| 摘要 |
The present invention relates to a method and an apparatus for learning a control of lifting a continuous variable valve which can prevent a system from being destabilized by an accumulated error generated by electrical noise or mechanical backlash. The method for learning a control of lifting a continuous variable valve according to the present invention comprises the steps of: (a) determining the number (S) of state per revolution of a BLDC motor; (b) calculating a rotation angle (A) of a control shaft per state of the BLDC motor; (c) controlling the rotation of the BLDC motor; (d) comparing the present rotation angle of the control shaft with a median value of a maximum value regarding a rotation angle range (AR) of the control shaft; and (e) learning to change the rotation angle of the control shaft when there is no variation of the state, by a motor control part. |
