Washing machine and control method thereof

A washing machine comprising:

• a drum;
• a pulsator;
• a motor comprising:
• a stator;
• a first rotor connected to the drum;
• and
• a second rotor connected to the pulsator;
• an inverter circuit connected to the motor, the inverter circuit comprising:
• a first inverter configured to drive the first rotor;
• and
• a second inverter configured to drive the second rotor;
• and
• at least one processor configured to:
• selectively control the inverter circuit to drive the motor based on a plurality of driving modes, the plurality of driving modes including:
• a first driving mode to rotate only the first rotor;
• a second driving mode to rotate only the second rotor;
• and
• a third driving mode to rotate both the first rotor and the second rotor;
• in response to changing from one of the plurality of driving modes to another one of the plurality of driving modes, control the inverter circuit to start a driving operation of the changed driving mode and stop both the first rotor and the second rotor;
• and
• in response to both the first rotor and the second rotor being stopped, control the inverter circuit to drive the motor based on the changed driving mode,
• wherein the driving operation comprises an alignment operation to align the first rotor and the second rotor to a predetermined angle, and
• wherein the at least one processor is further configured to perform the alignment operation by performing a pulse width modulation (PWM) control on the first inverter and the second inverter simultaneously in the first driving mode or in the second driving mode.