Electronically commutated drive system for vacuum cleaner

A self-propelled appliance, such as a vacuum cleaner includes a magnetic field sensor and magnet. A relative position between the magnetic field sensor and the magnet can be changed by a user of the appliance. The magnetic field sensor generates a signal indicating a magnetic field sensed by the sensor. Therefore, the magnetic field sensor signal indicates the relative position of the magnet to the sensor. This relative position signal is interpreted as a speed and direction request for a means for propelling the appliance. The magnetic filed sensor is, for example, a Hall effect sensor. The means for propelling includes, for example, a brushless d.c motor, sensorless motor or switched reluctance motor. Forward and reverse propulsion is provided without the use of a clutch. The appliance includes a reduced number of wearing components.