Motor or resistant type extra effort detecting method for sliding side door of vehicle, involves transmitting detection signal when estimation result of extra efforts exceeds predetermined threshold

摘要

The method involves realizing estimation of extra efforts by establishing a dynamic model of an actuating system, by synthesizing a feedback loop corrector between an electric actuator and a transmission chain and by constructing an extra effort observer from the model, where the actuator is formed by an electric motor (2). The estimation result of extra efforts is compared with a predetermined threshold. A detection signal is transmitted when the estimation result of the efforts exceeds the threshold, where the chain is formed of a drum (20), a cable (21) and a pulley (22). Independent claims are also included for the following: (1) a method for controlling an actuating system (2) a vehicle comprising a controller for controlling an actuating system.