KR20090081051A - motor, controlling apparatus for the motor, controlling method for the motor, and washing machine - Google Patents

Abstract

A motor, control apparatus of motor, and washing machine are provided to drive in a low vibration/noise and use in a maneuver mode of vector control process. A motor comprises a stator, rotor, hall sensor, and motor controller. The stator is placed in a circular form of plural coil. The rotor has plural permanent magnets which are separated from the coil. The hall sensor is installed at the stator and senses the rotation with on/off signal. The motor controller transfers the control signal by presuming in a serial value.

Description

Motor, controlling apparatus for the motor, controlling method for the motor, and washing machine}

1 is a cross-sectional view of a washing machine according to an embodiment of the present invention.

2 is a control device of the washing machine motor according to the present embodiment.

3 is a control method of the washing machine motor according to the present embodiment.

4 is a view for explaining a position estimation process of the rotor.

5 is a block diagram of a speed estimator according to the present embodiment.

6 is a graph of phase currents and estimated electric angles when the rotor position is estimated by the T-method method.

Fig. 7 is a graph of the phase current and estimated electric angle diagram when the position of the rotor is estimated according to the embodiment of the present invention.

The present invention relates to a motor, a control device of the motor, a control method of the motor, a washing machine.

A motor is a device that generates a rotational movement of a rotor by an external power source, and is widely used in electronic devices such as used to rotate a drum of a washing machine or to rotate a rotor of a compressor. The present invention has a main interest in the washing machine motor, but the use range is not limited to only the washing machine.

Although there are various types of washing machines, among them, the drum washing machine is equipped with a washing machine motor at the rear of the drum so that the laundry cloth is accommodated in the drum lying sideways and the drum is rotated. The BLDC washing machine motor is mainly used to allow the washing machine motor to operate at high speed while reducing noise.

In the energization method of the washing machine motor, 120 phases each of the three-phase power source u phase, v phase, and w phase, where a power supply is not applied in a range of 120 degrees of electric angle, is generated. Unlike the conduction method and the 120-degree conduction method, there is a 180-degree conduction method in which the power supply direction to each phase is changed every 180 degrees without generating a non-power supply region. In the case of the 120-degree energizing method, there is an advantage in that the driving can be performed by only an approximate position of the rotor, which is widely used in the initial startup of the washing machine motor. However, the 120-degree conduction method has a disadvantage in that an overcurrent occurs and the system becomes unstable, and noise and vibration are generated a lot due to torque ripple due to harmonic harmonic components included in the current waveform. On the other hand, the 180-degree energization method has the advantage of low noise and stable system operation because the power is stably applied. However, if the position of the rotor is not accurately measured, the motor stops due to incorrect power supply. There is a problem that more noise is generated. Therefore, the 180 degree energization method can be applied to an operation mode in which the rotor is rotated at a constant speed or more.

Under this background, even when the washing machine starts to generate some noise and the system is unstable, the motor is driven by applying a 120-degree energization method, and a 180-degree energization method with low noise and high system stability is applied in the operation mode. To drive the motor. However, since devices such as washing machines are used in homes, the problems of noise / vibration and system instability caused by the application of the 120-degree energization method are more prominent. Such a problem has been more pronounced when the forward and reverse rotations occur many times repeatedly, such as washing and rinsing strokes, causing user dissatisfaction.

This problem is because it is impossible to accurately estimate the position and speed of the rotor of the motor, there is an urgent need for a method that can accurately determine the rotor of the motor from a stationary state.

The present invention provides a control method of a motor, a controller of a motor, and a washing machine motor in which the position of the rotor is accurately estimated so that the drum can be rotated in a low noise / low vibration state by using a 180 degree energization method even in a motor starting mode. Suggest.

The motor of the present invention comprises: a stator in which a plurality of wound coils are arranged in a circle; A rotor having a plurality of permanent magnets spaced apart from the coil by a predetermined distance; A hall sensor installed at the stator to detect rotation of the rotor as an on / off signal; And a vector control method is performed to compare the current speed of the rotor with the command speed of the rotor so that the current speed follows the command speed, and the current speed and the current position of the rotor are from the stop state. Included is a motor control section that is estimated to be a continuous value and transmits a control signal.

The control apparatus of the washing machine motor according to the present invention, by adjusting the current component Id and Iq on the dq axis coordinates defined by the d axis parallel to the magnetic flux direction of the permanent magnet and the q axis perpendicular to the magnetic flux direction of the permanent magnet, d A speed controller for generating axis command current Id * and q axis command current Iq *, respectively; A current controller for generating a d-axis command voltage Vd * and a q-axis command voltage Vq * based on the d-axis command current Id * and the q-axis command current Iq * outputted from the speed controller; An inverter generating a PWM signal based on the command voltages Vd * and Vq * output from the current controller and applying the PWM signal to the coil; At least one hall sensor for sensing a position of the permanent magnet; And a speed / position detector for detecting the position and the speed of the rotor using the on / off signal of the hall sensor, wherein the speed / position detector receives the on / off signal of the hall sensor and A primary speed / position detector for detecting speed; And a second speed / position detector configured to receive the speed of the rotor output from the first speed / position detector and an on / off signal of the hall sensor and detect the position of the rotor.

A control method of a washing machine motor according to the present invention includes a stator in which a wound coil is placed in a circular shape and fixed to a tub, a rotor rotating about the stator and having a permanent magnet, and the stator to sense rotation of the rotor. A method of driving a motor including at least one sensor installed on a substrate to generate an on / off signal, the method comprising: a d-axis parallel to a magnetic flux direction of the permanent magnet and a q-axis perpendicular to the magnetic flux direction of the permanent magnet; In order to perform the vector control method of applying the d-axis command current Id * and the q-axis command current Iq * by adjusting the current components Id and Iq on the defined dq-axis coordinates, the on / off signal of the sensor is used. The speed and position of the rotor is continuously estimated from the stationary state of the motor is characterized in that it is utilized in the control of the motor.

Hereinafter, with reference to the drawings will be described in detail a specific embodiment of the present invention. However, the spirit of the present invention is not limited to the specific embodiments presented below, and those skilled in the art who understands the spirit of the present invention may add, change, delete, add, etc. other embodiments included in the scope of the same idea. It may be easily proposed, but this will also be included within the scope of the present invention.

1 is a cross-sectional view of a washing machine according to an embodiment of the present invention.

Referring to FIG. 1, a drum washing machine includes a cabinet 1 that forms an appearance of a washing machine and performs installation and support of each component, and is installed inside the cabinet 1 and accommodated therein by a rotational movement. A drum (7) for washing the laundry cloth, a tub (3) installed outside the drum (7) and storing wash water, a stator (8) fixed to the rear surface of the tub (3), and A rotor 4 which is placed on the outer circumferential surface of the stator 8 and rotated by electromagnetic force generated between the stator 8 and a shaft which rotates together with the rotor 4 as a central axis of the rotor 4. (6) is provided.

Here, the stator 8 and the rotor 4 and the shaft 6 may be referred to as a washing machine motor. Here, the stator is provided with a number of teeth of which the coil is wound, and the rotor 4 is provided with a magnet. The rotor is rotated by the electromagnetic force generated between the coil and the magnet. In general, the meaning that the motor is rotated may be understood to mean that the rotor 4 is rotated by the electromagnetic force generated between the rotor and the stator.

The operation of the drum washing machine will be described in time series with reference to the above configuration.

The user opens the door 11 and feeds the laundry cloth into the drum 7. Thereafter, the user operates the operation panel 12 to drive the washing machine with reference to the state of the laundry cloth and the desired operating condition. When the operation of the washing machine is started, first, the motor is rotated to detect the amount of laundry cloth by the load amount detected by the motor. Then, the washing stroke is performed to suit the detected quantity.

When the washing operation starts, the washing water is introduced through the washing water inlet 2, and then the motor is rotated to rotate the drum 7. Here, the rotation of the drum 7 is generally caused by alternating the forward rotation and the reverse rotation, which is to prevent the tangling of the laundry cloth and to obtain the advantages of increasing the washing efficiency in the drum washing machine weak washing force compared to other washing methods will be. On the other hand, in order for the forward and reverse rotation of the drum 7 to alternately occur as described above, the drum should be rotated in one direction and then stopped, and the drum should be rotated again in the reverse direction.

However, according to the driving method of the conventional washing machine motor, there is a disadvantage that a large amount of noise and vibration is generated in the starting mode of the motor. In other words, the 120-degree energization method is applied to drive the motor, so that a large amount of noise is generated when the motor operates. In addition, there is a disadvantage in that a large amount of vibration is generated if proper control corresponding to the movement of the laundry cloth is not performed due to an abnormal system of the motor. The vibration may be transmitted to the tub by the bearing 5 or directly to the drum by the shaft 6. In addition, although the vibration transmitted to the drum may be transmitted to the tub 3 and cushioned by the damper 9 and the spring 13, the contact shock between the mechanical parts still acts as a noise factor.

In order to solve such a problem, in the present embodiment, the power supply method applied to the motor is set to 180 degrees in the start mode of the washing machine, and furthermore, the vector control method is used to control the power applied to the motor. It is characterized by doing. This can be achieved by continuously estimating the position and speed of the rotor of the motor.

The vector control method is a kind of a power supply control method for controlling the application of current to the winding, the d axis parallel to the magnetic flux direction of the permanent magnet placed on the rotor and the q axis perpendicular to the magnet direction of the permanent magnet. The dq-axis rotational coordinate system is defined, and a current is applied in a direction parallel to the d-axis and the q-axis. The vector control method is advantageous in that the current applied to the motor can be more precisely controlled, and furthermore, the weak magnetic flux control of the motor enables the motor to reach a speed exceeding the rated speed of the motor. . Therefore, in the case of a washing machine motor that requires a high speed rotation, such as dehydration stroke, while reducing the size and specification of the motor there is an advantage that can obtain the number of revolutions required for the dehydration stroke.

In addition, as a feature of the present embodiment, in the case of a washing operation of a drum washing machine in which a plurality of forward rotations and reverse rotations are alternately performed, power may be applied to the windings of the stator by the vector control method even at the time of start-up operation. have. In this case, a low noise / low vibration motor and washing machine can be operated, which is advantageous. The vector control method will be described later in more detail.

When the washing of the laundry cloth is finished through the process as described above, the washing water is drained through the washing water drain 10, and the entire washing administration is finished. After the washing stroke, rinsing stroke and dehydration stroke are started. Here, the rinsing stroke is a stroke similar to the washing stroke, so that the drum is rotated alternately in the forward and reverse directions so that the laundry cloth is washed.

On the other hand, the dehydration stroke is a stroke for removing water from the laundry cloth, the drum should be rotated at high speed. To this end, in the case of a dehydration stroke, the motor is operated at low flux.

The weak magnetic flux operation is an operation that solves the problem that the rotational speed of the motor cannot be increased any more even though current flows after the motor reaches the rated speed, and the amount of current that can be input to the motor is reduced by the counter electromotive force. In this mode, the magnetic flux of the permanent magnet is weakened by force. More specifically, after the motor reaches the rated speed, the magnetic flux is weakened by increasing the amount of current input to the d-axis parallel to the magnetic flux direction of the permanent magnet in the dq-axis rotational coordinate system used in the vector control method. It is a mode to allow. In this case, even if the driving efficiency of the motor is reduced, it is possible to obtain an advantage of operating the motor at a higher speed than the rated speed.

By allowing the drum to rotate at a higher rotational speed than the rated speed of the motor by the weak magnetic flux operation, the drum washing machine can expect the advantage of using a motor of a smaller specification than the required specification.

As can be seen from the above description, since the position and speed of the rotor can be estimated accurately, the motor of this embodiment can be driven by the vector control method from the start mode, and even in the normal mode. It can be expected that the motor can be stably controlled.

2 is a block diagram of a control device for a washing machine motor according to the present embodiment, wherein the control device for the washing machine motor according to the present embodiment is physically driven inside the washing machine as a device for driving the motor of the washing machine shown in FIG. 1. It can be realized as a number of parts such as a control chip installed on a substrate.

Referring to FIG. 2, a motor controller 40 controlling a power input to the motor M and a PWM calculator 51 generating a PWM signal by receiving a signal of a uvw stop coordinate system output from the motor controller 40. ), An inverter 52 that directly controls the power input to the motor M by receiving the PWM signal, and detects a d-axis current current Id and a q-axis current current Iq as current currents output from the interleaver. A current sensing unit 53 is provided.

In detail, the motor control unit 40 includes a speed / position detector 42 for detecting the rotation speed and the rotation position of the motor M, and a current speed of the rotor detected by the speed / position detector 42. dq axis defined by d-axis parallel to the magnetic flux direction of the permanent magnet and the q-axis perpendicular to the magnetic flux direction of the permanent magnet so that the current speed ω follows the command speed ω * by comparing ω and the command speed ω *. The speed controller 41 generates d-axis command current Id * and q-axis command current Iq * by adjusting the current components Id and Iq on the rotational coordinate, respectively, and the d-axis command current Id * and q outputted from the speed controller. A current controller 43 for generating d-axis command voltage Vd * and q-axis command voltage Vq * by PID control of the current currents Id and Iq based on the axis command current Iq *, and the dq axis rotation coordinate system and the uvw stop coordinate system. The coordinate conversion unit 44 is included so that are converted to each other.

Here, the speed / position detector 42 is the torque of the speed controller 41 and the on / off signal of the Hall sensor (see 14 in FIG. 1) installed in the motor M, more specifically the stator 8. By Te, the speed and position of the current rotor can be detected continuously. It is preferable in terms of cost that two Hall sensors 14 are installed to detect the position state of the rotor every 90 degrees of electric angle. However, it is not excluded that three or more Hall sensors may be installed to more accurately detect the position of the rotor.

The stationary coordinate system and the rotary coordinate system have a mutual relationship as follows.

First, the coordinate transformation formula of uvw / dq is as shown in Equation 1 below.

The voltage equation of the synchronous motor is shown in Equation 2 below.

In addition, the torque generated by the current on the applied rotary coordinate system is as shown in Equation 3.

In the above equations,

P is the maximum number, R is the winding resistance, Lq / Lp is the magnetic inductance converted into the dp coordinate system, Ke is the velocity electromotive force constant, and θ is the electrical angle.

According to the above equations, it can be seen that the current applied to the rotational coordinate system defined by the dq axis is eventually represented by the torque generated in the uvw three-phase stationary coordinate system.

Hereinafter, the torque of the motor operated by the stationary coordinate system is controlled by controlling the current or the voltage on the rotational coordinate system.

A control method of the washing machine motor according to the present embodiment will be described with reference to the control device of the washing machine motor shown in FIG. 2.

In the start mode in which the motor starts to rotate in a stationary state, the rotor is first forcedly aligned so that the rotor can be aligned at a predetermined position. At this time, the dq-axis rotational coordinate system pulses for a predetermined time on the d-axis parallel to the permanent magnet. Apply the motor so that the motor is aligned with the position corresponding to the permanent magnet, which is predetermined by the correlation between the permanent magnet and the winding.

Thereafter, a current is applied to the motor so that the motor can be started at the predetermined position, which is a forced alignment and already stored as the control information of the motor. On the other hand, after rotating the electric angle 90 degrees in the forced alignment position, the passage of the permanent magnet is detected by one Hall sensor 14, after which the rotor further rotates the electric angle 90 degrees Passing of the permanent magnet is sensed by the hall sensor 14. As such, it will be easily understood that the hall sensor is placed at the position of the stator where the rotor can generate a predetermined detection signal every 90 degrees of electrical angle.

On the other hand, in the present embodiment, the speed / position detector 42 in the starting mode is the position of the rotor 4 by the detection signal of the Hall sensor 14 and the torque Te detected by the speed controller 41. And continuously estimating the speed. In detail, two Hall sensors 14 are provided, which perform a function of generating a predetermined signal each time the rotor 4 rotates 90 degrees at an electric angle, and uses the signals. The speed / position detector 42 continuously estimates the position and speed of the rotor. That is, it can be measured continuously without discontinuities in the values of the speed and position of the rotor.

The speed and position of the rotor are continuously estimated in this way because the vector control method is applied even in the start mode in this embodiment. In detail, the vector control method applies power to the motor M by using the dq-axis rotational coordinate system, and the discontinuity in the estimated position and speed, in fact, the position of the rotor will have a greater influence. When a point occurs, a sudden change in the current applied to the d-axis of the dq rotational coordinate system in the direction parallel to the permanent magnet and the q-axis perpendicular to the permanent magnet at the corresponding point-in other words, the detection position-position of the hall sensor. In this case, noise is generated, and in extreme cases, reverse torque is generated in the rotor, or the rotor stops. Of course, reverse torque may be generated even when rotated at a high speed, but in this case, since the inertia of the rotor is large, the effect due to reverse torque will not be large.

In view of such a problem, the present embodiment continuously estimates the position ω and the speed θ of the rotor, and uses the continuous estimate. Here, continuous means that one value does not have two or more values in any one time zone.

The current speed ω of the rotor continuously estimated and detected by the speed / position detector 42 is input to the speed controller 41 and PID controlled together with the command speed ω * of the rotor. The speed controller 41 outputs the d-axis command current Id * and the q-axis command current Iq * of the d-q rotational coordinate system. The output command currents Id * and Iq * are input to the current controller 43, and are detected by the current sensing unit 53 and converted by the coordinate conversion unit 44, the inverter 52 defined by the dq rotational coordinate system. PID control is performed by comparing with the current currents Id and Iq. At this time, the current controller 43 refers to the current speed ω of the rotor sensed by the speed / position detector 42. The current controller 43 outputs the command voltages Vd * and Vq * on the d-q rotation coordinate system.

The command voltage output from the current controller 43 is changed into the command voltage on the uvw stop coordinate system via the coordinate conversion unit 44 and input to the PWM calculator 51. The PWM calculator 51 generates a PWM signal corresponding to the command voltage and inputs the same to the inverter 52. The six transistors provided to the inverter 52 turn the power on and off to drive the motor M. do.

3 is a flowchart of a control method of a washing machine motor according to the present embodiment, and a control method of the washing machine motor according to the present embodiment, which has been described above with reference to FIG. 3, will be described in time series.

Referring to FIG. 3, first, it is determined whether the motor is in a start mode in which rotation starts in a stopped state (S1). When it is determined in the start mode that the start mode is determined to be the start mode, the step of forcibly aligning the rotor is performed (S2), and when not in the start mode, the step of detecting the speed / position of the rotor is performed ( S3).

In the alignment step S2 of the rotor, a plurality of spaced apart pulses may be aligned in a specific position in relation to the permanent magnet by applying a plurality of spaced apart pulses in a direction parallel to the d-axis on the dq rotational coordinate system. have. Even after the rotor is aligned, step S3 of detecting the speed / position of the rotor is performed.

In the speed / position detection step (S3) of the rotor, the position and the speed of the current rotor are estimated by using the signal of the hall sensor generated every 90 degrees using the hall sensor 14.

Hereinafter, the position estimation process of the rotor will be described in more detail with reference to a signal diagram.

4 is a view for explaining a position estimation process of the rotor.

Referring to FIG. 4, the Hall sensors 14 (Hall A and Hall B) change the on / off signals of at least one Hall sensor at every 90 degrees of electric angle as time passes. With the change of the on / off signal of the hall sensor, the actual position θr-real of the rotor rotates while increasing linearly 360 degrees.

A method for estimating the actual position θr-real of the rotor using a change in the on / off signal of the hall sensor 14 will be described.

First, in the case of the method (T-method) of newly setting the estimated position of the rotor as the actual position of the rotor at each point where the on / off signal of the hall sensor is changed, the estimated rotor position θr-Tmethod, It can be seen that three discontinuities occur within a 360 degree angle. This method is a conventionally applied method, and since a discontinuous point is generated every cycle, a vector control method is applied in the starting mode of the motor, thereby causing a problem in that the motor cannot be driven.

In order to solve this problem, in this embodiment, the speed / position detector 42 is operated to have a continuous estimated value during a period of 360 degrees with the on / off signal of the hall sensor as one factor.

One feature of the present invention is that the speed and position of the rotor are continuously estimated. Hereinafter, the configuration and operation of the speed / position detector for achieving such a function will be described in detail.

5 is a block diagram of the speed / position detector.

Referring to FIG. 5, the speed / position detector according to the present embodiment receives the on / off signal from the hall sensor 14 and the torque signal Te of the speed controller 41 to estimate the rotational speed ωr of the rotor. Input the primary speed / position estimator 421, the angular velocity output from the primary speed / position estimator 421, the on / off signal of the hall sensor 14 and the torque signal Te of the speed controller 41. And a second velocity / position estimator 422 that estimates the rotor position θr-real.

Here, the output value of the primary speed / position estimator 421 is input to the speed controller 41 to be used for speed control, and the output value of the secondary speed / position estimator 422 is input to the coordinate converter 44. Used.

According to this speed / position estimator 42, since the position and the speed of the rotor are estimated to be continuous values without discontinuities, motor control can be performed continuously.

Referring back to FIG. 4, the command speed ωr * of the motor is such that the rotational movement of the rotor does not occur during the forced alignment time T2, and only the rotor is aligned with respect to the stator. After that, in the starting mode T2 of the motor, the rotation speed of the rotor gradually increases while the rotor is initially stopped. After that, it can be seen that the motor rotates at the normal speed in the normal mode T3 of the motor.

The description will be continued with reference to FIG. 3 again.

After the speed / position of the rotor is detected by the method of estimating the speed / position of the rotor in the speed / position detecting step S3 of the rotor, the rotor is rotated by the vector control method using the information. (S4).

Thereafter, it is determined whether or not a signal for stopping the rotor has been generated (S5). If it is stopped, the rotor is stopped, and if it is desired to continue to rotate the motor, the speed / position detection step of the rotor (S3). Again).

The above description has been explained from the main point of view that the motor is operated more stably by performing vector control from the start mode of the motor. However, according to the speed / position detector 42 according to the present invention, the motor can be stably operated even in normal operation because the position and the speed of the rotor and the rotor are accurately estimated as continuous values only in the start mode.

6 is a graph when the position of the rotor is estimated by the conventional T-method method, and FIG. 7 is a graph when the position and the speed of the rotor are estimated by the speed / position detector of the present invention. In each case, the motor is rotating at 300 rpm.

6 and 7, the DC link diagrams 101 and 201 do not have much difference. However, the electric angle diagrams 103 and 203 show many differences from each other. In detail, according to the conventional method, a discontinuity point is continuously generated whenever the on / off state of the hall sensor is changed, which is changed every time the on / off signal of the hall sensor 14 is changed in the case of the conventional T-method. This is because the electron angle is newly set. In contrast, according to the speed / position detector 42 according to the embodiment of the present invention, no discontinuity point occurs. The reason is as described above.

In addition, referring to the phase current diagrams 102 and 202, each phase current applied to the motor is also determined by the position and the speed of the rotor continuously estimated by the speed / position detector 42 according to the embodiment. It can be seen that a more continuous and accurate sinusoidal wave is implemented and the step is eliminated. Referring to the graph, it can be seen that the peak value of the phase current is reduced by 20% or more, thereby further reducing noise and vibration even during normal operation of a motor operated at a constant speed.

According to the present invention, even in the start mode of the motor, it is possible to operate in a low noise / low vibration state by utilizing a 180 degree energization method, and furthermore, the position and speed of the rotor are continuously operated by a power supply method of the motor in a 180 degree energization method. By estimating, the vector control method can be utilized even in the starting mode of the motor, whereby the power applied to the motor can be more appropriately controlled to further reduce noise / vibration and prevent the occurrence of overcurrent.

Further, according to the present invention, the position and speed of the rotor output from the speed / position detector are continuously estimated in the start mode as well as in the case of the normal operation of the rotor, thereby not only at the start of the motor but also in the normal operating state. Also, the peak value of the current is reduced, so that the noise and vibration generated during the operation of the motor can be reduced.

Claims (20)

A stator in which a plurality of wound coils are arranged in a circle; A rotor having a plurality of permanent magnets spaced apart from the coil by a predetermined distance; A hall sensor installed at the stator to detect rotation of the rotor as an on / off signal; And In order to compare the current speed of the rotor with the command speed of the rotor so that the current speed follows the command speed, Vector control method is performed, The current speed and the current position of the rotor is estimated to a continuous value from the stop state, the motor comprising a motor control unit for transmitting a control signal. The method of claim 1, The motor control unit, A speed controller for controlling d-axis command current Id * and q-axis command current Iq * on d-q axis coordinates defined by a d axis parallel to the magnetic flux direction of the permanent magnet and a q axis perpendicular to the magnetic flux direction of the permanent magnet; A current controller for controlling the d-axis command voltage Vd * and the q-axis command voltage Vq * based on the d-axis command current Id * and the q-axis command current Iq * outputted from the speed controller; A PWM calculator for generating a PWM signal based on the command voltages Vd * and Vq * output from the current controller; An inverter controlling a power applied to the coil in accordance with the PWM signal; And And a detector for estimating the current speed and position of the rotor as a continuous value by an on / off signal sensed by the hall sensor. The method of claim 2, In the detector, A primary detector configured to receive an on / off signal of the hall sensor and detect a present speed of the rotor; And And a secondary detector configured to receive the on / off signal of the hall sensor and the current speed of the rotor and detect the position of the rotor. The method of claim 3, wherein And the torque output from the speed controller is input to the primary and secondary detectors. The method of claim 2, And the torque input from the speed controller is input to the detector. The method of claim 1, Two Hall sensors are used to generate an on / off signal for every 90 degrees of electrical angle. A stator in which a wound coil is placed in a circle and fixed to a tub, a rotor rotating about the stator and having a permanent magnet, and at least installed on the stator to sense rotation of the rotor to generate an on / off signal In a method for driving a motor including one sensor, The vector control method of adjusting the d-axis command current Id * and the q-axis command current Iq * on the dq axis coordinates defined by the d axis parallel to the magnetic flux direction of the permanent magnet and the q axis perpendicular to the magnetic flux direction of the permanent magnet. In order to be carried out, And a speed and a position of the rotor are continuously estimated from the stopped state of the motor by using the on / off signal of the sensor. The method of claim 7, wherein The Hall sensor is a control method of a washing machine motor having two. The method of claim 7, wherein And the position of the rotor is estimated by referring to the estimated speed of the rotor. The method of claim 7, wherein And the position and speed of the rotor are estimated with reference to the torque of the rotor. The method of claim 7, wherein The speed of the rotor is estimated by the on / off signal of the sensor and the torque of the rotor, The position of the rotor is estimated by the on / off signal of the sensor, the torque of the rotor and the speed of the rotor. A speed controller for controlling d-axis command current Id * and q-axis command current Iq * on d-q axis coordinates defined by a d axis parallel to the magnetic flux direction of the permanent magnet and a q axis perpendicular to the magnetic flux direction of the permanent magnet; A current controller for controlling the d-axis command voltage Vd * and the q-axis command voltage Vq * based on the d-axis command current Id * and the q-axis command current Iq * outputted from the speed controller; A PWM calculator which generates a PWM signal based on the command voltages Vd * and Vq * output from the current controller; An inverter controlling a power applied to the coil in accordance with the PWM signal; At least one hall sensor for sensing a position of the permanent magnet; And A detector for detecting the position and the speed of the rotor using the on / off signal of the Hall sensor, The detector includes a primary detector for detecting the speed of the rotor by receiving the on / off signal of the Hall sensor; And And a secondary detector configured to receive a speed of the rotor output from the primary detector and an on / off signal of the hall sensor and detect a position of the rotor. The method of claim 12, And the torque information output from the speed controller is referred to the speed detector. The method of claim 12, And the torque information output from the speed controller is referred to the primary detector and the secondary detector. A stator in which the wound coil is placed in a circle and fixed to the tub; A rotor rotating about the stator and having a permanent magnet; At least one sensor installed on the stator to detect rotation of the rotor to generate an on / off signal; A primary detector configured to receive an on / off signal of the hall sensor and detect a present speed of the rotor; And And a secondary detector configured to receive an on / off signal of the hall sensor and a current speed of the rotor to detect a current position of the rotor. The method of claim 15, In the primary detector or the secondary detector, the torque information of the rotor is referenced to detect the current speed of the rotor or the current position of the rotor. The method of claim 15, A current position of the rotor is continuously detected. Cabinet; A drum installed inside the cabinet; A tub installed outside the drum to store wash water; And A stator fixed to the rear surface of the tub, and a motor including a rotor rotated by electromagnetic force generated between the stator and connected to the drum, And the motor is operated in a vector control manner, and the position and speed of the rotor are continuously detected from the stationary state. The method of claim 18, A detector for detecting the speed of the rotor position is further included, The detector is a washing machine for detecting the position and speed of the rotor with reference to the on / off signal of the sensor for detecting the position of the rotor in a predetermined angle unit, and the torque information of the rotor. The method of claim 19, In the detector, A primary detector for estimating the speed of the rotor; And And a secondary detector for estimating the position of the rotor by referring to the speed of the rotor estimated by the primary detector, the on / off signal of the sensor, and the torque information of the rotor.

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