My brother was very ill, so I had to call the doctor in the middle of the night. 我弟弟病得很厉害，我只得半夜里把医生请来。(客观上需要做这件事)
He said that they must work hard. 他说他们必须努力。(主观上要做这件事)
2) have to有人称、数、时态的变化，而must只有一种形式。但must 可用于间接引语中表示过去的必要或义务。
He had to look after his sister yesterday。
3) 在否定结构中： don't have to表示"不必" mustn't表示"禁止"，
You don't have to tell him about it. 你不一定要把此事告诉他。
You mustn't tell him about it. 你一定不要把这件事告诉他。
本文来自：逍遥右脑记忆 http://www.jiyifa.net/chuzhong/104640.html
相关阅读：初中英语名词复数不规则变化的语法大全