Position Sensorless Direct Torque Control of
BLDC Motor by Using Modifier
G. R. Arab Markadeh1, S. I. Mousavi2, E. Daryabeigi2
1
Faculty of Engineering Dept., Shahrekord University, Shahrekord, Iran, arab-gh@eng.sku.ac.ir
2
Azad University, Najafabad Branch, Young Reseacher Club, Isfahan, Iran,
Abstract— Direct torque control (DTC) can directly control
the inverter states in order to reduce the torque error within
the prefixed band limit. DTC of brushless dc drive with
trapezoidal back-EMF is presented in this paper. Using the
rotor flux vector position in α − β axis stationary reference
frame and torque error, the proper switching pattern can be
selected to control the generated torque and reducing
commutation torque ripple. Sliding mode observer, which is
robust to parameter uncertainties can be used to estimate
the back-EMF and the generated torque. The rotor flux
vector position estimation and its novel modifier can be
achieved using a rotor flux observer. Simulation and
experimental results confirm that the proposed method is
good idea to introduce reliable sensorless scheme.
Index Terms— Brushless dc (BLDC) drives, direct torque
control (DTC), permanent-magnet motor, sensorless, rotor
angle modifier.
I. INTRODUCTION
Permanent magnet brushless machines are extensively
used for servo derives, ship propulsion systems and
traction drives. The back-EMF waveform of brushless
AC (BLAC) drive is sinusoidal and is supplied with
SPWM voltage source inverter, while the Brushless DC
(BLDC) stator phase currents are rectangular and its
back-EMF is trapezoidal due to concentrated winding.
BLDC motor has better efficiency, higher torque density,
lower cost and simpler structure, comparing to BLAC
motors. Furthermore, while BLAC drive requires an
accurate encoder sensor, BLDC drive needs to discrete
position sensor such as Hall Effect device.
The main drawback of BLDC is higher torque ripple
due to machine structure and feeding system. Machine
structure causes to cogging torque and waveform
imperfection; and those coming from the power
electronic feeding system are switching techniques and
phase current commutation.
Two decades later, DTC method is developed and
presented for induction machine drives [4]. Since the
beginning, the new technique was characterized by
simplicity, good performance and robustness [5].
o 3 Ls
DTC of BLDC with 120 conduction angle is
proposed in [7, 8]. The stator flux linkage and torque
commands were obtained from hysteresis controllers by
comparing the estimated electromagnetic torque and
stator flux linkage with their demanded values and the
switching pattern of the inverter was obtained according
to the stator flux vector position, torque and stator flux
errors. In that control method voltage vector is selected
from a look-up table witch is depends on rotor
mechanical position and irrespective to the stator phase
current or back-EMF which produces higher torque ripple
and switching frequency.
In this paper, the DTC method is used which is
introduced before in [7]. However, it is tried to solve two
fundamental disadvantages. The first one is the back-
EMF in [7] is measured by look up table and position
sensor, in fact the mentioned scheme assumed that the
relationship between back-EMF and electrical velocity is
linear by a constant factor. Therefore, the estimated
torque depends on position sensor sensitivity.
Accordingly, sliding mode observer is robust to
parameter uncertainty therefore can be used to estimated
the back-EMF accuracy. The second one is using sensor
position, which is sensitive to mechanical disturbance.
However, in the proposed method in this article, instead
of rotor mechanical position, the rotor flux vector
position is estimated by using the rotor flux observer. The
essential advantage of the rotor flux observer is in its
rotor angle modifier.
In this novel method, the state equation of the BLDC
motor is utilized to achieve a relationship between the
angle of the stator current vector and the back-EMF
vector angle. By using of this method, the error angle
estimation is approximated to minimum value. Therefore,
this scheme cause to reduce the torque ripple in com-
mutation regions. In the proposed control method in this
research work, the proper voltage vector is selected from
look up table using the rotor flux vector position and
torque error. This voltage vector leads the torque error to
the predefined hysteresis.
II. BLDC MODEL
Brushless DC motor state space equations with 120°
conduction angle and trapezoidal back-EMF waveform,
can be expressed as
2 Vab + Vbc − 2 eas + ebs + ecs − 3 Rias
ias = ∫ d t (1a)
3 Ls
− Vab + Vbc + eas + 2ebs + ecs − 3 Ribs
ibs = ∫ d t (1b)
ics = −ias − ibs (1c)
and the electromagnetic generated torque is
i e +i e +i e
Te = p a as b bs c cs (2)
ωe
were ias , ibs , ics ,Vab ,Vbc are the stator currents and line
voltages, respectively; eas , ebs , ecs are back-EMF voltages
of each phase and p is the number of pole pairs, θr is the where θis is the stator current vector angular phase.
rotor electrical angle, Tl is the load torque, B is the The stator current vector components in α − β axis can
friction coefficient, J is the moment of inertia, R is stator be rewritten as
resistance and Ls = L − M , where L and M are the self
inductance and mutual inductance of stator phase, isα = is cos(θ e + θ err ); isβ = is sin (θ e + θ err ) (9)
respectively.
and
III. DIRECT TORQUE CONTROL OF BLDC MOTOR dϕ rα dϕ r d ϕ rβ dϕ r
= cos(θ e ); = sin (θ eα ) (10)
Using transformation, the state space equation of dθ r dθ r dθ r dθ r
BLDC motor in α − β axis stationary reference frame can
be written as: Substituting (10) and (9) in (5) we obtain;

d i sα d i sβ 3p
V sα = R i sα + L + eα ; Vsβ = R isβ + L + eβ (3) Te = is dϕ r / dθ r cos θ err (12)
dt dt 2
It can be seen that the phase difference of each stator
and the electromagnetic generated torque can be current components with its back-EMF causes to torque
expressed as [2], [4]: pulsation in commutation region. In the other word if the
d ϕ rβ stator current with back-EMF is in phase, then the torque
3 p ⎛ dϕ rα ⎞ 3 p ⎛ eα eβ ⎞
Te = ⎜ i sα + isβ ⎟⎟ = ⎜ i sα + isβ ⎟⎟ pulsation decreased and higher density of torque can be
⎜
2 ⎝ dθ r dθ r ⎜
⎠ 2 ⎝ ωr ωr ⎠ achieved. Obviously, it is known that the dϕ r / dθ r term
(4) is relative to rotor flux or permanent magnet profile and
is independent of the stator currents. From (12), it can be
where φra and φrb are the α − β axis rotor flux vector shown that generated electromagnetic torque depends on
components. isα and is β are the stator current vector the stator currents, dϕ r / dθ r value and the phase
components in α − β reference frame. difference between back-EMF (or consequently rotor
The equations between the stator flux and rotor flux flux) vector and stator current vector. In previous
are: research works, it is proved that due to the sharp dips in
the stator flux space vector at every commutation region,
ϕ sd = Ld isd + ϕed ; ϕ sq = Lq isq + ϕ eq (5) there is no easy way to control the stator flux magnitude
[7]. In the other word against of induction motor the
where isd and isq are the stator current vector components stator flux hasn’t directly effect on generated torque
in d-q reference frame, Ld and Lq the d-q axis stator while from (12) the rotor flux position has extremely
inductances, φrd, φrq, φsd and φsq are the d-q axis rotor and effects on torque and it is better to use the rotor flux
stator flux linkages, respectively. vector position to control the electromagnetic torque.
The differential forms of rotor flux components respect To control the generated torque in two-phase
to θr can be derived from the ratio of the back-EMF to the conduction a switching pattern is selected according to
electrical angular velocity, ωr, i.e. torque error respect to its reference value. Table I indi-
cates the proper switching pattern in each sector which is
dϕ rα 1 dϕ rα eα dϕ rβ 1 dϕ rβ eβ determined based on rotor flux vector position.
= = ; = = (6)
dθ r ωr dt ωr dθ r ω r dt ωr
IV. ROTOR FLUX OBSERVER
where ωr = dθ r / dt In (6), rotor flux vector components can be calculated
Then, the amplitude and the angle of (dϕ r / dθ r ) using rotor flux observer
vector can be written as: ϕ rα = − Ls isα + ∫ (Vα − R isα ) dt (13a)

dϕr 3 ⎛ dϕ ⎞ ⎛ dϕrβ ⎞
2
1
2 (
ϕ rβ = − Ls isβ + ∫ Vβ − R isβ d t ) (13b)
= = ⎜⎜ rα ⎟⎟ + ⎜⎜ ⎟ =
⎟ eα2 + eβ2 (7a)
dθr ωr ⎝ dθ r ⎠ dθ
⎝ r ⎠ ω r Switching effects in stator voltage can be filtered with
integrator operator in (13). The rotor flux position is
dϕr e ⎛ eβ ⎞ related to the back-EMF position directly, witch the back-
∠ =∠ = tan −1⎜⎜ ⎟ = ∠e = θe
⎟ (7b)
dθ r ωr ⎝ eα ⎠ EMF vector position has 90o leads to the rotor flux angle,
therefore θbemf can be calculated based on rotor flux angle
Where φr and e are the rotor flux and the back-EMF θbemf = 90º+θr. On the other hand from (13) the stator
vectors, respectively and θe is the back-EMF vector flux position is not related to back-EMF vector position
angular phase. directly. Rotor flux position which is needed to DTC
The phase difference between stator current vector and technique can be obtained as
back-EMF vector is defined as
θerr = θis − θe (8)
(
θ r = tan −1 ϕ rβ / ϕ rα ) (14)
 TABLE I
DTC VECTOR SELECTION FOR BLDC MOTOR

θr
ϕs Tl o o o o o o o o o o o o
330 − 30 30 − 90 90 − 150 150 − 210 210 − 270 270 − 330
1 V 2(001001) V 3(011000) V 4(010010) V 5(000110) V 6(100100) V 1(100001)
0
-1 V 5(000110) V 6(100100) V 1(100001) V 2(001001) V 3(011000) V 4(010010)

Figure 2. Sliding mode observer block diagram.

V. ROTOR FLUX ANGLE ESTIMATOR MODIFIER Substituting (16) in (17), we obtain

Using the BLDC motor rotor flux angle calculation by ⎡1 ⎛ dϕ rα dϕ rβ ⎞⎤
utilizing (13) is fluctuated with some problems. So the θ err = tan −1 ⎢ ⎜
⎜ dθ ⋅ i s β − ⋅ i s α ⎟⎥
⎟ (18)
pure integral operator in (13) must be replaced with low ⎢⎣ Te ⎝ e dθ e ⎠⎥⎦
pass filter. In addition, a high pass filter must filter the dc
offset of measured current. Rotor speed for electromagnetic torque calculation can
be obtained, using a differential operator. Rotor flux
The mentioned filters cause angle between the actual and vector components have smooth shape and there is not
estimated rotor flux angle and affects to the calculated any spike in them then a simple differential can be used
active torques. In order to reduce the torque ripple in to obtain the rotor speed.
commutation regions, as show in Fig.1 the current and
back-EMF vectors must be synchronized as well as VI. SLIDING MODE OBSERVER
possible. Sliding mode observer can be used to estimate non-
Therefore, the estimated rotor angle because of sinusoidal back-EMF of BLDC motor. Sliding mode
filtering and calculation time lag to actual one. Hence, the observer is proposed as:
modified rotor angle can be calculated as follow: )
⎧ˆ − Rs ˆ eα Vα ˆ
⎪isα = L ⋅ isα − L + L + K s1 ⋅ Sgn isα ( )
θ'r = θr − θerr (15) ⎪ s ) s s

where θ'r is the modified rotor flux angle and used to

⎪ˆ − Rs ˆ eβ Vβ
ˆ
⎨ isβ = L ⋅ isβ − L + L + K s1 ⋅ Sgn isβ (19) ( )
⎪ s s s
voltage vector selection in DTC and ⎪
)
eα = K s 2 ⋅ Sgn iˆsα ( )
⎪
⎩
)
eβ = K s 2 ⋅ Sgn iˆsβ ( )
) )
where, iˆsα , iˆsβ , eα , eβ are the estimation of α-β axes stator
currents and back-EMF respectively and stator currents
estimation error define as
~ )
isα = isα + isα (20a)
~ )
Fig. 1 stator current and back-EMF vectors isβ = isβ + isβ (20b)
isβ
tan (θis ) = (16a) If sampling period is significantly less than electrical
isα and mechanical time constants then back-EMF value can
be assumed to remain constant during each sampling
(
tan θbemf = ) eβ
eα
(16b)
period and,
d eα d eβ
= 0; =0
dt dt
It will be consider that
By subtracting (19) from (3), the estimation error of
tan θis − tan θbemf stator currents and back-EMF can be expressed as in (21):
tan θerr = (17)
1 + tan θis ⋅ tan θbemf
 e~
~
isα =
− Rs ~
Ls
V
⋅ isα − α + α + K s1 ⋅ Sgn isα
Ls Ls
~
( ) (21a)
EMF estimation without need to look up table and
position sensor. In Fig. 6, simulation results for rotor
position estimator and its error respect to position sensor
e~β Vβ values are shown. The estimated rotor position error is
~
isβ =
− Rs ~
Ls
⋅ isβ − +
Ls Ls
~
+ K s1 ⋅ Sgn isβ ( ) (21b) less than 5 degrees

~
e~α = − K s 2 ⋅ Sgn isα ( ) (21c)
~
e~β = − K s 2 ⋅ Sgn isβ ( ) (21d)

Defining positive definite Lyapunov function V(x) as:

V=
2
(
1 ~ 2 ~ 2
isα + isβ ) (22)

Derivation of V(x) with respect to time concludes: Figure 3. Sensorless DTC of BLDC block diagram.

R ~
Ls
( ~
V& = − s isα 2 + isβ 2 −
Ls
)
1 ~ ~ 2 ~ ~ 2
(
eα isα + eβ isβ ) (23a) TABLE II
PARAMETERS OF BLDC MOTOR
~ 2 ~ 2
− K s1 isα − K s1 isβ < 0 (23b) Rs (ohm) 0.62
Ls (mH) 1
The lower bound of ks1 can be selected such that V& Flux induced by magnets (Wb) 0.07627
became negative definite and then the estimated stator Rated torque 6.1
current components converge to their measured values. Poles 16
DC link voltage (v) 36
R
Ls
~
( ~ ~2
K s1 > − s − e~α isα + e~β isβ / Ls is ) (24) Rated speed (rad/s) 31

It is sufficient that: TABLE III

THE SLIDING MODE OBSERVER PARAMETERS
~
( ~ ~2
K s1 > max e~α isα + e~β isβ / Ls is ) (25)
k s1 300
To decrease the chattering effects near the sliding ks 2 25
surfaces the Sgn( ) function is replaced with saturation
function as: kp 0.4

⎧1 ~ kI
~ is ≥ q 1
⎛i ⎞ ⎪~ ~
Sat ⎜⎜ s ⎟ = ⎨ is
⎟ is < q (26) Bound of the Current Sat(.) function 1
⎝q ⎠ ⎪− 1 ~
is ≤ q
Bound of the back-EMF Sat(.) function 10
⎩
VIII. EXPERIMENTAL RESULTS
in order to decrease the pure integrator influences in
back-EMF estimation , it is recommended that a PI The eZDSP based on TMS320F2812 DSP is used to
structure to be used as follows : implement the discussed control method. To reach a
higher dynamic in control method and estimate the
~
( )
e~α = − K t e~α + K s 2 Sgn isα (27a) parameters accurately, the sapling time have to select as
more as possible.
e~β = − K t e~β + K s 2 Sgn (isβ )
~
(27b)
40

35

VII. SIMULATION RESULTS 30

The overall block diagram of the proposed control

25
rad/s

scheme which is shown in Fig. 3 , is simulated with

20

Matlab/ Simulink software. The motor parameters are 15

listed in Table II, as well as the sliding mode observer 10

coefficients are shown in Table III. 5

Fig. 4 shows the speed estimator performance. Fig. 5 0

0.05 0.1 0.15 0.2 0.25

shows the sliding mode back-EMF observer results. It is sec

obviously shown that the estimated back-EMF is accurate Figure 4. Simulation results for rotor speed: the red waveform -
simulated: the blue waveform - estimated.
and the sliding mode observer is a good option for back-
 20

15

10

5
V

-5

-10

-15

-20
0.25 0.26 0.27 0.28 0.29 0.3 0.31 0.32 0.33 0.34 0.35
sec

(a)
20

15

10

(a)
V

-5 3.5

-10
3

-15
2.5
-20
0.25 0.26 0.27 0.28 0.29 0.3 0.31 0.32 0.33 0.34 0.35
sec 2

T (N.m)
e
1.5

(b)
Fig.5 Back-EMF vector components in stationary reference frame :
1

(a)simulated (b)estimated 0.5

8 0
0.4 0.41 0.42 0.43 0.44 0.45
time(s)

6 (b)
Fig.7 Experimental result for BLDC motor (300 r/min) (a)phase
ra d

4
current (b)estimated electromagnetic torque
2
7
0
0.45 0.46 0.47 0.48 0.49 0.5 0.51 0.52 0.53 0.54 0.55
time(sec) 6
(a)
5
0
A n g le (ra d )

4
-0.05
3
ra d

-0.1 2

1
0.45 0.46 0.47 0.48 0.49 0.5 0.51 0.52 0.53 0.54 0.55
time(sec) 0
0.4 0.402 0.405 0.408 0.411 0.414 0.417 0.420 0.423 0.426 0.429
(b)
Time(s)
Fig.6 (a)estimated rotor positions is in blue and simulated rotor
Fig. 8. Experimental Estimated modified rotor flux-linkage in red and
positions is in red(b) the angle error between estimated and simulated
measured electrical rotor angle in black
rotor position

Fig. 7 illustrates the experimental results of phase-a To yield more accurate measurement, range of current
current and electromagnetic torque. The torque reference and voltage sensors are selected based on the maximum
is 2.85 and the torque control is performed as shown in phase current and DC-link voltage, respectively.
fig.(3). the hysteresis bandwidth is .01 N.m, the DC-link The other point which should be noted is that a dead-
voltage is set to 35 V. As shown in Fig. 7a the current time is employed after each switch state variation to
waveform verify the estimated rotor angle, because the avoid make overlap in one leg of the inverter which
error in rotor angle estimation causes to make spike in causes to make high spike in phase current waveform.
motor currents which is not in these current waveforms. VIII. CONCLUSION
The ripple of electromagnetic torque is less than 27%.
Fig. 8 is the angle between of the modified rotor angle In this paper, a sensorless direct torque control method
and measured electrical rotor angle in experimental for a brushless DC motor is developed. Using the rotor
implementation. flux vector position, rotor angle modifier and torque
Depends on elapsed calculation time and ADC error, the proper switching pattern can be selected from a
accuracy, the sampling period is determined as 32 μs. to look up table to limit the generated torque error respect to
measure the phase current value, two (LEM LA25-NP) its reference in a predefined hysteresis band. Rotor flux
current sensors are used and the line-to-line voltage is vector angle is estimated by using rotor flux observer and
calculated by measure the DC-link voltage through one back-EMF is calculated with a simple robust sliding
(LV25-P) voltage sensor versus state of inverter switches mode observer. Simulation and experimental results show
witch produced in DSP320f2812. good performance for torque control and rotor position
estimation.
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