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Research Journal of Applied Sciences, Engineering and Technology 6(13): 2474-2482, 2013

ISSN: 2040-7459; e-ISSN: 2040-7467


© Maxwell Scientific Organization, 2013
Submitted: December 23, 2012 Accepted: February 01, 2013 Published: August 05, 2013

A Novel Control Method for BLDCM Based on Phase Back-EMF Observation


1, 2
Pan Lei, 2Wang Bei-Bei and 1Sun He-Xu
1
Control Science and Engineering School, Hebei University of Technology, Tianjin, China
2
Department of Electronic and Information Engineering, Tianjin Institute of Urban Construction,
Tianjin, China

Abstract: The main purpose of this study is to propose a novel back-EMF observer. It can drive a permanent
magnet Brushless DC Motor (BLDCM) smoothly from slow to high speed without position or speed sensors. In the
method, a phase back-EMF observer, which could estimate phase back-EMFs in real time and only relies on DC
voltage and phase currents of motor without an additional circuit or complicated operation process,had been
established with phase back-EMF as a disturbance signal. This observer simplifies the structure of traditional back-
EMF observers and only has one inertia element, hence the response time and robustness of the system could be
improved. This study also detailedly provides a method for speed and position detection, which has high
performance in low speed range. The validity of the proposed method is verified through simulation and
experimental results.

Keywords: BLDCM, phase back-EMF observer, position-sensorless control, whole speed range

INTRODUCTION Secondly, observer Method (Changliang et al.,


2006; Kim and Sul, 1995; Furuhashi et al., 1990; Guan
BLDCM is widely used in various applications of et al., 2005) can be used to real-timely estimate the rotor
electromechanical systems because of its high position and speed by sliding mode observer,
efficiency, high power density and good controllability Luenberger observer, fuzzy logic-based neural network
over a wide range of speed and low maintenance cost observer or other state observers. In this method a
due to the removal of the brushes (Wang et al., 2010; detailed motor mathematical model is required. In
Bharatkar and Yanamshetti, 2010; Wang and Liu, addition, phase voltages have to be measured and A/D
2008). converters are required. In order to reduce the number of
A BLDCM requires an inverter and a rotor position voltage transducers, voltages can be deduced from the
sensor to perform commutation process. However, the inverter switching status and the measured dc-link
position sensor presents several disadvantages in view voltage. But torque ripple, inaccuracy of angle and
of drive’s cost, machine size, reliability and noise speed estimation at low speed and algorithm complexity
immunity. As a result, many sensorless drive solutions are main problems.
have been developed to eliminate the costly and fragile Thirdly, detecting method of freewheeling diode
position sensor for BLDCM with trapezoidal back- (Tae-Sung, 2008; Ungurean et al., 2010) is a technique
EMFs. Therefore, several main techniques of sensorless for detection of the conducting state of freewheeling
control of BLDCM have been extensively studied and diode in unexcited phase. It has simple synchronous
can be categorized as followed: process and perfect control characteristic at low speed.
Firstly, Stator Inductance Method (Yen-Shin, 2004; However, detecting precision of rotor position
Xianxiang et al., 2009) is proven to be independent of conspicuously degrades at high speed. In particular,
rotor velocity in the whole speed range and be additional isolated power has been needed to supply to a
successful to detect rotor position at very low speed. But comparator for detecting the freewheeling current in this
the inverter loss and the torque ripple in BLDCM are method.
very serious, for H_PWM-L_PWM modulation is used Fourthly, Back-EMF Sensing Techniques include
in indirect inductance method. In order to overcome detection of the zero crossing of back-EMF (Zicheng
these shortcomings, it is necessary to combine this et al., 2009) and back-EMF-based sensorless techniques
method with other control methods to realize the high- (Ungurean et al., 2010; Zicheng et al., 2009). Methods
efficiency operation without position sensor at both low based on detection of the zero crossing of back-EMF are
speed and high speed. simple and various commercial ICs are available for

Correspondong Author: Pan Lei, Department of Electronic and Information Engineering, Tianjin Institute of Urban
Construction, Tianjin, China. Tel.: 13512241509
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Res. J. Appl. Sci. Eng. Technol., 6(13): 2474-2482, 2013

BLDCM drive. However, they could not be applied to where,


BLDCM operation if the commutation advance or the p = Differential operator d/dt
current decay in the freewheeling diodes is greater than Rs = Stator resistance
30 electrical angles, since the zero crossing of back- Ls = Self-inductance of stator winding
EMF cannot then be detected. In back-EMF-based M = Mutual inductance of stator winding and L=
sensorless techniques, most of the low-speed L s −M
performance is limited. But the problem had been solved i a , i b , i c = Phase currents
(Tae-Sung, 2008), in which a line-to-line back-EMF e a , e b , e c = Phase back-EMFs
observer is established through regarding line-to-line
back-EMF as unknown input. It could realize the whole Further consider the difference between line-
speed range control of BLDCM without using position voltages and the following equation could be obtained
sensor. However, there are two first-order inertia after subtracting u bc from u ab :
elements, which lead to prolonging of transition process
and increasing pulsation of rotor speed and torque. In uab − ubc= Rs (ia + ic − 2ib ) + Lp(ia + ic − 2ib ) + (ea + ec − 2eb ) (2)
addition, a method of back-EMF sliding-mode observer
for BLDCM which is exploiting the mathematical Supposing that phase A and phase C are conducted
relationship between the speed and the back-EMF is and phase B is not conducted, then e a +e c = 0. Because
proposed (H.Fakham et al, 2008). A novel Variable three stator windings of BLDCM are connected in star,
Structure Control scheme of BLDCM is proposed i a +i b +i c = 0 and (2) could be simplified as:
(Changliang et al., 2005), in which current fluctuation
caused by current commutating is treated as a uab − ubc =
−3Rs ib − 3Lpib − 2eb (3)
disturbance. Based on the above results, this study is
proposed. i.e.,
This study proposes a novel sensorless control
method. In the method, a phase back-EMF g 3R 1 2
observer,which could estimate phase back-EMFs in ib =
− s ib + (ubc − uab ) − eb (4)
3L 3L 3L
real time and only relies on DC voltage and phases
current of motor without an additional circuit or Torque and motion equations are:
complicated operation process,had been established
with phase back-EMF as a disturbance signal. This Te = (ea ia + eb ib + ec ic ) / Ω (5)
observer simplifies the structure of traditional back-
EMF observers and only has one inertia element, hence
the response time and robustness of the system could be where,
improved. In addition, this method shows the basic T e = Electromagnetic torque
Ω = Mechanical angular velocity
structural relationship between the change of phase
current and phase back-EMF and provides reference for
THE ESTABLISHMENT OF PHASE
using other methods (such as PID, self-adaptive or
BACK-EMF OVSERVER
artificial intelligence control) to realize phase back-
EMF estimation. This study proposes a detection
In (4), e b could be regarded as a disturbance signal
method of speed and position detailedly and the method
with regular change and 𝑖𝑖̂𝑏𝑏 could be estimated from
has high performance at low speed range. The results of
(4). Since i b is measurable in fact, 𝑖𝑖̂𝑏𝑏 could be used for
simulations and experiments show the validity of this
comparison with i b to obtain erro ib , which could
algorithm for BLDCM control.
reflect the change of e b and erro ib = i b -𝑖𝑖̂𝑏𝑏 . Hence,the
MODELLING OF BLDCM following formula could be obtained after introducing
erro ib in (6):
The ordinary BLDCM applies three-phase VSI •
(voltage source inverter) for power supply and its stator ∧ R ^ 1 2
ib =
− s ib + (ubc − uab ) − eb + k4 erroib (6)
winding is connected in star. Because the neutral point L 3L 3L
of BLDCM is not extracted, the phase voltage equation
is difficult to be accurately constructed. The line-to-line where, k 4 is gain coefficient.
voltage expressions could be obtained through In (6), erro ib will be zero if 𝑖𝑖̂𝑏𝑏 is equal to i b and
corresponding subtraction of the three-phase phase then (6) will be same as (4), showing that estimated
voltages (Shao, 2006): value and actual value of eb are equal. If 𝑖𝑖̂𝑏𝑏 is not equal
to i b , erro ib will reflect the change of e b . For
uab= Rs (ia − ib ) + Lp (ia − ib ) + (ea − eb ) establishing the relationship between erro ib , 𝑖𝑖̂𝑏𝑏 and 𝑒𝑒̂𝑏𝑏 ,

ubc= Rs (ib − ic ) + Lp (ib − ic ) + (eb − ec ) (1) formula (7) is introduced (Changliang et al., 2005;
u = R (i − i ) + Lp (i − i ) + (e − e ) Shao, 2006):
 ca s c a c a c a

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ib U eb
ea ec
ubc ^
E
uab 1 ib esum θ
3Ls + 2 R erroib π /2 π 3π / 2 2π
^
2 3Lk4 −E
Mode1 Mode2 Mode3 Mode4 Mode5 Mode0
eb
1/ s k6

Back-EMF observer
k5 Fig. 2: Waveform of ea, eb, ec and esum

^
Fig. 1: The back-EMF observer of B phase h7 (t=
) (uca (t ) − uab (t )) /[3L(ic (t ) − ic (t − 1))] (11)

∧ ^ The following formula could be obtained:
eb = k5 erroib +k6 i b (7)
g
∧ ∧
where, k 5 and k 6 are gain coefficient and an accurate eb =
x(t ) A x(t ) + B ' (t )u ' (t ) (12)
could be obtained through properly selecting k 5 and k 6 .
The back-EMF observer of phase B could be The output formula is:
acquired as shown in Fig. 1.
Similarly, the observer models of the other two ∧

phases could be obtained and the system observer model y(t ) = C x(t ) (13)
could be obtained eventually:
where,
g
∧ ∧
x = A x + Bu + K × Erroi (8)  h1 (t ) − k1 0 0  1 
T

 k 0 0  0 
 2   
where,  0 h4 (t ) − k4 0 ; 1  ;
B ' (t ) =   C= 
 0 k5 0  0 
∧  3R 2  
 − 3L − 0 0 0  0 0 0 h7 (t ) − k7  1 
 ia  3L    
 ∧    0 0 k8  0 
ea   k3 0 0 0 0 0 
∧    ^

ia (t ) − ia (t − 1) 
3R 2
∧  ib  ;  0 0 − − 0 0 
x= ∧  A= 3L 3L   ^ 
 eb   0 0 k6 0 0 0  u ' (t )=  ib (t ) − ib (t − 1)  ; k2 , k5 , k8 ≠ 0 ; k3 , k6 , k9 < 0
∧    
i   0 3R
− 
2 ^


0 0 0 −  ic (t ) − ic (t − 1) 
  3L 
c

e  
3L
  
 c  0 0 0 0 k9 0 

1/ 3L 0 0   k1 0 0 From (12) and (13), (14) and (15) can be concluded.
 0  k 0 0 
 0 0   2
0 0 Rank ([ B ' AB ' A2 B ' A3 B ' A4 B ' A5 B ' ]) = 6 (14)
 0 1/ 3L 0 ; k4
B=  K =0 k5 0

 0 0 0  
 0 0 k7  Rank ([C CA CA2 CA3 CA4 CA5 ]T ) = 6 (15)
0 1/ 3L  0
   
 0 0 0   0 0 k8 
Hence, the system is completely controllable,
 ∧

uab − ubc  i −i completely observable and stability and the observer is
 erroia   a a 
=
u u − u  ;  erro =   i − i∧  fully feasible.
 bc =
ab  Erroi  ib   b b
uca − uab   erroic   ∧ 
HIGH-SPEED COMMUTATION METHOD
 ic − ic 
 
The back-EMF functions of BLDCM could be
Adjusting the structure of (9) and letting: obtained according to its back-EMF’s waveform shown
in Fig. 2 and they are given in Table 1. e sum could be
^ obtained from Table 1 and e sum = e a +e b +e c .
h1 (t=
) (uab (t ) − ubc (t )) /[3L(ia (t ) − ia (t − 1))] (9) The waveform of e sum is shown in Fig. 2, which
shows that the period of e sum is one third of that of phase
^ back-EMF. There are six zero-crossing points in each
h4 (t=
) (ubc (t ) − uca (t )) /[3L(ib (t ) − ib (t − 1))] (10) three periods and they are in accordance with six zero-
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Res. J. Appl. Sci. Eng. Technol., 6(13): 2474-2482, 2013
^ ^
Table 1: The back-EMF function of BLDCm
U CF1 eb − e c
θr ea eb ec ^
ea ^
^
ec
0-30º (6E/𝜋𝜋)θ r -E E eb θ
30º-90º E -E -(6E/𝜋𝜋)θ r +2E π 2π
90º-150º E -(6E/𝜋𝜋)θ r +4E -E
Mode2 Mode5
150º-210º (6E/𝜋𝜋)θ r +6E E -E
210º-270º -E E -(6E/𝜋𝜋)θ r +8E (a)
^ ^
270º-330º -E -(6E/𝜋𝜋)θ r +10E E CF2 ec − e a
U ^ ^
330º-360º (6E/𝜋𝜋)θ r +12E -E E ea eb ^
ec θ
π 2π
Interrupt service routine
Mode1 Mode4

(b)
esum=0 and Flag_zc=0 N desum/dt=0 and Flag_zc=1 ^ ^
U ^ e a − eb CF3 ^ ^
Y Y ea eb ec
Flag_zc=1 Mode=(Mode+1)%6 and θ
π 2π
Flag_zc=0
Mode3 Mode0

(c )
exit vth1
U
vth 2
Fig. 3: Interrupt service routine of commutation point b CF1 d
a
detection at high speed θ
π 2π
vth 3 c
crossing points of three-phase back-EMF in one period.
Mode2 Mode5
In particular, the extreme point of e sum is the
commutation point of BLDCM. (d )
At high speed, the commutation point could be
determined through detection of the zero-crossing point Fig. 4: Working principle of the commutation functions
and extreme point of e sum . Figure 3 shows the interrupt
service routine of commutation point detection and this moment corresponds to the commutation moment of
Mode = 1, 2, 3, 4, 5, 0 are corresponding to respective Mode2. CF 1 decreases quickly with increasing of θ, but
communication mode. But at low speed, the amplitude CF 1 is positive during this section. ê a becomes negative
of e sum is small and it is easy to cause unexpected after θ entering π~3π/2, but ê b -ê c remains positive and
commutation. CF 1 becomes negative with small absolute value. CF 1
approaches negative infinity immediately when θ
LOW-SPEED COMMUTATION METHOD approaches 3π/2. After θ entering 3π/2~ 2π section,
CF 1 becomes positive infinity quickly, for ê b -ê c turns
In order to solve the low-speed commutation from positive to negative and the moment corresponds
problem of BLDCM, a novel commutation function for to the commutation moment of Mode 5. With
determining commutation points is provided in this continuous increasing of θ, CF 1 decreases quickly and it
study. The function can realize low-speed control of remains positive with small absolute value in this
BLDCM perfectly. section. Similarly, the commutation points of Mode 1
The commutation functions are: and Mode 4 could be obtained from CF 2 (Fig. 4b) and
the commutation points of Mode 3 and Mode 0 could be
^ ^ ^ obtained from CF 3 (Fig. 4c). Because the range of data
(θ )1 e a /(eb − ec )
CF= (16) processed by microprocessor is limited, commutation
points could be detected through setting proper
^ ^ ^
(θ ) 2 eb /(ec − e a )
CF= (17) threshold values.
Figure 4d shows CF 1 under disturbance signal.
^ ^ ^
Because the amplitude of noise a is smaller than v th2 , it
(θ )3 ec /(e a − eb )
CF= (18) could be filtered. The amplitude of the noise b exceeds
v th2 , but it does not turns from negative to positive
The working principle of the commutation function immediately, so it could also be filtered. The negative
is shown in Fig. 4. In Fig. 4a, CF 1 is negative when θ is maximum value of noise c exceeds v th3 , but the positive
in 0~π/2 and CF 1 decreases gradually. CF 1 decreases maximum value of it does not exceeds v th2 , so it could
rapidly towards negative infinity when ê b -ê c approaches also be filtered. The negative maximum value of the
zero. Just after θ entering π/2~π, CF 1 turns from noise d exceeds v th3 and the positive maximum value
negative infinity to positive infinity immediately and exceeds v th2 , so the noise d is regarded as a commutation
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Table 2: The expression of e sum in a whole period Table 3: Parameter table of BLDC motor
θr e sum θr e sum Rated voltage V 310V Stator inductance L 5.22 mH
0-30º (6E/𝜋𝜋)θr 90º-120 (6E/𝜋𝜋)θ r -4E Rated torque Te 12Nm Rotor inertia J 0.08 kg·m2
Rated speed n 1000 Number of pole pairs Pn 2
30º-90º -(6E/𝜋𝜋)θ r +2E Stator resistance Rs 1.5Ω

^
U e sum ∆t SaH SbH ScH
tk −2 ∆θ tk
t /θ BLDC
π 2π DC
motor
t
3 k −1 3 SaL SbL ScL

Sa,Sb,Sc Driving signals


ia
Fig. 5: Relationship between commutation points and ê sum n* T* I* Current ib
PI PI
controller

n udc uab
Calculate
point. This phenomenon could be filtered through Sa
Sb line-to-line
ubc Back-EMF
uca observer
adjusting the threshold value according to work Sc voltage

CF1,2,3
environment, such as increasing v th2 to v th1 or combining Commutation
ea ∧
eb ∧

calculate ec
with other filter methods. 60 CF1,2,3
2π Torque
calculate
ROTOR SPEED AND TORQUE CONTROL AND Ω

POSITION TRACKING Ω ∧

2/Pn ωr Speed
calculate

At high speed, rotor speed and position could be


determined through detecting ê sum , as shown in Table 2. Fig. 6: The block diagram of control system
At low speed, for the amplitude of back-EMF is small,
�𝑟𝑟 and 𝜃𝜃� could be obtained through determining the
𝜔𝜔 The Matlab/Simulink platform is used for system
time interval between the commutation point and the simulation, which includes three conditions (max(dn/dt)
sign changing point of ê sum and the displacement = 2000 rpm):
between them is π/6. The position relationship between
the commutation point and ê sum is shown in Fig. 5 and • If the given speed is 1000 rpm and a torque of
the calculation method is given as followed: 12Nm is suddenly added at 0.7s, simulation results
are shown in Fig. 7.
6/π ; 6/π • If the given speed is 30 rpm and a torque of 12Nm
ωr , k −1 = ωr , k = (19) is suddenly added at 0.3s, simulation results are
tk −1 − tk − 2 tk − tk −1
shown in Fig. 8.
∆t π
∆θ
= × (20) In Fig. 7a and 8a, the period of ê sum is 1/3 of that of
tk −1 − tk − 2 6 phase back-EMF and zero-crossing points of ê sum in
each three cycles are the same as those of three-phase
where, phase back-EMFs in one cycle. Figure 7b and 8b show
ω r,k = the angular velocity of motor at moment t k that changing points of CF 1,2,3 from the negative infinity
Δθ = the angular displacement in ∆t to the positive infinity are corresponding to
commutation points at low speed, hence the problem of
The equation of estimated speed is: determining commutation moment at low speed could
be properly solved. Figure 7c and 8c show the results of
^ 2 ^ ^ 60 ^ speed control and position tracking. Figure 7c shows
Ω= ωr ;=
n Ω (21)
Pn 2π that the actual speed is slower than the given speed
before 0.6 second at high speed. n error reaches its
And the estimating equation of torque is: maximum 0.1s before entering the steady state and then
decreases quickly with a little overshoot. At low speed,
^ ^ ^ ^ ^ since the given speed is relatively small, speed enters
T e = (e a ia + eb ib + ec ic ) / Ω (22) into steady state within 0.05s and the maximum speed
error reaches 6 rpm in Fig. 8c. When the torque is
SIMULATION AND EXPERIMENTAL suddenly added, the speed reduces nearly 3 rpm
RESLUTS ANALYSIS immediately and then enters into steady state as shown
in Fig. 7c and 8c. Figure 7d and 8d show the system
The control block diagram of BLDCM is shown in response for torque and it can be seen that the output
Fig. 6 and parameters of BLDCM are given in Table 3. torque could follow the change of reference torque.
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50 2
e^ a e^ sum
0 e^ a
0
-2
-50 e^ sum
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9

voltage(V)
2
e^ b e^
voltage(V)

50 0 b

0 -2

-50 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8


2
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
0 e^
50
e^ c c
-2
0 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
time(s)
-50

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9


time(s)
(a) Waveforms of ê a , ê b , ê c and ê sum

(a) Waveforms of ê a , ê b , ê c and ê sum 20 CF


2
CF
1
CF
3
0
^
-20 e
a
50
CF2 e^ 0 0.1 0.2 0.3 0.4 0.5 0.6

voltage(0.2V)
a
0 20
CF1
CF 0
3
-50
-20 e^
0 0.1 0.2 0.3 b
50 0 0.1 0.2 0.3 0.4 0.5 0.6
voltage(V)

e^ b
0 20
0
-50
-20 e^ c
0 0.1 0.2 0.3
0 0.1 0.2 0.3 0.4 0.5 0.6
50
time(s)
0
e^
c
-50 (b) Waveforms of ê a , ê b , ê c , CF 1 , CF 2 and CF 3 at low speed
0 0.1 0.2 0.3
time(s)

(b) Wwaveforms of ê a , ê b , ê c , CF 1 , CF 2 and CF 3 at low


speed

(c) The curves of given speed, estimated actual speed,


speed error and estimated rotor position

(c) The curves of given speed, estimated actual speed,


speed error and estimated rotor position

(d) The given torque curve and the estimated torque curve

Fig. 8: Simulation results after suddenly adding a 12Nm


torque at 0.3s under the given speed of 30 rpm

• If the initial given speed is 1000 rpm and a load


(d) The given torque curve and the estimated torque curve torque of 12Nm is suddenly added at 0.7s, given
speed is changed to be 20 rpm at 0.9s and a load
Fig. 7: The simulation results after adding a 12Nm torque at torque of -12Nm is suddenly added at 1.6s, the
0.7s simulation results are shown in Fig. 9.
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Res. J. Appl. Sci. Eng. Technol., 6(13): 2474-2482, 2013

50
e^
0 sum
e^
-50 a

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8


voltage(V)

50 ^
e
b
0
-50

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8

50
e^
c
0
-50

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8


time(s)

Fig. 10: The overall experimental test-system


(a) Waveforms of ê a , ê b , ê c and ê sum

20 CF2 CF1 CF3


0
e^ a
-20
1.2 1.4 1.6 1.8
voltage(V)

20

0 (a) 𝑛𝑛� (Y-axis:300 rpm/div, X-axis:100ms/div)


e^ b
-20
1.2 1.4 1.6 1.8
20
e^ c
0

-20
1.2 1.4 1.6 1.8
time(s)
(b) n erro (Y-axis:5 rpm/div, X-axis:100ms/div)
(b): Waveforms of ê a , ê b , ê c , CF 1 , CF 2 and CF 3 at low speed

(c) 𝜃𝜃� (Y-axis:2rad/div, X-axis:100ms/div)

(d) 𝑇𝑇� (Y-axis:10Nm/div, X-axis:100ms/div)

(c) The curves of given speed, estimated actual speed, speed


error and estimated rotor position

(e) 𝑒𝑒̂𝑠𝑠 , 𝑒𝑒̂𝑠𝑠𝑠𝑠𝑠𝑠 (Y-axis:80V/div, X-axis:100ms/div)

(f) Hall a (Y-axis:10V/div, X-axis:30ms/div), ê a (Y-


axis:20V/div, X-axis:30ms/div)
(d) The given torque curve and the estimated torque curve
Fig. 11: Waveforms under load torque of 2Nm and given
Fig. 9: Simulation results of case 3 speed of 1000 rpm
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Res. J. Appl. Sci. Eng. Technol., 6(13): 2474-2482, 2013

In Fig. 9a, the period of ê sum is 1/3 of that of phase


back-EMFs at both high speed and low speed and zero
points of ê sum in each three cycles are the same as those
of the three-phase phase back-EMFs in one cycle. The
figure also shows that the observer detects the phase
back-EMF effectively. In Fig. 9b, changing points of (a) 𝑛𝑛� (Y-axis:10 rpm/div, X-axis:100ms/div)
CF 1,2,3 from the negative infinity to the positive infinity
are corresponding to commutation points at low speed,
which properly solves the problem of determining the
commutation moment at low speed. The Fig. 9c shows
the results of speed control and position tracking. It is
shown that the actual speed is slower than the given
speed before 0.6 second in start-up process and n error (b) n erro (Y-axis:5 rpm/div, X-axis:100ms/div)
reaches its maximum at 0.5s. Then the error decreases
quickly with little overshoot and speed enters into steady
state later. When the load torque is suddenly added at
0.7s, the speed reduces slightly and enters into steady
state without error after transient adjustment. The given
speed is suddenly reduced at 0.9s and the speed
deviation is generated instantaneously. The speed keeps (c) 𝜃𝜃�𝑟𝑟 (Y-axis: 3rad/ div, X-axis:100ms/div)
up with the given speed after an adjustment for 0.1s and
reaches the given speed of 20 rpm at 1.5s after a little
overshoot. The minus torque is suddenly added at 1.6s
and the speed reduces immediately. It enters into steady
state without error after an adjustment for 0.1s. 9(d)
shows the system response for the torque and it can be
seen that the output torque could follow the change of (d) 𝑇𝑇� (Y-axis:10Nm/div, X-axis:100ms/div)
reference torque perfectly.
The system experimental platform using e
a
dsPIC6010A as CPU is established based on the above-
e
mentioned method and is shown in Fig. 10. The system sum

working principle is shown in Fig. 6 (max (dn/dt) =


2000 rpm). Motor parameters are given in Table 3 and
(e) 𝑒𝑒̂𝑎𝑎 , 𝑒𝑒̂𝑠𝑠𝑠𝑠𝑠𝑠 (5V/div,100ms/div)
experimental results are shown in Fig. 11 and 12. Figure
11 and 12 show estimated speed, speed error, estimated
position, estimated output torque, estimated waveforms
for ê a and ê sum , waveform comparison of Hall a , ê a , CF 1
and CF 2 under the given load torque of 2Nm and given
speed of 1000 rpm and 30 rpm respectively. Figure 12f
shows that if the given speed is high, there is an
(f) Hall a (10V/div, 100ms/div), ê a (5V/div, 100ms/div)
electrical angle lag of 6°~7° between commutation point
estimation signal and Hall signal in start-up process. Fig. 12: Waveforms under the load torque of 2Nm and given
With the fast increasing of the speed, the lag decreases speed of 30 rpm
and the lag is almost disappeared at 0.28s. In Fig. 12(f),
for the given speed is slow, the system enters into steady The maximum changing rate (max (dn/dt) = 2000
state in less than 0.1s. Just after it enters into steady rpm) of speed is limited for hardware consideration and
state, there is an electrical angle lag of about 2° between the phase lag is relatively large shortly after start up.
corresponding commutation point estimation signal and Compared with (Furuhashi et al., 1990), the system has
Hall signal. But later they are almost synchronous. The only one inertia link, hence, its transition process is
significantly faster and there is not any static error for
reason of lag is that the speed changes quickly and there
steady state at both low speed range and high speed
is first-order inertia link and integrator in back-EMF range, which show the effectiveness of the method.
observer. This lag also causes the pulsation of torque
and the lag of speed response and further affects CONCLUSION
estimated accuracy of rotor position. However, in
general the proposed control method shows good A novel detection method for the phase back-EMF
dynamic responses over whole speed range operation. of BLDCM is proposed in this study and this algorithm
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Res. J. Appl. Sci. Eng. Technol., 6(13): 2474-2482, 2013

carries out the estimation through regarding phase back- Kim, J.S. and S.K. Sul, 1995. High performance PMSM
EMF as disturbance signal. Simulation and experimental drives without rotational position sensors using
results show that this algorithm could effectively reduced order observer. Proceeding of Conference
estimate the phase back-EMF and carry out on IEEE IAS Annu. Meeting, Orlando, FL, pp:
commutation precisely. Advantages of this algorithm 75-82.
are: additional detection circuits could be avoided;
Shao, J., 2006. An improved microcontroller based
precise commutation could be carried out both in steady
state and transient state; the motor speed could be sensorless brushless DC (BLDC) motor drive r for
precisely controlled in full range; the position tracking automotive applications. IEEE T. Indus. Appl.,
and torque control of the BLDCM could be achieved, 52(5): 1216-1221.
especially in large rated torque motor. Tae-Sung, K., 2008. A new approach to sensorless
control method for brushless DC motors. Int. J.
ACKNOWLEDGMENT Contr. Autom. Syst., 6(5): 577-587.
Ungurean, A., V. Coroban-Schramel and I. Boldea,
This study was supported by Science and 2010. Sensorless control of a BLDC PM motor
technology pillar Key Program of Tianjin based on I-f starting and Back-EMF zero-crossing
(11ZCZDSF04800) and Universities Science and
detection. OPTIM 2010, Basov, pp: 377-382.
Technology Fund Planning Project of Tianjin
(20100713). Wang, H. and H. Liu, 2008. Novel driving method for
BLDCM from standstill to high speeds. Wseas T.
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