Method of calculating motor position using hall sensor

1. A method of calculating a motor position using a hall sensor, the method comprising:

determining a motor position in response to a signal change of a hall sensor installed to a motor;

calculating a basic compensation value for compensating a motor position error due to signal measurement delay of the hall sensor;

determining whether a current command condition for a constant-speed operation of the motor is satisfied;

calculating a first-up compensation value that increases the basic compensation value by an additional compensation value, and a first-down compensation value that decreases the basic compensation value by the additional compensation value when the current command condition is satisfied;

calculating an average value Err_1−1 of a deviation between d-q axes current commands generated during a setting time when correcting the motor position using the first-up compensation value;

calculating an average value Err_2−1 of the deviation between the d-q axes current commands generated during the setting time when correcting the motor position using the first-down compensation value; and

correcting the motor position using the basic compensation value when a difference between the average value Err_1−1 and the average value Err_2−1 is less than a reference average value.

2. The method of claim 1 , wherein the basic compensation value is

θHall_delay=(ω r /2π)× T Hall_delay×360°,

where ωr is a motor angular speed, and THall_delay is a delay time with respect to signal measurement of the hall sensor.

3. The method of claim 1 , comprising:

increasing a compensation value calculating an nth-up compensation value increasing the basic compensation value by an additional compensation value×n if the average value Err_2−1 is smaller than the average value Err_1−1 when the difference between the average value Err_1−1 and the average value Err_2−1 is equal to or larger than the reference average value;

calculating an average value calculating an average value Err_1−n of the deviation between the d-q axes current commands generated during the setting time in case of correcting the motor position using the nth-up compensation value;

repeating the increasing of the compensation value and the calculating of the average value until the difference between the average value Err_1−n and the average value Err_2−1 becomes less than the reference average value; and

correcting the motor position using a final error compensation value after calculating the final error compensation value using an n value when the difference between the average value Err_1−n and the average value Err_2−1 becomes less than the reference average value,

wherein n is a cumulative count calculating the average value Err_1−n of the deviation between the d-q axes current commands.

4. The method of claim 3 , wherein the final error compensation value is θHall_delay′=the basic compensation value+the additional compensation value×(n−1).

5. The method of claim 1 , comprising:

increasing a compensation value calculating a nth-down compensation value decreasing the basic compensation value by an additional compensation value×(n−1) if the average value Err_2−1 is larger than the average value Err_1−1 when the difference between the average value Err_1−1 and the average value Err_2−1 is equal to or larger than the reference average value;

calculating an average value calculating an average value Err_2−n of the deviation between the d-q axes current commands generated during the setting time in case of correcting the motor position using the nth-down compensation value;

repeating the increasing of the compensation value and the calculating of the average value until the difference between the average value Err_1−1 and the average value Err_2−n becomes less than the reference average value; and

correcting the motor position using a final error compensation value after calculating the final error compensation value using a n value when the difference between the average value Err_1−1 and the average value Err_2−n becomes less than the reference average value, wherein the n is a cumulative count calculating the average value Err_2−n of the deviation between the d-q axes current commands.

6. The method of claim 5 , wherein the final error compensation value is θHall delay′=the basic compensation value−the additional compensation value×(n−1).

7. The method of claim 1 , wherein the current command condition for the constant-speed operation of the motor is that a d-axis current command is o and a q-axis current command is maintained as a constant value.

8. A method of operating a vehicle, the method comprising:

measuring a signal change of a hall sensor installed to a motor of the vehicle;

calculating a motor position in response to the signal change of the hall sensor installed to a motor;

calculating a basic compensation value for compensating a motor position error due to signal measurement delay of the hall sensor;

determining whether a current command condition for a constant-speed operation of the motor is satisfied;

calculating a first-up compensation value that increases the basic compensation value by an additional compensation value, and a first-down compensation value that decreases the basic compensation value by the additional compensation value when the current command condition is satisfied;

calculating an average value Err_1−1 of a deviation between d-q axes current commands generated during a setting time when correcting the motor position using the first-up compensation value;

calculating an average value Err_2−1 of the deviation between the d-q axes current commands generated during the setting time when correcting the motor position using the first-down compensation value;

correcting the motor position using the basic compensation value when a difference between the average value Err_1−1 and the average value Err_2−1 is less than a reference average value;

controlling the motor based of the corrected motor position.

9. The method of claim 8 , wherein the basic compensation value is

θHall_delay=(ω r /2π)× T Hall_delay×360°,

where ωr is a motor angular speed, and THall_delay is a delay time with respect to signal measurement of the hall sensor.

10. The method of claim 8 , comprising:

increasing a compensation value calculating an nth-up compensation value increasing the basic compensation value by an additional compensation value×n if the average value Err_2−1 is smaller than the average value Err_1−1 when the difference between the average value Err_1−1 and the average value Err_2−1 is equal to or larger than the reference average value;

calculating an average value calculating an average value Err_1−n of the deviation between the d-q axes current commands generated during the setting time in case of correcting the motor position using the nth-up compensation value;

repeating the increasing of the compensation value and the calculating of the average value until the difference between the average value Err_1−n and the average value Err_2−1 becomes less than the reference average value; and

correcting the motor position using a final error compensation value after calculating the final error compensation value using an n value when the difference between the average value Err_1−n and the average value Err_2−1 becomes less than the reference average value,

wherein n is a cumulative count calculating the average value Err_1−n of the deviation between the d-q axes current commands.

11. The method of claim 10 , wherein the final error compensation value is θHall_delay′=the basic compensation value+the additional compensation value×(n−1).

12. The method of claim 8 , comprising:

increasing a compensation value calculating a nth-down compensation value decreasing the basic compensation value by an additional compensation value×(n−1) if the average value Err_2−1 is larger than the average value Err_1−1 when the difference between the average value Err_1−1 and the average value Err_2−1 is equal to or larger than the reference average value;

calculating an average value calculating an average value Err_2−n of the deviation between the d-q axes current commands generated during the setting time in case of correcting the motor position using the nth-down compensation value;

repeating the increasing of the compensation value and the calculating of the average value until the difference between the average value Err_1−1 and the average value Err_2−n becomes less than the reference average value; and

correcting the motor position using a final error compensation value after calculating the final error compensation value using a n value when the difference between the average value Err_1−1 and the average value Err_2−n becomes less than the reference average value,

wherein the n is a cumulative count calculating the average value Err 2−n of the deviation between the d-q axes current commands.

13. The method of claim 12 , wherein the final error compensation value is θHall_delay′=the basic compensation value−the additional compensation value×(n−1).

14. The method of claim 8 , wherein the current command condition for the constant-speed operation of the motor is that a d-axis current command is o and a q-axis current command is maintained as a constant value.

15. A vehicle comprising:

a motor;

a hall sensor installed adjacent the motor; and

a motor controller coupled to the motor and the hall sensor, the motor controller configured to:

determine a motor position in response to a signal change of the hall sensor;

calculate a basic compensation value for compensating a motor position error due to signal measurement delay of the hall sensor;

determine whether a current command condition for a constant-speed operation of the motor is satisfied;

calculate a first-up compensation value that increases the basic compensation value by an additional compensation value, and a first-down compensation value that decreases the basic compensation value by the additional compensation value when the current command condition is satisfied;

calculate an average value Err_1−1 of a deviation between d-q axes current commands generated during a setting time when correcting the motor position using the first-up compensation value;

calculate an average value Err_2−1 of the deviation between the d-q axes current commands generated during the setting time when correcting the motor position using the first-down compensation value;

correct the motor position using the basic compensation value when a difference between the average value Err_1−1 and the average value Err_2−1 is less than a reference average value;

control the motor based on the corrected motor position.

16. The vehicle of claim 15 , further comprising a fuel cell and an air compressor being mounted in a position for supplying air to the fuel cell, the motor coupled to the air compressor.

17. The vehicle of claim 15 , wherein the motor controller includes a current controller configured to control a driving current of the motor, wherein the current controller is configured to utilize the corrected motor position to control the driving current of the motor for each of a plurality of PWM duty cycles.

18. The vehicle of claim 15 , wherein the basic compensation value is

θHall_delay=(ω r /2π)× T Hall_delay×360°,

where ωr is a motor angular speed, and THall_delay is a delay time with respect to signal measurement of the hall sensor.

19. The vehicle of claim 15 , wherein the motor controller is configured to:

increase a compensation value calculating an nth-up compensation value increasing the basic compensation value by an additional compensation value×n if the average value Err_2−1 is smaller than the average value Err_1−1 when the difference between the average value Err_1−1 and the average value Err_2−1 is equal to or larger than the reference average value;

calculate an average value calculating an average value Err_1−n of the deviation between the d-q axes current commands generated during the setting time in case of correcting the motor position using the nth-up compensation value;

repeat the increasing of the compensation value and the calculating of the average value until the difference between the average value Err_1−n and the average value Err_2−1 becomes less than the reference average value; and

correct the motor position using a final error compensation value after calculating the final error compensation value using an n value when the difference between the average value Err_1−n and the average value Err_2−1 becomes less than the reference average value,

wherein n is a cumulative count calculating the average value Err_1−n of the deviation between the d-q axes current commands.

20. The vehicle of claim 15 , wherein the motor controller is configured to:

increase a compensation value calculating a nth-down compensation value decreasing the basic compensation value by an additional compensation value×(n−1) if the average value Err_2−1 is larger than the average value Err_1−1 when the difference between the average value Err_1−1 and the average value Err_2−1 is equal to or larger than the reference average value;

calculate an average value calculating an average value Err_2−n of the deviation between the d-q axes current commands generated during the setting time in case of correcting the motor position using the nth-down compensation value;

repeat the increasing of the compensation value and the calculating of the average value until the difference between the average value Err_1−1 and the average value Err_2−n becomes less than the reference average value; and

correct the motor position using a final error compensation value after calculating the final error compensation value using a n value when the difference between the average value Err_1−1 and the average value Err_2−n becomes less than the reference average value,

wherein the n is a cumulative count calculating the average value Err_2−n of the deviation between the d-q axes current commands.