Method of Calculating Motor Position Using Hall Sensor

The method of claim i, comprising:

• increasing a compensation value calculating an nth-up compensation value increasing the basic compensation value by an additional compensation value x 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 i-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 i-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 i-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 i-n of the deviation between the d-q axes current commands.

The method of claim i, comprising:

• increasing a compensation value calculating a nth-down compensation value decreasing the basic compensation value by an additional compensation value x (n-i) 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 HYU-o233IJSoi-HL -20- 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.

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 HYU-o233IJSoi-HL -2i- 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.

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;
• HYU-o233IJSoi-HL -24- 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. i6. The vehicle of claim i5, 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. i7. The vehicle of claim i5, 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. i8. The vehicle of claim i5, wherein the basic compensation value is ° Hall delay =(cor/27t) x THall_delay x 36o° , where cor is a motor angular speed, and THall_delay is a delay time with respect to signal measurement of the hall sensor. i9. The vehicle of claim i5, 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 x 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 i-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 i-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 i-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 i-n of the deviation between the d-q axes current commands.

The vehicle of claim i5, 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 x (n-i) 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. HYU-o233IJSoi-HL -26-