Home appliance including motor and home appliance control method

A method of controlling an apparatus comprising a motor, the method comprising:

• setting an initial voltage command to initiate sinusoidal wave control by determining a duty ratio of an inverter control signal to be applied to an inverter of the apparatus at a time of terminating square wave control;
• and
• setting an initial duty ratio command to initiate the square wave control by detecting a phase current to the motor at a time of terminating the sinusoidal wave control,
• wherein a phase voltage applied to the motor at a time of initiating the sinusoidal wave control is equal to a phase voltage applied to the motor at a time of terminating the square wave control, and
• wherein a phase voltage applied to the motor at a time of initiating the square wave control is equal to a phase voltage applied to the motor at a time of terminating the sinusoidal wave control.

An apparatus comprising:

• a motor;
• an inverter configured to generate an alternating current (AC) current from direct current (DC) power and output an AC driving current to the motor;
• a current sensor configured to detect a phase current to the motor;
• a voltage sensor configured to detect a phase voltage of the motor;
• memory storing at least one instruction;
• and
• at least one processor,
• wherein the at least one instruction, when executed by the at least one processor individually or collectively, causes the apparatus to:
• determine a duty ratio of an inverter control signal to change on and off states of a plurality of switches included in the inverter at a time of terminating square wave control,
• determine a phase voltage of the motor based on the inverter control signal, and
• set an initial voltage command to initiate sinusoidal wave control based on the phase voltage of the motor and a position of a rotor of the motor, and
• wherein a phase voltage of the motor based on the initial voltage command is characterized to correspond to a phase voltage of the motor based on the duty ratio.