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Operating principle
Control of BLDC motor
Comparision and applications of BLDC motor

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Basic equations and modeling of BLDC motor

Open loop Simulink model an results
Closed loop Simulink model and results

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á   

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 2
ODUC
2O

dvantages:

M Better speed versus torque characteristics

M High dynamic response
M High efficiency
M Long operating life
M oiseless operation
M Higher speed ranges

á atio of torque delivered to the size of the motor is higher

 Operating principle

O
 

       

Operating principle (S2 CO2LS)

   !  "  !  " # "  " $ "  %&

r = moment arm of the rotor

i = current passing through stator coils

L = length of coil

ǃ = magnetic field of the rotor

LJ = angle between the current direction

and the magnetic field of the rotor
 HLL SE SOS  D BLDC MO
O

 SEVESE SEC
2O

o rotate BLDC motor the stator windings should be energized in a

sequence. 2t is important to know the rotor position in order to
understand which winding will be energized following the energizing
sequence. otor position is sensed using Hall effect sensors
embedded into the stator
 BEMF(Back electro motive force)

BEMF=E Į LrBǔ = Kb* ǔ

where: - no of turns
L - length of the rotor
r - radius of the rotor
B - rotor magnetic field density and
w - angular velocity (speed)
Kb - back emf constant

M
he motors are designed with a BEMF constant in such

a way that when the motor is running at rated speed
the P.D. between the BEMF and supply voltage will be
sufficient for the motor to draw the rated current &
delivers the rated torque

ypes of Control

Depends on hall sensor position,

two types of Control Methods are employed:

2f hall sensors are 120-degree apart from each

other
-120-degree control
2f hall sensors are 60-degree apart from each
other
-60-degree control
' 
(
) *+ *,+ , -.
 Comparision of BLDC Vs Brushed dc motor

     +
 

(( , ), , commutation based on  +
commutation
Hall Position sensors.

   ,  required due to absence of Periodic maintenance is required

brushes

-  . +



/  ) - Enables operation at all speeds 
)0 -) ± t higher speeds,
+,, with rated load. brush friction increase, thus reducing
useful torque.

--, ,0 .+ ± o voltage drop across 
.

brushes


 */ .+ ± educes size due to superior
( 1 thermal characteristics. Because BLDC
has the windings on the stator, which
is connected to the case, the heat
dissipation is better.

/* ±
he heat produced
by the armature is dissipated in the air
gap, thus increasing the temperature
in the air gap and limiting specs on the
output power/frame size.
 Comparision of BLDC Vs Brushed dc motor(cont«)

   *2 because it has permanent .+ rotor inertia which limits the
magnets on the rotor.
his dynamic characteristics
improves the dynamic response.



 . .+ ± o mechanical limitation * ± Mechanical limitations by
imposedby the brushes.
Brushes/commutator.

   * rcs in the brushes will generate

noise causing EM2 in the
equipment nearby.

 -  )
 . .+ 3 Since it has permanent *

magnets, building costs are
higher.

 ) (
)' 
'
 4 (
) 
 '
 4

 )  (   controller is always required to o controller is required for fixed
keep the motor running.
he speed; a controller is required
same controller can be used for only if variable speed is desired.
variable speed control.
 Comparision between BLDC Vs 2nduction motor
    m 
, 


/  ) ± Enables operation at all  )  ± Lower torque at lower
+,, speeds with rated load. speeds.


 */ .+ ± Since it has permanent 
 ± Since both stator and rotor
( 1 magnets on the rotor, smaller have windings, the output power to
size can be achieved for a given size is lower than BLDC.
output power.

   * ± Better dynamic .+ ± Poor dynamic characteristics.

characteristics.
 .    
± o Special starter circuit pproximately up to seven times of rated -
required. Starter circuit rating should be
carefully selected. ormally uses a
Star-Delta starter.

 )  (   controller is always required to o controller is required for fixed speed; a
keep the motor running.
he controller is required only if variable
same controller can be used for speed is desired.
variable speed control.

)
o slip is experienced between
he rotor runs at a lower frequency than
stator and rotor frequency stator by slip frequency and slip
increases with load on the motor.
 PPL2C
2O S
m

),  *+    )
56

For example, fans, pumps and blowers come under these types of
applications.
m

),  *+ 40 . )
56
hese applications may demand high-

speed control accuracy and good dynamic responses.
M 2n home appliances, washers, dryers and compressors are good examples.
M 2n automotive, fuel pump control, electronic steering control, engine control
and electric vehicle control are good examples of these.
M 2n aerospace, there are a number of applications, like centrifuges, pumps,
robotic arm controls gyroscope controls and so on

  . 

), 56.
hese systems mostly operate in closed loop.

here could be three control loops functioning simultaneously:
orque Control
Loop, Speed Control Loop and Position Control Loop. Optical encoder or
synchronous resolvers are used for measuring the actual speed of the motor.
2n some cases, the same sensors are used to get relative position
information. Otherwise, separate position sensors may be used to get
absolute positions.
Computer umeric Controlled (C C) machines are a good example of this.
Process controls, machinery controls and conveyer controls have plenty of
applications in this category.
 m      
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) - + ( 

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(   (. 
),
 + 


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1
) -) '  +  .

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 ) 
)- 
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+ *
 .  ,  

& + ,     0     7) ,

 ,    -  (
 
 ;).   

he equation of each armature winding can be represented as follows

Ú
Ú

  ¦ A Ú ¦
A Ú

0
0

¦ A0 ¦
A 0

{
{

¦ A { ¦
A {

 0 (,   



 ¦ A  ¦  A ’

 ,< (-  
,< (-  
1
)  +
 
 )
  - , - + 

 
, 7 '




  ÷
   ÷ 
 
÷     ÷  
 
 

Ú


  ÷ A
÷     ÷  
 
÷     ÷  
 
 
  ÷ 
÷     ÷

   ÷ 
 
  ÷

÷     ÷  
 
 

0


÷     ÷  
 
  ÷ A 
÷     ÷  
 
 
÷     ÷


   ÷ 
U
U
  ÷ A
÷    ÷ 

{
U
÷     ÷  
U
U
  ÷ 
÷     ÷  
U
÷     ÷

he three phase currents are controlled to take a quasi-square
E =b*ǔr waveform in order to synchronize with the trapezoidal back emf to
produce the constant torque.
 Cont..
m


 





Ú ¦ Ú A 0¦ 0 A { ¦ {





 

 È
   
    



 
 

´
 

 
   
       


  


 $

ö    ¦
 `


0


 $ ö 0  0 ¦
0 `


{


 $ ö {  { ¦
{ ` 


 $
´
ö
 ¦ ´ `

 ¦  A 0 ¦ 0 A { ¦ {



´


$ ´ `

       m 
 DY M2C CO D2
2O S

he motor response was studied for

the following case:

š 
4
 ,+ ,) 


  - +  (   )


*+  )
- = 6
6(  

)
  ! >? ,

-axis time
Y-axis speed and torque
pplied voltage: 380 V rated
o load settling time: 0.09 sec
o load settling speed: 630 rad/s
ated Load of 2 m applied at t = 0.3 sec
Speed drop: 180rad/s
+ ,   2 72 , - +  (   )


*+  )
- = 6 6(  

)
  ! >? ,

Œ). - ,+
+ -  (   )


*+  )
- =(  

)
 ( !>?

  4). -       )


*+  )
- =6
=6(  

)
 ( !>?

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+  ) +* + +

 . ,    +.+ 
+
  , ) 4 



,    + 
 )

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  , ))



  
  - (   - , 


- =>>
/ *+  )
- @ 6
6(  

)
 !>=
 ;). - ,+
+ -  (
*+  )
- @ 6
6(  

)
 ( !>=

  - ,+
+ *+  
,+ . -
- , 

 

)
 !>= -( =>>  @>>
/

 CO CLUS2O S
š  simulation model is developed for the open loop drive and
closed loop drive of a PMBLDC motor to give an insight into the
dynamic performance of the motor under load perturbation

š
he speed which is not controlled under open loop operation is

limited to the desired value in closed loop operation, by a P2D
controller in which gain values are obtained by
2L  D
EO ME
HOD

š proportional controller (Kp) will have the effect of reducing the

rise time and will reduce, but never eliminate, the steady-state
error. n integral control (Ki) will have the effect of eliminating
the steady-state error, but it may make the transient response
worse.

š BLDC motor can be controlled in closed loop with very quick

response to any disturbance in the load.
his property can be
utilized for an application where precise position control is
required.
 FU
UE WOK

2n this particular dissertation work, 2 have

simulated and implemented open and closed
loop speed control of BLDC motor in outer
loop. 2n future this can be further extended
with inner current control loop (torque
control) and thus can be utilized for precise
position and automotive control applications.
 
´1] Padmaraja Yedamale, ³Brushless DC (BLDC) Motor Fundamentals  885´Microchip.
´2] Yashwant jani, ³2mplementing Embedded Speed Control for Brushless DC Motors,
enesas technology´
´3] Miller
.J.E and hendershot Jr. J. (1994), ³Design of Brushless Permanent Magnet
Motors´, Magna Physics Publishing and Clarendon press, Oxford 1989.
´4] . agoor Khani, ³Control System, first edition´.
´5] P.Pillay and .Krishnan, ³Modeling, Simulation, and nalysis of Permanent-Magnet
Motor Drives, Part 2:
he Brushless DC Motor Drive´. 2

2


vol. 25i
no. 2, pp.274-279, Mar/pr. 1989.
´6]Byoung-Kuk Lee and Mehrdad Ehsani, ³dvanced simulation model for Brushless DC
Motor Drives´,  
 

 

 , Vol. 31, pp.841-868, 2003.
´7]Data sheet. ³Philips P89V51D2, Microcontroller Unit´, and 2 K2
-51 user manual.
´8]Data sheet ³DC-0800´, and 2
ech¶s DC-DC module user manual.
´9] Ogata, K. ³Modern control system´, 3 Ed. Prentice-Hall, 1998.
´10]Crescencio Hernandez-osales, icardo Femat-Flores, and Griselda Quiroz-
Compean ³Make a P2 controller on an 8-bit micro´
´11]Ziegler, J.G., and ichols, .B., ³Optimum Settings for utomatic Controllers´,

ransactions of the merican Society of Mechanical Engineers (SME). v. 64, 1942,
pgs. 759-768.
´12]Ziegler- ichols
uning Chart By
omas B. Co (tbco@mtu.edu).
´13]P.Cominos and .Munro, ³P2D controllers: recent tuning methods and design
specification´
m 9