KR102413842B1 - Detecting device for sensing the rotor position and motor having the same - Google Patents

Abstract

The present invention includes a sensing magnet including a central axis, a sensing plate coupled to the central axis, a main magnet and a sub-magnet disposed on the sensing plate, and a sensor unit disposed above the sensing magnet, wherein the sensor unit includes a substrate , a plurality of first Hall sensors and a plurality of second Hall sensors disposed on the substrate and disposed inside a virtual circle centered on the central axis, and a plurality of third Hall sensors disposed on the substrate and disposed outside the virtual circle a Hall sensor and a plurality of fourth Hall sensors, wherein the plurality of first Hall sensors and the plurality of third Hall sensors form a first group, and the plurality of second Hall sensors and the plurality of fourth halls The sensors form a second group, and when a Hall sensor of one of the first group or the second group fails, the Hall sensors of the other group provide a motor that still operates, so that even when the first sensor fails , it provides an advantageous effect of detecting the position of the rotor.

Description

Rotor position detection device and motor including the same

The embodiment relates to a rotor position sensing device and a motor including the same.

In general, in a motor, the rotor is rotated by electromagnetic interaction between the rotor and the stator. At this time, the rotation shaft inserted into the rotor also rotates to generate rotational driving force.

As a rotor position sensing device, a sensor including a magnetic element is disposed inside the motor. The sensor detects the magnetic force of the sensing magnet installed to be rotationally interlocked with the rotor to determine the current position of the rotor.

In general, for a three-phase brushless motor, at least three of these sensors are required. This is because three sensing signals are required to obtain information on U, V, and W phases. However, if any one of the three sensors fails, there is a problem in that the entire rotor position detecting device cannot be driven. In particular, considering the frequent failure of the sensor, there is a problem in that the entire rotor position sensing device is replaced due to one sensor failure, resulting in a large economic loss.

On the other hand, there is a problem in that it is difficult to accurately grasp the current position of the rotor because of the low resolution of the sensing signal due to the limitation of the magnetizing precision of the sensing magnet.

Republic of Korea Patent Publication No. 10-2006-0101998 (published on September 27, 2006)

Accordingly, the embodiment is intended to solve the above problems, and an object of the present invention is to provide a rotor position sensing device capable of driving even in the failure of some sensors, and a motor including the same. In particular, an object of the present invention is to provide a rotor position sensing device capable of being driven on an existing PCB without an existing additional structure and a motor including the same.

Another object of the embodiment is to provide a rotor position sensing device capable of increasing the resolution of a sensing signal without adding a sensor, and a motor including the same.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned here will be clearly understood by those skilled in the art from the following description.

In an embodiment for achieving the above object, a sensing magnet including a central axis, a sensing plate coupled to the central axis, and a main magnet and a sub-magnet disposed on the sensing plate, and a sensor unit disposed on the sensing magnet wherein the sensor unit includes a substrate, a plurality of first Hall sensors and a plurality of second Hall sensors disposed on the substrate and inside a virtual circle centered on the central axis, disposed on the substrate and outside the virtual circle a plurality of third Hall sensors and a plurality of fourth Hall sensors, wherein the plurality of first Hall sensors and the plurality of third Hall sensors form a first group, and the plurality of second Hall sensors and the plurality of fourth Hall sensors form a second group, and when one group of Hall sensors among the first group or the second group fails, the other group of Hall sensors may provide a motor that still operates.

To achieve the above purpose?? Another embodiment includes a sensing magnet including a central axis, a sensing plate coupled to the central axis, a main magnet and a sub-magnet disposed on the sensing plate, and a sensor unit disposed on the sensing magnet, the sensor A portion is disposed on the substrate and includes a plurality of first Hall sensors, a plurality of second Hall sensors, a plurality of third Hall sensors, and a plurality of fourth Hall sensors, the plurality of first Hall sensors and the plurality of Hall sensors. A second Hall sensor is disposed at a position corresponding to the main magnet, the plurality of third Hall sensors and the plurality of fourth Hall sensors are disposed at a position corresponding to the sub-magnet, and the plurality of first Hall sensors and the plurality of third Hall sensors form a first group, the plurality of second Hall sensors and the plurality of fourth Hall sensors form a second group, and the two most adjacent ones of the plurality of first Hall sensors The angle between the center of each of the first Hall sensors and the straight line connecting the central axis and the angle between the center of each of the two closest second Hall sensors among the plurality of second Hall sensors and the straight line connecting the central axis are the second 1 angle, an angle between the center of each of the two most adjacent third Hall sensors among the plurality of third Hall sensors and a straight line connecting the central axis, and the two most adjacent fourth Hall sensors among the plurality of fourth Hall sensors An angle between each center and a straight line connecting the central axis may provide a motor that is a third angle.

According to the embodiment, by disposing the second sensor in addition to the first sensor, even when a failure occurs in the first sensor, an advantageous effect of detecting the position of the rotor is provided.

According to the embodiment, the position of the second sensor is shifted by a certain angle so that the resolution is doubled in a position corresponding to the position of the first sensor, thereby providing an advantageous effect of accurately grasping the position of the rotor.

1 is a conceptual diagram of a motor according to an embodiment;
2 is a view showing a sensing magnet;
3 is a view showing a sensing signal;
4 is a view showing a rotor position detection device;
5 is a view showing a first embodiment of the arrangement of the first sensor and the second sensor corresponding to the main magnet;
6 is a view showing a first embodiment of the arrangement of the first sensor and the second sensor corresponding to the sub-magnet;
7 is a view showing a second embodiment of the arrangement of the first sensor and the second sensor corresponding to the main magnet;
8 is a view showing a second embodiment of the arrangement of the first sensor and the second sensor corresponding to the sub-magnet;
9 is a graph showing a comparison of a conventional sensing signal having a resolution of 60° with respect to the main magnet and a sensing signal having an increased resolution of 30° with respect to the main magnet;
10 is a graph illustrating a comparison between a conventional sensing signal having a resolution of 7.5° for a sub-magnet and a sensing signal having an increased resolution of 3.75°.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings and preferred embodiments. And, the terms or words used in the present specification and claims should not be construed as being limited to conventional or dictionary meanings, and the inventor appropriately defines the concept of the term in order to best describe his invention. Based on the principle that it can be done, it should be interpreted as meaning and concept consistent with the technical idea of the present invention. And in describing the present invention, detailed descriptions of related known technologies that may unnecessarily obscure the gist of the present invention will be omitted.

Terms including an ordinal number such as second, first, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the second component may be referred to as the first component, and similarly, the first component may also be referred to as the second component. and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

1 is a conceptual diagram of a motor according to an embodiment. Referring to FIG. 1 , the motor according to the embodiment may include a rotating shaft 100 , a rotor 200 , a stator 300 , and a rotor position detecting device 400 .

The rotating shaft 100 may be coupled to the rotor 200 . When electromagnetic interaction occurs between the rotor 200 and the stator 300 through the supply of current, the rotor 200 rotates and the rotating shaft 100 rotates in conjunction with this. The rotating shaft 100 may be connected to the steering shaft of the vehicle to transmit power to the steering shaft. The rotating shaft 100 may be supported by a bearing.

The rotor 200 rotates through electrical interaction with the stator 300 .

The rotor 200 may include a rotor core 210 and a magnet 220 . The rotor core 210 may be implemented in a shape in which a plurality of plates in the form of a circular thin steel plate are stacked or in the shape of a single cylinder. A hole to which the rotation shaft 100 is coupled may be formed in the center of the rotor core 210 . A protrusion for guiding the magnet 220 may protrude from the outer peripheral surface of the rotor core 210 . The magnet 220 may be attached to the outer peripheral surface of the rotor core 210 . The plurality of magnets 220 may be disposed along the circumference of the rotor core 210 at regular intervals. The rotor 200 may include a can member that surrounds the magnet 220 to fix the magnet 220 not to be separated from the rotor core 210 and prevents the magnet 220 from being exposed.

The stator 300 may have a coil wound to induce electrical interaction with the rotor 200 . A specific configuration of the stator 300 for winding the coil is as follows. The stator 300 may include a stator core including a plurality of teeth. The stator core may be provided with an annular yoke portion, and may be provided with teeth around which a coil is wound in a central direction from the yoke. The teeth may be provided at regular intervals along the outer circumferential surface of the yoke portion. Meanwhile, the stator core may be formed by stacking a plurality of plates in the form of thin steel plates. In addition, the stator core may be formed by coupling or connecting a plurality of divided cores to each other.

The rotor position detecting device 400 may include a sensing magnet 410 and a sensor unit 420 .

The housing 500 is formed in a cylindrical shape to provide a space in which the stator 300 and the rotor 200 can be mounted. At this time, the shape or material of the housing 500 may be variously modified, but a metal material that can withstand a high temperature well may be selected. The open upper portion of the housing 500 is covered by the cover 600 .

2 is a view showing a sensing magnet;

Referring to FIG. 2 , the sensing magnet 410 may include a main magnet 411 , a sub magnet 412 , and a sensing plate 413 . The sensing magnet 410 is disposed on the rotor 200 to indicate the position of the rotor 200 .

The sensing plate 413 is formed in a disk shape. Then, the rotation shaft 100 is coupled to the center of the sensing plate 413 . The main magnet 411 is disposed in the center of the sensing plate 413 . In addition, the sub-magnet 412 is disposed outside the main magnet 411 , and may be disposed at an edge of the sensing plate 413 .

The main magnet 411 corresponds to the magnet 220 of the rotor 200 . In other words, the number of poles of the magnet 220 of the rotor 200 and the number of poles of the main magnet 411 are the same. For example, when the magnet 220 of the rotor 200 has 6 poles, the main magnet 411 also has 6 poles. In addition, the magnet 220 and the main magnet 411 of the rotor 200 have pole division regions aligned so that the position of the main magnet 411 may indicate the position of the magnet 220 of the rotor 200 . The main magnet 411 is used to determine the initial position of the rotor 200 .

The sub-magnet 412 is used to precisely grasp the detailed position of the rotor 200 . For example, the sub-magnet 412 may have 72 poles.

The sensor unit 420 detects a change in magnetic flux caused by the main magnet 411 and the sub-magnet 412 according to the rotation of the sensing magnet 410 . The sensor unit 420 may be disposed on the sensing magnet 410 .

3 is a diagram illustrating a sensing signal.

Referring to FIG. 3 , the sensor unit 420 may detect three sensing signals T1 , T2 , and T3 by detecting changes in the N pole and the S pole of the main magnet 411 . And additionally, the sensor unit 420 may detect a change in magnetic flux of the sub-magnet 412 to detect two sensing signals E1 and E2.

As described above, since the magnet coupled to the rotor 400 is copied as it is in the main magnet 411, the position of the rotor 400 can be detected by detecting a change in magnetic flux based on the main magnet 411. . These sensing signals T1, T2, and T3 can be used for initial driving of the motor, and can feed back information on U, V, and W phases, respectively.

4 is a view showing a rotor position detecting device.

As shown in FIG. 4 , the shape of the substrate 421 may be implemented as an annular shape corresponding to the arrangement of the main magnet 411 and the sub-magnet 412 .

The substrate 421 may include first sensors S1 and S3 and second sensors S2 and S4 . The first sensor S1 and the second sensor S2 may be arranged on the same first circular orbit with respect to the center C of the sensing magnet 410 . The first sensor S3 and the second sensor S4 may be arranged on the same second circular orbit with respect to the center C of the sensing magnet 410 . The first sensors S1 and S3 may include a plurality of first Hall sensors H1 adjacent to each other on the circular orbit. In addition, the second sensors S2 and S4 may include a plurality of second Hall sensors H2 adjacent to each other on the circular orbit.

The first sensor S1 and the second sensor S2 positioned relatively inside may be disposed along a circular orbit disposed on the main magnet 411 . In other words, the first sensor S1 and the second sensor S2 may be disposed to correspond to the main magnet 411 with respect to the radial direction of the sensing magnet 410 . The first sensor S3 and the second sensor S4 disposed relatively outside may be disposed along a circular trajectory in which the sub-magnet 412 is disposed. In other words, the first sensor S3 and the second sensor S4 may be disposed to correspond to the sub-magnet 412 with respect to the radial direction of the sensing magnet 410 .

first embodiment

5 is a diagram illustrating a first embodiment of disposition of a first sensor and a second sensor corresponding to the main magnet.

4 and 5 , the first sensor S1 and the second sensor S2 disposed inside the substrate 421 detect a change in magnetic flux caused by the main magnet 411 , respectively.

The first sensor S1 may include three first Hall sensors H1. The first sensor S1 may generate continuous sensing signals on U, V, and W in response to the rotation of the main magnet 411 . The three first Hall sensors H1 may be disposed apart by a first angle R1.

The second sensor S2 may include three second Hall sensors H2. The second sensor S2 may additionally generate continuous sensing signals on U, V, and W in response to the rotation of the main magnet 411 . Accordingly, even when any of the first Hall sensors H1 of the first sensor S1 fails, it is possible to generate continuous sensing signals on U, V, and W. The three second Hall sensors H2 may be disposed apart from the first Hall sensor H1 by a first angle R1.

Here, the first angle R1 may be calculated by Equation 1 below.

Here, R1 is a first angle, R0 is an electrical angle, Nm is the number of poles of the main magnet 411, and the constant “3” means the number of U, V, and W phases.

For example, when the magnet 220 of the rotor 200 has six poles, the number of poles of the main magnet 411 is six. Accordingly, the electric angle R0 of the motor is 120°. As a result, the first angle R1 may be calculated as 40°. Here, the electric angle represents a physical angle (mechanical angle) of the magnet occupied by the N pole and the S pole of the magnet based on 360°. For example, when the magnet 220 of the rotor 200 has 8 poles, the electric angle R0 of the corresponding motor is 90°.

The second sensor S2 may be disposed at a position shifted from the position corresponding to the first sensor S1 in order to increase the resolution of the sensing signal. In other words, the first sensor S1 and the second sensor S2 may be disposed apart from each other by a second angle R2 that is different from the first angle R1 on the same first circular orbit. That is, the adjacent first Hall sensor H1a and the second Hall sensor H2a may be disposed apart by a second angle R2 different from the first angle R1 along the circumference of the circular orbit.

Here, the second angle R2 may be calculated by Equation 2 below.

Here, R2 is the second angle, R1 is the first angle, R0' is the shifted electric angle, and Nm is the number of poles of the main magnet 411 .

The resolution of the sensing signal by the main magnet 411 can be set to 60°. At this time, in order to double the resolution from 60° to 30°, if a shift by an electrical angle of 30° is required, if R1 is 40°, The second angle R2 may be calculated as 30° or 50°.

6 is a diagram illustrating a first embodiment of disposition of a first sensor and a second sensor corresponding to a sub-magnet.

4 and 6 , the first sensor S3 and the second sensor S4 disposed on the outside of the substrate 421 detect a change in magnetic flux caused by the sub-magnet 412 , respectively.

The first sensor S3 may include two first Hall sensors H1 . The first sensor S3 may generate a continuous sensing signal in response to the rotation of the sub-magnet 412 . The two first Hall sensors H1 of the first sensor S3 may be disposed apart by a first angle R1.

The second sensor S4 may include two second Hall sensors H2. The second sensor S2 may additionally generate a continuous sensing signal in response to the rotation of the sub-magnet 412 . Accordingly, even when any of the first Hall sensors H1 of the first sensor S3 fails, a continuous sensing signal can be generated. The two second Hall sensors H2 of the second sensor S4 may be disposed apart from the first Hall sensor H1 of the first sensor S3 by a first angle R1.

Here, the first angle R1 may be calculated by Equation 3 below.

Here, R1 is a first angle, R0 is an electrical angle, Q is a resolution angle, and Ns is the number of poles of the sub-magnet 412 .

For example, the number of poles of the sub-magnet 412 is 72, and therefore, the electric angle R0 of the corresponding motor is 10°. When Q is 90°, the first angle R1 is 10°*n+2.5°. Therefore, physically, it is very difficult to dispose the two first Hall sensors H1 apart by 2.5°. Accordingly, when the electrical angle R0 is 10°, 10°*n+2.5° having the same phase difference may be calculated as the first angle R1.

The second sensor S4 may be disposed at a position shifted from the position corresponding to the first sensor S3 in order to increase the resolution of the sensing signal. In other words, the first sensor S3 and the second sensor S4 may be disposed apart from each other by a second angle R2 that is different from the first angle R1 on the same second circular orbit. That is, the adjacent first Hall sensor H1a and the second Hall sensor H2a may be disposed apart from each other by a second angle R2 different from the first angle R1 along the circumference of the second circular orbit.

Here, the second angle R2 may be calculated by Equation 4 below.

Here, R2 is the second angle, R1 is the first angle, R0' is the shifted electric angle, and Ns is the number of poles of the sub-magnet 412 . Accordingly, if the shifted electrical angle R0' is 45° and the number of poles of the sub-magnet 412 is 72, the second angle R2 is the first angle R1, 10°*m+2.5°, plus 1.25° or minus the value

As a result, as shown in FIG. 6 , the adjacent first Hall sensor H1a and the second Hall sensor H2a are separated by a value obtained by adding 1.25° to the first angle R1 of 10°*n+2.5°. If arranged, the resolution of the sensing signal can be increased from 90° to 45°.

second embodiment

7 is a diagram illustrating a second embodiment of disposition of a first sensor and a second sensor corresponding to the main magnet.

4 and 7 , the first sensor S1 and the second sensor S2 disposed inside the substrate 421 detect a change in magnetic flux caused by the main magnet 411 , respectively.

The first sensor S1 may include three first Hall sensors H1. The first sensor S1 may generate continuous sensing signals on U, V, and W in response to the rotation of the main magnet 411 . The three first Hall sensors H1 may be disposed apart by a third angle R3.

The second sensor S2 may include three second Hall sensors H2. The second sensor S2 may additionally generate continuous sensing signals on U, V, and W in response to the rotation of the main magnet 411 . Accordingly, even when any of the first Hall sensors H1 of the first sensor S1 fails, it is possible to generate continuous sensing signals on U, V, and W. The three second Hall sensors H2 may be disposed apart from the first Hall sensor H1 by a third angle R3.

Here, the third angle R3 may be calculated by Equation 5 below.

Here, R3 is a third angle, R0 is an electrical angle, and Nm is the number of poles of the main magnet. The constant “3” means the number of U, V, W phases.

For example, when the magnet 220 of the rotor 200 has six poles, the number of poles of the main magnet 411 is six. Accordingly, the electric angle R0 of the motor is 120°. As a result, the first angle R1 may be calculated as 40°. For example, when the magnet 220 of the rotor 200 has 8 poles, the electric angle R0 of the corresponding motor is 90°.

The second sensor S2 may be disposed at a position shifted from the position corresponding to the first sensor S1 in order to increase the resolution of the sensing signal. In other words, with respect to each of the first Hall sensors H1 of the first sensor S1, a symmetrical position with respect to the reference line CL passing through the axial center C is referred to as P1 in FIG. The second Hall sensors H2 of the second sensor S2 may be located at positions shifted to the fourth angle R4 along the circumference at P1 of 7 .

Here, the fourth angle may be calculated by Equation 6 below.

Here, R4 is the fourth angle, R0' is the shifted electric angle, and Nm is the number of poles of the main magnet 411 .

The resolution of the sensing signal by the main magnet 411 can be set to 60°. At this time, in order to double the resolution from 60° to 30°, if a shift is required by an electrical angle of 30°, the fourth angle (R4) can be calculated as 10°. Therefore, if the number of poles of the main magnet 411 is 6, if the second sensors S2 are moved clockwise or counterclockwise by 10° compared to the first sensor S1 and disposed, the resolution of the sensing signal is 60° can be raised to 30°.

8 is a diagram illustrating a first sensor S3 and a second sensor S4 based on an external sensor.

4 and 8 , the plurality of sensors disposed outside the substrate 421 may be divided into a first sensor S3 and a second sensor S4 . The first sensor S3 and the second sensor S4 detect a change in magnetic flux caused by the sub-magnet 412 , respectively.

The first sensor S3 may include two first Hall sensors H1 . The first sensor S3 may generate a continuous sensing signal in response to the rotation of the sub-magnet 412 . The two first Hall sensors H1 may be disposed apart by a third angle R3.

Here, the third angle R3 may be calculated by Equation 7 below.

Here, R3 is a third angle, R0 is an electrical angle, Q is a resolution angle, and Ns is the number of poles of the sub-magnet 412 .

For example, the number of poles of the sub-magnet 412 is 72, and therefore, the electric angle R0 of the corresponding motor is 10°. If Q is 90°, the third angle R3 is 10°*n+2.5°. Therefore, physically, it is very difficult to dispose the two first Hall sensors H3 apart by 2.5°. Accordingly, when the electrical angle R0 is 10°, 10°*n+2.5° having the same phase difference may be calculated as the third angle R3.

The second sensor S4 may be disposed at a position shifted from the position corresponding to the first sensor S3 in order to increase the resolution of the sensing signal. In other words, with respect to each of the first Hall sensors H1 of the first sensor S3, a symmetrical position with respect to the reference line CL passing through the axial center C is referred to as P2 of FIG. The second Hall sensors H2 of the second sensor S4 may be located at positions shifted to the fourth angle R4 along the circumference at P2 of FIG. 8 .

In addition, when the electrical angle R0 is set to 90° and a shift by 45° is required, the fourth angle R4 can be calculated as 1.25° through Equation 8.

Here, R4 is the fourth angle, R0' is the shifted electric angle, and Ns is the number of poles of the sub-magnet 412 .

Therefore, if the number of poles of the sub-magnet 412 is 72, the resolution of the sensing signal can be set to 90°, and the second sensors S4 are rotated clockwise or counterclockwise by 1.25° compared to the first sensor S3. If it is moved and placed, the resolution of the sensing signal can be increased from 90° to 45°. 9 is a graph showing a comparison between a conventional sensing signal having a resolution of 60° with respect to the main magnet and a sensing signal having a resolution of 30° with respect to the main magnet.

If the number of poles of the main magnet 411 is 6, as shown in FIG. 9A , the resolution of the sensing signal is confirmed as 60° by the first sensor S1. However, as shown in FIG. 9B , the second sensor S2 is added, and the positions of the second Hall sensors H2 of the second sensor S2 are set to the first position of the first sensor S1. If it is moved in a clockwise direction by 10° compared to the Hall sensor H1, the resolution of the sensing signal can be increased from 60° to 30°. Accordingly, the initial driving position of the motor can be grasped more precisely.

10 is a graph showing a comparison of a conventional sensing signal having a resolution of 90° with respect to a sub-magnet and a sensing signal having an increased resolution of 45°.

If the number of poles of the sub-magnet 412 is 72, as shown in FIG. However, as shown in FIG. 10B , the second sensor S4 is added, and the positions of the second Hall sensors H2 of the second sensor S4 are set to the first position of the first sensor S3. If it is moved clockwise by 1.25° compared to the Hall sensor H1, the resolution of the sensing signal can be increased from 90° to 45°.

As described above, the rotor position sensing device and the motor including the same according to a preferred embodiment of the present invention have been described in detail with reference to the accompanying drawings.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains may make various modifications, changes and substitutions within the scope without departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are for explaining, not limiting, the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments and the accompanying drawings . The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: rotation axis
200: rotor
210: rotor core
220: magnet
300: stator
400: rotor position detection device
410: sensing magnet
411: main magnet
412: sub magnet
413: sensing plate
420: sensor unit
S1: first sensor
S2: second sensor
H1: first hall sensor
H2: second hall sensor
421: substrate
500: housing

Claims (15)

central axis;
a magnet coupled to the central axis;
It includes a sensor unit disposed to correspond to the magnet,
The sensor unit includes a substrate, a first group including a first Hall sensor and a third Hall sensor disposed on the substrate, and a second group including a second Hall sensor and a fourth Hall sensor,
The first Hall sensor and the third Hall sensor are disposed to overlap in a radial direction with respect to the central axis,
The second Hall sensor and the fourth Hall sensor are disposed to overlap in a radial direction with respect to the central axis,
Each of the first Hall sensor and the second Hall sensor is disposed at least three on a first circumference with respect to the central axis,
The angle between the straight line connecting the center axis and the center of each of the two adjacent first Hall sensors among the three first Hall sensors, and the center and the center of each of the two adjacent second Hall sensors among the three second Hall sensors The angle between the straight lines connecting the axes is the first angle,
A second angle different from the first angle between the center of each of the first and second Hall sensors adjacent to each other among the three first Hall sensors and the three second Hall sensors and a straight line connecting the central axis is a second angle different from the first angle in motor. According to claim 1,
Each of the third Hall sensor and the fourth Hall sensor is disposed at least two on a second circumference with respect to the central axis. 3. The method of claim 2,
At least one of the three first Hall sensors radially overlaps with at least one of the two third Hall sensors with respect to the central axis,
At least one of the three second Hall sensors radially overlaps with at least one of the two fourth Hall sensors with respect to the central axis. delete delete delete central axis;
a magnet coupled to the central axis;
It includes a sensor unit disposed to correspond to the magnet,
The sensor unit includes a substrate, a first group disposed on the substrate and including a plurality of Hall sensors, and a second group disposed on the substrate and including a plurality of Hall sensors,
The plurality of Hall sensors of the first group include at least three first Hall sensors disposed on a first circumference with respect to the central axis and at least two third Hall sensors disposed on a second circumference,
the plurality of Hall sensors of the second group include at least three second Hall sensors disposed on the first circumference and at least two fourth Hall sensors disposed on the second circumference;
The angle between the straight line connecting the center axis and the center of each of the two adjacent first Hall sensors among the three first Hall sensors, and the center and the center of each of the two adjacent second Hall sensors among the three second Hall sensors The angle between the straight lines connecting the axes is the first angle,
A second angle different from the first angle between the center of each of the first and second Hall sensors adjacent to each other among the three first Hall sensors and the three second Hall sensors and a straight line connecting the central axis is a second angle different from the first angle in motor. delete 8. The method according to claim 2 or 7,
The radius of the second circumference is greater than the radius of the first circumference of the motor. 10. The method of claim 9,
The magnet includes a main magnet disposed to correspond to the first circumference and a sub magnet disposed to correspond to the second circumference,
The three first Hall sensors and the three second Hall sensors detect a change in the main magnet,
The two third Hall sensors and the two fourth Hall sensors are configured to sense a change in the sub-magnet. 8. The method of claim 1 or 7,
An interval between the three first Hall sensors and an interval between the three second Hall sensors on the first circumference is a first distance;
A distance between a first Hall sensor adjacent to the second group of the three first Hall sensors and a second Hall sensor adjacent to the first group of the three second Hall sensors on the first circumference is a second distance;
The first distance and the second distance are different from each other. 12. The method of claim 11,
the second distance is greater than the first distance. delete 8. The method according to claim 2 or 7,
An angle between a straight line connecting the center of each of the two third Hall sensors and the central axis and an angle between a straight line connecting the center of each of the two fourth Hall sensors and the central axis are the first angles,
The angle between the center of each of the adjacent third and fourth Hall sensors among the two third Hall sensors and the two fourth Hall sensors and a straight line connecting the central axis is the second angle. According to claim 1,
The first angle is a motor calculated by Equation 1 below.
<Equation 1>
R1=RO/3
R0=360°/(Nm/2)
Here, R1 is the first angle, R0 is an electrical angle, Nm is the number of poles of the main magnet, and the constant “3” is the number of U, V, W phases.

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