阅读说明：本技术 应用于对开式滑动门的双致动器的协同控制的特性学习系统及特性学习方法 (Characteristic learning system and characteristic learning method applied to cooperative control of dual actuators of split sliding door ) 是由 金俊赫 具本赫 尹炯仁 任忠植 于 2020-10-09 设计创作，主要内容包括：本发明涉及应用于对开式滑动门的双致动器的协同控制的特性学习系统及特性学习方法。所述系统可以包括：第一位置传感器,其配置成检测沿滑轨在第一方向上操作的门的位置；轴组件,其包括在相对于门的第二方向上操作的轴,以防止门抖动；第一电机和第二电机,其与所述门和所述轴组件接合,并配置成分别向所述门和所述轴组件提供驱动力；存储器单元,其配置成存储门的位置；以及控制器,其配置成当检测到由于所述第一电机和所述第二电机之间的行程差而发生的失速状态时在预定的时间段内调整所述第二电机的输出,并且基于所述门的位置来确定对于门的完全打开或关闭的学习成功或者学习失败。(The present invention relates to a characteristic learning system and a characteristic learning method applied to cooperative control of dual actuators of a split sliding door. The system may include: a first position sensor configured to detect a position of a door operating in a first direction along a sliding track; a shaft assembly including a shaft operating in a second direction with respect to the door to prevent the door from shaking; first and second motors engaged with the door and the axle assembly and configured to provide driving forces to the door and the axle assembly, respectively; a memory unit configured to store a position of the door; and a controller configured to adjust an output of the second motor for a predetermined period of time when a stall condition occurring due to a stroke difference between the first motor and the second motor is detected, and determine a success or failure of learning for full opening or closing of a door based on a position of the door.)

1. A characteristic learning system applied to cooperative control of dual actuators of a split sliding door, the characteristic learning system comprising:

a first position sensor configured to detect a position of a door operating in a first direction along a sliding track;

a shaft assembly including a shaft operating in a second direction relative to the door to prevent the door from rattling;

a first motor and a second motor, the first motor engaged with the door and the second motor engaged with the axle assembly and configured to provide drive forces to the door and the axle assembly, respectively;

a memory unit configured to store a position of the door; and

a controller electrically connected to the first position sensor, the shaft assembly, the first motor, the second motor, and the memory unit and configured to: when a stall condition occurring due to a stroke difference between the first motor and the second motor is detected, an output of the second motor is adjusted for a predetermined period of time, and it is determined that learning success or learning failure for full opening or closing of the door is determined based on the position of the door.

2. The characteristic learning system applied to cooperative control of dual actuators of a sliding door according to claim 1, wherein the controller is configured to: control is executed to continuously maintain the output of the first motor for a predetermined period of time when a stall condition is detected.

3. The characteristic learning system applied to cooperative control of dual actuators of a sliding door according to claim 1, wherein the controller is configured to: control is executed to increase the output of the second motor at a predetermined rate for a predetermined period of time when a stall condition is detected.

4. The characteristic learning system for cooperative control of dual actuators applied to a sliding split door according to claim 1, wherein a position for determining a learning success for a full opening or closing of the door is set within a range between a learning success minimum position and a learning success maximum position.

5. The characteristic learning system applied to cooperative control of dual actuators of a sliding door according to claim 1, wherein the controller is configured to: when the second motor does not produce an output any more in a state where the position of the door does not reach a position where learning for full opening or closing of the door is successful, it is determined that learning failure has occurred.

6. The characteristic learning system of cooperative control of dual actuators applied to a sliding split door according to claim 1, wherein the first motor enters a stalled state when the position of the door reaches a position for determining a successful learning for full opening or closing of the door.

7. The characteristic learning system for cooperative control of dual actuators applied to a sliding split door according to claim 1, further comprising:

a second position sensor configured to detect a position of the shaft,

wherein the position of the shaft is stored in a memory unit.

8. A characteristic learning method that controls a characteristic learning system applied to cooperative control of dual actuators of a split sliding door, the characteristic learning method comprising:

a detecting step of detecting a disturbing stall condition occurring due to a stroke difference between a first motor of a characteristic learning system configured to provide a driving force to a door operated in a first direction along a slide rail and a second motor of the characteristic learning system configured to provide a driving force to a shaft operated in a second direction with respect to the door to prevent the door from shaking;

an adjustment step in which, upon detection of the interfering stall condition, the output of the first motor is maintained and the output of the second motor is adjusted for a predetermined period of time by a controller of the characteristic learning system; and

a determination step in which a learning success or a learning failure for a full opening or closing of the door is determined by the controller based on the position of the door.

9. The characteristic learning method according to claim 8, wherein in the adjusting step, the output of the second motor is increased at a predetermined rate after the output of the first motor is maintained for a predetermined period of time.

10. The characteristic learning method according to claim 8, wherein in the determining step, the controller is configured to: when the door is located within a range between the learning-successful minimum position and the learning-successful maximum position, it is determined that learning success has occurred.

11. The characteristic learning method according to claim 8, wherein in the determining step, the controller is configured to: when the second motor does not produce an output any more in a state where the position of the door does not reach a position where learning for full opening or closing of the door is successful, it is determined that learning failure has occurred.

12. The characteristic learning method according to claim 8, further comprising:

a storing step of storing the position of the door in a memory unit of the characteristic learning system when the position of the door reaches a position for determining that learning is successful for full opening or closing of the door.

13. The characteristic learning method according to claim 8, wherein the controller includes:

a processor; and

a non-volatile storage medium having a program recorded thereon, the program being executable by the processor and for performing the method of claim 8.

14. The characteristic learning method according to claim 8, wherein the characteristic learning system includes:

a first position sensor configured to detect a position of a door operating in a first direction along a sliding track;

a shaft assembly comprising the shaft;

the first motor and the second motor;

a memory unit configured to store a position of the door; and

a controller electrically connected to the first position sensor, the shaft assembly, the first motor, the second motor, and the memory unit.

15. A non-transitory computer readable medium having recorded thereon a program for executing the method according to claim 8.

Technical Field

The present invention relates to a characteristic (profile) learning system and a characteristic learning method applied to cooperative control of dual actuators of a split sliding door, and more particularly, to a characteristic learning system and a characteristic learning method capable of performing learning of full opening or closing of a door by cooperative control of actuators operated in opposite directions of the door.

Background

Generally, a vehicle has a passenger compartment of a predetermined size in which a driver or accompanying passengers can be accommodated, and a passenger compartment opening and closing door is installed on a vehicle body to open or close the passenger compartment.

The sliding passenger compartment opening and closing door includes a front sliding door installed at a front side in a longitudinal direction of the vehicle and a rear sliding door installed at a rear side in the longitudinal direction of the vehicle. The front and rear sliding doors are typically configured to move along a sliding track mounted on the vehicle body or door.

However, the sliding type passenger compartment opening and closing door in the related art requires three sliding rails (an upper sliding rail, a middle sliding rail, and a lower sliding rail) that support the upper, middle, and lower portions of the door during the opening or closing of the door, respectively, and also requires components related to the sliding rails. For this reason, the sliding passenger compartment opening and closing door in the related art has problems in that the vehicle weight and the number of components increase, and the degree of freedom in vehicle design decreases.

Accordingly, a double rail door system for a vehicle has been developed in which a sliding door is slidably supported only by an intermediate slide rail and a lower slide rail. For example, korean patent No.10-1684536 (sliding door system for vehicles) in the related art includes: a door slide rail (i.e., an intermediate slide rail) is mounted on the sliding door, and a body slide rail (i.e., a lower slide rail) is mounted on the body, and the sliding door is opened or closed as the intermediate slider coupled to the door slide rail and the lower slider coupled to the body slide rail move.

However, in the related art sliding structure, two support points supporting the sliding door are provided in upward and downward directions, and thus, there is a problem in that the door moves around an imaginary axis passing through the support points.

Meanwhile, a technology of installing a sliding door on a vehicle body in an automatic opening/closing manner, not in a manual opening/closing manner, has been recently introduced. This is a technique of automatically opening or closing a door by operating an actuator. For example, korean patent No.10-1988953 (electric sliding door device) includes a technology of an automatic opening/closing manner.

To prevent the door from moving, a vehicle equipped with an automatic opening/closing sliding door may use a main actuator and a sub-actuator. The main actuator is used to open the door, and the sub-actuator is used to prevent the door from moving by applying an external force to the door.

In this case, since the main actuator is operated in the longitudinal direction (T direction) of the vehicle and the sub-actuator is operated in the width direction (L direction) of the vehicle, the two actuators are operated in opposite directions. In this case, a stall condition may occur in which the door cannot be fully opened or closed due to the two actuators acting as mechanical loads on each other. Therefore, there is a need for a technique for learning to fully open or close a door by performing cooperative control of dual actuators applied to a sliding door of a split type.

The information included in this background of the invention section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

Various aspects of the present invention are directed to a novel invention configured to implement a learning logic that implements full opening or closing of a door by controlling the output of a dual actuator in a vehicle provided with a split sliding door.

The characteristic learning system applied to the cooperative control of the dual actuators of the split sliding door according to various exemplary embodiments of the present invention may include: a first position sensor configured to detect a position of a door operating in a first direction along a sliding track; a shaft assembly including a shaft operating in a second direction with respect to the door to prevent the door from shaking; first and second motors engaged with the door and the axle assembly and configured to provide driving forces to the door and the axle assembly, respectively; a memory unit configured to store a position of the door; and a controller configured to adjust an output of the second motor for a predetermined period of time when a stall condition occurring due to a stroke difference between the first motor and the second motor is detected, and determine a success or failure of learning for full opening or closing of the door based on a position of the door.

The characteristic learning method applied to the cooperative control of the dual actuators of the split sliding door according to various exemplary embodiments of the present invention may include: a detecting step of detecting a disturbing stall condition occurring due to a stroke difference between a first motor configured to provide a driving force to a door operated in a first direction along a slide rail and a second motor configured to provide a driving force to a shaft operated in a second direction with respect to the door to prevent the door from shaking; an adjustment step in which, upon detection of an interfering stall condition, the output of the first motor is maintained for a predetermined period of time and the output of the second motor is adjusted; and a determination step in which success or failure of learning of full opening or closing of the door is determined based on the position of the door.

According to various exemplary embodiments of the present invention, it is possible to implement a learning logic that implements full opening or closing of a door by controlling an output of an actuator even if the actuator for providing a driving force to move the sliding door and the actuator for preventing the door from moving are operated in opposite directions.

The method and apparatus of the present invention have other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.

Drawings

Fig. 1 is a schematic view exemplarily showing a structure of a split sliding door according to various exemplary embodiments of the present invention.

Fig. 2 is an enlarged schematic view of a portion a in fig. 1.

Fig. 3 is a schematic view schematically showing the configuration of a characteristic learning system applied to cooperative control of dual actuators of a split sliding door according to various exemplary embodiments of the present invention.

Fig. 4 is a graph illustrating a stroke difference of a dual actuator according to an exemplary embodiment of the present invention.

Fig. 5 is a flowchart illustrating a preliminary checking method of characteristic learning applied to cooperative control of dual actuators of a split sliding door according to an exemplary embodiment of the present invention.

Fig. 6 is a flowchart illustrating a characteristic learning method applied to cooperative control of dual actuators of a split sliding door according to an exemplary embodiment of the present invention.

Fig. 7 is a diagram exemplarily illustrating a learning success situation according to an exemplary embodiment of the present invention.

Fig. 8 is a diagram exemplarily illustrating a learning failure situation according to an exemplary embodiment of the present invention.

It is to be understood that the appended drawings are not to scale, but are merely drawn with appropriate simplifications to illustrate various features of the basic principles of the invention. Specific design features of the invention disclosed herein, including, for example, specific dimensions, orientations, locations, and configurations, will be determined in part by the particular intended application and use environment.

In the drawings, like or equivalent elements of the invention are designated with reference numerals throughout the several views of the drawings.

Detailed Description

Reference will now be made in detail to various embodiments of the invention, examples of which are illustrated in the accompanying drawings and described below. While the invention will be described in conjunction with the exemplary embodiments of the invention, it will be understood that the description is not intended to limit the invention to those exemplary embodiments. On the other hand, the invention is intended to cover not only the exemplary embodiments of the invention, but also various alternatives, modifications, equivalents and other embodiments, which may be included within the spirit and scope of the invention as defined by the appended claims.

Hereinafter, various exemplary embodiments of a characteristic learning system and a characteristic learning method applied to cooperative control of dual actuators of a split sliding door according to various exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The terms or words used herein are not to be construed as limited to general or dictionary meanings, but can be construed as meanings and concepts conforming to the technical spirit of the present invention based on the principle that the inventor can properly define the concept of the term to best describe his own invention.

Fig. 1 is a schematic view exemplarily showing a structure of a split sliding door according to various exemplary embodiments of the present invention, and fig. 2 is an enlarged schematic view of a portion a of fig. 1.

Referring to fig. 1 and 2, the present invention is applicable to a structure including an actuator for operating a split sliding door 1 mounted on a vehicle and an actuator for preventing the door 1 from moving. According to an exemplary embodiment of the present invention, the vehicle has only the lower slide rail 5 (slide rail mounted on the lower side of the vehicle) and the intermediate slide rail 4 (slide rail mounted on the intermediate portion of the vehicle), but does not have the upper slide rail.

When discussing a mechanism for moving the door 1, one end of the lower rail roller unit 6 is inserted into and rollably coupled to the lower rail 5 provided in the longitudinal direction of the vehicle body 2, and the lower rail swing arm 7 is rotatably connected to the door 1 and the lower rail roller unit 6. When the front cable 8 or the rear cable 9 is pulled by the forward or reverse rotation of the first motor 27 (i.e., the actuator), the door 1 moves along the lower slide rail 5.

When discussing a mechanism for preventing the door 1 from moving, the shaft 25 of the shaft assembly 24 disposed in a direction toward the door 1 is movably connected to the lower rail 10 disposed in the longitudinal direction of the vehicle body 2. When the shaft 25 is moved by the forward or reverse rotation of the second motor 28 (i.e., actuator), an external force is applied to the door 1 while the door 1 is moved, thereby preventing the door 1 from being moved. In this case, the door 1 moves according to the shape of the lower rail 10. The lower guide rail 10 may include a straight portion 12 having a straight shape and a curved portion 14 having a curved shape.

With regard to the above-described structure, various embodiments of the present invention relate to a system and method for determining success or failure of learning for full opening or closing of the door 1 through cooperative control of an actuator for operating the door 1 and an actuator for preventing movement of the door 1.

Fig. 3 is a schematic view schematically showing the configuration of a characteristic learning system applied to cooperative control of dual actuators of a split sliding door according to various exemplary embodiments of the present invention.

Referring to fig. 3, the characteristic learning system applied to the cooperative control of the dual actuators of the split sliding door according to the exemplary embodiment of the present invention includes a first position sensor 22, a shaft assembly 24, a first motor 27, a second motor 28, a memory unit 30, and a control unit 40.

The first position sensor 22 detects the position of the door 1 moving in the first direction along the lower slide rail 5. In this case, the first direction is directed to the longitudinal direction of the lower slide rail 5. The first position sensor 22 is connected to the first motor 27, and may measure the RPM of the first motor 27 to detect the position of the door 1 moving along the lower rail 5.

One end portion of the axle assembly 24 is connected to the lower rail 10 mounted on the door 1, and the other end portion of the axle assembly 24 is fixed to the vehicle body 2. The shaft assembly 24 comprises a shaft 25, which shaft 25 is axially movable and operable in its second direction. In this case, the second direction refers to a direction substantially perpendicular to the door 1. The shaft assembly 24 is connected to a second position sensor 26 that detects the position of the shaft 25. The second position sensor 26 may measure the RPM of the second motor 28 to detect the position of the shaft 25.

The first motor 27 is configured to provide a driving force to move the door 1 along the lower slide rail 5. The first motor 27 is connected to the front cable 8 and the rear cable 9 mounted on the vehicle body 2. Accordingly, when the front cable 8 or the rear cable 9 is pulled by the forward rotation or the reverse rotation of the first motor 27, the door 1 moves in the first direction along the lower slide rail 5.

The second motor 28 provides driving power to move the shaft 25. Thus, the shaft 25 is moved in the second direction by the forward or reverse rotation of the second motor 28.

The memory unit 30 is connected to the control unit 40, and may store data processed by the control unit 40. In terms of hardware, the memory unit 30 may be a nonvolatile memory such as ROM, PROM, EEPROM, and flash memory, which retains data even when power is off, but the type of memory is not limited. The memory unit 30 may store information related to the positions of the door 1 and the shaft 25 according to the operations of the door 1 and the shaft 25. In addition, the memory unit 30 may store information related to a predetermined trajectory of the door.

The control unit 40 receives position information from the first and second position sensors 22 and 26 and executes the characteristic learning logic by operating the first and second motors 27 and 28. In this case, the characteristic learning logic refers to control logic of success or failure of learning for full opening or closing of the door 1.

The control unit 40 may perform Pulse Width Modulation (PWM) control by adjusting RPM of the first and second motors 27 and 28 by applying a variable voltage. The control unit 40 may receive information about the current generated when the first and second motors 27 and 28 operate.

Meanwhile, the control unit 40 is connected to the door opening/closing unit 52, and may receive a door opening/closing signal. Further, the control unit 40 is connected to the door latch 54 and can receive door opening/closing information.

Next, a criterion for determining the fully opened or closed state of the door 1 by the control unit 40 will be described.

Fig. 4 is a graph illustrating a stroke difference of a dual actuator according to an exemplary embodiment of the present invention.

Referring to fig. 4, when the door 1 is switched from the fully opened state to the fully closed state or from the fully closed state to the fully opened state, the first motor 27 and the second motor 28 are operated. The first motor 27 is a main motor for moving the door 1, the second motor 28 is a sub motor, and the first motor 27 and the second motor 28 may have different output capacities (capacities). In this case, due to the stroke (speed) difference between the first motor 27 and the second motor 28, the first motor 27 and the second motor 28 act as mechanical loads to each other, the first motor 27 and the second motor 28 may no longer operate, and thus a stall condition may occur.

Furthermore, such a stall condition may occur even at a point where the shape of the trajectory of the door 1 movement changes. Therefore, cooperative control of the first motor 27 and the second motor 28 is required to enable the door 1 to be switched between the fully opened and fully closed states.

The control unit 40 may divide the position of the door 1 into an initial position and a final position according to the information about the trajectory of the lower rail 5 stored in the memory unit 30. In this case, the initial position refers to a position where the door 1 is in a fully opened state (or a position in a fully closed state), and the final position refers to a position where the door 1 is in a fully closed state (or a position in a fully opened state). Based on the door opening/closing information of the door latch 54, the control unit 40 can determine whether the initial position is a position in a fully closed state or a position in a fully open state.

When the door 1 is moved from the initial position to the final position by the cooperative control of the first motor 27 and the second motor 28, the control unit 40 may determine that the learning for the full opening or closing of the door 1 has succeeded. In contrast, when the door 1 cannot reach the final position, the control unit 40 may determine that the learning has failed.

Meanwhile, when the door 1 reaches the final position, the door 1 enters the fully opened or closed state, so that the first motor 27 may enter the stalled state.

To facilitate distinction among the various exemplary embodiments of the present invention, the stall condition caused by the stroke difference between the first motor 27 and the second motor 28 is referred to as a disturbance stall condition, and the stall condition of the first motor 27 at the final position of the door 1 is referred to as a final stall condition.

Even for the same type of vehicle, the final position may vary from design to design and from manufacturing to manufacturing. Therefore, in the exemplary embodiment of the present invention, a learning success range including the learning success minimum position and the learning success maximum position may be set, and the control unit 40 may determine that the learning has succeeded when the door 1 is located within the learning success range.

Fig. 5 is a flowchart illustrating a preliminary inspection method of characteristic learning applied to cooperative control of dual actuators of a sliding door according to an exemplary embodiment of the present invention, and fig. 6 is a flowchart illustrating a characteristic learning method applied to cooperative control of dual actuators of a sliding door according to an exemplary embodiment of the present invention.

Next, the characteristic learning method of the control unit 40 will be described with reference to fig. 5 and 6.

First, the control unit 40 may perform a preliminary check on the characteristic learning. As shown in fig. 5, when the door opening/closing signal is applied, the control unit 40 checks whether an internal error occurs (S20), whether initial learning is completed (S30), whether the door is in a not-fully opened or closed state (S40), and whether an error occurs in the first and second motors 27 and 28 (S50). When any of the conditions is not satisfied, the control unit 40 starts the characteristic learning (S52), but when any of the conditions is satisfied, the control unit 40 stops the preliminary check (S54).

As shown in fig. 6, when the characteristic learning starts, the control unit 40 controls the output of the first motor 27 and the output of the second motor 28 at the same time (S100). In this case, the initial output of the first motor 27 and the initial output of the second motor 28 may be arbitrarily set. When an overload occurs due to a stroke difference while the first motor 27 and the second motor 28 are operated, a stall current is generated in the first motor 27 and the second motor 28. The control unit 40 determines a disturbed stall condition by detecting the stall current (S200).

When it is determined that the first motor 27 and the second motor 28 are in the disturbed stall state, the control unit 40 maintains the output of the first motor 27 for a predetermined period of time (S300), and adjusts the output of the second motor 28. In this case, the reason why the output of the first motor 27 is maintained and the output of the second motor 28 is adjusted is to reduce the stroke difference between the first motor 27 and the second motor 28. In this case, the control unit 40 determines whether the output of the second motor 28 can be increased (S400). In the case where the output of the second motor 28 can be increased, the control unit 40 increases the output of the second motor 28 by a predetermined ratio (X1%) (S420) because the second motor 28 has a smaller output capacity than the first motor 27 in the exemplary embodiment of the present invention. Therefore, the stroke difference between the first motor 27 and the second motor 28 is reduced, so that the overload can be eliminated and the first motor 27 and the second motor 28 can be operated. However, in the case where it is not possible to increase the output of the second motor 28, that is, in the case where the output of the second motor 28 has been 100%, the control unit 40 determines that the learning has failed (S440).

After a predetermined period of time has elapsed, the control unit 40 determines whether the position of the door 1 reaches the final position (S500 and S600). When the position of the door 1 reaches the final position, the first motor 27 is in the final stall state (S620), and thus the control unit 40 detects the stall current and stores information related to the position of the door 1 in the memory unit 30 (S640). Therefore, the control unit 40 determines that the learning has succeeded (S660).

In contrast, when the position of the door 1 cannot reach the final position, the control unit 40 again detects whether the first motor 27 and the second motor 28 are in the disturbed stall state. Since the subsequent processes are the same as the above-described processes, detailed descriptions thereof will be omitted.

Meanwhile, the predetermined period and rate of increase in the output of the second motor 28 may be set in various ways. Further, when it is determined that the characteristic learning has failed during the above-described process, the control unit 40 performs control so as to perform the process again from the preliminary check of the characteristic learning.

Fig. 7 is a diagram exemplarily illustrating a learning success situation according to an exemplary embodiment of the present invention, and fig. 8 is a diagram exemplarily illustrating a learning failure situation according to an exemplary embodiment of the present invention. Meanwhile, in fig. 7 and 8, the horizontal axis represents time or a stroke of the door, but in various exemplary embodiments of the present invention, the horizontal axis is referred to as a time axis.

Referring to fig. 7, at t0 (initial point in time; point in time of initial position), the control unit 40 sets the output of the first motor 27 to 50% (based on the entire output capacity of the first motor) and the output of the second motor 28 to 80% (based on the entire output capacity of the second motor). When the door 1 moves along the lower slide rail 5, the first motor 27 and the second motor 28 enter the disturbing stall state at a time point t 1. In this case, the control unit 40 maintains the output of the first motor 27 for a predetermined period of time T1, and increases the output of the second motor 28 by 5%. Therefore, the output of the first motor 27 is 50% and the output of the second motor 28 is 85%. In this case, since the door 1 does not reach the final position, the control unit 40 detects whether the disturbed stall condition occurs again, and determines whether the output of the second motor 28 can be increased.

Thereafter, as the door 1 continues to move along the lower slide rail 5, the first motor 27 and the second motor 28 enter the disturbance stall state at a time point t 2. In this case, the control unit 40 maintains the output of the first motor 27 for a predetermined period of time T2, and increases the output of the second motor 28 by 5%. Therefore, the output of the first motor 27 is 50% and the output of the second motor 28 is 90%. In this case, since the door 1 does not reach the final position, the control unit 40 continues to determine whether the disturbed stall condition occurs and whether the output of the second motor 28 can be increased.

Since the door 1 is located within the learning success range when the above-described process is repeated, the control unit 40 determines that the learning has succeeded, and the control unit 40 stores the position of the first motor 27 and the position of the second motor 28 in the memory unit 30.

Referring to fig. 8, at t 0', the control unit 40 sets the output of the first motor 27 to 50% and the output of the second motor 28 to 90%. When the door 1 moves along the lower slide rail 5, the first motor 27 and the second motor 28 enter the disturbance stall state at a time point t 1'. In this case, the control unit 40 maintains the output of the first motor 27 for a predetermined period of time T1' and increases the output of the second motor 28 by 5%. Therefore, the output of the first motor 27 is 50% and the output of the second motor 28 is 95%. In this case, since the door 1 does not reach the final position, the control unit 40 detects whether the disturbed stall condition occurs again, and determines whether the output of the second motor 28 can be increased.

Thereafter, as the door 1 continues to move along the lower slide rail 5, the first motor 27 and the second motor 28 enter the disturbed stall state at a time point t 2'. In this case, the control unit 40 maintains the output of the first motor 27 for a predetermined period of time T2' and increases the output of the second motor 28 by 5%. Therefore, the output of the first motor 27 is 50% and the output of the second motor 28 is 100%. In this case, since the door 1 does not reach the final position, the control unit 40 determines whether a disturbing stall condition occurs and determines whether the output of the second motor 28 can be increased. However, the output of the second motor 28 cannot be further increased. Therefore, the control unit 40 determines that the learning has failed.

Meanwhile, although the output value of the second motor 28 is set to different values in fig. 7 and 8, it is of course possible to set the same value. That is, even in the case where the first motor 27 and the second motor 28 have the same initial output value, success or failure of learning may vary depending on various factors (e.g., a difference in the trajectory shape of the door 1, a difference in the learning success range, and an external force applied to the door 1).

Furthermore, the term "control unit" refers to a hardware device comprising a memory and a processor, configured to perform one or more steps interpreted as an algorithmic structure. The memory stores algorithm steps, and the processor executes the algorithm steps to perform one or more processes of the methods according to various exemplary embodiments of the present invention. The controller according to an exemplary embodiment of the present invention may be implemented by a non-volatile memory configured to store an algorithm for controlling operations of various components of a vehicle or data on software commands for executing the algorithm, and a processor configured to perform the above-described operations using the data stored in the memory. The memory and the processor may be separate chips. Alternatively, the memory and the processor may be integrated in a single chip. The processor may be implemented as one or more processors.

The controller may be at least one microprocessor operated by a predetermined program, which may include a series of commands for performing the methods according to various exemplary embodiments of the present invention.

The above-described invention can also be embodied as computer readable codes on a computer readable recording medium. The computer readable recording medium is any data storage device that can store data which can be thereafter read by a computer system. Examples of the computer-readable recording medium include a Hard Disk Drive (HDD), a Solid State Disk (SSD), a Silicon Disk Drive (SDD), a Read Only Memory (ROM), a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and are implemented as a carrier wave (e.g., transmission via the internet).

For convenience in explanation and accurate definition in the appended claims, the terms "upper", "lower", "inner", "outer", "upper", "lower", "upwardly", "downwardly", "front", "rear", "back", "inside", "outer", "inwardly", "outwardly", "inner", "outer", "forward", "rearward" are used to describe features of the exemplary embodiments with reference to the positions of such features as displayed in the figures. It will be further understood that the term "coupled" or derivatives thereof, refers to both direct and indirect connections.

Furthermore, the term "fixedly connected" means that the fixedly connected components always rotate at the same speed. Further, the term "selectively connectable" means "selectively connectable members rotate apart when they are not engaged with each other; selectively connectable members rotate at the same speed when engaged with each other; the selectively connectable members are stationary when at least one of the selectively connectable members is a stationary member and the remaining selectively connectable members are engaged with the stationary member.

The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable others skilled in the art to make and use various exemplary embodiments of the invention and various changes and modifications. It is intended that the scope of the invention be defined by the following claims and their equivalents.