Pinch detection algorithm based on sliding mode estimator for automotive power window

The uncertain exogenous disturbance torque of power window is estimated using the sliding mode estimator in this paper. Then the characteristic of the friction torque is determined by experiment, and based on spectrum analysis of friction torque, the method of separating the friction torque from exogenous disturbance torque estimated is addressed. Further the pinch detection algorithm is presented. Experiment results show that pinch detection algorithm in this paper is effective.