CN117536511A

CN117536511A - Apparatus and method for closing door

Info

Publication number: CN117536511A
Application number: CN202311448613.7A
Authority: CN
Inventors: 马丁·丹内曼; 塞巴斯蒂安·普伦格尔
Original assignee: Magna Covering Co ltd
Current assignee: Magna Covering Co ltd
Priority date: 2020-01-02
Filing date: 2020-01-02
Publication date: 2024-02-09
Also published as: CN113062668A; CN113062668B

Abstract

The invention relates to a device (6) for closing a door (2) in a door recess (4), in particular in a door recess on a vehicle (40), having: a seal (20) formed between the door and the door recess for separating an interior space (22) and an exterior space (24) from each other in an installation environment of the door; a door drive (10) for closing the door; control means (18) for controlling the operation of the device according to a user operation request (F _SW ) To operate the door drive, and to a door arrangement and a motor vehicle.

Description

Apparatus and method for closing door

The present application is a divisional application of patent application with application number 202010002185.5, entitled "apparatus and method for closing door" on application day 2020, 1 month and 2 days.

Technical Field

The invention relates to a device for closing a door at a door recess, a door arrangement having such a device, a motor vehicle having at least one such door arrangement, and a method for closing a door at a door recess.

Background

The invention will be described in the context of an electromechanically actuated vehicle door. The invention can of course also be used on a door on and/or in a building, wherein the interior space is separated from the exterior space by closing the door. In addition, the present invention may also be used with other door drives, such as in hydraulically actuated doors.

The closing of the vehicle door and, if necessary, also the subsequent locking under different operating conditions of the motor vehicle or door requires very different closing forces and closing torques. There are a number of reasons for this. For example, when the driver's door is opened in a parking position where the road is inclined toward the driver side, a significantly larger closing moment is required only due to the inclined posture than in the case of closing the door on a horizontal ground.

In addition, the door is typically closed against an at least partially encircling sealing element (which may be provided on the door and/or the door frame) so that the required closing moment also depends on the material properties of the seal.

In addition, an operating situation occurs in which the interior is closed in an airtight manner with the door closed, for example when the ventilation device is set to circulate air while all other doors and windows are closed.

In the case of known actuation of the vehicle door, the problem of different required closing torques is addressed by determining the maximum required closing torque of the door for all predetermined operating conditions, which then acts in principle when the user wishes to close the door. A safety margin is also employed here if necessary to ensure that the door is reliably closed in every operating situation of the vehicle.

As a reference variable in setting the door closing parameters, there are, in addition to the closing torque, for example, closing speeds which ensure a sufficient closing impulse given the door weight.

The purpose of the closing process in these known vehicle doors is generally to close the door against all resistance forces until the door engages into an additional blocking element (soft closing unit) which then moves the door into the final blocking position.

The known method approaches, i.e. closing the door with a sufficient speed or a sufficient closing torque for all preset operating situations, however entail disadvantages with regard to noise generation during closing (forced closing) or possibly also with regard to wear of the involved components. Both of which can additionally contradict the appearance of high value vehicles.

Disclosure of Invention

Against this background, it is an object of the invention to improve an apparatus for closing a door at a door pocket and to provide an improved method for closing a door at a door pocket.

The object is achieved by a device for closing a door at a door pocket and a method for closing a door at a door pocket, as well as a door arrangement with such a device and a motor vehicle with at least one such door arrangement. Preferred embodiments of the present invention are described hereinafter.

According to one aspect of the present invention, an apparatus (hereinafter also referred to as a closing apparatus) for closing a door at a door pocket, in particular a door pocket located on a vehicle, is provided. The device is arranged in particular at a door and/or at a door recess and has:

a) A seal formed between the door and the door recess, in particular having a plastic sealing lip at least partially surrounding the door recess, for separating an interior space and an exterior space (in the closed state of the door arrangement) of, for example, a vehicle or a room from one another in the installation environment of the door. Typically, the seal has at least one sealing element at the door and/or at the door recess.

b) A door drive, in particular an electric motor, for example a linear motor, connected to the door frame and the door leaf of the door by means of a suitable transmission, is used for closing and, if appropriate, also for opening the door.

c) Control means for actuating the door drive as a function of an actuating requirement of a user, wherein the actuating requirement can be indicated by the user of the door, in particular by actuating the actuating element and/or by a movement of the door. The operating requirements are in particular implemented according to at least one predetermined value of at least one shutdown parameter.

The control device has a state monitoring unit which is set up to determine a characteristic of at least one variable state variable of the installation environment of the device, the door recess and/or the door, wherein the control device is set up to determine a value of at least one closing parameter for closing the door as a function of the determined characteristic of the state variable.

The monitored state variables can be associated with the seal, for example, such as, in particular, the seal temperature or the aging state of the seal; however, the monitored state variable can also be associated with the installation environment, such as, in particular, the ambient temperature in the region of the seal.

The state monitoring unit can be connected for monitoring purposes, as a function of the monitored state variables, for example with sensors, such as temperature sensors, and/or with a reading device for reading the temperature model stored in the control unit. As a feature, a temperature value can then be determined and monitored, for example.

The value of which is determined and/or regulated as a closing parameter, in particular a closing torque and/or a closing speed. The required closing speed can also be determined from the required closing torque if necessary, in particular additionally depending on the weight of the door and/or other factors.

According to a further aspect, a door arrangement is provided, in particular in a motor vehicle or in a building, having a door, a door recess and a device for closing the door at the door recess according to an embodiment of the invention.

According to a further aspect, a motor vehicle is provided, which has at least one, in particular two or four door arrangements according to one embodiment of the invention.

According to another aspect, a method for closing a door at a door pocket, in particular a door pocket located on a vehicle, is provided. The method comprises the following steps: i) Determining an operating requirement for closing the door, in particular an operating requirement of a user of the door, ii) determining a characteristic of the at least one variable state variable, in particular by means of the state monitoring unit; iii) The value of at least one closing parameter is determined by means of a control device as a function of the detected characteristic, to which the state monitoring unit is connected iv) a door drive for closing the door is actuated by means of the control device as a function of the determined value, v) the door is closed by means of the door drive as a function of the actuation.

The invention is based on the following knowledge, inter alia: depending on the state of the door seal, different closing forces may be required when closing the door at the door frame. The state of the door seal is defined here in particular by the rigidity of the seal material, which in turn, in particular in the case of plastic seal elements, is strongly dependent on the current temperature of the seal material and the ageing state of the seal element.

In addition to this, the invention is based on the following knowledge, inter alia: a number of other variable influencing factors influence the required closing force, also because of the displaceability of the air in the interior space of the vehicle, in particular, with respect to the state of the vehicle ventilation, other doors and windows of the vehicle: if the window is open, for example, the device only has to apply a very small additional force when the door is closed, in order to compress the air in the interior space; whereas the additional force required is relatively high if the ventilation device is set to circulate air and close all other doors and windows at the same time, for example.

The invention is based on the following idea, inter alia: one or more important influencing factors influencing the force required for reliably closing the door towards the door recess are determined and/or monitored, and the required closing parameters (typically closing moment and/or closing speed) are determined and/or adjusted as a function of the monitoring result. Depending on the application, a single state variable may be decisively important here, so that no monitoring of other state variables is necessary; but may also require monitoring of multiple state variables.

Such matching of the closing parameters to the required extent (e.g. "as small as possible, as required" according to the principle, or in terms of "sound design" when closing the door) enables a reliable closing of the door with the minimum required force. The door closing noise can thus be improved in that: avoiding unnecessary forced closing of the door. If necessary, even in the case of designs for continuous loads, the seal can be designed without taking into account large load peaks, which are then dispensed with.

According to one embodiment, the control device has a state correction unit which is set up to determine at least one characteristic of the installation environment of the device, the door recess and/or the door, which at least substantially represents a state variable which remains unchanged (also referred to as a state variable which remains unchanged or is constant in the following). In this embodiment, the control means is designed to determine a value of at least one closing parameter for closing the door, in particular a closing speed and/or a closing torque, as a function of the determined characteristic. Thereby, influencing factors from the environment, such as the characteristics of the vehicle, e.g. material characteristic values and/or tolerance zone-characteristic combinations, are introduced into the calculation, which can thus be more accurate.

According to one embodiment, the state monitoring unit and/or the state correction unit has at least one sensor device adapted to measure a characteristic of at least one state variable.

Depending on the monitored state variables, the following sensor types are considered, among other things: a) Acceleration sensors for detecting the spatial orientation of the door and/or the vehicle (i.e. for example the inclination of the vehicle); and/or b) a timer for detecting the age of the seal (even if the timer is clearly not a sensor in the narrow sense, it enables monitoring of the time value, for example to infer the ageing state of the sealing element, and therefore also referred to herein as a sensor); and/or c) a position sensor, in particular an incremental sensor or a motor field monitoring device or an image detection device with element detection, wherein the position sensor can be used, for example, c 1) to detect a door position, in particular a door opening angle, or c 2) to detect a position of a ventilation flap, a window or a door.

The sensor device according to one embodiment has a temperature sensor which is arranged in the vicinity of the seal and/or accesses the detected values of other temperature sensors in and/or outside the vehicle in order to be able to determine a temperature-dependent change in the rigidity of the seal in the case of a plastic seal in most cases.

The one or other sensor implementation is provided with: the device is adapted to state variables important in different applications.

In order to take into account the saved (operating) model (for example in the case of a digital component, dual engine) and/or the user inputs and/or sensor values of the vehicle which are provided in the vehicle control unit, the state monitoring unit and/or the state correction unit have, according to one embodiment, suitable input means, for example a keyboard, a touch input device or the like, and/or the feasibility of an especially automatic database query, in particular for comparison with the characteristics of the saved state variables and/or for querying the characteristics of the state variables in the model saved in the control unit, which model correlates other factors with the characteristics of the state variables.

The input mechanism can be adapted to make corrective inputs and/or include a user. The (run) model of the state variable can be used for monitoring the variable state variable and/or for correcting the state variable that remains unchanged.

In order to be able to control the closing parameter(s) as a function of the characteristics of the state variable(s), according to one embodiment the operating requirements and the characteristics of the state variable are determined a plurality of times per second and the closing of the door is controlled in real time as a function thereof, in particular by: based on the last determined value of the closing parameter, an adjusted value of the closing parameter is determined in accordance with the last determined operating requirement and in accordance with the last determined characteristic, respectively.

According to one embodiment of the method, at least one characteristic of the state variables which at least substantially represent a holding state is additionally detected, and the value of the closing parameter is additionally determined from the characteristics of the state variables which remain unchanged.

In order to achieve a matching of the closing parameter to a plurality of important influencing factors, according to one embodiment, the value of the closing parameter is determined from a plurality of characteristics of the state variable which are variable and/or which appear to remain unchanged.

In order to assist the adjustment control of the closing parameter, according to one embodiment, when determining the value of the closing parameter, the in particular previously determined value of the closing parameter is adjusted as a function of the characteristic of the state variable(s), in particular by multiplying the value by an adjustment factor and/or increasing/decreasing the value by an adjustment magnitude. In particular, a simple adjustment of the existing control device for the driven door is thereby also achieved.

Depending on which influencing factor or factors are important in the respective application case, it is possible, for example, to consider at least one from the following list as a variable state variable: 1) the temperature of the seal, in particular by means of a temperature sensor and/or by means of a temperature model, 2) the temperature in the interior and/or in the exterior, in particular by means of a temperature sensor and/or a temperature model, 3) the tilt position of the vehicle, in particular by means of a high-resolution acceleration sensor, 4) the opening angle of the door, in particular by means of a position sensor, 5) the volume of air to be compressed in the interior separated by the door, in particular by means of communication with a control unit of an air conditioning/ventilation unit, other vehicle doors and/or window lifters, 6) the degree of ageing of the seal, in particular by means of an ageing model for the sealing element and the timer. Thus, the device detects the influencing factor that has the greatest influence on the usual shutdown parameters.

In order to be able to dispense with a separate temperature sensor, according to one embodiment the seal temperature is determined by means of an approximation calculation from the detected temperature in the inner space and/or the detected temperature in the outer space.

Depending on which influencing factor or factors are important in the respective application case, at least one from the following list can be considered as a state variable which appears to remain unchanged: 1) The material and/or nominal geometry of the seal, in particular from a material model and/or a geometry model, 2) the nominal geometry and/or the actual geometry of the door and/or the door frame, in particular from a tolerance model of the door and/or the door frame.

In order to avoid loading the door or the door frame with a high closing torque and/or a high closing speed in individual cases, according to one embodiment, in addition to adjusting the value of the closing parameter, the compressibility of the air volume is also adjusted, in particular by means of (for example briefly) opening a ventilation valve of an interior space ventilation of the vehicle or (for example briefly) opening a window.

Drawings

Other features, advantages and practical applicability of the present invention will become apparent from the following description taken in conjunction with the accompanying drawings. The drawings show:

FIGS. 1a-b show schematic top views of a door arrangement with a door and a door recess and a closing device according to an exemplary embodiment of the invention in an open (FIG. 1 a) and closed (FIG. 1 b) condition;

figures 2a-b show schematic top views of a door arrangement with a door and a door recess and a closing device according to an exemplary embodiment of the invention and a soft closing unit in an open (figure 2 a) and closed (figure 2 b) situation;

fig. 3 shows a schematic top view of a motor vehicle according to an exemplary embodiment of the invention with four door arrangements; and

fig. 4 shows a schematic rear view of the motor vehicle of fig. 3 in an inclined parking position.

Detailed Description

In fig. 1a door arrangement 1 with a door 2 and a door recess 4 and a closing device 6 according to an exemplary embodiment of the invention is shown. The door arrangement 1 is in the embodiment described a side door of a motor vehicle; the body part 8 of the side of the motor vehicle (see reference number 40 in fig. 3 and 4), which is not shown in fig. 1 in other cases, forms the door recess 4.

The closing device 6 has a door drive 10 in the form of a linear electric motor, the motor body 12 of which is fastened to the door 12 and the actuator 14 of which is fastened to the door recess 4. Depending on the deflection of the actuator 14 along the drive axis a of the linear motor 10, the door 2 can be opened or closed about the rotary support 16 of the door arrangement 1.

A seal 20, which in the illustrated embodiment is positioned circumferentially along a common predetermined contact surface between the door 2 and the door recess 4, is provided between the door and the door recess. The seal 20 has a plastic sealing element 21 which is designed to elastically deform (i.e. compress) between the inner space 22 and the outer space 24 to seal the opening of the door pocket 4 when the door 2 is closed towards the door pocket 4.

The closing device 6 furthermore has a control mechanism 18, by means of which the linear motor 10 can be closed in accordance with the closing demand of the vehicle sensors. The user can, for example, apply the closing force F manually at the door by means of an actuating element, not shown, or by means of a manual force _SW The control mechanism 18 is informed of a closing request, which closing force is detected by the introduced motor movement.

Furthermore, the closing device 6 has an interior temperature sensor 23 arranged in the interior 22 of the vehicle and an exterior temperature sensor 25 arranged in the exterior 24 of the vehicle, wherein the two temperature sensors 23 and 25 are connected to the control unit 18 for transmitting energy and/or sensor values.

The control unit 18 is furthermore connected in the exemplary embodiment to a database 26, which contains an operating model 27 of the motor vehicle and in particular of the door system.

In addition, the control unit 18 has a state monitoring unit 30, which in the exemplary embodiment is at least set up to determine the current temperature and the current value of the current aging state of the sealing element 21 and to derive therefrom the rigidity of the sealing element 21 to be expected, if appropriate with the aid of a temperature sensor and/or a reference operating model 27.

The control mechanism 18 furthermore has a state correction unit 32, which in the exemplary embodiment is at least designed to bring the basic rigidity of the sealing element 21 to within a respectively predetermined tolerance range, based on the occurring entry of the sealing material and, if appropriate, also taking into account the combination of the actual geometries of the door 2 and the door recess 4.

Next, the working principle of the exemplary embodiment of the present invention is explained and explained in detail according to the exemplary performed method for closing a door at a door recess:

first, the control device 18 is used to determine the closing positionThe operation of closing the door requires. This can occur, for example, in the following manner: the user of the vehicle manually applies a closing force F _SW Applied to the door, this can be detected by means of the control mechanism 18 by a movement of the actuator 14 associated therewith relative to the motor body 12.

In order to determine what sealing force F has to be overcome for compressing the sealing element for closing the door up to the desired closing position _D The current seal temperature (first variable state variable) is determined by means of the temperature sensors 23 and 25 (reference to empirical values in the operating model 27 regarding the seal temperature, related to a certain combination of the temperature in the inner space and a certain temperature in the outer space). In addition, the current seal year (second variable state variable) is determined with reference to the timer. From the state variables, i.e. seal temperature and seal age, seal stiffness is determined, again with reference to the operational model 27. This takes place in the described embodiment by means of the condition monitoring unit 30.

In addition, the required closing torque M is determined by means of the control device 18 on the basis of the determined characteristics of the two variable state variables _S And/or the required closing speed v _S In order to reliably close the door against the resistance of the seal (i.e. the adaptation of one or both closing parameters).

The door drive for closing the door is actuated as a function of the determined value for the closing parameter/parameters, i.e. the closing torque and/or the closing speed, and the door is closed as a function of the actuation.

In an embodiment, the tolerance conditions of the door 2 and the door recess 4 relative to one another and the material of the seal are additionally detected as state variables that remain unchanged, and then the adaptation values for the closing parameter(s) are also determined in dependence on the detected characteristics of these state variables that remain unchanged. For example, the state-independent values of the shut-down parameters, which are preset for the device, are adapted to different state variables that are changed and remain unchanged in dependence on the detected characteristic.

In an embodiment, the characteristics of the operating request and of the state variable are determined by means of the control means 18 a plurality of times per second and, independently of this, the closing of the door 2 is controlled in real time in such a way that: the adaptation value of the closing parameter(s) is determined on the basis of the last determined value of the closing parameter(s) in relation to the last determined operation request and the last determined feature(s) of each of the state variables, respectively.

Fig. 2 shows a door arrangement which differs from the door arrangement according to fig. 1 in particular in that a soft closing unit 34 is provided on the underside of the door recess 4 on which the door should be locked in the closed position. By means of the exemplary method for closing the door 2 associated therewith, it is only necessary in this case to effect closing of the door until the soft-closing unit 34 can perform the final part of the closing movement and to lock the door in the desired closed position (in a manner usual per se in the art and irrespective of the model/design used for the soft-closing unit 34).

In fig. 3, a motor vehicle 40 according to an exemplary embodiment of the invention is shown with four door arrangements 1.1, 1.2, 1.3 and 1.4. Each of the gate devices 1 is constructed as the gate device 1 described with respect to fig. 1 in the example.

The motor vehicle 40 has a control mechanism 18, which control mechanism 18, in addition to the functionality described in relation to fig. 1, also actuates each of the door arrangements 1.1 to 1.4 and is furthermore capable of opening and closing at least one circulating air valve 42 of the vehicle ventilation arrangement. The control mechanism 18 is capable of sensing whether the circulating air valve 42 is open or closed at a point in time.

In the embodiment according to fig. 3, the control of the closing parameters of the door 2.1 for the door arrangement 4.1 (and also of the other doors 2 for the other door arrangements 4) is additionally related to the air to be compressed in the interior space 22 of the vehicle 40 by V _i And (5) correlation.

In the operational request that the user wants to close the door 2.1, the control mechanism 18 determines whether the circulation air valve 42 is closed. For the purpose of describing this embodiment, it is assumed that when the doors 2.2 to 2.4 are closed and the circulating air valve 42 is closed, the interior space is closed in a pressure-tight manner except for the door recess 4.1 to be closed (in order not to unnecessarily complicate the example, both the possible window and its open state are not considered here; but this or other additional factors would naturally be considered similarly in the actual exemplary embodiment).

Thus, if the door 2.1 is to be closed now, not only must the deformation work be applied against the seal in order to reach the desired closed position, but a significantly greater work must be applied to compress the air volume V in the interior space 22 of the vehicle 40. Thus, with the circulation air valve 42 closed, the control mechanism 18 must handle a significantly higher closing torque than when the circulation air valve 42 is to be opened.

In an alternative embodiment, it is also proposed in addition to or instead of this: when the last open door 2 is closed, the circulation air flap 42 is opened in order to reduce or eliminate the required compression of the air volume in the interior space.

In fig. 4 the motor vehicle in fig. 3 is shown in an inclined parking position in order to show the effect of a possible inclined position of the vehicle on the actuation required for closing the door 2.

If the vehicle is on a sloped road from the perspective of the door 2.1 to be closed being tilted (tilt angle α) towards the vehicle 40, as shown in fig. 4, less assistance by the door drive 10 is required. While in case of tilting in the other direction more assistance of the motor drive 10 is required. If the vehicle 40 is tilted against the closing direction, the door drive may have to apply greater assistance of the closing moment depending on the tilt.

If the control device 18 additionally has an acceleration sensor 44 of particularly high resolution for accelerations in all three spatial dimensions, this correlation can be incorporated into the closing parameters such as M _S Or closing speed v _S In the control of (a). The inclination angle α can be determined by means of the acceleration sensor 44, and thus the closing force additionally applied as a result of the inclination can be determined again, which then does not have to be or should not be applied by the door drive, in order not to unnecessarily increase the closing noise.

List of reference numerals

1 door device

2-door

4-door notch

6 closing device

8 body part

10 door drive

12 motor body

14 actuator

16 rotary support

18 control mechanism

20 seal

21 sealing element

22 interior space

23 internal space-temperature sensor

24 outside space

25 external space-temperature sensor

26 database

27 run model

30 state monitoring unit

32 state correction unit

34 soft closing unit

40 motor vehicle

42 cycle air valve

44 acceleration sensor

Drive axis of a door drive

F _SW Applied force indicating closing requirement

F _D Sealing force

M _S Closing moment

V _S Closing speed

V _i Air volume in interior space

Angle of inclination of alpha vehicle

F _α Additional closing force due to tilting attitude

Claims

1. A closure apparatus for closing a door at a door opening, having:

a door drive having an electric motor connected to the vehicle body and the door for controlling movement of the door;

a control mechanism coupled to the door drive to control movement of the door based on a detected user operational requirement;

wherein the control mechanism is configured to detect an operational requirement of the user by detecting a force manually applied to the door by the user, and to operate the door actuator in response to the detected force manually applied to the door by the user.

2. The closure device of claim 1, wherein the control mechanism is configured to detect the user's operational requirements by detecting movement of the door when a force manually applied to the door causes the door to be moved by the user.

3. A closure device according to claim 1 or 2, wherein the operating requirement is detected a plurality of times per second.

4. A closure device according to any one of claims 1 to 3, wherein the control mechanism is configured to determine a value of at least one closure parameter for closing the door during operation of the closure device.

5. The shutdown device of claim 4, wherein the control mechanism is configured to adjust a previously last determined value of the shutdown parameter during operation of the shutdown device.

6. The closure device of any one of claims 1 to 5, wherein the control mechanism is configured to adjust the closure parameter with an adjustment factor.

7. A closing device according to any one of claims 1 to 6, wherein at least one of the closing parameters is a torque value.

8. The closure device of claim 1, wherein the control mechanism is configured to operate the door actuator in real time during the user moving the door by detecting an operational requirement of the user, i.e., applying a manually applied force on the door.

9. A closure apparatus according to any one of claims 1 to 8, wherein the door drive has a linear door drive with a motor which extends a drive rod for moving the door.

10. A closure device according to any one of claims 1 to 9, wherein the control mechanism is in communication with an acceleration sensor for determining the tilt of the door, wherein the control mechanism operates the door drive to adjust the tilt of the door.

11. A closure device according to any one of claims 1 to 10, wherein the control mechanism is in communication with an input device for receiving a correction input.

12. A closure device according to any one of claims 1 to 11, wherein the control mechanism is configured to determine the value of the at least one closure parameter using at least one variable state variable and using a constant state variable.

13. The closure device of claim 12, wherein at least one variable state variable is related to at least one of the door actuator, the door opening, and an installation environment of the door.

14. A closing device according to claim 12 or 13, wherein the constant state variable is related to the geometry of at least one of the doors, at least one of the doors and the door opening and the installation environment of the door.

15. The shut-down device of claim 1, wherein the control mechanism is configured to determine a value of at least one shut-down parameter as a torque value and adjust the torque value during operation of the shut-down device.

16. A system for closing a door at a door opening, having:

a closing apparatus having a linear door drive with a motor extending a drive rod for moving the door; and

a control mechanism coupled to the closing apparatus to control movement of the door based on a user's operational requirements, wherein the control mechanism is configured to detect the user's operational requirements by detecting movement of the motor caused by the user applying manual force to the door, and to operate the linear door drive in real time with at least one closing moment generated in response to the detected movement of the motor.

17. The system of claim 16, wherein the operational requirement is detected by the control mechanism a plurality of times per second during operation of the shut down device.

18. The system of claim 17, wherein the control mechanism is configured to adjust a previously last determined torque value during operation of the shut-down device.

19. The system of claim 17, wherein a manual force on the door is detected by movement of the motor.

20. A door system for closing a door at a door opening, having:

wherein the control mechanism is configured to operate the door drive with the determined value of at least one closing parameter during operation of the closing apparatus and to adjust the closing parameter by using the last determined value of the closing parameter.

21. The door system of claim 20, wherein the control mechanism is configured to operate the door actuator in real-time during the user moving the door by detecting an operational requirement of the user, i.e., applying a manually applied force on the door.

22. A door system for a vehicle, comprising:

a door driver for closing the door at the door opening; and

a control mechanism for controlling the operation of the control device according to the operation request (F _SW ) Controlling the door drive, wherein the control means is configured to determine at least one closing parameter (M _S ，v _S ) And adjusting at least one of the closing parameters with at least one variable state variable of the closing device, of the door opening and/or of the vehicle installation environment.

23. The door system of claim 22, wherein at least one of the closing parameters is a moment value.

24. The door system of claim 22, wherein the door drive has a linear door drive with a motor that extends a drive rod for moving the door.

25. The door system of claim 22, wherein the control mechanism is configured to adjust a previously last determined value of the closing parameter during operation of the closing apparatus.

26. A method of closing a door using a door drive having an electric motor coupled to a vehicle body and the door, the method having the steps of:

detecting an operational requirement for closing a door with a control mechanism, wherein the operational requirement of a user is detected by detecting a force manually applied to the door by the user; and

the door actuator is operated in response to a detected force manually applied to the door by the user to adjust the force applied to the door.

27. The method of claim 26, further comprising the step of: the movement of the motor is detected by the control mechanism to detect a force manually applied to the door by the user.

28. The method of claim 27, further comprising the step of: the value of at least one closing parameter for closing the door is determined during operation of the closing device by means of the control mechanism.

29. The method of claim 28, wherein a value of at least one shutdown parameter is determined during operation of the shutdown device by the control mechanism.

30. A method according to claim 28 or 29, wherein the control mechanism is configured to adjust a previously last determined value of the closing parameter.

31. A method according to any one of claims 26 to 30, wherein the control mechanism is configured to operate the gate driver with the determined value of the at least one closing parameter, with at least one variable state variable and with a constant state variable.