Characteristic learning system and characteristic learning method for cooperative control of dual actuators applied to bi-directional sliding doors

Abstract

The present invention relates to a characteristic learning system and a characteristic learning method for cooperative control of a dual actuator applied to a double-leaf sliding door. The system may include: a first position sensor configured to detect the position of a door operating in a first direction along a slide rail; an axis assembly including an axis operating in a second direction relative to the door to prevent the door from shaking; a first motor and a second motor engaged with the door and the axis assembly and configured to provide driving force to the door and the axis assembly respectively; a memory unit configured to store the position of the door; and a controller configured to adjust the output of the second motor within a predetermined time period when a stall state due to a stroke difference between the first motor and the second motor is detected, and determine the success or failure of learning for full opening or closing of the door based on the position of the door.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The present application claims priority to Korean Patent Application No. 10-2020-0058898 filed on May 18, 2020, the entire contents of which application is incorporated herein for all purposes by this reference. Technical Field

[0003] The present invention relates to a profile learning system and a profile learning method for coordinated control of dual actuators applied to a double sliding door, and more specifically, to a profile learning system and a profile learning method capable of performing learning for full opening or closing of a door through coordinated control of actuators operating in relative directions of the door. Background Art

[0004] Generally speaking, 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.

[0005] The sliding passenger compartment opening and closing door comprises a front sliding door installed at the front longitudinal side of the vehicle and a rear sliding door installed at the rear longitudinal side of the vehicle. The front sliding door and the rear sliding door are usually configured to move along a slide rail installed on a vehicle body or a door.

[0006] However, the sliding passenger compartment opening and closing door in the related art requires three slide rails (upper slide rail, middle slide rail and lower slide rail) to respectively support the upper, middle and lower parts of the door during the door opening or closing process, and also requires components related to the slide rails. For this reason, the sliding passenger compartment opening and closing door in the related art has a problem in that the vehicle weight and the number of components increase, and the degree of freedom of vehicle design decreases.

[0007] Therefore, a double-track door system for a vehicle has been developed in which a sliding door is slidably supported only by a middle slide rail and a lower slide rail. For example, Korean Patent No. 10-1684536 (Sliding Door System for Vehicle) in the related art includes: a door slide rail (i.e., a middle slide rail) is mounted on the sliding door, a body slide rail (i.e., a lower slide rail) is mounted on the vehicle body, and the sliding door is opened or closed as the middle slider coupled to the door slide rail and the lower slider coupled to the body slide rail move.

[0008] However, in the sliding structure of the related art, two supporting points for supporting the sliding door are provided in the upward and downward directions, and thus, there is a problem that the door moves around an imaginary axis passing through the supporting points.

[0009] Meanwhile, a technology for installing a sliding door on a vehicle body in an automatic opening / closing manner rather than a manual opening / closing manner has recently been introduced. This is a technology for automatically opening or closing a door by operating an actuator. For example, Korean Patent No. 10-1988953 (electric sliding door device) includes a technology in an automatic opening / closing manner.

[0010] To prevent the door from moving, vehicles equipped with automatic opening / closing sliding doors can 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 external force to the door.

[0011] In this case, because the main actuator operates in the longitudinal direction (T direction) of the vehicle and the sub-actuator operates in the width direction (L direction) of the vehicle, the two actuators operate in opposite directions. In this case, since the two actuators act as mechanical loads to each other, a stall state may occur in which the door cannot be fully opened or closed. Therefore, a technology for learning to fully open or close the door by performing cooperative control of dual actuators applied to a double sliding door is required.

[0012] The information included in this Background of the Invention section is only intended to enhance understanding of the overall background of the invention and should not be taken as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0013] Various aspects of the present invention are directed to providing a novel invention configured to implement a learning logic that achieves full opening or closing of a door by controlling the output of a dual actuator in a vehicle provided with a double sliding door.

[0014] A characteristic learning system for cooperative control of a dual actuator applied to a double-leaf sliding door according to various exemplary embodiments of the present invention may include: a first position sensor configured to detect the position of a door operating in a first direction along a sliding rail; an axis assembly comprising an axis operating in a second direction relative to the door to prevent the door from shaking; a first motor and a second motor engaged with the door and the axis assembly and configured to provide driving force to the door and the axis assembly, respectively; a memory unit configured to store the position of the door; and a controller configured to adjust the output of the second motor within a predetermined time period when a stall state due to a stroke difference between the first motor and the second motor is detected, and determine the success or failure of learning for full opening or closing of the door based on the position of the door.

[0015] According to various exemplary embodiments of the present invention, a characteristic learning method for cooperative control of a dual actuator applied to a double-leaf sliding door may include: a detection step, wherein an interference stall state occurring due to a stroke difference between a first motor and a second motor is detected, wherein the first motor is configured to provide a driving force to a door operating in a first direction along a sliding rail, and the second motor is configured to provide a driving force to a shaft operating in a second direction relative to the door to prevent the door from shaking; an adjustment step, wherein, when the interference stall state is detected, the output of the first motor is maintained for a predetermined time period and the output of the second motor is adjusted; and a determination step, wherein the success or failure of learning for full opening or closing of the door is determined based on the position of the door.

[0016] According to various exemplary embodiments of the present invention, a learning logic can be implemented that achieves full opening or closing of the door by controlling the output of the actuator, even if the actuator for providing the driving force to move the sliding door and the actuator for preventing the door from moving operate in opposite directions.

[0017] The methods and apparatus of the present invention have other features and advantages, which will be apparent from, or will be described in detail in, the accompanying drawings and subsequent detailed descriptions incorporated herein, which together serve to explain the specific principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 2 is a schematic diagram exemplarily illustrating the structure of a biparting type sliding door according to various exemplary embodiments of the present invention.

[0019] Figure 2 yes Figure 1 An enlarged schematic diagram of part A in FIG.

[0020] Figure 3 is a diagram schematically illustrating a configuration of a characteristic learning system for cooperative control of dual actuators applied to a bi-parting sliding door according to various exemplary embodiments of the present invention.

[0021] Figure 4 is a graph showing a stroke difference of a dual actuator according to an exemplary embodiment of the present invention.

[0022] Figure 5 is a flowchart illustrating a preliminary examination method of characteristic learning for cooperative control of dual actuators applied to a bi-parting sliding door according to an exemplary embodiment of the present invention.

[0023] Figure 6 is a flowchart illustrating a characteristic learning method for cooperative control of dual actuators applied to a bi-parting sliding door according to an exemplary embodiment of the present invention.

[0024] Figure 7 is a diagram exemplarily illustrating a learning success situation according to an exemplary embodiment of the present invention.

[0025] Figure 8 is a diagram exemplarily illustrating a learning failure situation according to an exemplary embodiment of the present invention.

[0026] It should be understood that the accompanying drawings are not drawn to scale, but are only appropriately simplified drawings for illustrating various features of the basic principles of the present invention. The specific design features of the present invention disclosed herein include, for example, specific dimensions, directions, positions and shapes that will be determined in part by the specific environment in which they are to be applied and used.

[0027] In the drawings, reference numbers refer to the same or equivalent parts of the present invention throughout the several figures of the drawing. DETAILED DESCRIPTION

[0028] Various embodiments of the present invention will be described in detail below, examples of which are shown in the accompanying drawings and in the following description. Although the present invention will be described in conjunction with exemplary embodiments of the present invention, it will be appreciated that this specification is not intended to limit the present invention to those exemplary embodiments. On the other hand, the present invention is intended to cover not only the exemplary embodiments of the present invention, but also various replacements, modifications, equivalent forms and other embodiments that may be included within the spirit and scope of the present invention as defined by the appended claims.

[0029] Hereinafter, various exemplary embodiments of a characteristic learning system and a characteristic learning method for cooperative control of a dual actuator applied to a double-opening 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 shall not be interpreted as being limited to the general meaning or dictionary meaning, but shall be interpreted as the meaning and concept based on the principle that the inventor can properly define the concept of the term to best describe his own invention, in accordance with the technical spirit of the present invention.

[0030] Figure 1 is a schematic diagram exemplarily illustrating the structure of a split sliding door according to various exemplary embodiments of the present invention, Figure 2 yes Figure 1 An enlarged schematic diagram of part A in FIG.

[0031] Reference Figure 1 and Figure 2, the present invention can be applied to a structure including an actuator for operating a split sliding door 1 installed 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 a lower slide rail 5 (a slide rail installed on the lower side of the vehicle) and a middle slide rail 4 (a slide rail installed in the middle portion of the vehicle), but no upper slide rail.

[0032] When discussing the mechanism for moving the door 1, one end of the lower lower rail roller unit 6 is inserted and rollably coupled to the lower lower rail 5 provided in the longitudinal direction of the vehicle body 2, and the lower lower rail swing arm 7 is rotatably connected to the door 1 and the lower 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 lower rail 5.

[0033] When discussing the mechanism for preventing the door 1 from moving, the shaft 25 of the shaft assembly 24 provided in the direction toward the door 1 is movably connected to the lower rail 10 provided 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., the actuator), an external force is applied to the door 1 while the door 1 moves, thereby preventing the door 1 from moving. In this case, the door 1 moves according to the shape of the lower rail 10. The lower rail 10 may include a straight portion 12 having a straight shape and a curved portion 14 having a curved shape.

[0034] With regard to the above structure, various embodiments of the present invention are directed to a system and method for determining success or failure of learning for full opening or closing of door 1 through cooperative control of an actuator for operating door 1 and an actuator for preventing door 1 from moving.

[0035] Figure 3 is a diagram schematically illustrating a configuration of a characteristic learning system for cooperative control of dual actuators applied to a bi-parting sliding door according to various exemplary embodiments of the present invention.

[0036] Reference Figure 3 A characteristic learning system for cooperative control of dual actuators applied to a double-opening sliding door according to an 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.

[0037] 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 refers to the longitudinal direction of the lower slide rail 5. The first position sensor 22 is connected to the first motor 27, and can measure the RPM of the first motor 27 to detect the position of the door 1 moving along the lower slide rail 5.

[0038] One end of the shaft assembly 24 is connected to the lower rail 10 mounted on the door 1, and the other end of the shaft assembly 24 is fixed to the vehicle body 2. The shaft assembly 24 includes a shaft 25 that can move in the axial direction and operate 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 can measure the RPM of the second motor 28 to detect the position of the shaft 25.

[0039] 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. Therefore, when the front cable 8 or the rear cable 9 is pulled by the forward rotation or reverse rotation of the first motor 27, the door 1 moves along the lower slide rail 5 in the first direction.

[0040] The second motor 28 provides driving power to move the shaft 25. Therefore, by the forward or reverse rotation of the second motor 28, the shaft 25 moves in the second direction.

[0041] The memory unit 30 is connected to the control unit 40 and can store data processed by the control unit 40. In terms of hardware, the memory unit 30 can be a non-volatile 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 can store information related to the position of the door 1 and the shaft 25 according to the operation of the door 1 and the shaft 25. In addition, the memory unit 30 can store information related to the predetermined trajectory of the door.

[0042] The control unit 40 receives position information from the first and second position sensors 22 and 26 and executes characteristic learning logic by operating the first and second motors 27 and 28. In this case, the characteristic learning logic refers to control logic for success or failure of learning of full opening or closing of the door 1.

[0043] The control unit 40 may adjust the RPM of the first motor 27 and the second motor 28 by applying a variable voltage, performing pulse width modulation (PWM) control. The control unit 40 may receive information on currents generated when the first motor 27 and the second motor 28 operate.

[0044] Meanwhile, the control unit 40 is connected to the door opening / closing unit 52 and can receive a door opening / closing signal. In addition, the control unit 40 is connected to the door latch 54 and can receive door opening / closing information.

[0045] Next, a criterion for determining the fully opened or closed state of the door 1 by the control unit 40 will be described.

[0046] Figure 4 is a graph showing a stroke difference of a dual actuator according to an exemplary embodiment of the present invention.

[0047] Reference Figure 4 , when the door 1 switches from a fully open state to a fully closed state or from a fully closed state to a fully open state, the first motor 27 and the second motor 28 work. The first motor 27 is a main motor for moving the door 1, the second motor 28 is a secondary motor, and the first motor 27 and the second motor 28 may have different output 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, and the first motor 27 and the second motor 28 may no longer operate, so a stall state may occur.

[0048] Furthermore, such a stall state may occur even at a point where the shape of the trajectory of movement of the door 1 changes. Therefore, coordinated control of the first motor 27 and the second motor 28 is required to enable the door 1 to switch between the fully open and fully closed states.

[0049] The control unit 40 can divide the position of the door 1 into an initial position and a final position based on the information related to the trajectory of the lower rail 5 stored in the memory unit 30. In this case, the initial position refers to the position where the door 1 is in a fully open state (or a position in a fully closed state), and the final position refers to the position where the door 1 is in a fully closed state (or a position in a fully open 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.

[0050] When the door 1 moves from the initial position to the final position through the coordinated control of the first motor 27 and the second motor 28, the control unit 40 can determine that the learning of the full opening or closing of the door 1 has succeeded. On the contrary, when the door 1 cannot reach the final position, the control unit 40 can determine that the learning has failed.

[0051] Meanwhile, when the door 1 reaches the final position, the door 1 enters a fully opened or closed state, so that the first motor 27 may enter a stalled state.

[0052] For ease of distinction in various exemplary embodiments of the present invention, the stall state caused by the stroke difference between the first motor 27 and the second motor 28 is referred to as an interference stall state, and the stall state of the first motor 27 at the final position of the door 1 is referred to as a final stall state.

[0053] Even for the same type of vehicle, the final position may vary depending on the design and manufacture. Therefore, in an exemplary embodiment of the present invention, a learning success range including a learning success minimum position and a learning success maximum position may be set, and when the door 1 is within the learning success range, the control unit 40 may determine that the learning has been successful.

[0054] Figure 5 is a flowchart showing a preliminary checking method of characteristic learning for cooperative control of dual actuators applied to a bi-parting sliding door according to an exemplary embodiment of the present invention, Figure 6 is a flowchart illustrating a characteristic learning method for cooperative control of dual actuators applied to a bi-parting sliding door according to an exemplary embodiment of the present invention.

[0055] Next, we will refer to Figure 5 and Figure 6 A characteristic learning method of the control unit 40 is described.

[0056] First, the control unit 40 may perform a preliminary check on the characteristic learning. Figure 5 As shown, when the door open / close signal is applied, the control unit 40 checks whether an internal error occurs (S20), whether initialization learning is completed (S30), whether the door is in an incompletely opened or closed state (S40), and whether an error occurs in the first motor 27 and the second motor 28 (S50). When any condition is not satisfied, the control unit 40 starts characteristic learning (S52), but when any condition is satisfied, the control unit 40 stops the preliminary check (S54).

[0057] like Figure 6 As shown, 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 can be arbitrarily set. When an overload occurs due to a stroke difference when the first motor 27 and the second motor 28 are working, a stall current is generated in the first motor 27 and the second motor 28. The control unit 40 determines the interference stall state by detecting the stall current (S200).

[0058] When it is determined that the first motor 27 and the second motor 28 are in the interference 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 for maintaining the output of the first motor 27 and adjusting the output of the second motor 28 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, in the exemplary embodiment of the present invention, the second motor 28 has a smaller output capacity than the first motor 27. 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 work. However, in the case where the output of the second motor 28 cannot be increased, that is, in the case where the output of the second motor 28 is already 100%, the control unit 40 determines that the learning has failed (S440).

[0059] After a predetermined period of time has passed, 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 a final stall state (S620), so 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 been successful (S660).

[0060] On the contrary, when the position of the door 1 cannot reach the final position, the control unit 40 detects again whether the first motor 27 and the second motor 28 are in the interference stall state. Since the subsequent process is the same as the above process, the detailed description thereof will be omitted.

[0061] Meanwhile, the predetermined time period and rate at which the output of the second motor 28 increases may be set in various ways. Furthermore, when it is determined during the above process that the characteristic learning has failed, the control unit 40 performs control so as to perform the process again from the preliminary check of the characteristic learning.

[0062] Figure 7 is a schematic diagram exemplarily illustrating a learning success situation according to an exemplary embodiment of the present invention, Figure 8 is a schematic diagram exemplarily illustrating a learning failure situation according to an exemplary embodiment of the present invention. Figure 7 and Figure 8 In the diagram, the horizontal axis represents time or the travel of the door, but in various exemplary embodiments of the present invention, the horizontal axis is referred to as a time axis.

[0063] Reference Figure 7 , at t0 (initial time point; time point of the initial position), the control unit 40 sets the output of the first motor 27 to 50% (based on the overall output capacity of the first motor) and sets the output of the second motor 28 to 80% (based on the overall 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 interference stall state at time point t1. In this case, the control unit 40 maintains the output of the first motor 27 for a predetermined time period 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 has not reached the final position, the control unit 40 detects whether the interference stall state occurs again and determines whether the output of the second motor 28 can be increased.

[0064] Thereafter, when the door 1 continues to move along the lower slide rail 5, the first motor 27 and the second motor 28 enter the interference stall state at time point t2. 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 has not reached the final position, the control unit 40 continues to determine whether the interference stall state occurs and whether the output of the second motor 28 can be increased.

[0065] Since the door 1 is located within the learning success range when the above 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 .

[0066] Reference Figure 8 , at t0', 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 interference stall state at time point t1'. 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 has not reached the final position, the control unit 40 detects whether the interference stall state occurs again and determines whether the output of the second motor 28 can be increased.

[0067] 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 interference stall state at time point t2'. 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 has not reached the final position, the control unit 40 determines whether the interference stall state occurs and 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.

[0068] Meanwhile, although the output value of the second motor 28 is Figure 7 and Figure 8 In other words, even in the case where the first motor 27 and the second motor 28 have the same initial output value, the success or failure of learning may vary depending on various factors (e.g., the difference in the trajectory shape of the door 1, the difference in the learning success range, and the external force applied to the door 1).

[0069] In addition, the term "control unit" refers to a hardware device including a memory and a processor, which is configured to execute one or more steps interpreted as an algorithmic structure. The memory stores the algorithmic steps, and the processor executes the algorithmic steps to perform one or more processes of the method according to various exemplary embodiments of the present invention. The controller according to the exemplary embodiment of the present invention can be implemented by a non-volatile memory and a processor, the non-volatile memory is configured to store an algorithm for controlling the operation of various components of the vehicle or data about software commands for executing the algorithm, and the processor is configured to use the data stored in the memory to perform the above operations. The memory and the processor can be separate chips. Alternatively, the memory and the processor can be integrated in a single chip. The processor can be implemented as one or more processors.

[0070] The controller may be at least one microprocessor operated by a predetermined program, which may include a series of commands for executing the method according to various exemplary embodiments of the present invention.

[0071] The above invention can also be implemented as a computer-readable code on a computer-readable recording medium. A computer-readable recording medium is any data storage device that can store data that can be subsequently read by a computer system. Examples of computer-readable recording media include hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), read-only memories (ROMs), random access memories (RAMs), CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, etc., and are implemented as carrier waves (e.g., transmission via the Internet).

[0072] For ease of explanation and precise definition of the appended claims, the terms "upper", "lower", "inner", "outer", "upper", "lower", "upward", "downward", "front", "rear", "back", "inner", "outer", "inward", "outward", "inner", "external", "inner", "outer", "forward", "rearward" are used to describe features of the exemplary embodiments with reference to the positions of such features as shown in the accompanying drawings. It will be further understood that the term "connected" or its derivatives refer to both direct and indirect connections.

[0073] Furthermore, the term "fixedly connected" means that the fixedly connected members always rotate at the same speed. Furthermore, the term "selectively connectable" means that "when the selectively connectable members are not engaged with each other, the selectively connectable members rotate separately; when the selectively connectable members are engaged with each other, the selectively connectable members rotate at the same speed; 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 selectively connectable members are stationary".

[0074] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and description. These descriptions are not intended to be exhaustive of the present invention or to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made in accordance with the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that other technical personnel in the field can realize and utilize various exemplary embodiments of the present invention and various changes and modifications. The scope of the present invention is intended to be limited by the appended claims and their equivalents.

Claims

1. A characteristic learning system for cooperative control of dual actuators applied to a bi-directional sliding door, the characteristic learning system comprising: a first position sensor configured to detect a position of a door operated along the slide rail in a first direction; a shaft assembly including a shaft operative in a second direction relative to the door to prevent door flutter; a first motor and a second motor, wherein the first motor is engaged with the door, the second motor is engaged with the shaft assembly, and is configured to provide driving force to the door and the shaft assembly, respectively; a memory unit configured to store a position of the gate; 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 state due to a stroke difference between the first motor and the second motor is detected, adjust the output of the second motor for a predetermined period of time, and determine a learning success or a learning failure for full opening or closing of the door based on the position of the door, The position for determining the successful learning of the door being fully opened or closed is set within a range between the minimum successful learning position and the maximum successful learning position. The controller is configured to determine that a learning failure has occurred when the second motor no longer generates an output in a state where the position of the door has not reached a position for determining successful learning of full opening or closing of the door.

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

3. The characteristic learning system for cooperative control of dual actuators applied to a double-opening sliding door according to claim 1, wherein: The controller is configured to, when a stall state is detected, perform control to increase an output of the second motor at a predetermined ratio for a predetermined period of time.

4. The characteristic learning system for cooperative control of dual actuators applied to a double-opening sliding door according to claim 1, wherein: When the position of the door reaches a position for determining success of learning for full opening or closing of the door, the first motor enters a stall state.

5. The characteristic learning system for cooperative control of dual actuators applied to a double-opening sliding door according to claim 1, further comprising: a second position sensor configured to detect a position of the shaft, Therein, the position of the axis is stored in a memory unit.

6. A characteristic learning method, the characteristic learning method controlling a characteristic learning system for cooperative control of dual actuators applied to a bi-parting sliding door, the characteristic learning method comprising: a detection step, wherein a disturbance stall state occurring due to a stroke difference between a first motor of the characteristic learning system configured to provide a driving force to a door operating 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 operating in a second direction relative to the door to prevent the door from shaking is detected; an adjusting step, wherein, when a disturbance stall state is detected, the controller of the characteristic learning system maintains the output of the first motor for a predetermined period of time and adjusts the output of the second motor; and a determining step, wherein the controller determines, based on the position of the door, whether learning for full opening or closing of the door is successful or failed, Wherein, in the determining step, the controller is configured to: determine that learning success has occurred when the door is located within a range between a minimum learning success position and a maximum learning success position, In the determining step, the controller is configured to determine that learning failure has occurred when the second motor no longer generates output in a state where the position of the door has not reached a position for determining successful learning of full opening or closing of the door.

7. The characteristic learning method according to claim 6, wherein: In the adjusting step, after the output of the first motor is maintained for a predetermined period of time, the output of the second motor is increased at a predetermined ratio.

8. The characteristic learning method according to claim 6, further comprising: A storing step, wherein when the position of the door reaches a position for determining that learning of full opening or closing of the door is successful, the position of the door is stored in a memory unit of the characteristic learning system.

9. The characteristic learning method according to claim 6, wherein: The controller comprises: Processor; and A non-volatile storage medium having a program recorded thereon, wherein the program is executed by the processor and is used to execute the method according to claim 6.

10. The characteristic learning method according to claim 6, wherein: The characteristic learning system comprises: a first position sensor configured to detect a position of a door operated along the slide rail in a first direction; a shaft assembly comprising the shaft; the first motor and the second motor; a memory unit configured to store a position of the gate; and A controller is electrically connected to the first position sensor, the shaft assembly, the first motor, the second motor, and the memory unit.

11. A non-volatile computer-readable medium having recorded thereon a program for executing the method according to claim 6.

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