Motor position detection device

Abstract

The motor position detection device according to this embodiment includes: a rotor about a rotation axis of the motor; a substrate disposed facing the rotor; a Hall sensor disposed on one surface of the substrate to sense the rotation of the rotor; and an MR sensor disposed on another surface of the substrate to sense the rotation of the rotor.

Description

Technical Field

[0001] The present invention relates to a motor position detection device, and more particularly to a motor position detection device in which heterogeneous sensors are applied. Prior Art

[0002] The steer-by-wire (SBW) system applied to a vehicle includes a switched reluctance motor (SRM) and an SBW control unit (SCU) for controlling the SBW. The SBW controls four stages by rotating the motor according to signals when operating a shift button [P], [R], [N] and [D].

[0003] An external inhibitor switch is required to check that the braking structure is properly fastened to each stage, but this causes a problem of lack of space in the vehicle. In addition, the design of using only two identical Hall sensors to detect the motor position has a problem of being vulnerable to dependent failures. Summary of the Invention Problems to be Solved by the Invention

[0004] The technical subject to be solved by the present invention is to provide a motor position detection device in which heterogeneous sensors are applied.

[0005] The subject matter of the present invention is not limited to the subject matter mentioned above, and those skilled in the art will clearly understand other subject matters not mentioned from the following description. Means for Solving the Problems

[0006] To solve the above technical subject, a motor position detection device according to an embodiment of the present invention includes: a rotor that surrounds a rotation axis of a motor; a substrate that is disposed facing the rotor; a Hall sensor that is disposed on one surface of the substrate to sense the rotation of the rotor; and a MR sensor that is disposed on the other surface of the substrate to sense the rotation of the rotor.

[0007] It may include: a rotation speed determination unit that receives a first signal from the MR sensor and determines the rotation speed of the motor; a position determination unit that receives a rotation speed signal from the rotation speed determination unit, receives a second signal from the Hall sensor to determine a rotation position of the motor, and generates a motor integrated position using the rotation speed signal and the rotation position of the motor; and a control unit that outputs a control signal to the motor using the motor integrated position received from the position determination unit.

[0008] The control unit can control the motor drive by comparing the integrated motor position determined using the rotational position and rotational speed of the motor in the position determination unit with a shift command of a driver.

[0009] The control unit can diagnose a fault based on whether the motor's rotational speed, calculated from the second signal and determined from the first signal, is within a normal range.

[0010] The MR sensor includes a first MR sensor and a second MR sensor. The rotation speed determination unit receives a first signal from the first MR sensor and determines the rotation speed of the motor. The position determination unit can determine the rotation speed of the motor by receiving a first second signal from the second MR sensor.

[0011] The control unit can diagnose the fault by comparing the rotational speed of the motor determined by the first MR sensor with the rotational speed of the motor determined by the second MR sensor.

[0012] The position determination unit can determine the rotational speed of the motor by using the rotational position of the motor determined by the Hall sensor and the rotational position of the motor determined by the second MR sensor.

[0013] The Hall sensor may include a first Hall sensor and a second Hall sensor, and the first Hall sensor and the second Hall sensor may be disposed on one surface of the substrate by forming a 90-degree angle to overlap with one radius of the rotor.

[0014] The MR sensor can be mounted on the other surface of the substrate to overlap with the central region of one of the radii of the rotor.

[0015] The Hall sensor and the MR sensor can be arranged on the substrate so as not to overlap each other. Advantages of the Invention

[0016] According to an embodiment of the present invention, the rotational position of a motor can be detected in real time by a combination of the rotational position and rotational speed of the motor output via different magnetic sensors on a substrate.

[0017] In addition, since the motor position is determined in real time, the design freedom of the braking spring structure can be improved.

[0018] In addition, since the rotational position of the motor is detected via heterogeneous sensors, namely, the Hall sensor and the MR sensor, it is possible to prepare for dependent failures and ensure a high failure coverage rate.

[0019] In addition, since the position detected by the third-party verification can be guaranteed, the suppressor switch as external verification hardware can be removed, thereby ensuring space and reducing costs.

[0020] The effects according to the present invention are not limited by the content illustrated above, and more different effects are included in this specification. Brief Description of the Drawings

[0021] FIG. 1 illustrates a motor position detection device of the prior art.

[0022] FIG. 2 illustrates a motor position detection device according to an embodiment of the present invention.

[0023] FIG. 3 illustrates the arrangement of each sensor of the motor position detection device according to an embodiment of the present invention.

[0024] FIG. 4 illustrates a block diagram of the motor position detection device according to an embodiment of the present invention.

[0025] FIG. 5 is a flowchart of the operation of the motor position detection device according to an embodiment of the present invention.

[0026] FIG. 6 illustrates a motor position detection device according to another embodiment of the present invention.

[0027] FIG. 作例之馬達位置偵測裝置之方塊圖。

[0028] Figure 8 is an operation flowchart of a motor position detection device according to another embodiment of the present invention. Implementation [Best Mode]

[0029] In the following, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings.

[0030] However, the technical concept of the present invention is not limited to the embodiments described, but can be implemented in various forms, and within the scope of the technical concept of the present invention, one or more of the constituent elements can be selectively combined or substituted among the embodiments.

[0031] Furthermore, unless explicitly defined and described, the terms (including technical and scientific terms) used in embodiments of the present invention may be interpreted as meanings generally understood by those skilled in the art, and common terms such as those defined in dictionaries may be interpreted in light of the context of the relevant art.

[0032] Furthermore, the terminology used in this specification is for describing embodiments and is not intended to limit the invention.

[0033] In this invention, unless specifically stated in the phrase, the singular form may include the plural form, and when described as "at least one (or more than one) of A, B and C", it may include one or more of all combinations that can be combined with A, B and C.

[0034] Furthermore, when describing the components of embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended only to distinguish these components from other components, and the terms do not limit the nature, order, or sequence of the components.

[0035] Furthermore, when a component is described as being 'connected,' 'coupled,' or 'interconnected' to another component, the component is not only directly connected, coupled, or interconnected to other components, but may also include situations where the component is 'connected,' 'coupled,' or 'interconnected' between other components due to that other component.

[0036] Additionally, when described as being formed or configured in each component, "above" or "below," "above" or "below" means not only that the two components are in direct contact, but also that one or more other components are formed or configured between the two components. Furthermore, when expressed as "above" or "below," it can include not only the upward direction based on a component, but also the downward direction.

[0037] Figure 1 illustrates an existing motor position detection device. Referring to Figure 1, when the driver operates the shift button, the wired shift (SBW) can be controlled in four stages by using an electrical signal to rotate the motor. [P]、 [R]、 [N] and [D]. Shifting stage in a suppressor switch measurement system. [P]、 [R]、 [N] and The position of [D] is transmitted to the SBW control unit (SCU) as a PWM signal. The motor uses a Hall sensor (encoder) to transmit the motor position signal as a PWM signal to the SCU. In this case, the motor control system consists of a separate type of motor, SCU, and suppressor switch; and the input / output of each signal is configured using connectors and wiring harnesses.

[0038] In prior art motor control systems of this type, the motor-SCU separate structure occupies a significant amount of space compared to the integrated motor-controller structure. This has become a pain point for domestic and international automakers facing space constraints as the number of vehicle E / E systems increases. Furthermore, the demand for connectors and wiring based on the separable structure increases costs due to mold costs and similar reasons. Additionally, Hall sensors suffer from reduced motor control accuracy due to limited sensitivity, and motor control via this method can lead to accidents due to low responsiveness to shift level recognition and control. Moreover, when the mechanism secured by the brake spring separates due to disturbances such as uneven road surfaces, it can cause accidents due to the inability to quickly recognize and control the movement. Furthermore, the separation lines used for the input / output of various signals can cause increased relative physical distance, unnecessary signal loss due to resistance, and signal distortion due to external noise. Additionally, designs using two identical Hall sensors are susceptible to dependent faults, thus reducing safety levels. In addition, an external suppressor switch is required to measure the position of the gear stage. However, when the external suppressor switch malfunctions, the gear position cannot be determined, and therefore the vehicle cannot be driven.

[0039] The embodiments of the present invention will solve the above problems and provide a motor position detection device in which a heterogeneous sensor is applied.

[0040] In the following description, a motor position detection device according to an embodiment of the present invention will be described with reference to Figures 2 to 5. Figure 2 illustrates a motor position detection device according to an embodiment of the present invention; Figure 3 illustrates the configuration of each sensor in the motor position detection device according to an embodiment of the present invention; Figure 4 illustrates a block diagram of the motor position detection device according to an embodiment of the present invention; and Figure 5 is an operation flowchart of the motor position detection device according to an embodiment of the present invention.

[0041] Motor position detection device according to an embodiment of the present invention

[0100] With motor

[0110] The structure is an integrated combination of the controller and sensor unit.

[0120] Control unit

[0130] Position determination unit

[0140] and rotation speed determination unit

[0150] .

[0042] Sensor unit according to an embodiment of the present invention

[0120] May include being disposed on a substrate

[0121] Hall sensor

[0122] and MR sensor

[0123] .

[0043] More specifically, sensor unit

[0120] Can be positioned to face around the motor

[0110] Rotor of the rotating shaft

[0111] With sensor motor The rotation of

[0110] . Rotor

[0111] It can be a single-sided bipolar magnet with one N pole and one S pole attached thereto. Rotor

[0111] It can be a disc-shaped circular magnet or a ring-shaped ring magnet. Rotor

[0111] May have an attachment to the motor

[0110] The end shaft type of one end of the internal shaft, or the through shaft type fitted to one end of the shaft.

[0044] Sensor unit

[0120] May include a Hall sensor

[0122] and MR sensor

[0123] . Therefore, due to the sensor unit

[0120] Motor detection via heterogeneous sensor The rotation of

[0110] can therefore potentially improve accuracy, prepare for dependent faults or improve fault coverage, and meet ASIL level requirements. Here, dependent faults can mean faults attributable to common causes or linked faults, and fault coverage can mean the probability of detecting faults.

[0045] Sensor unit

[0120] Hall sensor

[0122] Can be mounted on a substrate

[0121] On one surface, and the MR sensor

[0123] It can be mounted on another surface of the substrate. Hall sensor

[0122] Can be positioned to face the rotor

[0111] , and MR sensor

[0123] It can be arranged such that a Hall sensor is mounted thereon.

[0122] substrate

[0121] The opposite side of the rotor

[0111] Same direction. Relatively speaking, MR sensor

[0123] Can be positioned to face the rotor

[0111] , and Hall sensor

[0122] It can be positioned such that an MR sensor is mounted thereon.

[0123] substrate

[0121] Rotor on another surface

[0111] Same direction. Generally, it needs to be relatively close to the rotor.

[0111] Install Hall sensor

[0122] , so as to sense the motor

[0110] rotation, but due to the MR sensor

[0123] Features a Hall effect sensor

[0122] Higher sensing sensitivity, therefore it can be located at a distance from the rotor

[0111] Relatively far away.

[0046] Sensor unit

[0120] Can be used with rotor The rotation radii of

[0111] partially overlap or can be arranged to be included in the internal region. Specifically, due to the two Hall sensors

[0122] As a group, the Hall sensor is used for sensing.

[0122] Can be arranged with the rotor The rotation radii of

[0111] overlap. Hall sensor

[0122] Includes a first Hall sensor [122-1] and the second Hall sensor [122-2], and the first Hall sensor [122-1] and the second Hall sensor [122-2] can be positioned to form a 90-degree angle with the rotor. The radii of

[0111] overlap. When the first Hall sensor [122-1] Sensing the rotation of the motor When the [sin] value is reached, the second Hall sensor... [122-2] The motor rotation can be sensed. [cos] value.

[0047] Sensor unit

[0120] MR sensor

[0123] Can be arranged with the rotor The central regions of the rotation radii of

[0111] overlap. MR sensor

[0123] Can be arranged to be disposed on a substrate Hall sensor on the opposite side of

[0121]

[0122] They overlap, but can be arranged to not overlap. Due to the MR sensor

[0123] Sensing rotor The change in the magnetic field of

[0111] , therefore, when it is related to the Hall sensor

[0122] When there is no overlap, the sensing sensitivity can be enhanced.

[0048] Referring to Figure 4, the rotation speed determination unit

[0150] Self-MR sensor

[0123] Receive the first signal [Sig1] to determine the motor

[0110] Rotation speed. Rotation speed determination unit.

[0150] It can be a power supply unit, and can be configured as a power supply unit (PSU) or power supply IC or power management IC (PMIC) capable of diagnosing its own faults. Here, since the operating principle of the MR sensor 123 for sensing the rotational speed of the motor is obvious to those skilled in the art, its detailed description will be omitted.

[0049] Position determination unit

[0140] Self-rotation speed determination unit

[0150] Receiving motor

[0110] Rotation speed signal [RPM1], and can be achieved through a Hall sensor

[0122] Receive the second signal [Sig2] is used to determine the motor. The rotational position of

[0110] . Alternatively, a motor can be used.

[0110] Rotation speed signal and motor The rotational position of

[0110] determines the integrated position of the motor. Position determination unit.

[0140] This can be a microcontroller unit (MCU). Here, a Hall sensor is used to sense the rotational position of the motor. The operating principle of

[0122] is obvious to those familiar with this technology, so its detailed description will be omitted.

[0050] Position determination unit

[0140] Can be via a Hall sensor

[0122] Sensing motor

[0110] Rotational position and self-MR sensor

[0123] Sensing motor

[0110] The rotational speed of the motor is used to determine the motor in real time.

[0110] Whether it is operating normally can be determined by comparing it with the shift command of the driver.

[0110] Integration position. When determined by the position determination unit.

[0140] Generated motor

[0110] The integrated location is transmitted to the control unit.

[0130] At that time, the control unit

[0130] A motor can be used.

[0110] The integrated position will output the control signal to the motor.

[0110] .

[0051] Next, referring to Figure 5, the method via the motor position detection device will be described.

[0100] Fault diagnosis and operation.

[0052] First, based on the driver's shift request (

[0301] Start motor drive (

[0302] When the rotor rotates according to the motor drive, the PMIC detects the rotation speed from the MR sensor.

[0303] Check if the rotation speed is within the normal range.

[0304] ), and when it is not within the normal range, perform fault diagnosis (

[0310] And when the reaction rate is within the normal range, check whether the reaction rate is within the normal range.

[0306] When the reaction speed is not within the normal range, fault diagnosis should be performed.

[0310] ), and when the reaction speed is within the normal range, the rotational position detected by the MR sensor and the Hall sensor is compared with the displacement request position of the driver to control the motor separately. In addition, when the rotor rotates according to the motor drive, the MCU detects the rotational position from the Hall sensor (

[0307] And calculate the rotational speed (

[0308] Check if the calculated rotational speed is within the normal range.

[0309] Furthermore, when the rotational speed is within the normal range, check whether the reaction speed described above is within the normal range.

[0306] ) and continue with the step of comparing the rotational position detected by the MR sensor and the Hall sensor with the displacement request position of the driver (

[0307] ). When the rotational speed does not correspond to the normal range, perform fault diagnosis (

[0310] ). Fault diagnosis is performed when the rotational speed detected by the MR sensor and the rotational speed detected by the Hall sensor do not correspond to the normal range.

[0310] ) When this happens, a determination is made based on the fault sensor detection and the fault condition.

[0311] And continue in emergency operation mode.

[0312] ), and operate in safe state mode (

[0313] The following section will describe the fault diagnosis process.

[0310] Operating modes for each fault condition.

[0053] A method for fault diagnosis (

[0310] ) The rotation position of the motor that detects fault sensors and determines various fault conditions (

[0311] ) The method is as follows. In case 1, when two Hall sensors

[0122] The one used for detection [cos] value of the first Hall sensor [122-1] When a fault occurs, the second Hall sensor is determined. [122-2] [sin] value and MR sensor

[0123] The matching of [sin] values. When two values ​​match, an MR sensor is used.

[0123] [sin] value and The [cos] value determines the rotational position of the motor.

[0054] In case 2, when two Hall sensors

[0122] Detection The second Hall sensor with [sin] value [122-2] When a fault occurs, the first Hall sensor is determined. [122-1] [cos] value and MR sensor

[0123] Matching between [cos] values. When two values ​​match, use an MR sensor.

[0123] [sin] value and The [cos] value determines the rotational position of the motor.

[0055] In case 3, when the MR sensor

[0123] When a fault occurs, a detection method can be used. [cos] value of the first Hall sensor [122-1] and used for detection The second Hall sensor with [sin] value [122-2] is used to determine the rotational position of the motor. This is achieved through emergency procedures as described above (…).

[0312] ) After controlling the motor, the control unit can inform the host controller of the fault, and therefore can operate in a safe state mode (

[0313] ).

[0056] A motor position detection device according to another embodiment of the present invention will be described with reference to Figures 6 to 8.

[0057] Although the motor position detection device according to an embodiment of the present invention includes an MR sensor formed by a single mode.

[0123] However, according to another embodiment of the present invention, the motor position detection device may include two MR sensors formed by dual-mode.

[0123] . It is possible to use two MR sensors.

[0123] The motor position information sensed by each of the sensors enhances safety. Two MR sensors

[0123] Can be placed parallel to the substrate

[0121] They are connected to each other and can be stacked on the substrate.

[0121] Above. Another embodiment of the invention will be described primarily by way of a configuration different from that described above; however, overlapping descriptions will be omitted.

[0058] MR sensor

[0123] May include a first MR sensor [123-1] and the second MR sensor [123-2]. Rotational speed determination unit.

[0150] From the first MR sensor [123-1] Receives the first signal and determines the rotational speed of the motor, and the position determination unit...

[0140] Can be from the second MR sensor [123-2] Receives the first and second signals to determine the rotational speed of the motor. Position determination unit.

[0140] Self-rotation speed determination unit

[0150] Receive the rotational speed signal of the motor. [RPM1], and can be derived from the second MR sensor [123-2] The received first and second signals generate the motor's rotational speed signal. [RPM2]. Position determination unit

[0140] The rotational speed signal of the motor can be used. [RPM1] and [RPM2], Motor rotation position The integrated position of the motor is generated by [Sig2] and the shift command of the driver. Control unit

[0130] The position determination unit can be used.

[0140] The motor is controlled by integrating the position of the generated motor.

[0059] Next, the fault diagnosis and operation via the motor position detection device will be described with reference to Figure 8.

[0060] First, based on the driver's shift request (

[0401] ) Start motor drive 402. As the rotor rotates according to the motor drive, the PMIC detects the rotation speed from the first MR sensor.

[0403] Check if the rotation speed is within the normal range.

[0404] When it is not within the normal range, perform fault diagnosis.

[0413] When it corresponds to the normal range, compare the rotational speeds of the first MR sensor and the second MR sensor.

[0406] When the compared rotational speed is not within the normal range, fault diagnosis is performed.

[0413] ); and when it is within the normal range, check whether the reaction speed is within the normal range (

[0407] When the reaction speed is not within the normal range, fault diagnosis should be performed.

[0413] ); When the reaction speed is within the normal range, the rotational position detected by the two MR sensors and the two Hall sensors is compared with the displacement request position of the driver.

[0408] This allows for further control of the motor.

[0061] Additionally, when the rotor rotates according to the motor drive (

[0402] When the MCU detects the rotation position from the Hall sensor,

[0409] ), and the rotation position is detected by the second MR sensor (

[0412] ) to calculate rotational speed (

[0410] Check if the calculated rotational speed is within the normal range.

[0411] And when the rotational speed is within the normal range, compare the rotational speeds of the first MR sensor and the second MR sensor described above.

[0405] Check if the compared rotational speeds are within the normal range.

[0406] ) and whether the reaction rate is within the normal range (

[0407] ); and continue to perform the step of comparing the rotational position detected by the MR sensor and the Hall sensor with the displacement request position of the driver (

[0408] ). When the rotational speed is not within the normal range, perform fault diagnosis (

[0413] ). When performing fault diagnosis (

[0413] ) When the rotational speed detected by the MR sensor and the rotational speed detected by the Hall sensor do not correspond to the normal range, the faulty sensor is detected and determined according to the fault condition.

[0414] Continue in emergency operation mode.

[0415] And it operates in a safe state mode.

[0416] The following section will describe the process based on fault diagnosis (…).

[0413] ) Operating modes for each fault condition.

[0062] According to fault diagnosis (

[0413] ) Detects fault sensors, and each fault condition ( The method for determining the rotational position of the motor (

[0414] ) is as follows. In case 1, when two Hall sensors...

[0122] The one used for detection [cos] value of the first Hall sensor [122-1] When a fault occurs, the second Hall sensor is determined. [122-2] [sin] value and MR sensor

[0123] [sin] value matching. When two values ​​match, the MR sensor 123 is used. [sin] value and The [cos] value determines the rotational position of the motor.

[0063] In case 2, when two Hall sensors

[0122] Detection The second Hall sensor with [sin] value [122-2] When a fault occurs, the first Hall sensor is determined. [122-1] [cos] value and MR sensor

[0123] [cos] value matching. When two values ​​match, use an MR sensor.

[0123] [sin] value and The [cos] value determines the rotational position of the motor.

[0064] In case 3, when the MR sensor

[0123] When a fault occurs, a detection method can be used. [cos] value of the first Hall sensor [122-1] and used for detection The second Hall sensor with [sin] value [122-2] is used to determine the motor's rotational position. This is achieved through the emergency operation described above.

[0415] After controlling the motor, the control unit can inform the host controller of the fault, and therefore can operate in a safe state mode.

[0416] .

[0065] Although embodiments of the invention have been described above with reference to the accompanying drawings, those skilled in the art will understand that the invention can be implemented in other specific forms without altering its technical spirit or essential characteristics. Therefore, it should be understood that the embodiments described above are illustrative and not restrictive in all respects.

[0066] 100: Motor position detection device 110: Motor 111: Rotor 120: Sensor Unit 121:Substrate 122: Hall sensor 122-1: First Hall Sensor 122-2: Second Hall sensor 123: MR Sensor 123-1: First MR sensor 123-2: Second MR sensor 130: Control Unit 140: Position Determination Unit 150: Rotation speed determination unit 301: Steps 302: Steps 303: Steps 304: Steps 305: Steps 306: Steps 307: Steps 308: Steps 309: Steps 310: Steps 311: Steps 312: Steps 313: Steps 401: Steps 402: Steps 403: Steps 404: Steps 405: Steps 406: Steps 407: Steps 408: Steps 409: Steps 410: Steps 411: Steps 412: Steps 413: Steps 414: Steps 415: Steps 416: Steps RPM1: Rotation speed signal RPM2: Rotation speed signal Sig1: First signal Sig2: Second signal / rotation position

Claims

1. A motor position detection device, comprising: a rotor surrounding a rotation axis of a motor; a substrate disposed facing the rotor; a Hall sensor disposed on one surface of the substrate to sense rotation of the rotor; and an MR sensor disposed on another surface of the substrate to sense the rotation of the rotor; a rotation speed determination unit receiving a first signal (Sig1) from the MR sensor and determining the rotation speed of the motor; a position determination unit receiving a rotation speed signal of the motor from the rotation speed determination unit, receiving a second signal (Sig2) from the Hall sensor to determine a rotation position of the motor, and generating a motor integrated position using the rotation speed signal and the rotation position of the motor; and a control unit for outputting a control signal to the motor using the motor integrated position received from the position determination unit; wherein the control unit diagnoses a fault based on whether the rotation speed of the motor calculated from the second signal and the rotation speed of the motor determined from the first signal are within a normal range. The control unit controls the motor drive by comparing the integrated motor position determined using the rotational position and rotational speed of the motor in the position determination unit with a shift command from a driver; the Hall sensor and the MR sensor are arranged on the substrate without overlapping each other; one surface of the substrate faces the rotor; the rotor, the Hall sensor, the substrate, and the MR sensor are arranged in sequence, and the distance between the rotor and the Hall sensor is less than the distance between the rotor and the MR sensor.

2. The motor position detection device of claim 1, wherein the MR sensor includes a first MR sensor and a second MR sensor, wherein the first signal (Sig1) includes a first first signal (Sig1-1) and a first second signal (Sig1-2), wherein the rotation speed determination unit receives a first first signal (Sig1-1) from the first MR sensor and determines the rotation speed of the motor, and wherein the position determination unit determines the rotation speed of the motor by receiving a first second signal (Sig1-2) from the second MR sensor.

3. The motor position detection device as claimed in claim 1, wherein the control unit diagnoses the fault by comparing the rotational speed of the motor determined by the first MR sensor with the rotational speed of the motor determined by the second MR sensor.

4. The motor position detection device as claimed in claim 2, wherein the position determination unit determines the rotational speed of the motor by means of the rotational position of the motor determined by the Hall sensor and the rotational position of the motor determined by the second MR sensor.

5. The motor position detection device of claim 1, wherein the Hall sensor includes a first Hall sensor and a second Hall sensor, and wherein the first Hall sensor and the second Hall sensor are disposed on one surface of the substrate by forming a 90-degree angle to overlap with one radius of the rotor.

6. The motor position detection device of claim 1, wherein the MR sensor is disposed on the other surface of the substrate to overlap with the central region of one of the radii of the rotor.

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