit is caused by salt water for instance. Two circuit-breaker elements that operate the motor in either direction can be directly activated by an allocated circuit device which bypasses a failed control device. The remaining circuit-breaker element is blocked at least when the first circuit-breaker element is activated.

Abstract: A method for determining the position of a movable element to be driven by a direct current motor between first and second positions includes counting ripples contained in a motor current signal as the motor rotates to drive the element. The position of the element is determined based on the counted ripples. The motor actuates, until the current signal is void of ripples, to move the element into the first position when the element is to be moved out of the first position towards the second position. The counted ripples is reset to a reset value after the motor has been actuated to move the element into the first position such that the reset value corresponds to the position of the element being in the first position. The motor actuates to move the element towards the second position after the counted ripples has been reset.

Abstract: An automated garage door closing device for a remote controlled overhead garage door wherein the device is mounted on one of a pair of parallel tracks receiving rollers suitably mounted on the outer edges of the door panels, the device including a switch housing containing a switch for the leading edge of the door, and a circuit located in a second housing adjacent the garage floor and including an interval timer acting to close the door after a predetermined period of time, an audible alarm which is activated upon the garage door reaching the fully open position, a switch deactivating the entire unit when the garage door is deliberately to be left in the fully open position, and a flexible switch arm extending through the switch housing to a position to engage the upper edge of the garage door panel and acts to activate the automated closing device.

Abstract: An apparatus for driving a motor that opens and closes the window of vehicle, for example, is so adapted that when the vehicle becomes submersed in the sea, a lake or a river, etc., the window is prevented from being closed owing to malfunctioning of a relay caused when a leakage current flows into an operating switch for opening and closing the window. When submersion is sensed and it is sensed that the motor is being rotated by a malfunction in a direction that closes the window, a relay for rotating the motor in the forward direction is actuated. This prevents the occurrence of a situation in which the motor is caused to rotate (especially in the direction that closes the window) regardless of the fact that the operating switch has not been operated.

Abstract: A power window control apparatus for controlling vehicle power windows (12-18) includes window control switches (52-58) for controlling power window control motors (20-26). When two window control switches (52-58) are simultaneously and momentarily actuated downward, a controller (40) controls the motors (20-26) to lower the windows (12-18) to a predetermined position from an initially closed position. In the event that one or more windows are initially open, the controller (40) lowers the windows for the time interval that the two window control switches are actuated downward. When the two window control switches (52-58) are moved in the upward direction, the controller (40) simultaneously controls all the motors (20-26) to raise all open windows (12-18) to a fully closed position.

Abstract: A motor vehicle door lock including a diode for operating an electric motor drive in one direction of drive rotation. To minimize the electric motor turning back against the direction of drive rotation in the off state, the diode is connected in parallel to the electric motor drive which provides essentially for short circuiting of the electric motor drive when it turns back. In this way, rebound of the electric motor drive is prevented or reduced.

Abstract: A method of bridging partial tightnesses of moveable members received in guides and driven by electric drive motors provides an automatic monitoring function. Within a tightness region, a releasing force is varied in one or several steps. An automatic bridging function is utilized, which corresponds to the rotary speed course, and an automatically operating control operates so that the releasing force is increased only in a limited region of the identified bridging location.

Abstract: A auxiliary vehicular window recessing system for providing a secondary means of recessing the electrically-controlled windows of a vehicle in the event of submergence in a body of water. The auxiliary vehicular window recessing system includes a secondary motor for moving the window of the vehicle. A secondary gear member driven by the secondary motor is engaged with the main drive gear such that rotary motion of the secondary gear member biases the primary window drive system thereby recessing the window when the secondary motor is activated. An auxiliary, waterproof battery provides power, while a sealed fuse electrically protects the secondary motor. Optionally or in conjunction, a manual crank apparatus engages the primary window drive system for manually recessing the window.

Abstract: An automatic door operating safety system particularly used with garage doors is provided. A security timer for a powered overhead garage door causes the door to close after it has been opened for a predetermined time interval. Before timeout, the system will determine by its various sensors whether there is any activity within the area. Upon the absence of such activity the system signals the command for door closure.

Abstract: A motor vehicle door lock and a process for controlling a motor vehicle door lock, the motor vehicle door lock having an electric motor drive for reaching a set position based upon at least one operating parameter such as a start-up characteristic acquired when the drive is started up. The electric motor drive is shut off and short circuited prior to the set position in time and in position. In order to achieve high positioning accuracy, deviations from the set positions are acquired to correct the shut-off point for later positioning.

Abstract: An apparatus and method for controlling electrical devices such as electric trains using a computer is disclosed. The invention utilizes standard ports that appear on most computers, and works with standard well-known widely commercially available train sets. The invention has customized software and circuitry for managing the speed and direction of one or more motors, and also for controlling the configuration of track turnouts. The invention can also be configured and updated by the user to fit the characteristics of a user's specific layout.

Abstract: Method of controlling a motorized door by offloading the burden to a separate motion control processor. The method includes generating, in a central processor for the door, one or more signals indicative of a predetermined door speed profile for a stroke of the door. The predetermined door speed profile provides an ideal velocity versus an elapsed time since a beginning of the stroke. The signals are communicated to a motion control processor and the motion control processor also receives door position signals from a position encoder. The motion control processor generates signals indicative of the velocity of the door based on the door position signals and it generates error signals based on discrepancies between the velocity of the door and the ideal velocity. It generates motor control signals based on the error signals and the motor control signals are communicated to the motor of the door.

Abstract: An adjunct device for a garage door opener and closer system containing a microprocessor which automatically closes the garage door after a 45 second delay, and includes three LED's to indicate the door closure, motion detection, and a manual override of the system. The adjunct device has a push button switch which programs the adjunct device to the same infrared frequency as the conventional garage door opener device. The adjunct device also contains a manual override element, an oscillator circuit, a reset circuit, a surge protector circuit, and a voltage regulator circuit.

Abstract: The present invention is directed to a motor vehicle door lock such as a side door lock, a rear door lock, a rear hatch lock, or a hood lock and a process for controlling such a motor vehicle door lock, wherein the lock includes an electric motor drive for reaching a set position depending upon at least one start-up characteristic acquired when the electric motor drive is actuated and is at least one of shut off and short circuited prior to a set position in time and space.

Abstract: The invention relates to a method for standardizing the pane position of an external force actuated vehicle window lifter wherein the window pane is moved by means of the drive of the window lifter into a closed position provided with a seal and this closed position is used to standardize the pane position. According to the invention, in order to check whether the window pane has reached its closed position, the change is evaluated in a value (T) correlated with the dynamics of the window pane as the window pane enters into the seal area associated with the closed position.

Abstract: A power window controlling device, which detects an obstruction-caught state without misunderstanding even if the electric potential at the power source drops abruptly, which comprises switches, an electric motor, a drive system, a drive controller, a rotation sensor, a motor speed calculating device, a source voltage detecting circuit, a data signal generating device and a motor torque calculator. The motor torque calculator calculates correcting data of motor torque on basis of a correcting data signal given from the data signal generating device and a rotational speed signal of the motor given from the motor speed calculator, and compares the correcting data of the motor torque with the predetermined criterion value in a case where the electric potential of the power source changes.

Abstract: An operator for opening and closing movable barriers such as garage doors comprising a pass point limit system which is a component of an operating head. The operator is responsive to remote control from a wall panel or other location remote from the operating head to enable setting and adjustment of door travel limits from a remote location, without requiring installation of limit switches separate from the operating head.

Abstract: A system and method for using a relatively high voltage power source on a locomotive to power a windshield wiper system that is capable of operating at variable and interval delay speeds comprising a first DC electric motor, a second DC electric motor, a controller operatively connected for enabling operation thereof, and a convertor power supply connected to the relatively high voltage power source where the convertor has a dynamic response characteristic emulating the electric power characteristics of a conventional vehicle battery whereby the convertor can be rated for supplying nominal motor current but can supply relatively high currents to the first DC motor to allow the motor to overcome stalled conditions

Abstract: The control device includes a switch (12) controlling the power supply to the motor and an actuator which actuates this switch by rotatably reacting against the moving object being restrained so as to cause said switch to be opened and to cut off the power supply to the motor. This actuator consists of a bistable mechanical device (11) capable of taking up a first state in which the switch (12) is closed and a second state in which the switch is open. The actuating device also includes a cable (17) for putting the actuating device into its first state, this device being brought into its second state by reacting against the moving object.

Abstract: A motor control apparatus is arranged to drive and control a motor for transmitting the rotating force of the motor through a gear train. In reversing the rotation of the motor, the motor is caused to rotate at a speed higher than a normal rotation speed for a period of time which is about the same as a period of time required for absorbing a clearance or play existing between the gears. In this instance, since the motor is under no load, the motor is rotated at the higher speed with a small current and a small torque. The arrangement effectively lessens a noise generated in reversing the rotation of the motor due to the clearance or play existing in the motor driving force transmitting part.

Abstract: A device for displacement of a movable part on motor vehicles such as sliding roofs, windows or the like including an electrical servomotor permanently mechanically coupled to the movable part and a supply circuit adapted to operate the electrical servomotor and to brake the electrical servomotor by short circuiting the electrical servomotor when the movable part reaches a desired position, where the supply circuit includes an isolating device for breaking the supply circuit to prevent short circuit braking of the electrical servomotor thereby allowing manual displacement of the movable part.

Abstract: An automatic opening-and-closing device can be obtained which can prevent a foreign object from being caught in by detecting the foreign object even if an opening/closing speed of a moving body changes or the foreign object is small. An automatic sliding door device 10 detects that there is an foreign object on a locus of sliding of a door panel 14, by detecting a pushing reaction force when a pressure sensitive sensor 60 pushes the foreign object at the time of forward sliding of the door panel 14 slides forward. Hence, even if the sliding speed of the door panel 14 changes, or even if the foreign object is small, the foreign object can be detected to thereby prevent the foreign object from being caught in the door. Moreover, with the automatic sliding door device 10, a code 80 is passed through inside of the door panel 14 and connected to a lower end portion of the pressure sensitive sensor 60 via a circular hole 110 formed at a lower end portion of the door panel 14.

Abstract: A wiper control device suitable used for controlling the wiper apparatus possible to solve a difference in the wiping range caused by the difference in the operation speed (inertial force) of the wiper blade by using the wiper linkage provided with an eccentric mechanism and changing the rotational direction of a wiper motor according to the operation speed, the wiper control device is provided with a wiper switch, the wiper motor, a position switch, a controller and a motor driving circuit, and the controller executes control to change the rotational direction of the wiper motor at the time when the wiper blade arrives in the upper or lower turning position in response to switching operation of the wiper mode.

Abstract: A method and apparatus for automatically controlling the movement of a door over a floor from an open position to a closed position with respect to a door frame, by mounting ultrasonic transmitters at one side of the door frame and oriented to transmit ultrasonic energy downwardly towards the floor and to reflect the energy from the floor upwardly upwardly at the other side of the door frame; mounting ultrasonic receivers over the door frame at the opposite side and oriented to receive the energy from the ultrasonic transmitter reflected by the floor; and processing the reflected energy received by the ultrasonic receiver to detect the presence of an object in the path of the door, when moving toward its closed position, and to automatically interrupt the closing of the door.

Abstract: An improved method of detecting the presence of an obstacle in the path of a motor-driven panel by computing the slope of a measured motor speed signal in a way that cancels the effect of periodic undulation of the speed signal, and comparing the computed slope to a slope threshold that is selected as a function of the average motor speed. A position sensor produces a series of pulses corresponding to panel movement, and a microprocessor-based controller stores an array of speed-related samples corresponding to the time periods between successively produced sensor pulses. The average speed is computed at two different points in the array, and the slope of the stored speed samples is determined according to a difference between the computed average speeds.

Abstract: A wireless operating system (10) utilizing a multi-functional wall station (12) for a motorized door/gate operator includes an operator (50) for controlling the movement of a door/gate (54) between various positions. The system has an operator with a receiver (56) and a wall station transmitter (12) for transmitting a signal (42) to the receiver. The signal initiates separate operator functions in addition to opening and closing of the door/gate. A remote transmitter (70) may send a remote signal (74) received by the receiver, wherein the receiver is capable of distinguishing between the wall station signal (42) and the remote signal (74). The wall station includes a transmitter programming button (24), wherein actuation of the transmitter programming button places the wall station transmitter in a learn mode, and wherein subsequent actuation of the remote transmitter positively identifies the remote transmitter for use with the wall station.

Abstract: An interlock system for a lawn and garden tractor or similar vehicle includes a latching circuit with a two-pole seat switch and an operator push button switch connected to a latch relay to provide operator actuated mow in reverse feature. The system provides a latching function which is actuated by the operator each time the vehicle is put into reverse to facilitate mowing in reverse. If the vehicle is placed in reverse with the PTO turned on and without the push button switch being depressed, the engine will be disabled. Also, if the operator leaves the seat while the vehicle is mowing in reverse, the engine will be disabled. The circuit includes a two pole operator presence switch connected to the PTO switch and to the brake switch, respectively, to isolate the circuits for simplicity and ease of routing connecting lines to indicators.

Abstract: A movable barrier operator includes a wall control switch module having a learn switch thereon. The switch module is connectable to a control unit positioned in a head of a garage movable barrier operator. The head unit also contains an electric motor which is connected to a transmission for opening and closing a movable barrier such as a garage door. The switch module includes a plurality of switches coupled to capacitors which, when closed, have varying charge and discharge times to enable which switch has been closed. The control unit includes an automatic force incrementing system for adjusting the maximal opening and closing force to be placed upon the movable barrier during a learn operation. Likewise, end of travel limits pan also be set during a learn operation upon installation of the unit.

Abstract: A motor control apparatus for a railway switch machine includes a power source for a voltage; a selector for providing the voltage to a reversible motor of the switch machine in a normal state, and for providing a reverse polarity of the voltage to the reversible motor in a reverse state; a first transistor for switching reverse current flowing through the reversible motor; a first diode electrically connected in parallel with the first transistor for conducting normal current for the reversible motor; a second transistor for switching normal current flowing through the reversible motor; a second diode electrically connected in parallel with the second transistor for conducting reverse current for the reversible motor; and a circuit for controlling the first and second transistors based upon the position or operating mode of the railway switch machine.

Abstract: A vehicle window obstruction detection system looks for lateral forces on the window. A lateral force is indicative of an obstruction in the path of the window, and is particularly indicative of a living obstruction. The presence of the lateral force is utilized to identify an obstruction, and stop further movement of the movable closure.

Abstract: This invention relates to a system and method for monitoring and controlling the operation of a motorized convertible top such that it may be extended and retracted automatically. The system and method of the present invention monitors the movement of the various components to provide fluid, simultaneous motion. It further detects and corrects improper alignments that may result in damage to the top due to overlapping elements or binding elements, and stores error information useful in diagnosing and repairing unrecoverable errors.

Abstract: An automated garage door closing device for a remote controlled overhead garage door wherein the device is mounted on one of a pair of parallel tracks receiving rollers suitably mounted on the outer edges of the door panels, the device including a switch housing containing a switch for the leading edge of the door, and a circuit located in a second housing adjacent the garage floor and including an interval timer acting to close the door after a predetermined period of time, an audible alarm which is activated upon the garage door reaching the fully open position, a switch deactivating the entire unit when the garage door is deliberately to be left in the fully open position, and a flexible switch arm extending through the switch housing to a position to engage the upper edge of the garage door panel and acts to activate the automated closing device.

Abstract: A controller for a power window detects a pinching situation where an obstacle is pinched or sandwiched between a frame of a window and a window glass sliding upward. External disturbances such as changes of motor terminal voltage are also detected, and effects thereof on detecting the pinching situation are eliminated. The motor rotational speed variation rates (R) are calculated based on the motor speed (V) in each measuring section divided out from a closing stroke of the power window. The variation rates (R) memorized in a previous closing stroke are used to adjust a threshold value (TH) for finding the pinching situation in a following closing stroke. The motor speed variation rate (R) is compared with the adjusted threshold value (TH′), and the pinching situation is found out when the speed variation rate (R) in a deceleration direction exceeds the adjusted threshold value (TH′).

Abstract: A method for controlling non-synchronous actuators using a first and second estimate of the position of the actuator to create a variable position estimate window between which the actual position of the actuator is always bound. The first and second estimates of position are calculated based on the maximum and minimum speeds at which the actuator could be moving in each of first and second directions, and further wherein motion of the actuator in a saturated direction is disabled for as long as the first and second estimates converge at one of two final positions.